JP2018001293A - Robot hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand suitable for a work for collecting a plurality of linear members.SOLUTION: A robot hand 34 comprises a driving unit 35 that reciprocative driving, a claw part 38 provided so as to be openable and closable while rotating, and a transmission mechanism 39 for transmitting reciprocative driving force of the driving unit 35 as force for opening or closing the claw part 38. The claw part 38 of the robot hand 34 forms, for example, a closed space capable of surrounding a linear member in middle of reciprocative driving of the driving unit 35, and is formed so as to reduce a size of the closed space with progress of the reciprocative driving of the driving unit 35 after forming the closed space.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a processing apparatus used for processing a wire harness or the like.

  Due to the global increase in labor costs, there is a growing need to replace robotic tasks with conventional robots in the wire harness manufacturing process. As such an operation, for example, there is an operation of collecting and holding a plurality of electric wires and handling them while holding them.

  Here, Patent Documents 1 to 4 disclose a mechanism for gripping and moving an electric wire when the electric wire is pressed against a pressure contact terminal or when the terminal is inserted into a connector housing.

JP 2000-173367 A JP 2000-353437 A JP 2002-95127 A JP-A-4-259976

  However, since the mechanism for gripping and moving the electric wires described in Patent Documents 1 to 4 is intended for moving one electric wire, and for moving the electric wires, it is necessary to collect a plurality of electric wires. It is unsuitable.

  Then, an object of this invention is to provide the robot hand suitable for the operation | work which collects a some linear member.

  In order to solve the above-described problem, a robot hand according to a first aspect includes a driving unit that reciprocates, a claw unit that can be opened and closed while rotating, and a force that reciprocates the driving unit. And a transmission mechanism that transmits the force as a force for opening and closing the unit.

  A robot hand according to a second aspect is the robot hand according to the first aspect, wherein the claw portion forms a closed space that can surround a linear member during the reciprocating drive of the drive unit. In addition, after the closed space is formed, the size of the closed space is reduced as the reciprocating drive of the drive unit proceeds.

  A robot hand according to a third aspect is the robot hand according to the first or second aspect, wherein the transmission mechanism moves relative to the base part formed in a rod shape and the base part, and is in relative movement. A contact portion that contacts the base portion and rotates the base portion, and one of the base portion and the contact portion is connected to the drive portion and is driven to reciprocate together with the drive portion. The claw portion is provided at an end portion of the base portion and extends in a direction crossing the base portion.

  A robot hand according to a fourth aspect is the robot hand according to the third aspect, wherein the base portion is made of an elastic material.

  A robot hand according to a fifth aspect is the robot hand according to the third or fourth aspect, wherein the transmission mechanism is provided on the drive unit side with respect to the abutting part and rotates the base part. It includes a storage portion that can be stored.

  According to the first to fifth aspects, the claw portion opens and closes while rotating, so that the robot hand is suitable for the operation of collecting a plurality of linear members. At this time, since the drive unit that reciprocates is used as the drive source, the configuration can be simplified.

  In particular, according to the second aspect, since the size of the closed space of the claw portion is reduced, it becomes easy to collect all the linear members scattered in a wide range until the closed space is first formed, and After the closed space is formed, the collected linear members are easily collected.

  In particular, according to the third aspect, the base body portion is rotated near the drive unit, so that the configuration relating to the rotation can be simplified.

  In particular, according to the 4th aspect, the structure which rotates a base | substrate part can be simplified. Moreover, it becomes difficult to damage the linear members to be collected.

  In particular, according to the fifth aspect, it is possible to stably maintain the state in which the base portion is rotated.

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 schematic perspective view which shows the robot hand which concerns on embodiment. It is a schematic plan view which shows the robot hand which concerns on embodiment. It is a schematic plan view which shows the robot hand which concerns on embodiment. It is a schematic plan view which shows the robot hand which concerns on embodiment. 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.

{Embodiment}
Hereinafter, the robot hand according to the embodiment will be described.

<About wire harness>
First, the wire harness 10 to be 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 end processing equipment>
The electric wire terminal processing apparatus 20 is demonstrated. FIG. 2 is a schematic view showing the electric wire terminal processing apparatus 20. The electric wire terminal processing device 20 includes a first robot 30 and a second robot 50 as processing mechanisms for processing the plurality of electric wires 11, and a processing control unit 60. The machining control unit 60 has a function as an operation control unit that performs operation control of the first robot 30 and the second robot 50.

  Here, the wire terminal processing apparatus 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, in a state where the connector 14 and the electric wire 11 are held, the plurality of electric wires 11 extending from the connector 14 are collected and squeezed (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 in the circular planned bundling 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 first robot 30 and the second robot 50 as processing mechanisms are configured to collect and bundle a plurality of electric wires 11. As the robot arms 32 and 42 of the first robot 30 and the second robot 50, general industrial robots can be used. In FIG. 2, general vertical articulated robots are illustrated as the robot arms 32 and 42 of the first robot 30 and the second robot 50.

  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 can collect a plurality of electric wires 11. Further, here, the robot hand 34 grips the plurality of collected electric wires 11, squeezes the plurality of electric wires 11 by moving in the extending direction while holding the plurality of electric wires 11, The electric wires 11 can be held in a bundled state. In particular, the plurality of electric wires 11 can be collected by closing the robot hand 34 in a state where the robot hand 34 is moved to a position below the connector 14 by driving the robot arm 32. Then, the plurality of collected wires 11 are held lightly by the same robot hand 34, and in this state, the robot hand 34 is moved downward by driving the robot arm 32, whereby the wires 11 extending from the connector 14 are moved. I can do it. That is, the first robot 30 is used as an electric wire concentration mechanism that collects the plurality of electric wires 11 and 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 robot hand 34 will be described in detail later.

  The second robot 50 includes a robot arm 52 and a bundling device 54 provided at the tip of the robot arm 52. The bundling device 54 can be moved to each work position by driving the robot arm 52. The bundling device 54 is a device that binds the plurality of electric wires 11 with an adhesive tape or the like. As such a bundling device 54, for example, a tape winding body in which an 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 54 is connected to the upper side or the lower side of the robot hand 34 by driving the robot arm 52. In the state moved to the position, the binding device 54 can wind the adhesive tape around the plurality of wires 11 to bind the plurality of wires 11.

  Here, the example in which the first robot 30 and the second robot 50 are provided separately has been described, but the robot hand 34 and the bundling device 54 may be moved by a common robot arm.

  The processing control unit 60 is connected to the first robot 30 and the second robot 50. Under the control of the machining control unit 60, the first robot 30 and the second robot 50 perform machining operations.

  The processing control unit 60 is configured by a general computer in which a CPU, a ROM, a RAM, an external storage device, and the like are interconnected via a bus line. The ROM stores basic programs and the like, and the RAM is used as a work area when the CPU performs processing according to a predetermined procedure. The external storage device is configured by a nonvolatile storage device such as a flash memory or a hard disk device. The external storage device stores an OS (operation system), a machining program including a concentrating program for concentrating the electric wires 11, and the like. Operation control of the first robot 30 and the second robot 50 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program. For example, a control signal from the main processing control unit 60 is given to the first robot 30 and the second robot 50 via the input / output interface, and the first robot 30 and the second robot 50 are driven and controlled.

  The main processing control unit 60 is connected to an input unit composed of various switches, a touch panel, and the like, and the electric wire terminal processing device 20 is configured to receive various instructions to the main processing control unit 60 through the input unit. It is possible that

  Moreover, the electric wire terminal processing apparatus 20 may be provided with the electric wire terminal inspection apparatus which test | inspects the state of an electric wire terminal. The electric wire terminal inspection device includes, for example, an imaging unit that images a plurality of electric wires 11 extending from the connector 14 and an inspection unit that inspects the state of the electric wire terminal from the obtained imaging data. For example, it is conceivable that the processing control unit has a function as an inspection unit. More specifically, the imaging signal input interface is connected to the bus line in the processing control unit 60, and the imaging signal of the imaging unit is input to the processing control unit 60 through the imaging signal input interface, and the terminal state determination process of the electric wire 11 is performed. To be served. In this case, 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.

<Robot hand>
The robot hand 34 will be described. FIG. 3 is a schematic perspective view showing the robot hand 34 according to the embodiment. 4 to 6 are schematic plan views showing the robot hand 34 according to the embodiment. 4 shows a state where the robot hand 34 is opened, FIG. 6 shows a state where the robot hand 34 is closed, and FIG. 5 shows a state between FIG. 4 and FIG.

  The robot hand 34 includes a drive unit 35, a claw unit 38, and a transmission mechanism 39. In the robot hand 34, when the member supporting the claw portion 38 is rotated, the claw portion 38 supported by the member is also rotated.

  The drive part 35 is provided so that a reciprocating drive is possible. The reciprocating force of the drive unit 35 is transmitted to the claw unit 38, and the claw unit 38 is opened and closed. Here, an air cylinder 36 that is extended and contracted by air pressure is provided as the drive unit 35. However, the drive unit 35 may be another type of cylinder such as a hydraulic cylinder or a linear actuator.

  The air cylinder 36 includes a cylinder tube 37a, a piston moving in the cylinder tube 37a, and a rod 37b connected to the piston. The air cylinder 36 may be a so-called single-acting cylinder in which the forward path is pneumatic, and the backward path is reciprocated by an elastic force such as a spring, or a so-called double-acting cylinder in which the forward path and the backward path are both reciprocated by air pressure. There may be. In the case of a single-acting cylinder, a so-called extrusion type in which the rod 37b is pushed out by air pressure when pushing out the rod 37b, or a so-called pull-in type in which the rod 37b is drawn in by air pressure may be used.

  Here, the process control is performed so that the air cylinder 36 changes its state between two states, a state in which the rod 37b is pushed out (see FIG. 4) and a state in which the rod 37b is pulled in (see FIG. 6). Controlled by the unit. In the example shown in the present embodiment, the claw portion 38 is opened when the rod 37b is pushed out, and the claw portion 38 is closed when the rod 37b is retracted. Accordingly, here, the opening and closing amount of the claw portion 38 is simply controlled, and the opening and closing amount of the claw portion 38 is not adjusted. That is, the state as shown in FIG. 5 cannot be maintained. Thereby, the control of the drive unit 35 becomes easy, and the configuration is simplified and the cost can be reduced.

  But the drive part 35 may be controlled so that the opening-and-closing amount of the nail | claw part 38 can be adjusted. As a configuration for realizing this, for example, a configuration in which the piston can be positioned at a plurality of positions by setting the number of air supply ports to three or more can be considered. When the number of air supply ports is three, the claw portion 38 is in an open state as shown in FIG. 4, a closed state as shown in FIG. 5 and a large closed space is formed, and FIG. It is possible to change the state into three states: a closed state as shown in FIG.

  In the example shown in FIG. 3, only one air cylinder 36 is provided, but a plurality of air cylinders 36 may be provided. The plurality of air cylinders 36 may be the same type or different types. By providing the plurality of air cylinders 36, the output can be changed, and thus the gripping force when the robot hand 34 grips the plurality of electric wires 11 can be changed.

  The claw portion 38 is provided so that it can be opened and closed while rotating. The claw portion 38 opens and closes using the force of the drive portion 35 that reciprocates. In addition, the claw portion 38 forms a closed space that can surround the electric wire 11 during the reciprocating drive of the drive unit 35, and after the closed space is formed, It is formed to reduce the size. The nail | claw part 38 is provided in the edge part of the base | substrate part 40 mentioned later. Details of the claw portion 38 will be described later.

  The transmission mechanism 39 transmits the force that the drive unit 35 reciprocates as the force that opens and closes the claw unit 38. The transmission mechanism 39 includes a base portion 40 and a contact portion 45a. The base portion 40 and the contact portion 45a move relative to each other, and the base portion 40 rotates by the base portion 40 coming into contact with the contact portion 45a. One of the base body portion 40 and the contact portion 45 a is connected to the drive portion 35 and reciprocates with the drive portion 35. The transmission mechanism 39 includes a storage portion 45 formed to be able to store the rotated base portion 40. Here, a part of the storage portion 45 forms a contact portion 45a.

  The base portion 40 is formed in a rod shape. Here, the base | substrate part 40 is formed so that bending deformation is possible with an elastic material. As the base body portion 40 is bent and deformed, the claw portion 38 opens and closes as shown in FIGS. 5 and 6. The base unit 40 is continuous with the drive unit 35. Here, the intermediate part (the central part in the example shown in FIG. 4) of the base part 40 is connected to the tip of the rod 37b. Below, the part connected with the rod 37b among the base | substrate parts 40 may be called the connection part 40a.

  The claw portion 38 extends in a direction intersecting with the base portion 40 and is attached so as not to rotate around a connecting portion with the base portion 40. Here, the claw portion 38 is formed in a rod shape using a resin or the like as a material. It is conceivable that the claw portion 38 is formed to be more rigid than the base portion 40. But the nail | claw part 38 may be formed with the same material as the base | substrate part 40, and may be formed so that it may have the same rigidity as the base | substrate part 40. FIG. In particular, the base portion 40 and the claw portion 38 may be integrally formed of the same material.

  In the example shown in FIG. 4, the claw portions 38 are provided at both ends of the base body portion 40, respectively. The pair of claw portions 38 are provided such that the interval increases from the base end connected to the base portion 40 to the tip end in a state where the base portion 40 is not bent. Thereby, the area | region which can be concentrated increases. But a pair of nail | claw part 38 may be provided so that it may become the same space | interval from a front-end | tip to a base end, and may be provided so that a space | interval may become narrow as it goes to a front-end | tip.

  Further, the pair of claw portions 38 are attached to different surfaces with respect to the base portion 40. Thereby, a pair of nail | claw part 38 can be cross | intersected. As shown in FIG. 5, the closed space is formed by being located at a position where the pair of claw portions 38 abut each other. And as shown in FIG. 6, closed space becomes small because a pair of nail | claw part 38 cross | intersects.

  In the claw portion 38, as shown in FIG. 4, the base portion 40 and the claw portion 38 form a recess 40 c that opens between the pair of claw portions 38 when the base portion 40 is not bent. When the base body portion 40 is bent from this state, the tips of the pair of claws 38 approach each other, and the opening of the recess 40c gradually narrows while the recess 40c changes its shape. When the base portion 40 continues to bend, the opening of the recess 40c is eventually closed as shown in FIG. 5, and a closed space 40d is formed. When the base portion 40 is further bent from this state, the closed space 40d is gradually narrowed, and the claw portion 38 is closed as shown in FIG.

  Here, the accommodating part 45 is formed in the cylinder shape which an at least one edge part opens. In the example shown in FIG. 3, the storage portion 45 is formed in a rectangular tube shape, but may be formed in other shapes such as a cylindrical shape or a rectangular tube shape other than the rectangular tube shape. If the storage part 45 is formed in a square cylinder shape, the base part 40 and the claw part 38 attached to the base part 40 are less likely to tilt around the rod 37b. A rod 37 b is inserted into the storage portion 45. The open end 45b of the storage portion 45 is the same as the tip of the rod 37b pushed in the moving direction of the rod 37b or on the cylinder tube 37a side (in the example shown in FIG. 4). , Slightly located on the cylinder tube 37a side). The end 45c of the storage portion 45 opposite to the end 45b is connected to the cylinder tube 37a here. Therefore, the accommodating part 45 accommodates most of the rods 37b in the pushed state. In other words, the rod 37 b reciprocates in a state where most of the rod 37 b is located inside the storage portion 45. But the edge part 45c may be fixed to members other than the cylinder tube 37a. Further, the end 45c may be positioned on the distal end side of the rod 37b that is open and pushed out of the cylinder tube 37a.

  When the extruded rod 37b is drawn, a part of the base body part 40 comes into contact with the opening peripheral edge of the end part 45b of the storage part 45. When the rod 37b is further drawn in this state, the connecting portion 40a side is closer to the rod 37b than the portion of the base portion 40 that is in contact with the opening periphery of the end 45b (hereinafter referred to as the contact portion 40b). At the same time, it moves to the cylinder tube 37a side. On the other hand, the tip end side of the base portion 40 with respect to the contact portion 40b cannot move to the cylinder tube 37a side. For this reason, the base body portion 40 bends so that the tip side of the base body portion 40 is rotated around the connection portion 40a. At this time, the tip side of the base portion 40 with respect to the contact portion 40b does not rotate in the reverse direction around the contact portion 40b. Moreover, even if it rotates in the reverse direction, it rotates smaller than the rotation around the connecting portion 40a. Thereby, the claw part 38 provided at the tip of the base part 40 also rotates around the connecting part 40a together with the base part 40, and the claw part 38 is closed. At this time, the contact portion 40b of the base portion 40 slides with respect to the opening periphery of the end portion 45b, and the contact portion 40b gradually moves to the tip side of the base portion 40. Therefore, in order to suppress the rotation of the base portion 40 around the contact portion 40b, it is conceivable to increase the rigidity of the base portion 40 or reduce the friction generated between the storage portion 45 and the contact portion 40b.

  Thus, here, a part of the base body portion 40 abuts on the storage portion 45 and rotates. For this reason, the storage part 45 also has a function as the contact part 45a. But the accommodating part 45 and the contact part 45a may be provided separately.

  Here, in the state where the claw part 38 is closed, a part of the storage part 45 forms a part of the closed space 40d, but this is not essential. A part of the end portion 45b of the storage portion 45 may be recessed toward the end portion 45c, and the closed space may be formed only by the claw portion 38.

  Here, when the claw portion 38 shifts from the closed state to the open state, the bending force of the base portion 40 becomes small due to the restoring force of the base portion 40 released from the storage portion 45, and the shift to the open state is soon made.

<Operation>
The manufacturing method of the wire harness 10 is demonstrated on the premise of the said electric wire terminal processing apparatus 20. FIG.

  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). In this state, the plurality of electric wires 11 are suspended from the connector 14.

  Next, as shown in FIG. 3, the robot hand 34 of the first robot 30 with the claw portion 38 opened has a collection target area (here, below the connector 14 and connected to the connector 14) of the plurality of electric wires 11. Move to the nearest part. For example, the robot hand 34 is moved to a position separated by a predetermined distance with reference to the position of the known connector holder 76. By moving the robot hand 34, the plurality of electric wires 11 are accommodated in the rotation region of the claw portion 38 as shown in FIG. 4. In this state, the drive unit 35 is driven to close the claw unit 38. Then, while the plurality of electric wires 11 are collected by the claw portion 38, the claw portion 38 forms a closed space 40d as shown in FIG. As the drive of the drive unit 35 proceeds from this state, finally, as shown in FIG. 6, the closed space 40d of the claw portion 38 is reduced, and the plurality of electric wires 11 are collected.

  In this state, the plurality of electric wires 11 are gripped and the ironing operation is performed. Here, the ironing operation is performed as it is by the robot hand 34 that has performed the concentrating operation. That is, here, the claw portion 38 can grip the plurality of electric wires 11 because the closed space 40 d of the claw portion 38 is smaller than the collection region of the electric wires 11. Then, the robot hand 34 is lowered while the claw portion 38 grips the plurality of electric wires 11, and the ironing operation is performed. However, the ironing operation may be performed manually by the operator, or may be performed by a robot hand different from the robot hand 34. Further, the ironing operation may not be performed.

  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. Further, the binding device 54 is moved to the planned binding location E2 to bind the plurality of electric wires 11 together. Thereafter, when the drive unit 35 is driven to open the claw 38 and the robot hand 34 and the bundling device 54 are retracted, as shown in FIG. 8, the plurality of electric wires 11 extending from the connector 14 become the expected bundling point E2. That is bound in In addition, you may test | inspect an electric wire state before bundling the some electric wire 11. FIG. If the inspection is rejected, the ironing operation is performed to correct the plurality of electric wires 11 to be straight. This correction work may be done manually by the operator.

  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.

<Modification>
Although the robot hand 34 has been described as including the storage unit 45 in the embodiment, the storage unit 45 may be omitted. In this case, it is conceivable that a pin member or the like is provided as a contact portion in place of the storage portion 45 at a position where the storage portion 45 contacts the base body portion 40.

  Moreover, although the base | substrate part 40 demonstrated as what is formed with an elastic material, this is not essential. The base portion includes two rigid bodies formed in a rod shape. One end of each rigid body is pivotally supported on the rod 37b by a pin or the like, and a claw portion 38 is provided at the other end of each rigid body. It is possible. In this case, it is conceivable to provide a contact portion that contacts the base portion when the claw portion 38 moves from the closed state to the open state.

  Moreover, although the base | substrate part 40 contact | abutted with the contact part 45a in two places and demonstrated that two parts rotate respectively in the opposite direction, this is not essential. The base portion 40 may be in contact with the contact portion 45a at one location, and one portion of the base portion 40 may be rotated.

<Effects>
As described above, according to the present embodiment, since the claw portion 38 opens and closes while rotating, the robot hand 34 is suitable for the work of collecting the plurality of electric wires 11. At this time, since the drive unit 35 that reciprocates is used as a drive source, the configuration can be simplified.

  In addition, since the size of the closed space of the claw portion 38 is reduced, it becomes easy to collect all the electric wires 11 scattered in a wide range until the closed space is first formed, and after forming the closed space, It becomes easy to collect the collected electric wires 11.

  In addition, since the base unit 40 rotates near the drive unit 35, the configuration related to the rotation can be simplified.

  Further, since the base portion 40 is made of an elastic material, the structure for rotating the base portion 40 can be simplified. Moreover, it becomes difficult to damage the electric wires 11 to be collected.

  Moreover, since the storage part 45 which accommodates the rotated base | substrate part 40 is provided, the state which the base | substrate part 40 rotated can be maintained stably.

  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 11 Electric wire 14 Connector 20 Electric wire terminal processing apparatus 30 1st robot 34 Robot hand 35 Drive part 38 Claw part 39 Transmission mechanism 40 Base part 40d Closed space 45 Storage part 45a Contact part 50 2nd robot 54 Bundling device 60 Processing Control part 70 Connector holding part 76 Connector holder E2 Scheduled binding location

Claims (5)

A reciprocating drive unit;
A claw portion that can be opened and closed while rotating;
A transmission mechanism for transmitting a force for reciprocating driving of the driving unit as a force for opening and closing the claw unit;
Robot hand equipped with. The robot hand according to claim 1,
The claw portion forms a closed space that can surround the periphery of the linear member in the middle of the reciprocating drive of the drive unit, and after forming the closed space, the drive unit proceeds with the reciprocating drive. A robot hand that is designed to reduce the size of the closed space. The robot hand according to claim 1 or 2,
The transmission mechanism includes a base portion formed in a rod shape, and a contact portion that moves relative to the base portion and contacts the base portion during relative movement to rotate the base portion.
Either one of the base portion and the contact portion is connected to the drive portion, and reciprocates with the drive portion,
The claw portion is a robot hand provided at an end portion of the base portion and extending in a direction crossing the base portion. The robot hand according to claim 3,
The base portion is a robot hand formed of an elastic material. The robot hand according to claim 3 or 4, wherein
The transmission mechanism includes a storage unit that is provided closer to the drive unit than the contact unit and is configured to store the rotated base unit.

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