JP2018032600A - Wire ironing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a user to easily recognize holding force when a wire is ironed by a mechanical hand.SOLUTION: A wire ironing device 30 is a device for ironing a wire. The wire ironing device 30 has a mechanical hand 40 realizing opening/closing operation between a holding state to make a state surrounding the wire with movable state along an extending direction of the wire and an opening state capable of inserting and detaching the wire, a hand movement mechanism for moving the mechanical hand 40 along the extending direction of the wire, and a holding force detection part 70 which is arranged in a part surrounding the wire in the mechanical hand 40 at a holding state and which detects a physical quantity according to force with which the mechanical hand 40 holds the wire at a holding state and outputting the detection results.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an apparatus for squeezing electric wires.

  Patent Document 1 describes that a cable wire core is sandwiched between a pair of gripping tools, and the pair of gripping tools are moved to the tip of the wire core to apply a predetermined ironing force to the wire core.

JP-A-6-205521

  By the way, when manufacturing a wire harness, an electric wire bundle may be squeezed in order to make it small. Also, the electric wire may be squeezed for straightening. When the electric wire is rubbed manually, the hand itself can recognize the gripping force by tactile sensation or the like, and therefore can be wrung with an appropriate force so that the electric wire is not damaged. However, as disclosed in Patent Document 1, there is a problem that it is difficult to grasp the gripping force when the electric wire is squeezed with a pair of gripping tools.

  Then, an object of this invention is to enable it to grasp | ascertain easily the holding force at the time of ironing an electric wire with a mechanical hand.

  In order to solve the above-mentioned problem, a first aspect is an electric wire ironing device for ironing an electric wire, wherein the electric wire ironing device is in a state in which the electric wire is surrounded while being movable along the extending direction of the electric wire, A mechanical hand that can be opened and closed between the open state in which it can be inserted and removed, a hand moving mechanism that moves the mechanical hand along the extending direction of the electric wire, and the gripping state of the mechanical hand And a gripping force detection unit that detects a physical quantity corresponding to the force with which the mechanical hand grips the electric wire in the gripping state and outputs the detection result.

  A 2nd aspect is an electric wire ironing apparatus which concerns on a 1st aspect, Comprising: The said holding | grip force detection part respond | corresponds to each of the force of the direction in which the said mechanical hand holds an electric wire, and the force of the extension direction of an electric wire. The sensor is a force sensor that detects physical quantities.

  A 3rd aspect is an electric wire ironing apparatus which concerns on the 1st or 2nd aspect, Comprising: The said mechanical hand has the receiving part arrange | positioned by the side of an electric wire rather than the said gripping force detection part in the said holding state. And the gripping force detection unit receives a force by which the mechanical hand grips the electric wire in the gripping state via the receiving unit, and detects a physical quantity corresponding to the force.

  A fourth aspect is an electric wire ironing device according to any one of the first to third aspects, wherein the mechanical hand has a first gripping part and a second gripping part that can be opened and closed, Each of the first gripping portion and the second gripping portion is formed with a recess that forms a passage space through which the electric wire can pass when viewed along the extending direction of the electric wire in a state in which they are closed and in the holding state. The gripping force detector is provided in one of the recesses formed in each of the first gripper and the second gripper.

  A fifth aspect is an electric wire ironing device according to any one of the first to fourth aspects, wherein the mechanical hand is opened and closed for opening and closing between the gripping state and the opened state. And an opening / closing control unit that controls the opening / closing driving unit based on the detection result of the gripping force detection unit.

  A sixth aspect is an electric wire ironing apparatus according to any one of the first to fifth aspects, wherein an outer edge portion on at least one side of a portion surrounding the electric wire in the gripped state of the mechanical hand, It is formed in the taper-shaped surface which expands sequentially toward the outer side.

  According to the wire ironing device according to the first aspect, in a state where the mechanical hand grips the electric wire, the gripping force detection unit detects a physical quantity according to the force with which the mechanical hand grips the electric wire, and the detection result Is output. For this reason, it is possible to easily grasp the gripping force when the electric wire is squeezed by the mechanical hand.

  According to the second aspect, it is possible to grasp the gripping force by the mechanical hand and the pulling force that acts when squeezing the electric wire.

  According to the third aspect, regardless of the shape of the gripping force detection unit, the electric wire gripping force received by the receiving unit can be transmitted to the gripping force detection unit. For this reason, the gripping force by the mechanical hand can be detected as accurately as possible.

  According to the 4th aspect, an electric wire is squeezed through a recessed part in the state in which the mechanical hand was in the holding state. Since the gripping force detection unit is provided in one of the concave portions formed in each of the first gripping part and the second gripping part, the gripping force can be detected more reliably.

  According to the fifth aspect, the opening / closing drive unit can be controlled based on the detection result of the gripping force detection unit.

  According to the 6th aspect, when squeezing an electric wire, an electric wire becomes difficult to be damaged.

It is the figure which expanded one example of the wire harness in the plane. It is explanatory drawing which shows a mode that an electric wire ironing apparatus irons an electric wire. It is a perspective view which shows a mechanical hand. It is a perspective view which shows a mechanical hand. It is a perspective view which shows the 2nd holding part of a mechanical hand. It is a block diagram which shows the electric constitution of an electric wire ironing apparatus. It is a flowchart which shows the processing operation of an opening / closing control part. It is explanatory drawing which shows a mode that a mechanical hand squeezes an electric wire. It is a perspective view which shows the 2nd holding part of the mechanical hand which concerns on a modification. It is a perspective view which shows the 2nd holding part of the mechanical hand which concerns on a modification.

  Hereinafter, the wire ironing apparatus 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.

  In manufacturing the wire harness 10 as described above, for example, after the plurality of electric wires 11 hanging from the connector 14 are gathered together in a state where the connector 14 is supported at a certain position, the electric wires 11 are It is conceivable to bind with an adhesive tape or the like. If the ironing work and the bundling work can be performed with a robot hand, this contributes to the automation of the manufacturing work of the wire harness 10. The wire ironing device described in this embodiment is a device for ironing the electric wire 11 as described above.

  The operation of binding the plurality of electric wires 11 with an adhesive tape after squeezing the plurality of electric wires 11 may be performed manually, or a known automatic tape winding device attached to the tip of the robot hand. May be made by:

<About the wire ironing device>
The electric wire ironing apparatus will be described. FIG. 2 is an explanatory diagram showing a state in which the wire ironing device 30 irons the wire 11. As shown in the drawing, the connector 14 is supported by the connector holding portion 20 at a position above the floor surface. More specifically, the connector holding part 20 includes a frame part 22 and a connector holder 26. The frame unit 22 includes a horizontal frame 24 and a vertical frame 23. The vertical frame 23 is supported in a standing state on the floor. The horizontal frame 24 is supported by the vertical frame 23 in a horizontal posture at a position away from the floor. The horizontal frame 24 supports the connector holder 26 at a position away from the floor. The connector holder 26 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 26 has a recess into which the connector 14 can be fitted, and the connector 14 can be detachably fitted into the recess. Here, a plurality of connector holders 26 are supported at intervals in the horizontal frame 24. The connector 14 is supported by the connector holder 26 in a posture in which the back portion of the connector 14 on which the electric wire 11 extends is directed downward. The connector holder 26 may be configured to hold 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 in a horizontal orientation.

  And each connector 14 is supported by each said connector holder 26 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 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 26, or may be performed before the connector 14 is set in the connector holder 26.

  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 caulked by the electric wire ironing device 30 (refer to the rectangular region E1 in FIG. 2). When the plurality of electric wires 11 are squeezed, each electric wire 11 is pulled in a straight line, and the plurality of electric wires 11 are gathered together. In this state, the plurality of electric wires 11 are bundled with an adhesive tape or the like. Thereby, the some electric wire 11 is bound so that the form of the said wire harness 10 may be made.

  The wire ironing device 30 includes a hand moving mechanism 32, a mechanical hand 40, and a gripping force detection unit 70.

  The hand moving mechanism 32 is a mechanism that moves the mechanical hand 40 along the extending direction of the electric wire 11. Here, the hand moving mechanism 32 is a robot arm of a general vertical articulated robot. A mechanical hand 40 is attached to the tip of the hand moving mechanism 32, and the mechanical hand 40 is moved along the extending direction of the electric wire 11 by driving the hand moving mechanism 32. Here, the mechanical hand 40 is moved in a direction away from a portion of the electric wire 11 close to the connector 14. The hand moving mechanism 32 may be a so-called orthogonal robot mechanism, or may be an actuator such as a linear motor, an air cylinder, or a hydraulic cylinder.

  3 and 4 are perspective views showing the mechanical hand 40, and FIG. 5 is a perspective view showing the second grip 60 of the mechanical hand 40.

  The mechanical hand 40 is configured to be openable and closable between a gripping state in which the wire 11 is surrounded while being movable along the extending direction of the wire 11 and an open state in which the wire 11 can be inserted and removed. ing.

  More specifically, the mechanical hand 40 includes a first grip part 50, a second grip part 60, and an opening / closing drive part 46.

  The first grip 50 is a member formed of resin, metal, or the like, and includes a pair of grip main bodies 52A and 52B and a connecting portion 58 provided therebetween.

  One gripping body 52A is formed in a semicircular shape. A portion corresponding to the string in the gripping main body 52A is formed on a guide surface 53A that is recessed so as to draw a gentle curved surface. Further, the central portion (here, the central portion of curvature of the outer peripheral surface of the gripping main body portion 52A) of the gripping main body portion 52A is a half extending so as to penetrate in the thickness direction of the gripping main body portion 52A. It is formed in a circular groove-shaped recess 54A. The concave portion 54A is configured such that a tapered surface 54Ab that sequentially expands outward is formed on one outer edge of the semicircular groove-like portion 54Aa in which the same radius of curvature portion continues. The tapered surface 54Ab is formed at the outer edge located in the outer opening along the extending direction of the electric wire 11 to be held when the mechanical hand 40 is viewed as a whole. And the some electric wire 11 is drawn in toward 54 A of recessed parts by the guide surface 53A.

  One end (tip portion) of the portion corresponding to the string in the grip main body 52A is rounded, and the other end (base end) of the portion corresponding to the string in the grip main body 52A is formed thin. .

  The other gripping body portion 52B is configured such that a base 56 is connected to a portion corresponding to a string in the one gripping body portion 52A. Therefore, the grip body 52B has a guide surface 53B similar to the guide surface 53A and a recess 54B similar to the recess 54A. Similar to the recess 54A, the recess 54B has a configuration in which a tapered surface 54Bb that sequentially expands outward is formed on one outer edge of the semicircular groove-like portion 54Ba in which the same radius of curvature portion continues. It is said that. The tapered surface 54Bb is formed at the outer edge located at the outer opening opposite to the tapered surface 54Ab along the extending direction of the electric wire 11 to be held when the mechanical hand 40 is viewed as a whole. Has been.

  The base portion 56 extends from the base end portion of the grip main body 52B in a direction perpendicular to the portion corresponding to the string, and extends from the distal end portion of the long portion 56A in a direction along the portion corresponding to the string. It is formed in an L-shape having a protruding piece portion 56B.

  The connecting portion 58 is formed in a plate shape that can be disposed on the outer peripheral side portion of the pair of grip body portions 52A and 52B with respect to the concave portions 54A and 54B. The connecting portion 58 is formed in a plate shape having a thickness dimension that is the same as or larger (slightly larger) than the thickness dimension of the second gripping portion 60.

  Then, in a state where the connecting portion 58 is disposed between the pair of gripping main body portions 52A and 52B, the pair of gripping main body portions 52A and 52B and the connecting portion 58 are united by the screws S or the like, and the first gripping portion 50 is assembled. Is configured.

  The opening / closing drive unit 46 is configured to be capable of opening and closing the mechanical hand 40 in a gripping state and an open state by rotating at least one of the first gripping unit 50 and the second gripping unit 60 around the support shaft. . Here, the opening / closing drive unit 46 is constituted by a servo motor, and is fixed to the base unit 56. Here, the opening / closing drive part 46 is formed in a rectangular parallelepiped shape, and is fixed to the grip body part 52 </ b> B including the base part 56 by screwing or the like while being disposed in the base part 56. The base 56 is a portion that is fixed to the hand moving mechanism 32 or the like by screws or the like and is moved by the hand moving mechanism 32.

  The 2nd holding part 60 is formed in the elongate plate shape which becomes thin gradually toward a base end part. A drive shaft portion insertion hole 61 is formed in the proximal end portion of the second grip portion 60 so as to penetrate in the thickness direction. In addition, a concave portion 64 that extends so as to penetrate along the thickness direction of the second gripping portion 60 is formed at the center of the portion corresponding to the long side on one side of the second gripping portion 60. A tapered surface 64a is formed on the outer edge of the concave portion 64 on one side in the thickness direction of the second gripping portion 60 so as to expand outward. A configuration in which the gripping force detection unit receiving recess 65 is formed on the back side of the pair of guide guide surfaces 64b that sequentially expands toward the opening side on the other side of the recess 64 in the thickness direction of the second grip 60. It is said that. The pair of guiding guide surfaces 64b are smoothly continuous with the tapered surface 64a. In addition, the gripping force detection unit accommodating recess 65 is formed in a space wider than the pair of guiding guide surfaces 64b, and particularly in a space wider on the bottom surface 65f side than a portion on the pairing guiding guide surfaces 64b side. Is formed.

  The second gripping portion 60 is configured such that the drive shaft portion 47 of the opening / closing drive portion 46 is fitted and fixed in the drive shaft portion insertion hole 61, so that the pair of gripping main body portions 52A and 52B of the first gripping portion 50 is interposed. The recess 64 is supported so as to be rotationally driven in a posture in which the recess 64 faces the recesses 54A and 54B.

  In this state, an interval corresponding to the thickness of the connecting portion 58 is provided between the pair of gripping main body portions 52A and 52B. Therefore, the second gripping portion 60 is between the pair of gripping main body portions 52A and 52B. The first gripping part 50 can be rotated in the closing direction until it contacts the connecting part 58.

  In this mechanical hand 40, the first gripping part 50 is supported in a fixed posture with respect to the opening / closing drive part 46, and the second gripping part 60 is rotatably supported around the drive shaft part 47. Then, the first grip 50 and the second grip 60 are opened and closed by rotating the second grip 60 around the drive shaft 47 in both forward and reverse directions.

  When the second gripper 60 is rotated toward the first gripper 50 by the driving of the opening / closing drive unit 46 and the first gripper 50 and the second gripper 60 are closed and become gripped, the first gripper 50 A passage space through which the electric wire 11 can pass is formed between the second grip portion 60 and the second grip portion 60. Here, when viewed along the extending direction of the electric wire 11 in the gripping state, a circular gap is formed by the concave portions 54A and 54B and the concave portion 64, and this gap becomes a passing space through which the electric wire 11 can pass.

  In this state, the tapered surfaces 54Ab, 54Bb, and 64a are the outer edges located at the outer opening on either side along the extending direction of the electric wire 11 to be held when the mechanical hand 40 is viewed as a whole. Is located. Since the tapered surfaces 54Bb and 64a are in contact with the electric wire 11, damage to the electric wire 11 can be suppressed.

  Note that, here, the second gripper 60 is driven to open and close with respect to the first gripper 50 in a fixed posture, but both the first gripper and the second gripper are driven to open and close. May be. Moreover, the 1st holding part and the 2nd holding part may have a movable joint mechanism like the finger of a general humanoid robot.

  The gripping force detector 70 is provided in a part of the mechanical hand 40 that surrounds the electric wire 11 in the gripping state, and detects a physical quantity corresponding to the force with which the mechanical hand 40 grips the electric wire 11 in the gripping state. The detection result can be output.

  As the gripping force detection unit 70, a strain gauge type force sensor or a capacitance type force sensor is used. As the gripping force detector 70, a sensor capable of detecting a force acting in at least one axial direction is used, and preferably a sensor capable of detecting a force acting in at least two axial directions is used. Here, the gripping force detection unit 70 will be described as an example of a sensor that can detect forces acting in two orthogonal directions.

  The gripping force detection unit 70 includes a main body 71 and a force receiving portion 72 that protrudes from the main body 71. The main body portion 71 is formed in a plate shape and is accommodated in the gripping force detection portion accommodating recess 65. The force receiving portion 72 protrudes outward from one main surface of the main body portion 71, and the extending direction of the electric wire 11 in the gripping state in a state where the main body portion 71 is housed in the gripping force detecting portion housing recess 65. , And is projected to the inside of the tapered surface 64a. For this reason, the electric wire 11 contacts the front-end | tip part of the force receiving part 72 in the state by which the electric wire 11 was arrange | positioned in the clearance gap formed by the recessed parts 54A and 54B and the recessed part 64. FIG.

  In addition, since the said gripping force detection part accommodation recessed part 65 is formed in the back | inner side of the recessed part 64A and 54B surrounding the electric wire 11, and the recessed part 64 which is a part of recessed part 64, the gripping force detection part 70 has this structure. In the mechanical hand 40, it is provided in a portion surrounding the electric wire 11 in a gripped state.

  The first direction P1, which is one of the directions in which the gripping force detection unit 70 detects the force, coincides with the protruding direction of the force receiving portion 72, and from the center of the space surrounded by the recesses 54A and 54B and the recess 64. The direction is toward the outside (the outside of the recess 64) (see FIG. 5). For this reason, the gripping force detection unit 70 detects the force with which the electric wire 11 pushes the force receiving unit 72 along the first direction P1 as a physical quantity corresponding to the force with which the mechanical hand 40 grips the electric wire 11, and The detection result can be output to the outside.

  The second direction P2, which is another direction in which the gripping force detection unit 70 detects the force, coincides with the axial direction of the space surrounded by the recesses 54A and 54B and the recess 64 (see FIG. 5). ). The second direction P2 coincides with the extending direction of the electric wire 11 in the gripping state. For this reason, when squeezing the electric wire 11 with the mechanical hand 40, the force by which the electric wire 11 displaces the force receiving portion 72 along the second direction P2 is a physical quantity corresponding to the force with which the mechanical hand 40 pulls the electric wire 11. It is possible to detect and output the detection result to the outside.

  FIG. 6 is a block diagram showing an electrical configuration of the wire ironing device 30. As shown in FIGS. 2 and 6, the processing robot R including the hand moving mechanism 32, the mechanical hand 40, and the gripping force detection unit 70 is connected to the processing control unit 80. The processing control unit 80 is configured by a general microcomputer including a CPU, a ROM, a RAM, and the like. The machining control unit 80 performs operation control of each operation of the machining robot R (the gripping operation and the ironing operation of the mechanical hand 40) by performing arithmetic processing according to a procedure described in a machining program stored in advance. .

  The machining control unit 80 has a function as an opening / closing control unit 82 realized by an opening / closing control program included in the machining program. The output result of the gripping force detection unit 70 of the mechanical hand 40 is given to the opening / closing control unit 82, and the opening / closing control unit 82 performs opening / closing control of the opening / closing drive unit 46 based on the output result.

  FIG. 7 is a flowchart showing the processing operation of the opening / closing control unit 82. As shown in FIG. 8, the ironing operation by the mechanical hand 40 moves to the upstream side of the electric wire 11 to be ironed according to a predetermined electric ironing program, and the upstream side of the electric wire 11 is moved upstream. After gripping (see arrow A1), it is an operation (see arrow A2) of moving to the downstream side of the electric wire 11. In FIG. 8, the plurality of electric wires 11 hang down from the connector 14, and after the mechanical hand 40 grips the connector 14 among the plurality of electric wires 11, the mechanical hand 40 moves to the side away from the connector 14, Squeeze. At this time, the tapered surfaces 54Bb and 64a face the connector 14 side.

  After starting the ironing operation, in step S <b> 1, the opening / closing drive unit 46 determines whether or not the gripping force exceeds the first threshold based on the output result of the gripping force detection unit 70. The first threshold value is determined empirically and experimentally as a gripping force that can squeeze the wire 11 without damaging the wire 11 (on the contrary, it becomes easy to damage the wire), and is set in the processing control unit 80 in advance. Value. Here, if it determines with YES, it will progress to step S2, and if it determines with NO, it will progress to step S4. When the gripping force is the same as the first threshold value, the process may proceed to step S2 or may proceed to step S4.

  In step S <b> 4, the opening / closing drive unit 46 determines whether the tensile force exceeds the second threshold based on the output result of the gripping force detection unit 70. The second threshold value is a value determined empirically and experimentally as a gripping force that can be squeezed without cutting the electric wire 11 (on the contrary, the electric wire may break if exceeded). In addition, when the end portion of the electric wire 11 is inserted and held in the connector 14, a gripping force that can pull the electric wire 11 so as not to come out of the connector 14 (on the contrary, if the electric wire 11 is exceeded, the electric wire is removed from the connector). This value is determined empirically and experimentally. Here, if it determines with YES, it will progress to step S2, and if it determines with NO, it will progress to step S3. When the gripping force is the same as the second threshold value, the process may proceed to step S2 or may proceed to step S3.

  In step S <b> 2, the opening / closing control unit 82 gives an opening command for opening a predetermined amount to the opening / closing drive unit 46. As a result, the opening / closing drive unit 46 drives the second gripping unit 60 to rotate in the direction of opening away from the first gripping unit 50. Then, the force with which the mechanical hand 40 grips the electric wire 11 is reduced. Thereafter, the process proceeds to step S3.

  In step S3, it is determined whether or not the mechanical hand 40 has reached the target position (the most downstream position of the portion to be ironed). If it is determined NO, the process returns to step S1 and the above process is repeated to move the mechanical hand 40 to the target position. For this reason, even if the gripping force between the first gripping part 50 and the second gripping part 60 is still large even after the first gripping part 50 and the second gripping part 60 are opened by the process of step S2 once, The first gripping part 50 and the second gripping part 60 are opened by the processing of the next step S2, and the gripping force is further reduced. If it determines with YES in step S3, an ironing operation will be complete | finished and the holding | grip by the mechanical hand 40 will be cancelled | released.

  According to the wire squeezing device 30, the mechanical hand 40 is moved along the extending direction of the electric wire 11 while holding the one or more electric wires 11 with the first holding part 50 and the second holding part 60. By doing so, the electric wire 11 can be ironed. Thereby, the one or several electric wire 11 can be pulled so that it may become straight. Moreover, the some electric wire 11 can be bundled small.

  When the mechanical hand 40 squeezes the electric wire 11 as described above, the gripping force detection unit 70 responds to the force with which the mechanical hand 40 grips the electric wire 11 while the mechanical hand 40 grips the electric wire 11. A physical quantity is detected and the detection result is output. For this reason, the gripping force when the electric wire 11 is squeezed by the mechanical hand 40 can be easily grasped.

  The grasped gripping force is determined by the first gripping unit 50 and the second gripping unit 60 when the wire 11 or the bundle of the wires 11 having a certain thickness is squeezed in the operation program for controlling the operation of the mechanical hand 40. It is used as reference material when considering how much the opening and closing degree should be. Alternatively, as described in the above embodiment, when the electric wire 11 or the bundle of electric wires 11 is squeezed by the mechanical hand 40, the opening / closing drive unit 46 is controlled based on the output result of the gripping force detection unit 70, whereby the electric wire It can also be controlled not to grip 11 with an excessive force.

  In addition, a force sensor that detects physical quantities corresponding to the force (P1) in the direction in which the mechanical hand 40 grips the electric wire 11 and the force (P2) in the extending direction of the electric wire 11 is used as the gripping force detection unit 70. By using it, the gripping force when the mechanical hand 40 is squeezing the electric wire 11 and the pulling force of the electric wire 11 can be grasped. Thereby, as described above, the mechanical hand 40 can be controlled not to pull the electric wire 11 with an excessive force.

  Further, when the mechanical hand 40 is in the gripping state, the electric wire 11 is squeezed through the recesses 54A and 54B and the recess 64. And since the gripping force detection part 70 is provided in at least one of the recessed parts 54A and 54B and the recessed part 64 formed in each of the first gripping part 50 and the second gripping part 60, the portion through which the electric wire 11 passes reliably Thus, the gripping force detection unit 70 is provided, so that the gripping force can be detected more reliably. Note that gripping force detectors may be provided in both of the recesses 54A and 54B and the recess 64.

  Moreover, since the tapered surfaces 54Ab, 54Bb, and 64a are formed in the concave portions 64, 54A, and 54B, the electric wire 11 is hardly damaged. Normally, the plurality of electric wires 11 are spread on the connector 14 side. When the tapered surfaces 54Bb and 64a face the connector 14, the electric wires 11 on which the tapered surfaces 54Bb and 64a are spread are hardly damaged. Further, since the plurality of electric wires 11 are bent and waved on the side on which the mechanical hand 40 moves, the tapered surface 54Ab comes into contact with the electric wires 11 when the mechanical hand 40b squeezes the electric wires 11. It is hard to damage the electric wire. Contrary to the above, when the tapered surface 54Ab faces the connector 14, it becomes difficult to damage the electric wire 11 in which the tapered surface 54Ab spreads, and the tapered surfaces 54Bb and 64a move the mechanical hand 40. When facing the downstream side, it is difficult to damage the electric wire 11 bent at the downstream side in the moving direction when the mechanical hand 40 is squeezed. Of course, tapered peripheral surfaces may be formed at the opening edge portions on both sides of the extending direction of the electric wire with respect to the recess.

{Modifications}
In the said embodiment, when the mechanical hand 40 grasped the electric wire 11, it demonstrated by the example which the force receiving part 72 of the grasping force detection part 70 contacts the electric wire 11 directly, and detects a grasping force.

  However, as in the modification shown in FIGS. 9 and 10, the mechanical hand 40 is provided with a receiving portion 170 disposed closer to the electric wire 11 than the gripping force detection portion 70 in the gripping state. The configuration may be such that the unit 70 receives the force that the mechanical hand 40 receives the electric wire 11 through the receiving unit 170 and detects the physical quantity received by the force.

  More specifically, in the second gripping portion 160 corresponding to the second gripping portion 60, the housing recess 164 that forms a square when viewed along the thickness direction of the second gripping portion 160 in the portion corresponding to the recess 64. Is formed. The gripping force detector 70 is fixed to the bottom of the housing recess 164.

  The receiving part 170 is movably accommodated on the opening side of the accommodating recess 164. The receiving portion 170 is formed in a plate shape having a width that is the same as or smaller than (slightly smaller than) the opening width of the housing recess 164 and that has the same thickness as the thickness of the second grip 160. A recess 174 is formed at the center of the portion of the receiving portion 170 facing the first gripping portion 50 side. A tapered surface 174a is formed on the outer edge of the concave portion 174 on the one side in the thickness direction of the second gripping portion 160 so as to expand outward.

  The receiving part 170 is disposed in a movable state on the opening side portion of the housing recess 164 while being fixed to the distal end part of the force receiving part 72 of the gripping force detection part 70 with an adhesive or the like.

  The receiving part may be supported in a state in which it is movable toward the back side and the opening side of the receiving recess through the guide structure in a state of being arranged in the opening side portion of the receiving recess. At this time, the receiving portion may not be fixed to the force receiving portion of the gripping force detecting portion.

  In a state where the electric wire 11 is held by the mechanical hand provided with the second holding portion 160, the concave portion 174 is in contact with the electric wire 11 as a whole on the second holding portion 160 side. Then, almost the entire force that receives the electric wire 11 on the second gripping portion 160 side is transmitted to the gripping force detection unit 70 and is detected by the gripping force detection unit 70 with a force corresponding to the gripping force. For this reason, regardless of the shape of the gripping force detection unit 70, the wire gripping force received by the receiving unit 170 can be transmitted to the gripping force detection unit 70. For this reason, the gripping force by the mechanical hand 40 can be detected as accurately as possible.

  Moreover, in the said embodiment, although the electric wire 11 which hangs down was demonstrated in the example of ironing, the electric wire arrange | positioned with a horizontal attitude | position can also be ironed. Moreover, although the said embodiment demonstrated the example in which the several electric wire 11 was mainly squeezed, it can also be extended linearly by squeezing one electric wire.

  In the above embodiment, the example in which the mechanical hand 40 is opened by a predetermined amount when the gripping force exceeds the first threshold based on the detection result from the gripping force detection unit 70 has been described. The mechanical hand 40 may be closed by a predetermined amount when the value is less than. Further, when the pulling force is below another threshold value, the mechanical hand 40 may be closed by a predetermined amount. As a result, a gripping force or a pulling force appropriate for ironing can be applied to the electric wire 11.

  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 30 Electric wire ironing apparatus 32 Hand moving mechanism 40 Mechanical hand 46 Opening-closing drive part 50 1st holding part 52A, 52B Holding main-body part 54A, 54B Recessed part 54Bb Tapered surface 58 Connection part 60, 160 2nd holding part 64 Recessed portion 64a Tapered surface 65 Gripping force detecting portion receiving recessed portion 70 Gripping force detecting portion 80 Processing control portion 82 Opening / closing control portion 164 Receiving recessed portion 170 Receiving portion 174 Recessed portion 174a Tapered surface

Claims (6)

An electric wire ironing device for ironing electric wires,
A mechanical hand that can be opened and closed between a gripping state in which the wire is surrounded in a movable state along the extending direction of the wire and an open state in which the wire can be inserted and removed; and
A hand moving mechanism for moving the mechanical hand along the extending direction of the electric wire;
Gripping force detection that is provided in a portion of the mechanical hand that surrounds the electric wire in the gripping state, detects a physical quantity corresponding to the force with which the mechanical hand grips the electric wire in the gripping state, and outputs the detection result And
An electric wire ironing device comprising: The wire ironing device according to claim 1,
The wire gripping device, wherein the gripping force detection unit is a force sensor that detects a physical quantity corresponding to each of a force in a direction in which the mechanical hand grips an electric wire and a force in a direction in which the electric wire extends. The wire ironing device according to claim 1 or 2,
The mechanical hand has a receiving portion disposed closer to the electric wire than the gripping force detection portion in the gripping state,
The wire gripping device, wherein the gripping force detection unit receives a force with which the mechanical hand grips the electric wire in the gripping state via the receiving unit, and detects a physical quantity corresponding to the force. The wire ironing device according to any one of claims 1 to 3,
The mechanical hand has a first gripping part and a second gripping part that can be opened and closed,
Each of the first gripping portion and the second gripping portion has a recess that forms a passing space through which the electric wire can pass when viewed along the extending direction of the electric wire in a state where they are closed and in the holding state. Formed,
An electric wire ironing device, wherein the gripping force detection unit is provided in one of the recesses formed in each of the first gripping part and the second gripping part. The wire ironing device according to any one of claims 1 to 4,
The mechanical hand has an opening / closing drive unit for opening / closing driving between the gripping state and the opening state,
An electric wire ironing apparatus further comprising an open / close control unit that controls the open / close drive unit based on a detection result of the gripping force detection unit. The wire ironing device according to any one of claims 1 to 5,
An electric wire ironing device, wherein an outer edge portion on at least one side of a portion surrounding the electric wire in the gripped state of the mechanical hand is formed on a tapered surface that sequentially expands outward.

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