JP2017147132A - Wire end state inspection device, wire end binding device and manufacturing method of wire harness - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method capable of binding a plurality of wires extended from a connector in a state where wires extending from the connector are as straightened as possible.SOLUTION: A wire end state inspection device inspects an end state of a plurality of wires 11 when a plurality of wires 11 extended from a connector 14 are bound at a position distanced from the connector 14. The wire end state inspection device includes a route information acquisition part for acquiring route information of the plurality of wires 11 extended from the connector 14, and a wire end state inspection part for determining whether the plurality of wires 11 are present within a criteria boundary L based on the route information of the plurality of wires acquired at the route information acquisition part and a criteria boundary L set at an outside position between the connector 14 and a planned binding position E2 of the plurality of wires 11.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a technique for inspecting the state of a terminal of a wire harness when binding the terminal of a wire harness.

  Patent Document 1 discloses a harness wiring device for arranging several wires in a required form and a tape winding unit for bundling a plurality of wires of the harness wiring device by tape winding in a desired direction. The manufacturing apparatus of the wire harness comprised with a winding apparatus is disclosed. As a harness wiring device, a harness shaping device is disclosed in which the plurality of electric wires are routed along a plurality of vertical rails. The connector of the sub-wire harness is set on a vertical rail receiving jig, and the electric wire portion of the sub-wire harness hangs down to the lower frame. Thereafter, the wire harness is shaped, and the main line portion and the branch line portion are bound.

JP 2008-192456 A

  However, as disclosed in Patent Document 1, when the electric wire portion of the sub-wire harness hanging from the connector set on the receiving jig is to be bound, the electric wire is bent or jumped between the connector and the binding portion. There is a fear.

  Accordingly, an object of the present invention is to enable a plurality of electric wires extending from a connector to be bundled in a state where the electric wires extending from the connector are as straight as possible.

  In order to solve the above-described problem, a first aspect is an electric wire terminal state inspection device that inspects the terminal state of the plurality of electric wires when binding a plurality of electric wires extending from the connector at a position away from the connector. A path information acquisition unit that acquires path information of a plurality of electric wires extending from the connector, a path information of the plurality of electric wires acquired by the path information acquisition unit, and a planned binding location of the connector and the plurality of electric wires And an electric wire terminal state inspecting unit that determines whether or not the plurality of electric wires exist within the reference boundary based on a reference boundary set at an outer position between the two.

  A 2nd aspect is an electric wire terminal state inspection apparatus which concerns on a 1st aspect, Comprising: The said reference | standard boundary is the position according to the magnitude | size of the rear-end part of the said connector, and the planned binding diameter of the said planned binding location. It is set so as to connect the corresponding positions.

  A 3rd aspect is an electric wire terminal state inspection apparatus which concerns on the 1st or 2nd aspect, Comprising: The said path | route information acquisition part is an imaging part which images the some electric wire extended from a connector, The said electric wire terminal Whether the plurality of electric wires exist within the reference boundary by determining whether or not the plurality of electric wires have reached the reference boundary based on an image captured by the imaging unit It is to determine whether or not.

  A 4th aspect is an electric wire terminal state inspection apparatus which concerns on a 3rd aspect, Comprising: At least one of the said imaging part and the said connector is rotated centering on the line which connects the said connector and the said scheduled binding location. The route information acquisition unit further includes a rotational movement mechanism, changes the imaging direction around a line connecting the connector and the planned binding location, images a plurality of wires extending from the connector a plurality of times, and The terminal state inspection unit determines whether or not the plurality of electric wires have reached the reference boundary based on each of the plurality of images captured by the imaging unit.

  According to a fifth aspect, the wire terminal state inspection device according to any one of the first to fourth aspects, the bundling mechanism for bundling the plurality of electric wires, and the plurality of electric wires exist within the reference boundary. When it is determined, the bundling mechanism includes a bundling operation control unit that binds the planned bundling portions of the plurality of electric wires.

  A 6th aspect is an electric wire terminal binding apparatus which concerns on a 5th aspect, Comprising: The electric wire straightening mechanism which corrects the said some electric wire is further provided, The said binding operation control part, The said several electric wire is in the said reference boundary. When it is determined that the wire does not exist, the plurality of wires between the connector and the planned binding portion are straightened by the wire straightening mechanism.

  The manufacturing method of the wire harness according to the seventh aspect includes (a) a step of setting a connector from which a plurality of electric wires extend to a connector holder, and (b) route information of the plurality of electric wires extending from the connector. A step of acquiring, (c) route information of the plurality of electric wires acquired in the step (b), and a reference boundary set at an outer position between the connector and a planned binding portion of the plurality of electric wires. A step of determining whether or not the plurality of electric wires exist within the reference boundary, and (d) when it is determined in the step (c) that the plurality of electric wires exist within the reference boundary. (B) correcting the plurality of electric wires when it is determined in step (c) that the plurality of electric wires do not exist within the reference boundary. The process of

  According to the first aspect, based on the route information of the plurality of wires acquired by the route information acquisition unit and the reference boundary set at the outer position between the connector and the planned binding location of the plurality of wires, a plurality of In order to determine whether or not a plurality of wires are present within the reference boundary, when a plurality of wires are present within the reference boundary, the plurality of wires extending from the connector are bundled, and the plurality of wires are within the reference boundary. If not present, it is possible to perform bundling or correction of the electric wire. Thereby, the several electric wire extended from a connector can be bundled in the state which the electric wire extended from the connector became as straight as possible.

  According to the 2nd aspect, an appropriate reference | standard boundary can be set according to the magnitude | size of a connector, a plan binding diameter, etc. FIG.

  According to the 3rd aspect, it can be determined comparatively easily whether a some electric wire exists in the said reference | standard boundary based on the picked-up image by an imaging part.

  According to the fourth aspect, in order to determine whether or not a plurality of electric wires have reached the reference boundary based on each of the captured images from a plurality of directions, the electric wire extending from the connector is more straightened. Thus, a plurality of electric wires extending from the connector can be bundled.

  According to the fifth aspect, when it is determined that a plurality of electric wires are present within the reference boundary, the electric wire extending from the connector is as straight as possible in order to bind the planned binding portions of the plurality of electric wires. Thus, a plurality of electric wires extending from the connector can be bundled.

  According to the sixth aspect, when it is determined that the plurality of electric wires do not exist within the reference boundary, the plurality of electric wires between the connector and the planned binding location can be corrected by the electric wire correction mechanism. it can.

  According to the seventh aspect, when it is determined that the plurality of electric wires do not exist within the reference boundary, the plurality of electric wires between the connector and the planned binding location can be corrected by the electric wire correction mechanism. it can. For this reason, a wire harness with few slackness of an excess electric wire, etc. can be manufactured.

It is a figure which shows an example of a wire harness. It is the schematic which shows an electric wire terminal binding apparatus. It is a block diagram which shows a process control part. It is a flowchart which shows the inspection process by an inspection unit. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is a figure which shows an example which set the reference | standard boundary to the captured image of the terminal of an electric wire. It is a figure which shows an example which set the reference | standard boundary to the captured image of the terminal of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows a 1st modification. It is a figure which shows an example which set the reference boundary in the captured image of the terminal of an electric wire in the 1st modification. It is explanatory drawing which shows a 1st modification.

  Hereinafter, the manufacturing method of an electric wire terminal uniting apparatus provided with the electric wire terminal state inspection apparatus which concerns on embodiment, and a wire harness is demonstrated.

<About wire harness>
First, the wire harness 10 to be inspected or processed will be described. FIG. 1 is an expanded view of an example of the wire harness 10. In FIG. 1, the electric wire 11 passing through the same path is drawn with a single line. For this reason, in FIG. 1, the electric wire 11 drawn with one line may actually be a bundle of a plurality of electric wires 11.

  In the wire harness 10 to be processed, a plurality of connectors 14 are connected via a plurality of electric wires 11. More specifically, the wire harness 10 has a configuration in which a plurality of electric wires 11 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 11 is inserted and connected to the connector 14. FIG. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle. The electric wires 11 included in the wire harness 10 are bundled while being branched in a form corresponding to the laying route in the vehicle.

  As described above, the connector 14 is connected to the end of the electric wire 11. For example, the electric wire 11 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.

  The main body of the connector 14 is integrally formed of, for example, an insulating resin material. In the main body of the connector 14, a plurality of cavities in which the terminals at the end of the electric wire 11 can be inserted and held are formed. When the terminals of the plurality of electric wires 11 are inserted and held in the cavities, the plurality of electric wires 11 are extended from each connector 14.

<About wire terminal bundling device>
The electric wire terminal binding device 20 will be described. FIG. 2 is a schematic view showing the electric wire terminal binding device 20. The electric wire terminal bundling device 20 includes a first robot 30 and a second robot 40 as a bundling mechanism for bundling a plurality of electric wires 11, an imaging unit 50, and a processing control unit 60. The processing control unit 60 functions as an electric wire terminal state inspection unit that inspects the terminal state of the electric wire 11 based on an image captured by the imaging unit 50 and a bundling operation that controls the operation of the first robot 30 and the second robot 40. It has a function as a control unit. The electric wire terminal state inspection device includes an imaging unit 50 and a functional part as an electric wire terminal state inspection unit in the processing control unit 60.

  Here, the electric wire terminal binding device 20 includes a connector holding unit 70. The connector holding portion 70 is configured to be able to hold the connector 14 in a state where the electric wire 11 is suspended from the connector 14. More specifically, the connector holding part 70 includes a frame part 72 and a connector holder 76. The frame unit 72 includes a horizontal frame 73 and a vertical frame 74. The vertical frame 74 is supported in a standing state on the floor. The horizontal frame 73 is supported in a horizontal posture at a position on the floor by a vertical frame 74. The connector holder 76 is supported at a position on the floor by the horizontal frame 73. The connector holder 76 detachably supports the connector 14 in a state where the back portion of the connector 14 on the side where the electric wire 11 extends is exposed to the outside. For example, the connector holder 76 has a recess into which the connector 14 can be fitted, and the connector holder 76 can be detachably fitted into the recess. Here, a plurality of connector holders 76 are supported on the horizontal frame 73 at intervals. The connector 14 supports the connector 14 in a posture in which the back portion of the connector 14 on the side where the electric wire 11 extends is directed downward by the connector holder 76. The connector holder 76 may be configured to hold the back portion of the connector 14 on the side where the electric wire 11 extends in a lateral orientation.

  And each connector 14 is supported by each said connector holder 76 in the state which inserted and hold | maintained the terminal of each edge part of the some electric wire 11 to each connector 14 corresponding. In this state, the electric wires 11 are not bundled. For this reason, each electric wire 11 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a position below each connector 14. The insertion of the end portion of the electric wire 11 into each connector 14 may be performed in a state where the connector 14 is set in the connector holder 76, or may be performed before the connector 14 is set in the connector holder 76.

  As described above, the plurality of electric wires 11 extending from the connector 14 are squeezed while the connector 14 and the electric wires 11 are held (see a rectangular region E1 in FIG. 2). Further, below the region E1, the plurality of electric wires 11 are bundled with the adhesive tape 80 (see FIG. 2, the circular scheduled binding portion E2 in FIG. 2). Thereby, the some electric wire 11 is bound so that the form of the said wire harness 10 may be made. The plurality of electric wires 11 may be bound between the planned binding location E2 and the connector 14, between the planned binding locations E2, and the like.

  The 1st robot 30 and the 2nd robot 40 as a binding mechanism are comprised so that the some electric wire 11 can be bundled. As the first robot 30 and the second robot 40, general industrial robots can be used. In FIG. 2, general vertical articulated robots are illustrated as the first robot 30 and the second robot 40.

  The first robot 30 includes a robot arm 32 and a robot hand 34 provided at the tip of the robot arm 32. The robot hand 34 can be moved to each work position by driving the robot arm 32. The robot hand 34 includes a plurality of fingers, and grips the electric wires 11 with the plurality of fingers, or squeezes the plurality of electric wires by moving in the extending direction while holding the plurality of electric wires 11. The plurality of electric wires 11 can be held in a bundled state. In particular, in a state where the robot hand 34 is moved to a position below the connector 14 by driving the robot arm 32, the plurality of electric wires 11 are held lightly by the robot hand 34. In this state, the robot hand 34 is driven by driving the robot arm 32. Is moved downward, the plurality of electric wires 11 extending from the connector 14 can be squeezed. That is, the first robot 30 is used as an electric wire correction mechanism that corrects the plurality of electric wires 11 to be as straight as possible. By maintaining the state in which the robot hand 34 holds the plurality of electric wires 11 while the robot hand 34 moves downward from the connector 14, the plurality of electric wires 11 can be kept in a bundled state.

  The second robot 40 includes a robot arm 42 and a bundling device 44 provided at the tip of the robot arm 42. The bundling device 44 can be moved to each work position by driving the robot arm 42. The binding device 44 is a device that binds the plurality of electric wires 11 with an adhesive tape or the like. As the binding device 44, for example, a tape winding body around which the adhesive tape is wound is rotated around the plurality of electric wires 11, so that the adhesive tape is wound around the plurality of electric wires 11. An apparatus can be used. In particular, in a state where the plurality of electric wires 11 are bundled by the robot hand 34 at a lower position away from the connector 14, the bundling device 44 is connected to the upper side or the lower side of the robot hand 34 by driving the robot arm 42. In the state moved to the position, the binding device 44 can wind the adhesive tape around the plurality of electric wires 11 to bind the plurality of electric wires 11 together.

  Here, the example in which the first robot 30 and the second robot 40 are provided separately has been described, but the robot hand 34 and the binding device 44 may be moved by a common robot arm.

  The imaging unit 50 is used as a route information acquisition unit that acquires route information of the plurality of electric wires 11 extending from the connector 14. Here, the imaging unit 50 is configured to be able to image the plurality of electric wires 11 extending from the connector 14. Has been. That is, the imaging unit 50 is an imaging camera configured by a CCD camera or the like. As the imaging unit 50, a two-dimensional camera may be used, or a stereo camera may be used. Here, the former example will be described.

  The processing control unit 60 is connected to the first robot 30, the second robot 40, and the imaging unit 50. The image picked up by the image pickup unit 50 is given to the processing control unit 60, whereby the processing control unit 60 determines whether the terminal state of the electric wire 11 is good or bad. Further, the first robot 30 and the second robot 40 perform a bundling operation under the control of the processing control unit 60.

  FIG. 3 is a block diagram showing the machining control unit 60. The processing control unit 60 is configured by a general computer in which a CPU 62, a ROM 63, a RAM 64, an external storage device 65, and the like are interconnected via a bus line 61. The ROM 63 stores basic programs and the like, and the RAM 64 is used as a work area when the CPU 62 performs processing according to a predetermined procedure. The external storage device 65 is configured by a nonvolatile storage device such as a flash memory or a hard disk device. The external storage device 65 stores an OS (operation system) 66 and a machining program 67 including a determination program 67a for determining the state of the terminal of the electric wire 11. As will be described in detail later, according to the procedure described in the machining program 67, the CPU 62 as the main control unit performs arithmetic processing, thereby controlling the operation of the first robot 30 and the second robot 40 and the terminal state of the electric wire 11. Judgment etc. are made.

  In the processing control unit 60, an image signal input interface 68 and an input / output interface 69 are also connected to the bus line 61. Then, the image pickup signal of the image pickup unit 50 is input to the main processing control unit 60 through the image signal input interface 68 and used for the terminal state determination process of the electric wire 11. Further, a control signal from the machining control unit 60 is given to the first robot 30 and the second robot 40 via the input / output interface 69, and the first robot 30 and the second robot 40 are driven and controlled.

  Note that an input unit (not shown) configured by various switches, a touch panel, and the like is connected to the main processing control unit 60 so that various instructions to the main processing control unit 60 can be received. In addition, the processing control unit 60 may be configured to be connected to a display device configured by a liquid crystal display device, a lamp, or the like as necessary so that various information such as a determination result can be displayed.

  Note that some or all of the functions performed by the machining control unit 60 may be realized by hardware using a dedicated logic circuit or the like.

  FIG. 4 is a flowchart showing inspection processing by the processing control unit 60.

  First, in step S <b> 1, the processing control unit 60 instructs the first robot 30 to chuck the base of one connector 14 (a portion close to the connector 14 among the plurality of electric wires 11 connected to the connector 14). give. As a result, the first robot 30 chucks the base of the connector 14 by the robot hand 34. Note that the work position of the robot hand 34 at this time is determined by extracting the position of the connector 14 and the electric wire 11 extending from the connector 14 in the coordinates taught in advance or the image obtained by the imaging unit 50. Is done. The chucking is performed with the fingers closed to such an extent that the robot hand 34 can be moved along the extending direction of the plurality of electric wires 11.

  In the next step S <b> 2, the processing control unit 60 instructs the first robot 30 to perform the ironing operation. Specifically, the processing control unit 60 gives an instruction to move the robot hand 34 downward while the robot hand 34 chucks the plurality of electric wires 11. Then, the robot hand 34 moves downward while pulling the plurality of electric wires 11 from the connector 14. The robot hand 34 is lowered to the planned binding point E2 or a position adjacent to the upper side or the lower side thereof. As a result, the plurality of electric wires 11 are pulled by the robot hand 34 in a state where the plurality of wires 11 are linearly hung from the connector 14.

  In next step S <b> 3, the processing control unit 60 acquires an image of the terminal of the electric wire 11 (an image including the region E <b> 1) through the imaging unit 50.

  In next step S4, an electric wire image is extracted from the captured image. The extraction of the electric wire image is performed by executing a process for extracting a pixel presenting an electric wire image different from the background.

  In next step S5, the processing control unit 60 is based on the route information (wire image portion) of the plurality of wires 11 included in the captured image and the reference boundary L set at the outer position between the planned binding locations E2. Thus, whether or not the images of the plurality of electric wires 11 exist within the reference boundary L (that is, whether or not they exist within the two reference boundaries L on both sides), that is, the images of the electric wires 11 are on the reference boundary L It is determined whether or not it exists. The reference boundary L may be set in advance, or may be set for each determination based on the image captured by the imaging unit 50. An example of setting the reference boundary L will be described later. This determination result may be output as an external signal as needed, and may be provided for external display or the like. If it is determined in step S5 that the image of the electric wire 11 is on the reference boundary L, that is, if it is determined that the electric wire 11 is on the reference boundary L or protrudes from the reference boundary L, step S2 Return to and repeat ironing. On the other hand, when it is determined in step S5 that the image of the electric wire 11 is not on the reference boundary L, that is, it is determined that the electric wire 11 is not on the reference boundary L and is within the reference boundary L. Then, it progresses to step SS6.

  In step S6, the processing control unit 60 instructs the second robot 40 to bind the plurality of electric wires 11 at the planned binding location E2. Thereby, the 2nd robot 40 binds the some electric wire 11 by the binding apparatus 44 by the scheduled binding location E2. The work position of the bundling device 44 at this time is a position along the electric wire 11 in a coordinate taught in advance or an image obtained by the imaging unit 50 and a position away from the connector 14 by a predetermined distance. Determined by etc.

  The above processing is performed for each connector 14 and the plurality of electric wires 11 extending from the connector 14.

<Operation>
A method for manufacturing a wire harness will be described on the premise of the electric wire terminal binding device 20.

  First, each of the plurality of connectors 14 is prepared by connecting the ends of the plurality of wires 11, and the connector 14 from which the plurality of wires 11 extends is set in the connector holder 76 (see FIG. 2, step (a )). In this state, as shown in FIG. 5, the plurality of electric wires 11 are suspended from the connector 14.

  Next, as shown in FIG. 6, the robot hand 34 of the first robot 30 chucks a portion close to the connector 14 among the plurality of electric wires 11, and in this state, the robot hand 34 is lowered to perform the ironing operation. Make it. This ironing may be performed manually by the operator. Moreover, the ironing work is not essential.

  Thereafter, as shown in FIG. 7, the robot hand 34 moved to a lower position away from the connector 14 by a predetermined distance, and moved to or near the planned binding location E2 (here, the position above the planned binding location E2). It becomes a state. In this state, the plurality of electric wires 11 are pulled in a straight line between the connector 14 and the robot hand 34.

  In this state, as shown in FIG. 7, route information of the plurality of electric wires 11 extending from the connector 14 is acquired (step (b)). That is, the imaging unit 50 images the region E1 including the terminals of the plurality of electric wires 11.

  Thereafter, based on the route information of the plurality of wires 11 in the captured image captured by the imaging unit 50 and the reference boundary L set at the outer position between the connector 14 and the planned binding location E2, the plurality of wires. It is determined whether or not 11 exists within the reference boundary L (step (c)).

  Here, FIG. 8 is a diagram illustrating an example in which the reference boundary L is set in the captured image G. FIG. The captured image G includes a connector 14 and a plurality of electric wires 11 extending from the connector 14. The reference boundary L is experimentally, empirically, and speculatively set in relation to the allowable slack or protrusion of the electric wire 11 and the unacceptable slack or protrusion of the electric wire 11 in manufacturing the wire harness 10.

  For example, the reference boundary L corresponds to the position corresponding to the size (connector width W) of the rear end of the connector 14 (the end on the side where the electric wire 11 extends) and the planned binding diameter at the planned binding location E2. It can be set as a line connecting the positions. Specifically, the position P1 on both sides of the rear end portion of the connector 14 in the captured image G is separated from the center of the planned binding location E2 by a distance obtained by adding an additional length α to half of the planned binding diameter R (radius r). Considering the position P2, the line connecting P1 and P2 can be set as the reference boundary L. The additional length α can be set experimentally and empirically as a value that takes into account the variation in the binding diameter R allowed in the manufacture of the wire harness 10. The setting position of the connector 14 and the size of the connector 14 are determined in advance, and the number and thickness of the electric wires 11 extending from the connector 14 are also determined in advance. Therefore, the reference boundary L can be a line set in advance with the set position of the connector 14 as a reference. However, the reference boundary L may be set every time the determination is made with the position of the connector 14 recognized in the captured image G as a reference.

  The reference boundary L may be set as a line passing through a point on the outer side or the inner side of the width of the rear end portion of the connector 14. Further, the reference boundary L may be set as a line passing through the end of the planned binding diameter at the planned binding location E2. That is, the reference boundary L may be set as a line corresponding to the width of the connector 14 or the planned binding diameter at the planned binding location E2.

  At the time of determination, when the plurality of electric wires 11 extending from the connector 14 are pulled almost linearly toward the robot hand 34, as shown in FIG. 8, between the connector 14 and the expected binding location E2. The electric wire 11 extracted in the determination target region E3 (here, the region between the connector 14 and the robot hand 34 is set as the determination target region E3) does not exist on the reference boundary L. For this reason, it is determined that the plurality of electric wires 11 exist within the reference boundary L on both sides.

  On the other hand, as shown in FIG. 9, when the plurality of electric wires 11 extending from the connector 14 are greatly bent between the connector 14 and the robot hand 34, the electric wires 11 extracted in the determination target region E3 are L (see the electric wire 11a) or crosses the reference boundary L (see the electric wire 11b). For this reason, it is determined that the plurality of electric wires 11a and 11b exist outside the reference boundary L on both sides.

  If it determines with the some electric wire 11 existing in the reference | standard boundary L of both sides, as shown in FIG. 10, the binding apparatus 44 will be moved to the planned binding location E2, and the some electric wire 11 will be bound. Thereafter, when the bundling device 44 is retreated, as shown in FIG. 11, a plurality of electric wires 11 extending from the connector 14 are bundled at the planned bundling location E2.

  In addition, when it determines with the some electric wire 11 existing outside the reference | standard boundary L of both sides, the ironing operation | movement shown in FIG.6 and FIG.7 is performed, and it correct | amends so that the some electric wire 11 may become straight. This correction work may be done manually by the operator.

  Thereafter, imaging by the imaging unit 50 is performed, and the above process is repeated. When it is determined that the plurality of electric wires 11 are present in the reference boundary L on both sides, the plurality of electric wires 11 extending from the connector 14 are bound. To do.

  By performing the above for each of the plurality of connectors 14, the wire harness 10 in which the plurality of electric wires 11 extending from each connector 14 are bundled is manufactured.

<Effects>
As described above, according to the present embodiment, when the plurality of electric wires 11 extending from the connector 14 are bound at a position away from the connector 14, the terminal states of the plurality of electric wires 11 are inspected by the electric wire terminal state inspection device. . That is, whether or not a plurality of electric wires 11 exist within the reference boundary based on the path information of the electric wires 11 (image extracted as the electric wires 11) in the captured image captured by the imaging unit 50 and the reference boundary L. Determine. For this reason, when the plurality of electric wires 11 are present in the reference boundary L, the electric wires 11 extending from the connector 14 are bound, and when the plurality of electric wires 11 are not present within the reference boundary L, the binding is not performed. Or correction of the electric wire 11 etc. can be performed. Thereby, the several electric wire 11 extended from the connector 14 can be bundled in the state which the electric wire 11 extended from the connector 14 became as straight as possible.

  Moreover, since the reference boundary L is set as a line connecting a position corresponding to the size of the rear end of the connector 14 and a position corresponding to the planned binding diameter, the size of the connector 14 and the wires 11 to be bound are set. An appropriate reference boundary L can be set according to the planned binding diameter R according to the number of the like.

  Further, here, by determining whether or not the plurality of electric wires 11 has reached the reference boundary L based on the two-dimensional image imaged by the imaging unit 50, the plurality of electric wires 11 exist at the reference boundary L. In order to determine whether or not the plurality of electric wires 11 are used as a reference, the pixels corresponding to the electric wires 11 are extracted and recognized in the two-dimensional image and the pixels are on the reference boundary L. It can be determined whether or not the boundary L exists.

  Further, when it is determined that the plurality of electric wires 11 are present within the reference boundary L, the plurality of electric wires 11 extending from the connector 14 are used to cause the second robot 40 to bind the expected binding locations E2 of the plurality of electric wires 11. A plurality of electric wires 11 extending from the connector 14 can be bundled in a state as straight as possible.

  Moreover, when it is determined that the plurality of wires 11 do not exist within the reference boundary L, the plurality of wires 11 are bent or protruded because the first robot 30 squeezes and corrects the plurality of wires 11. If you are, you can correct this.

<Modification>
In the above embodiment, the imaging unit 50 has been described as being mounted on the first robot 30, but this is not necessarily required. The imaging unit 50 may be movably installed on another robot arm, or may be fixedly installed at another location.

  Moreover, although the said embodiment demonstrated the example which imaged the terminal part of the electric wire 11 from one place around the axis along the longitudinal direction, the terminal part of the electric wire 11 like the 1st modification shown in FIG. May be taken from a plurality of locations around the axis along the longitudinal direction (preferably, two locations differing by 90 degrees around the axis).

  Thereby, for example, as shown in FIG. 13, it is possible to confirm whether or not the electric wire 11 exists in the reference boundary L2 in the same manner as described above even in an image of the connector 14 viewed from the side. For example, if there is an electric wire 11a that crosses or intersects the reference boundary L2, it can be determined that the electric wire 11a does not exist within the reference boundary L. Thereby, the several electric wire 11 extended from the connector 14 can be bundled in the state which the electric wire 11 extended from the connector 14 became as straight as possible.

  In carrying out the above, the imaging unit 50 is supported by a robot arm or the like different from the robot arm 32 of the first robot 30, and the imaging unit 50 extends along the longitudinal direction of the terminal portion of the electric wire 11 by the robot arm. It is better to move around the axis. In this case, the another robot arm is a rotational movement mechanism that rotationally moves the imaging unit 50.

  Alternatively, as in the second modification shown in FIG. 14, the connector holder 76 is rotatably supported by a rotation support mechanism 176 including a motor or the like with respect to the horizontal frame, and the connector 14 is rotated by the rotation support mechanism 176. Accordingly, the terminal portion of the electric wire 11 may be imaged from a plurality of directions by the imaging unit 50 supported at a fixed position. In this case, the imaging unit 50 may be supported at a different location from the robot arm 32, and the robot hand 34 may be rotated about the axis along the longitudinal direction of the terminal of the electric wire 11. Even in this case, in a multi-directional image, it is possible to confirm whether or not the electric wire 11 exists within the reference boundary in the same manner as described above, and the electric wire 11 extending from the connector 14 is as straight as possible. A plurality of electric wires 11 extending from the connector 14 can be bundled. In this case, the rotation support mechanism 176 is a rotational movement mechanism that rotates the connector 14.

  As in the first and second modified examples, there is further provided a rotational movement mechanism that rotates at least one of the imaging unit 50 and the connector 14 around a line connecting the connector 14 and the planned binding location E2. The imaging unit 50 changes the imaging direction around the line line, images the plurality of electric wires 11 extending from the connector 14 a plurality of times, and based on each of the plurality of images captured by the imaging unit 50, By determining whether or not the plurality of electric wires 11 have reached the reference boundary L, the plurality of electric wires 11 extending from the connector 14 can be bound in a state where the electric wires 11 extending from the connector 14 are as straight as possible. .

  In the above embodiment, the imaging unit 50 captures a two-dimensional image and determines the state of the terminal of the electric wire 11 based on the two-dimensional image, but this is not necessarily required. A three-dimensional image including the terminal of the electric wire 11 may be obtained by a stereo camera or the like, and the above determination may be performed based on the three-dimensional image. In this case, the three-dimensional image can be projected onto a two-dimensional image obtained by viewing the terminal of the electric wire 11 from one direction, and the same determination as described above can be performed based on the two-dimensional image. Alternatively, in the three-dimensional image, a tube-like reference boundary surface that surrounds the plurality of electric wires 11 is set between the connector 14 and the planned binding location E2, and it is confirmed whether or not the electric wires 11 have reached the reference boundary surface. Thereby, the terminal state of the electric wire 11 can be determined. The reference boundary surface is, for example, a circle centered on the outer periphery of the rear end portion of the connector 14 and the planned binding location (the radius is a value obtained by adding an additional length α to half of the planned binding diameter R (radius r)). It can be set as an annular surface to be connected.

  In addition, each structure demonstrated in 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 11 Electric wire 14 Connector 20 Electric wire terminal binding apparatus 30 1st robot 34 Robot hand 40 2nd robot 44 Binding apparatus 50 Imaging part 60 Processing control part 67 Processing program 67a Determination program 70 Connector holding part 76 Connector holder 176 Rotation support mechanism E2 Planned binding location L, L2 Reference boundary R Planned binding diameter

Claims (7)

A wire terminal state inspection device that inspects the terminal state of the plurality of wires when binding a plurality of wires extending from the connector at a position away from the connector,
A route information acquisition unit for acquiring route information of a plurality of electric wires extending from the connector;
Based on the route information of the plurality of wires acquired by the route information acquisition unit and the reference boundary set at the outer position between the connector and the planned binding location of the plurality of wires, the plurality of wires are An electric wire terminal state inspection unit for determining whether or not it exists within the reference boundary;
An electric wire terminal state inspection apparatus. It is an electric wire terminal state inspection device according to claim 1,
The electric wire terminal state inspection device, wherein the reference boundary is set so as to connect a position corresponding to a size of a rear end portion of the connector and a position corresponding to a planned binding diameter of the planned binding location. It is an electric wire terminal state inspection device according to claim 1 or claim 2,
The path information acquisition unit is an imaging unit that images a plurality of electric wires extending from the connector,
The wire terminal state inspection unit determines whether the plurality of wires have reached the reference boundary based on an image captured by the imaging unit, so that the plurality of wires are within the reference boundary. An electric wire terminal state inspection device that determines whether or not it exists. It is an electric wire terminal state inspection device according to claim 3,
A rotation movement mechanism for rotating at least one of the imaging unit and the connector around a line connecting the connector and the planned binding portion;
The route information acquisition unit changes the imaging direction around a line connecting the connector and the planned binding location, images a plurality of electric wires extending from the connector a plurality of times,
The said electric wire terminal state inspection part is an electric wire terminal state inspection apparatus which determines whether the said some electric wire has reached | attained the said reference boundary based on each of the several image imaged by the said imaging part. The electric wire terminal state inspection device according to any one of claims 1 to 4,
A bundling mechanism for bundling the plurality of electric wires;
When it is determined that the plurality of electric wires are present within the reference boundary, a bundling operation control unit that binds the planned bundling portions of the plurality of wires to the bundling mechanism;
Wire terminal bundling device comprising: The wire terminal bundling device according to claim 5,
A wire straightening mechanism for straightening the plurality of wires;
The bundling operation control unit causes the electric wire correction mechanism to correct the plurality of electric wires between the connector and the planned binding portion when it is determined that the plurality of electric wires do not exist within the reference boundary. Terminal unity device. (A) a step of setting a connector from which a plurality of electric wires extend to a connector holder;
(B) acquiring route information of a plurality of electric wires extending from the connector;
(C) Based on the route information of the plurality of electric wires acquired in the step (b) and a reference boundary set at an outer position between the connector and the planned binding location of the plurality of electric wires, Determining whether a plurality of electrical wires are present within the reference boundary;
(D) when it is determined in the step (c) that the plurality of electric wires are present within the reference boundary, the step of binding the planned binding portions of the plurality of electric wires;
(E) the step of correcting the plurality of electric wires when it is determined in the step (c) that the plurality of electric wires do not exist within the reference boundary;
A method of manufacturing a wire harness comprising:

Images