JP2017074635A - Robot for wire harness - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for improving efficiency of an assembly work of a wire harness by a robot.SOLUTION: A robot 10 for wire harness comprises: a hand part 12 capable of holding an object W; a movement mechanism part 20 capable of moving the hand part 12; and a following part 40. The following part 40 is configured to change a posture of the hand part 12 by external force from the object W, when the hand part 12 holds the object W, or when the hand part 12 and the object W move relatively in a state in which the hand part 12 holds the object W.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wire harness robot.

  In recent years, many types of robots have been involved in manufacturing industrial products. A processing apparatus for controlling such a robot is disclosed in Patent Document 1, for example.

  The processing apparatus described in Patent Literature 1 is based on an acquisition unit that acquires sensor information from a force sensor, an analysis processing unit that performs linear prediction analysis processing on the acquired sensor information, and the linear prediction analysis processing And a parameter setting unit for setting control parameters used for force control of the robot.

JP 2014-184517 A

  However, as in the processing device described in Patent Document 1, it is troublesome to perform an analysis based on the data from the force sensor, and to change the posture by setting the control parameter. There is a risk that data cannot be obtained. In particular, when working on a flexible object such as an electric wire, for example, the shape is not always the same due to the influence of wrinkles and the like that are attached to the electric wire. If an attempt is made to perform control with general feedback, the amount of processing may become enormous and the processing may take time. For these reasons, there is room for improvement in efficiency when the assembly work of the wire harness including the concentration of the electric wires and the formation of the shape is performed by the robot.

  Then, an object of this invention is to provide the technique which can improve the efficiency of the assembly operation of the wire harness by a robot.

  In order to solve the above problem, the wire harness robot according to the first aspect includes a hand unit capable of holding an object, a moving mechanism unit capable of moving the hand part, and the hand unit holding the object. Or a copying unit capable of changing the posture of the hand unit by an external force from the object received when the hand unit and the object move relative to each other while the hand unit holds the object. .

  The wire harness robot according to the second aspect is the wire harness robot according to the first aspect, wherein the copying unit can switch between a state in which the posture of the hand unit can be changed and a state in which the posture cannot be changed. Is formed.

  The wire harness robot according to a third aspect is the wire harness robot according to the first or second aspect, wherein the hand portion is formed to be capable of changing its posture around a plurality of axes by the copying portion.

  The wire harness robot according to a fourth aspect is the wire harness robot according to any one of the first to third aspects, wherein the copying portion is rotated around a predetermined axis by the first member and the external force. And a second member connected to the first member so as to be relatively rotatable.

  According to the wire harness robot according to the first to fourth aspects, the hand unit capable of holding the target object, the moving mechanism unit capable of moving the hand unit, and the hand unit holding the target object or the hand The object includes a copying part that can change the posture of the hand part by an external force from the object received when the hand part and the object move relative to each other while the object holds the object. Even when the object is an object, it is possible to suppress the excessive force applied to the object and the object from being damaged, or the movement of the hand part being hindered by a wire hook or the like. Thereby, the efficiency of the assembly work of the wire harness by a robot can be improved.

  In particular, according to the wire harness robot according to the second aspect, the copying unit is formed so as to be switchable between a state in which the posture of the hand unit can be changed and a state in which the posture cannot be changed. When you do not want to change the posture, such as when you want to move the hand part with the object while holding an object, set the posture to a state that can not be changed, and switch to a state that can change the posture only when you want to change the posture. Can be improved.

  In particular, according to the robot for a wire harness according to the third aspect, the hand portion is formed so that the posture can be changed around a plurality of axes by the copying portion, so that the hand portion grips the target object. When moving, it can move more in line with the shape of the object. Thereby, since it can suppress more reliably that an excessive force is applied to a target object, the efficiency of the assembly work of the wire harness by a robot can be improved.

  In particular, according to the wire harness robot according to the fourth aspect, the copying unit includes the first member and the second member connected to the first member so as to be relatively rotatable around a predetermined axis by an external force. Therefore, the posture of the hand unit can be changed by receiving the external force and relatively rotating the first member and the second member.

It is a schematic perspective view which shows the robot for wire harnesses which concerns on embodiment. It is the elements on larger scale which show the robot for wire harnesses which concerns on embodiment. It is a partial expansion front view showing the robot for wire harnesses concerning an embodiment. It is explanatory drawing which shows a mode that the robot for wire harnesses is changing the attitude | position. It is explanatory drawing which shows a mode that the robot for wire harnesses is changing the attitude | position. It is explanatory drawing explaining a mode that the attitude | position changeable state and the attitude change impossible state are switched in the wire harness robot. It is explanatory drawing explaining a mode that the attitude | position changeable state and the attitude change impossible state are switched in the wire harness robot. It is a block diagram which shows the example of 1 structure of a control apparatus. It is a flowchart of a shape formation process. It is the elements on larger scale which show the robot for wire harnesses which concerns on a modification. It is the elements on larger scale which show the robot for wire harnesses which concerns on a modification. It is explanatory drawing which shows a mode that the robot for wire harnesses which concerns on a modification is changing the attitude | position.

{Embodiment}
Hereinafter, the wire harness robot according to the embodiment will be described. FIG. 1 is a schematic perspective view showing a wire harness robot 10 according to an embodiment. FIG. 2 is a partially enlarged plan view showing the wire harness robot 10 according to the embodiment. FIG. 3 is a partially enlarged front view showing the wire harness robot 10 according to the embodiment. In this specification, the direction in plan view is the y direction, the direction in front view is the z direction, and the direction perpendicular to the y direction and the z direction is the x direction.

  The wire harness robot 10 according to the embodiment is used to assemble a wire harness. A wire harness is a combination of members such as connectors and terminals at both ends based on electric wires. In assembling the wire harness, the wire harness robot 10 performs at least a part of the assembly work.

  In other words, the object W of the wire harness robot 10 is assumed to be the above-described members constituting the wire harness. Here, the wire harness robot 10 will be described assuming that the object is an electric wire. Further, the work performed by the wire harness robot 10 is assumed to be a wire concentrating work and a shape forming (branch forming) work related to the assembly of the wire harness. Here, the concentrating work refers to an operation of reducing the diameter from a state in which the diameter of the electric wire bundle is widened by a hook attached to the electric wire to a desired diameter when bundling the collected electric wires. ) The work refers to a work of collecting the electric wires constituting the wire harness in a state along the arrangement route of the vehicle by forming a branch at a predetermined position.

  Specifically, the wire harness robot 10 according to the embodiment includes a hand unit 12, a moving mechanism unit 20, and a copying unit 40 having a mechanism capable of adjusting the copying property of the hand unit 12. Here, although the wire harness robot 10 is described as not including a force sensor or the like, a force sensor or the like may be provided.

  The hand unit 12 is formed so as to be able to hold the object W by some means. Here, the hand unit 12 will be described as gripping the object W. But the hand part may be able to hold | maintain a target object by other means, such as adsorption | suction.

  Specifically, the hand unit 12 includes a pair of gripping units 14 that face each other. The pair of gripping portions 14 are formed so as to be relatively close to each other and retractable so that the interval can be changed by an actuator such as an air cylinder.

  Further, here, the hand unit 12 is formed by the copying unit 40 so that its posture can be changed around at least one axis (here, two axes).

  The moving mechanism unit 20 is connected to the hand unit 12 and can be controlled in the z-axis direction.

  Specifically, the moving mechanism unit 20 includes a first moving mechanism unit 22 and a second moving mechanism unit 30.

  The first moving mechanism unit 22 is connected to the proximal end side of the hand unit 12. The first moving mechanism unit 22 is provided to be able to move the hand unit 12 in the z-axis direction.

  More specifically, here, the first moving mechanism portion 22 includes two ball screw mechanism portions 24a and 24b.

  The ball screw mechanism portions 24a and 24b include rotary motors 28a and 28b and ball screws 26a and 26b connected to the motors 28a and 28b. The ball screw mechanism portions 24a and 24b are formed so that the rotational motions of the motors 28a and 28b can be converted into linear motions by the ball screws 26a and 26b.

  Here, one of the two ball screw mechanism portions 24a and 24b connects between the copying portion 40 and the other ball screw mechanism portion 24b. The ball screw mechanism portion 24a is formed so that the ball screw mechanism portion 24b and the hand portion 12 can be moved back and forth in the z-axis direction by rotating the ball screw 26a with a motor 28a.

  Of the two ball screw mechanism portions 24a and 24b, the other ball screw mechanism portion 24b is connected between the one ball screw mechanism portion 24a and the hand portion 12 here. The ball screw mechanism portion 24b is formed so that the hand portion 12 can be moved back and forth in the z-axis direction by rotating the ball screw 26b with a motor 28b.

  But the structure of the 1st moving mechanism part 22 is not restricted to an above-described thing. For example, one of the two ball screw mechanism portions 24a and 24b may be omitted from the first moving mechanism portion. Further, for example, the first moving mechanism part may not include the ball screw mechanism parts 24a and 24b. In this case, the 1st movement mechanism part should just be movable to the front-back direction of az axis. For example, the 1st movement mechanism part should just be able to move forward and backward linearly by providing a linear motor.

  The second moving mechanism unit 30 is connected to the first moving mechanism unit 22 via the copying unit 40. The second moving mechanism unit 30 is capable of moving the copying unit 40 and the respective parts positioned on the front end side thereof, that is, the copying unit 40, the first moving mechanism unit 22, and the hand unit 12 in the x-axis direction and the y-axis direction. Is provided.

  Here, the second moving mechanism unit 30 includes a pair of first support columns 32a and 32b extending in the x-axis direction, and a pair of second support columns 34a and 34b extending in a direction intersecting the first support columns 32a and 32b. Including a motor. The respective end portions of the pair of second support column portions 34a and 34b are connected to the respective end portions of the pair of first support column portions 32a and 32b. In other words, the pair of first support columns 32a and 32b and the pair of second support columns 34a and 34b are connected in a quadrangular shape. At this time, the pair of first support columns 32a and 32b and the pair of second support columns 34a and 34b are connected to each other so as to be relatively rotatable about the z-axis direction.

  The proximal end side of the copying portion 40 is connected to the tip end portion of the first support column portion 32a in the x-axis direction. In addition, the motor can be driven to rotate around an axis connected to the other first column portion 32b of the one second column portion 34a. The motor rotates the second support column 34a around the z-axis, so that the first support column 32a and each part at the tip of the first support column 32a can move on the xy plane.

  But the structure of the 2nd moving mechanism part 30 is not restricted to an above-described thing. For example, the second moving mechanism unit may be a combination of a moving mechanism that is linearly movable back and forth in the x-axis direction and a moving mechanism that is linearly movable back and forth in the y-axis direction. Further, for example, a combination of a moving mechanism that can linearly move back and forth in the xy plane and a rotating mechanism that can rotate around the z axis may be used.

  The copying unit 40 receives the object W received when the hand unit 12 holds the object W or when the hand unit 12 and the object W move relative to each other while the hand unit 12 holds the object W. The hand portion 12 is formed so that its posture can be changed by external force.

  Specifically, here, three copying sections 40 are provided. The three copying units 40 are provided so as to be arranged in series between the first moving mechanism unit 22 and the second moving mechanism unit 30. Thereafter, when it is necessary to distinguish between the three copying sections 40, the copying section 40a is connected to the first moving mechanism section 22, the copying section 40b is connected to the copying section 40a, and the copying section 40b is connected to the copying section 40b. What is coupled to the moving mechanism unit 30 is referred to as a copying unit 40c. Further, when it is not necessary to distinguish between them, the copying unit 40 is simply referred to.

  But the number of the copying parts 40 and the arrangement | positioning location are not restricted above. For example, only one or two copying parts may be provided, or four or more copying parts may be provided. In addition, the copying unit may be disposed between the hand unit 12 and the first moving mechanism unit 22 like a copying unit 40d according to a modification example described later.

  More specifically, the copying unit 40 includes a first member 42 and a second member 44. The first member 42 and the second member 44 are coupled so as to be relatively rotatable around a predetermined axis by an external force. Here, the first member 42 and the second member 44 are connected to each other around a central axis of the pin 46 by a cylindrical pin 46 or the like so as to be relatively rotatable.

  The first member 42 includes a base end surface 43a and a pair of projecting surfaces 43b and 43c projecting from both ends in the width direction of the base end surface 43a so as to be orthogonal to the base end surface 43a.

  The second member 44 includes a base end surface 45a and a pair of projecting surfaces 45b and 45c projecting from both ends in the width direction of the base end surface 45a so as to be orthogonal to the base end surface 45a.

  And the 1st member 42 and the 2nd member 44 are connected so that protrusion surfaces and base end faces may oppose. At this time, the dimension connecting the inner surfaces of the pair of projecting surfaces 43b, 43c of the first member 42 is set to be approximately the same as the dimension connecting the outer surfaces of the pair of projecting surfaces 45b, 45c of the second member 44. The pair of projecting surfaces 45 b and 45 c of the second member 44 are located between the pair of projecting surfaces 43 b and 43 c of 42.

  The first member 42 and the second member 44 are formed so as to be relatively rotatable around an axis set in a direction parallel to a direction connecting the pair of projecting surfaces by receiving an external force. As described above, for example, the following can be considered as a configuration in which the first member 42 and the second member 44 can be relatively rotated by receiving the external force.

  That is, a configuration in which the first member 42 and the second member 44 are biased toward the relative position in the initial state before the relative rotation is conceivable. As the configuration in which the first member 42 and the second member 44 are biased toward the relative position in the initial state before the relative rotation, for example, a configuration in which both are connected via an elastic member is considered. It is done. An example of such an elastic member is a torsion coil spring. That is, after the coil portion of the shaft of the torsion coil spring is attached to the pin 46, for example, one end of the torsion coil spring is attached to the first member and the other end is attached to the second member. Thereby, the first member 42 and the second member 44 can rotate relative to each other by elastically deforming the torsion coil spring in response to the external force.

  However, it is not essential to use an elastic member, and an elastic piece that can be elastically deformed is formed on at least one of the first member 42 or the second member 44, and the elastic piece includes the first member 42 and the second member 44. It is conceivable that the urging force is applied toward the relative position in the initial state before the relative rotation.

  In addition, for example, a configuration in which the first member 42 and the second member 44 are attached so as to generate friction between the first member 42 and the second member 44 so as to maintain the current relative posture of both the members is conceivable. As a configuration for generating such friction, for example, the outward direction of the pair of projecting surfaces 45b and 45c of the second member 43 is larger than the distance between the inward surfaces of the pair of projecting surfaces 43b and 43c of the first member 42. It is conceivable that the distance between the surfaces is set slightly larger, and the pair of projecting surfaces 45b and 45c of the second member 43 are press-fitted between the pair of projecting surfaces 43b and 43c of the first member 42. Further, for example, a case where the pin 46 is press-fitted into a through hole for pin insertion formed in the first member 42 and the second member 44 is also conceivable. Further, a disc spring or the like is provided between the projecting surface 43b (43c) of the first member 42 and the projecting surface 45b (45c) of the second member 43, and both of them are in a state where the disc spring is elastically deformed by the disc spring. A case of contact is also conceivable. In these cases, the sum of the forces related to the first member 42 and the second member 44 including the external force exceeds the static frictional force, so that the first member 42 and the second member 44 can rotate relative to each other.

  Here, the first member 42a and the second member 44a of the copying portion 40a are provided so as to be relatively rotatable around the y axis in a state where the other copying portions 40b and 40c are not rotating. The first member 42b and the second member 44b of the copying portion 40b and the first member 42c and the second member 44c of the copying portion 40c are provided so as to be relatively rotatable around the z-axis regardless of other copying portions. Yes.

<Attitude change operation>
Here, how the hand unit 12 of the wire harness robot 10 changes its posture will be described with reference to FIGS. 4 and 5. 4 and 5 are explanatory diagrams showing a state in which the posture of the wire harness robot 10 is changed. 4 shows a state where the posture of the wire harness robot 10 is changed around the z axis, and FIG. 5 shows a state where the posture of the wire harness robot 10 is changed around the y axis.

  First, with reference to FIG. 4, the manner in which the hand portion 12 of the wire harness robot 10 changes its posture around the z axis will be described.

  For example, when the hand portion 12 is sliding along the wire bundle W while holding the wire bundle W extending along the y-axis direction, the hand portion 12 is placed at a portion where the wire bundle W is bent in the x-axis direction. When 12 is approaching, the portion of the hand portion 12 that has not been in contact with the wire bundle W until then (the lower surface of one of the pair of gripping portions 14 in FIG. 4) contacts the wire bundle W. By further sliding in this state, the hand portion 12 receives an external force in a direction in which the posture change is urged from the wire bundle W (for example, in FIG. 4, a direction intersecting the y axis in the xy plane).

  This external force is transmitted to the copying portion 40b and the copying portion 40c, and the first member 42b, 42c and the second member 44b, 44c of the copying portion 40b, 40c rotate relative to each other around the z axis, so that the hand portion 12 becomes z Change posture to rotate around the axis.

  Next, with reference to FIG. 5, a state in which the posture of the hand unit 12 of the wire harness robot 10 is changed around the y axis will be described.

  For example, when the hand portion 12 is sliding along the wire bundle W while holding the wire bundle W extending along the y-axis direction, the wire bundle W is bent in the x-axis direction and the z-axis direction. When the hand portion 12 reaches the portion, the portion of the hand portion 12 that has not been in contact with the wire bundle W until then (the lower surface of one of the pair of gripping portions 14 in FIG. 5) contacts the wire bundle W. . By further sliding in this state, external force is applied in the direction in which the hand unit 12 is prompted to change the posture from the wire bundle W (for example, in FIG. 5, the direction intersecting the x-axis, y-axis, and z-axis). receive.

  This external force is transmitted to the copying unit 40a, and the first member 42a and the second member 44a of the copying unit 40a rotate relative to each other around the y axis, so that the hand unit 12 changes its posture so as to rotate around the y axis. At this time, the external force is transmitted to the copying portion 40b and the copying portion 40c, and the first members 42b and 42c and the second members 44b and 44c of the copying portions 40b and 40c are relatively rotated around the z-axis, The posture is changed so that the hand unit 12 also rotates around the z axis.

  1 to 3, here, the copying unit 40 is configured to be able to switch between a state in which the posture of the hand unit 12 can be changed and a state in which the posture cannot be changed. Hereinafter, a state in which the copying unit 40 can change the posture of the hand unit 12 is referred to as a copying unit 40 being on, and a state in which the copying unit 40 cannot change the posture of the hand unit 12 is referred to as a copying unit 40 being in an off state. Here, the copying mechanism 40 is switched between an on state and an off state by the brake mechanism unit 50.

  Here, the brake mechanism unit 50 is capable of holding the first member 42 and the second member 44 of the copying unit 40 in a state in which the first member 42 and the second member 44 can be rotated relative to each other. It is possible to switch between the off state and the off state.

  Specifically, the brake mechanism unit 50 includes a first brake member attached to the first member 42 and a second brake member attached to the second member 44. The first brake member and the second brake member are provided so as to be able to switch between a state where they are pressed against each other and a state where they are separated from each other. And the friction which makes the 1st member 42 and the 2nd member 44 improper rotation is generated in the state where the 1st brake member and the 2nd brake member were pressed mutually.

  More specifically, here, the brake mechanism unit 50 employs a brake using a coil 52 and a magnetic body 54, a so-called electromagnetic brake. Further, here, a so-called exciting operation type electromagnetic brake is employed which is applied when energized as an electromagnetic brake. However, other brake mechanisms such as a hydraulic brake may be employed for the brake mechanism unit 50. Even when an electromagnetic brake is employed, a so-called non-excitation operation type electromagnetic brake may be employed in which the brake is applied when power is turned off.

  The coil 52 is attached to the outer surface of one projecting surface 43 c of the first member 42.

  The magnetic body 54 is attached to the outer surface of the protruding surface 45c located on the same side as the protruding surface 43c of the first member 42 to which the coil 52 is attached, of the pair of protruding surfaces 45b and 45c of the second member 44. At this time, here, a through hole is formed in the projecting surface 43c of the first member 42 and the coil 52, and one of the end portions of the support shaft portion 56 inserted through the through hole is located outside the coil 52. A magnetic body 54 is attached to the side end. Further, the other end portion of the end portions of the support shaft portion 56 is connected to the protruding surface 45 c of the second member 44.

<Switching between posture changeable / impossible>
Here, switching of the copying unit 40 between the on state and the off state by the brake mechanism unit 50 will be described with reference to FIGS. 6 and 7. FIGS. 6 and 7 are explanatory diagrams for explaining a state in which the posture changeable state and the posture change impossible state are switched in the wire harness robot 10. 6 shows the copying unit 40 in an on state, and FIG. 7 shows the copying unit 40 in an off state.

  Here, by switching between the on state and the off state of the brake mechanism unit 50, the on state and the off state of the copying unit 40 are switched. Here, the state where the brake mechanism unit 50 is off corresponds to the copying unit 40 being on, the state where the braking mechanism unit 50 is on corresponds to the state where the copying unit 40 is off.

  Specifically, when the brake mechanism unit 50 is in an off state, that is, when the coil 52 is not energized, no attractive force is acting on the coil 52 and the magnetic body 54, and therefore the coil 52 and the magnetic body 54 The static friction force between the first member 42 and the second member 44 does not increase. For this reason, the first member 42 and the second member 44 are rotatable relative to each other, and the copying unit 40 is turned on.

  On the other hand, when the brake mechanism unit 50 is on, that is, when the coil 52 is energized, an attractive force acts on the coil 52 and the magnetic body 54, and the magnetic body 54 moves toward the coil 52 with respect to the coil 52. Thus, the pressing force between the inward surface of one projecting surface 43 c of the first member 42 and the outward surface of one projecting surface 45 c of the second member 44 increases. As a result, an increase in the static frictional force is generated between the first member 42 and the second member 44, so that the first member 42 and the second member 44 are not allowed to rotate relative to each other even when receiving an external force.

  Here, although the brake mechanism unit 50 has been described as being switchable between two stages of an on state and an off state, this is not essential. For example, the brake mechanism unit may be capable of changing the strength of the brake in multiple stages by adopting a configuration such that the current flowing through the coil 52 can be adjusted. Thereby, the lower limit value of the external force with which the copying unit 40 can change the posture can be switched. In addition, the amount of posture deformation with respect to the same external force can be changed.

<Operation control of robot 10 for wire harness>
Next, operation control of the wire harness robot 10 will be described by taking a shape forming process for forming the shape of the wire bundle W into a desired shape as an example.

  Here, for example, an object shape recognition device 90 capable of recognizing the shape of the wire bundle is disposed in the work space of the wire harness robot 10, and the wire harness robot 10 and the object shape recognition device 90 are controlled by the control device. 80 will be described as being connected to each other so that they can communicate with each other. The control device 80 performs processing control such as shape forming processing or line concentrating processing by combining the motion control for causing the wire harness robot 10 to perform various operations such as a moving operation and a holding operation.

  Here, a configuration example of the control device 80 will be described. FIG. 8 is a block diagram illustrating a configuration example of a control device 80 that performs operation control of the wire harness robot 10.

  The control device 80 is configured by a 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. The ROM 82 stores a basic program (BIOS) for starting up the computer, and the RAM 83 is used as a work area when the CPU 81 performs processing according to a predetermined procedure. 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 an OS (operation system) 84a, a shape formation control program 84b, and the like. In addition, the external storage device 84 may store a program that matches the work content of the wire harness robot 10, such as a concentrator control program.

  The shape formation control program 84b defines a procedure for performing the process of forming the shape of the wire bundle into a desired shape as described above, and the main control is performed according to the procedure described in the shape formation control program 84b. The shape forming process of the wire bundle W is performed by the CPU 81 as a unit performing the calculation process.

  The CPU 81 is connected to the wire harness robot 10 via the communication unit 85 so as to be communicable. Further, here, the CPU 81 will be described as being communicably connected to the object shape recognition device 90 via the communication unit 85.

  Next, the shape forming process will be described with reference to FIG. FIG. 9 is a flowchart of the shape forming process.

  The shape forming process in the wire harness robot 10 is started in a state where the object W is set in the work space of the wire harness robot 10.

  In the wire harness robot 10, when the shape forming process is started, the movement path is specified in step S1. Here, the object shape recognition device 90 reads information such as the shape and position of the object W in the work space, and transmits the information to the control device 80. The control device 80 calculates the movement path of the hand unit 12 based on the received information such as the shape and position of the object W. The movement path is, for example, an approach movement path from the initial position to a position where the object W is held, a holding movement path from the approached state to the holding state, and a sliding sliding along the wire bundle in the held state. A moving route or the like can be considered.

  When the identification of the movement path is completed, in the next step S2, the control device 80 outputs a copying unit off signal to the wire harness robot 10 so that the copying unit 40 is turned off. Specifically, the control device 80 outputs a signal to turn on the brake mechanism unit 50. In response to this, when the brake mechanism unit 50 is turned on, the copying unit 40 is in a state in which the posture of the hand unit 12 cannot be changed.

  In step S <b> 3, the control device 80 outputs an approach movement start signal to the wire harness robot 10. Specifically, the control device 80 transmits approaching movement route information to the movement mechanism unit 20. In response to this, the first moving mechanism unit 22 and the second moving mechanism unit 30 move the hand unit 12 to a predetermined position near the object W.

  In step S4, the control device 80 outputs a copying unit ON signal to the wire harness robot 10 so that the copying unit 40 is turned on. Specifically, the control device 80 outputs a signal to turn off the brake mechanism unit 50. In response to this, when the brake mechanism unit 50 is turned off, the copying unit 40 can change the posture of the hand unit 12.

  In step S <b> 5, the control device 80 outputs a holding start signal to the wire harness robot 10. Specifically, the control device 80 transmits a signal to the hand unit 12 so as to be in a posture capable of holding the object W, for example, in a state where the gripping unit 14 is opened. Further, the control device 80 transmits the holding movement route information to the movement mechanism unit 20. In response to this, the moving mechanism unit 20 moves the hand unit 12 in a posture capable of holding the object W to a position where the object W can be held. Then, when the movement of the hand unit 12 by the first moving mechanism unit 22 is completed, the control device 80 transmits a signal to the hand unit 12 so as to take a posture of holding the object W.

  In step S <b> 6, the control device 80 outputs a sliding start signal to the wire harness robot 10. Specifically, the control device 80 transmits sliding path information to the moving mechanism unit 20. In response to this, the moving mechanism unit 20 slides the hand unit 12 holding the object W along the object W.

  Thus, the shape forming process is completed.

  After the shape forming process is completed, the state of the copying unit 40 (the state of relative rotation between the first member 42 and the second member 44) is returned to the original state with the hand unit 12 separating the object W. It may be set so that it does not return to the original. When the copying unit 40 changes the posture of the hand unit 12 using elastic deformation, when the hand unit 12 releases the object W, the one that has been elastically deformed is restored.

  In the shape forming process, since the copying unit 40 changes the posture of the hand unit 12 by the external force received by the hand unit 12 with respect to the posture change of the hand unit 12, the processing control can be performed by omitting or simplifying the mechanical feedback. Becomes easier. In addition, complicated processing such as linear prediction analysis regarding the posture change of the hand unit 12 by the copying unit 40 can be omitted, and the processing control is facilitated.

  In the shape forming process, the object shape recognition device 90 may be omitted. In this case, an operator may input the movement route of the hand unit 12.

  According to the wire harness robot 10 according to the embodiment, when the hand unit 12 that can hold the object W, the moving mechanism unit 20 that can move the hand unit 12, and the hand unit 12 hold the object W, or A copying unit 40 that can change the posture of the hand unit 12 by an external force from the object W that is received when the hand unit 12 and the object W move relative to each other while the hand unit 12 holds the object W. Therefore, even when the object W is a flexible object such as an electric wire, an excessive force is applied to the object W to damage the object W, or the movement of the hand unit 12 is hindered by a wire hook or the like. Can be suppressed. Thereby, the efficiency of the assembly work of the wire harness by a robot can be improved.

  In particular, since complicated control such as dynamic feedback or linear prediction analysis can be omitted, the wire harness robot 10 can be easily realized. Further, since complicated control such as dynamic feedback or linear prediction analysis can be omitted, the processing speed can be improved, and the efficiency of assembly work of the wire harness by the robot can be increased.

  Further, since the copying unit 40 is configured to be able to switch between a state in which the posture of the hand unit 12 can be changed and a state in which the posture cannot be changed, for example, the object W is held while the hand unit 12 holds the object W. When it is not desired to change the posture, for example, when the hand unit 12 is moved, the posture is not changed, and when the posture is changed, the posture can be changed only.

  Further, since the hand unit 12 is formed by the copying unit 40 so that the posture can be changed around a plurality of axes, when the hand unit 12 moves relative to the target object W while holding the target object W, the target object is more It can move according to the shape of W. Thereby, since it can suppress more reliably that excessive force is applied to the target object W, the efficiency of the assembly work of the wire harness by a robot can be improved.

  In addition, since the copying unit 40 includes the first member 42 and the second member 44 that is connected to the first member 42 so as to be relatively rotatable around a predetermined axis by an external force, the first member 42 receives the external force and receives the first member 42. The posture of the hand unit 12 can be changed by the relative rotation between the member 42 and the second member 44.

{Modification}
Next, a modification of the wire harness robot will be described. FIG. 10 is a partially enlarged plan view showing a wire harness robot 10A according to a modification. FIG. 11 is a partially enlarged side view showing a wire harness robot 10A according to a modification. In the description of this modification, the same components as those described in the embodiment are denoted by the same reference numerals and description thereof is omitted.

  The wire harness robot 10A according to the modification is different from the wire harness robot 10 according to the embodiment in that it includes a copying unit 40d.

  Specifically, the copying part 40d is formed in the same shape as each copying part 40a, 40b, 40c. The copying unit 40d is connected between the hand unit 12 and the first moving mechanism unit 22 along the z-axis direction. The first member 42d and the second member 44d are provided so as to be relatively rotatable about the x axis. Thereby, the posture of the hand unit 12 can be changed around the x axis.

  Here, a state where the posture of the wire harness robot 10A according to the modification is changed will be described with reference to FIG. FIG. 12 is an explanatory diagram showing a state in which the posture of the wire harness robot 10A according to the modification is changed. In FIG. 12, the hand unit 12 changes its posture around the x axis.

  For example, when the hand portion 12 is sliding along the wire bundle W while holding the wire bundle W extending along the y-axis direction, the hand portion 12 is placed at a portion where the wire bundle W is bent in the z-axis direction. When 12 is approaching, a portion of the hand portion 12 that has not been in contact with the wire bundle W until then (in FIG. 12, the bottom surfaces of both base end portions of the pair of gripping portions 14) comes into contact with the wire bundle W. In this state, by further trying to slide, the hand unit 12 is in a direction in which the posture change is prompted from the wire bundle W (for example, in FIG. 12, on the yz plane, the direction intersecting the y axis and the z axis). Receive external force.

  This external force is transmitted to the copying unit 40d, and the first member 42d and the second member 44d of the copying unit 40d rotate relative to each other around the x axis, so that the hand unit 12 changes its posture so as to rotate around the x axis.

  Moreover, in the said embodiment, although the copying part 40 is formed so that switching of the state which can change the attitude | position of the hand part 12 and the state which cannot change attitude | position is possible, this is not essential. The copying unit does not take a state in which the posture cannot be changed, and may always maintain the hand unit in a state in which the posture can be changed.

  Further, in the above-described embodiment, the wire harness robot 10 includes the brake mechanism unit 50 as a configuration in which the copying unit 40 can switch between a state in which the posture of the hand unit 12 can be changed and a state in which the posture cannot be changed. This is not essential. For example, by separately providing a screw that can fix the first member and the second member, and tightening and loosening the screw, the copying unit switches between a state in which the posture of the hand unit can be changed and a state in which the posture cannot be changed. It may be possible.

  Moreover, in the said embodiment, although the copying part 40 demonstrated that the hand part 12 changed the attitude | position of the hand part 12 with the external force at the time of sliding in the state which hold | maintained the target object W, this is not essential. . Even when the hand unit 12 does not hold the object W, the hand unit 12 is newly added when the hand unit 12 moves along the object W in the vicinity of the object W with respect to the object W. In some cases, the copying unit 40 may change the posture of the hand unit 12 due to an external force when coming into contact with the object W.

  Moreover, in the said embodiment, although the copying part 40 demonstrated that the 1st member 42 and the 2nd member 44 were relatively rotatable, the structure of a copying part is not restricted above. For example, as the copying portion, two parallel flat plates arranged at intervals and two main surfaces of the parallel flat plates are connected so as to be elastically deformable in a direction connecting the main surfaces. A configuration including a spring or an elastic member such as rubber is conceivable. In this case, the copying mechanism can be switched between the on state and the off state by adjusting the distance between the two flat plates, that is, the amount of elastic deformation of the elastic member, by the brake mechanism unit. More specifically, the copying portion is turned off by reducing the distance between the two flat plates so that the compression amount of the elastic member is increased. In addition, for example, when the elastic member is not elastically deformed, the copying portion is turned off by increasing the distance between the two flat plates so that the amount of compression of the elastic member is reduced.

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

  As described above, the present invention has been described in detail. However, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Wire harness robot 12 Hand part 20 Movement mechanism part 22 1st movement mechanism part 30 2nd movement mechanism part 40, 40a, 40b, 40c, 40d Copy part 42, 42a, 42b, 42c, 42d 1st member 44, 44a , 44b, 44c, 44d Second member 50 Brake mechanism W Object

Claims (4)

A hand portion capable of holding an object;
A moving mechanism unit capable of moving the hand unit;
When the hand unit holds the object or when the hand unit holds the object and the hand unit and the object move relative to each other, an external force from the object receives the hand. A copying part whose posture can be changed,
A wire harness robot comprising: The wire harness robot according to claim 1,
The wire harness robot, wherein the copying unit is configured to be switchable between a state in which the posture of the hand unit can be changed and a state in which the posture cannot be changed. The wire harness robot according to claim 1 or 2,
The wire harness robot, wherein the hand portion is formed by the copying portion so as to be able to change its posture around a plurality of axes. It is a robot for wire harnesses of any one of Claims 1-3,
The copying part is
A first member;
A second member connected to the first member so as to be relatively rotatable around a predetermined axis by the external force;
A wire harness robot comprising:

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