JP2018092779A - Production method for wire harness - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for producing a wire harness by automatically bundling an electric wire group without using an assembly drawing plate.SOLUTION: A wire harness 10 is produced as described below. Electric wire groups 12a and 12b extending individually from connectors 14a and 14b are stroked by hands 812 and 822. The hand 822 is moved to an upper side of the hand 812, approached electric wire groups 12a and 12b are collectively held by the handle 832 of a holding robot 83. After that, a portion closer to connectors 14a and 14b sides than the hand 832 out of the electric wire groups 12a and 12b is bundled by a bundling robot 84.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a method of manufacturing a wire harness.

  Patent Document 1 discloses a technique for manufacturing a wire harness without using an assembly drawing board provided with a U jig or the like.

  The wire harness described in Patent Document 1 is formed by converging and temporarily binding a plurality of temporary binding harnesses having markings at branch positions.

JP 2011-249038 A

  However, Patent Document 1 only discloses a technique for manually binding the electric wire group while visually recognizing the marking position, and does not disclose the point of automating the binding of the electric wire group.

  Then, an object of this invention is to provide the technique which binds an electric wire group automatically and does not use an assembly drawing board and manufactures a wire harness.

  In order to solve the above-mentioned problem, a manufacturing method of a wire harness according to a first aspect is a manufacturing method of a wire harness in which a plurality of connectors are connected via a plurality of electric wires, and (a) from the first connector A step of moving the first robot hand in a direction away from the first connector in a state where the first wire group extending is gripped by the first robot hand; and (b) extending from the second connector. A step of moving the second robot hand in a direction away from the second connector in a state where the second electric wire group to be taken out is gripped by the second robot hand; and (c) the first robot hand Bringing the first electric wire group to be held close to the second electric wire group being held by the second robot hand; and (d) the first robot of the first electric wire group. Grip in the hand The position on the first connector side relative to the first position to be performed and the position on the second connector side relative to the second position held by the second robot hand in the second electric wire group are not less. And bundling the first electric wire group and the second electric wire group after the step (c) at one position.

  The manufacturing method of the wire harness according to the second aspect is the manufacturing method of the wire harness according to the first aspect, and in the step (d), the second position portion of the second electric wire group and The first electric wire group and the second electric wire group are bound together in a state where the first electric wire group is in parallel with the first connector side portion of the first electric wire group.

  The manufacturing method of the wire harness which concerns on a 3rd aspect is a manufacturing method of the wire harness which concerns on a 2nd aspect, Comprising: In the said process (d), the said between the said 1st position and the said 2nd position. The first electric wire group and the second electric wire group are bound at a position on the second position side.

  The manufacturing method of the wire harness which concerns on a 4th aspect is a manufacturing method of the wire harness which concerns on a 1st or 2nd aspect, Comprising: In the said process (d), the said 1st connector side rather than the said 1st position. In addition, the first electric wire group and the second electric wire group are bound at a position closer to the second connector than the second position.

  The manufacturing method of the wire harness which concerns on a 5th aspect is a manufacturing method of the wire harness which concerns on any one aspect from 1st to 4th, Comprising: (e) After the said process (c) and the said Prior to step (d), both the first electric wire group and the second electric wire group are held by any one of the first robot hand, the second robot hand, and the third robot hand. A process.

  The manufacturing method of the wire harness which concerns on a 6th aspect is a manufacturing method of the wire harness which concerns on a 5th aspect, Comprising: In the said process (d), a said 1st electric wire group and the said 1st in the said process (e). The first electric wire group and the second electric wire group are bundled at positions closer to the first connector and the second connector than to a third position where both of the two electric wires are gripped.

  According to the first to sixth aspects, the bundling work of the first electric wire group and the second electric wire group can be automated using the first robot hand and the second robot hand.

  Further, a portion of the first electric wire group closer to the first connector than the first position is rubbed by the first robot hand. Similarly, the portion of the second electric wire group closer to the second connector than the second position is squeezed by the second robot hand. About at least one of the first electric wire group and the second electric wire group, the sized accuracy at the time of bundling can be improved by bundling the locations thus squeezed.

  In particular, according to the second aspect, the step (d) is performed in a state in which the portion at the second position in the second wire group and the portion on the first connector side from the first position in the first wire group are in parallel. ) Is performed. For this reason, the first robot hand and the second robot hand hardly interfere with each other, and the step (d) can be executed in a state where the first electric wire group and the second electric wire group are brought close to each other.

  In particular, according to the third aspect, the second electric wire group on the second position side (that is, the second electric wire group close to the gripping position by the second robot hand) and the first electric wire group in a state of being squeezed Thus, the dimensional accuracy at the time of binding can be improved.

  In particular, according to the fourth aspect, the first electric wire group and the second electric wire group in a squeezed state are bound, so that the dimensional accuracy at the time of binding can be improved.

  In particular, according to the fifth aspect, the first electric wire group and the second electric wire group are held together before being bound, so that the dimensional accuracy at the time of binding can be improved.

  In particular, according to the sixth aspect, the first connector side and the second connector side of the first electric wire group and the second electric wire group than the third position where both the first electric wire group and the second electric wire group are gripped together. The electric wire group and the second electric wire group are bound. Since both electric wire groups are bundled between the connector to which both electric wire groups are connected and the robot hand that holds both electric wire groups together, the dimensional accuracy at the time of bundling can be improved.

It is the figure which expanded one example of the wire harness manufactured. It is a figure which shows the apparatus which manufactures a wire harness. It is a flowchart which shows the flow at the time of binding an electric wire group. It is a figure which shows the electric wire group before binding. It is a figure which shows the electric wire group after binding. It is the schematic of the electric wire group in the binding process, and its peripheral part. It is the schematic of the electric wire group in the binding process, and its peripheral part. It is the schematic of the electric wire group in the binding process, and its peripheral part. It is the schematic of the electric wire group in the binding process, and its peripheral part. It is the schematic of the electric wire group in the binding process, and its peripheral part. In a modification, it is the schematic of the electric wire group in the binding process, and its peripheral part. In a modification, it is the schematic of the electric wire group in the binding process, and its peripheral part.

{Embodiment}
Hereinafter, the manufacturing method of the wire harness which concerns on embodiment is demonstrated.

  FIG. 1 is a diagram in which an example of a wire harness 10 manufactured by the method of manufacturing a wire harness according to the embodiment is developed on a plane. In FIG. 1, the electric wire 11 passing through the same path is drawn with a single line. For this reason, in FIG. 1 and each subsequent figure, the electric wire 11 drawn with one line may actually be a bundle of a plurality of electric wires 11.

  First, the wire harness 10 manufactured by the manufacturing method of the wire harness which concerns on embodiment is demonstrated, referring FIG.

  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 electric wire 11 is inserted in the connector 14, and the electric wire 11 and the connector 14 are connected. 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. Each electric wire 11 included in the wire harness 10 is bundled while being branched in a form corresponding to each laying route in the vehicle.

  The electric wire 11 includes a core wire which is a wire material mainly composed of a metal such as copper or aluminum, and an insulating coating covering the periphery of the core wire. The insulating coating is, for example, a synthetic resin member mainly composed of polyethylene, vinyl chloride, polyamide-based nylon, or the like.

  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 terminal is a metal member whose main component is a metal such as copper or tin.

  The main body of the connector 14 is integrally molded with an insulating resin material such as polybutylene terephthalate (PBT) or ABS resin. In the main body of the connector 14, a plurality of cavities 141 are formed on the main surface to which the electric wire 11 is connected (see FIG. 4).

  The cavity 141 is an opening structure that accommodates an end portion (for example, a terminal) of the electric wire 11. The cavity 141 has a certain depth, for example, in a direction substantially perpendicular to the main surface of the main body of the connector 14, and the electric wire 11 accommodated in the cavity 141 is positioned at a predetermined depth in the cavity 141. Are held in a state where they are positioned. The number of the cavities 141 may be provided corresponding to the number of the electric wires 11 or may be provided more than the number of the electric wires 11. In the present embodiment, eight cavities 141 are provided vertically and horizontally, but a plurality of cavities 141 may be provided. Further, the depth and width of each cavity 141 need not be the same, and cavities 141 having different depths and widths may be included.

  The connector 14 in a state where the electric wire 11 is held in the cavity 141 is connected to the mating connector from a surface opposite to the main surface, for example.

  Here, as an example, description will be made assuming that the wire harness 10 that branches as shown in FIG. 1 is manufactured. Of course, you may manufacture the wire harness 10 which has a branch form other than this. In the present embodiment, two branch lines 122 extend from one end of the trunk line 121. Further, three branch lines 122 extend from the other end of the main line 121. Further, one branch line portion 122 extends from an intermediate portion of the main line portion 121. The connector 14 is connected to the end of each branch line portion 122. In the following, each connector 14 is referred to with an identification symbol as in the case of the connector 14a, if distinction is necessary. Moreover, like the wire group 12a extending from the connector 14a, the wire group 12 extending from each connector 14 is referred to with the same identification symbol as the connector 14.

  Here, the branch portion may be called a primary branch and a secondary branch in order from the side closer to the connector 14. That is, the primary branch is a branch formed by gathering portions of the electric wire 11 extending from the connector 14 where no branch is formed on the connector 14 side. The secondary branch is a branch formed between portions where the primary branch is formed and a portion where the branch is not formed on the primary branch side. In other words, the first branch counted from the primary branch side becomes the secondary branch between the portions where the primary branches are formed. Further, in the portion where the primary branch is formed, the second branch counted from the primary branch side becomes the tertiary branch, and the same applies to the fourth and subsequent branches.

  Specifically, in the wire harness 10 shown in FIG. 1, a portion (branch position P11) where the branch line portion 122 connecting from the main line portion 121 to the connectors 14a and 14b branches and the main line portion 121 to the connectors 14d, 14e and 14f. The portion where the continuous branch line portion 122 branches (branch position P12) is the primary branch portion. Further, in the wire harness 10 shown in FIG. 1, a portion where the branch portion 122 connecting from the trunk portion 121 to the connector 14c branches (a branch position P13) is a secondary branch portion.

  Depending on the wire harness 10, only the primary branch may be provided. In addition, a branch after the tertiary may be provided.

<Manufacturing method>
Next, the manufacturing method of the wire harness 10 which concerns on embodiment is demonstrated. FIG. 2 is a diagram illustrating an apparatus for manufacturing the wire harness 10.

  First, the electric wire 11 is inserted in each connector 14, and the wire harness before binding which wiring was completed is prepared. And each connector 14 in which the electric wire 11 was inserted is fixed. As shown in FIG. 2, each connector 14 is held by a connector holder 40 here. The connector holder 40 is fixed to the frame 42 or the like. Thereby, each connector 14 is in a fixed state. At this time, the connector 14 is fixed so that the opening of the cavity 141 faces downward in the vertical direction, but this is not essential.

  When the fixing of the connector 14 is finished, the electric wires 11 are bound. Specifically, a plurality of adjacent wire groups 12 are bundled using a bundling robot 84 in a state where each wire group 12 is held using three gripping robots 81 to 83.

  The three gripping robots 81 to 83 and the bundling robot 84 are general industrial robots. As the three gripping robots 81 to 83 and the bundling robot 84, for example, a vertical articulated robot or a rectangular coordinate robot is used.

  The gripping robot 81 includes an arm 811 and a hand 812 provided at the tip of the arm 811. The arm 811 has a structure in which a plurality of arm portions are connected to be rotatable around an axis via a joint mechanism, and a hand 812 is provided at the tip portion thereof. The gripping robot 81 can move the hand 812 to an arbitrary position of each wire group 12 in an arbitrary posture by operating the arm 811.

  The hand 812 has a plurality of fingers (for example, two fingers) provided at intervals to hold the electric wire group 12. For this reason, by moving the hand 812, a part of the electric wire group 12 can be accommodated between the two fingers. In this state, a part of the electric wire group 12 can be gripped by the hand 812 by performing a closing operation in which two finger portions are brought close to each other using a drive mechanism (not shown). Conversely, the wire group 12 held by the hand 812 can be released by performing an opening operation to move the two fingers away. In this way, the hand 812 can switch between a gripping state in which the wire group 12 is gripped and a release state in which the gripping of the wire group 12 is released by performing an opening / closing operation of two fingers.

  Similarly, the gripping robot 82 includes an arm 821 and a hand 822 provided at the tip of the arm 821, and can grip the wire group 12 using the hand 822. The gripping robot 83 includes an arm 831 and a hand 832 provided at the tip of the arm 831, and can grip the wire group 12 using the hand 832.

  The binding robot 84 includes an arm 841 and a hand 842 provided at the tip of the arm 841. The arm 841 has a configuration in which a plurality of arm portions are connected to be rotatable around an axis via a joint mechanism, and a hand 842 is provided at a tip portion thereof. The binding robot 84 can move the hand 842 to an arbitrary position of each wire group 12 in an arbitrary posture by operating the arm 841.

  The hand 842 has a plurality of finger portions (for example, two finger portions) provided at intervals to bind the electric wire group 12. For this reason, a part of the electric wire group 12 can be accommodated between the two fingers by moving the hand 842. In this state, by performing a winding operation of the binding member using a driving mechanism (not shown), the part of the wire group 12 can be bound by the binding member. Various members such as a tape and a binding band can be used as the binding member. In the example of FIG. 5 described later, a tape is used as the binding member 843.

  In the example illustrated in FIG. 2, the gripping robots 81 to 83 provided with the hands 812, 822, and 832 having two fingers at the tips of the arms 811, 821, and 831 are described. Can be changed. For example, a gripping robot that has a plurality of hands for one arm and can individually drive each hand may be used. Further, a gripping robot that has three or more finger portions for one hand and can individually drive each finger portion may be used. A gripping robot having a hand shape different from that of the present embodiment may be used. The configuration mode of the binding robot 84 can also be changed as in the case of the gripping robots 81 to 83. Further, the number of the gripping robots 81 to 83 and the bundling robot 84 can be changed.

  The processing control unit 85 is configured by a general computer including a CPU, a RAM, a ROM, an input circuit unit, and the like. The ROM is composed of a rewritable nonvolatile semiconductor memory such as a flash memory. The ROM stores a program or the like describing a processing procedure and processing content (specifically, a procedure and content of branch formation processing) for the electric wire group 12. Then, the CPU executes a program stored in the ROM, thereby executing processing for giving various instructions to the gripping robots 81 to 83 and the binding robot 84.

  Note that the gripping robots 81 to 83 and the bundling robot 84 may perform a branch formation process on the electric wire group 12 based on image data acquired by an image acquisition system provided separately. In this case, the ROM can store a program or the like that describes a procedure for determining the region to be processed, the position and orientation of the processing target (wire group 12) based on the image data acquired by the image acquisition system or the like. .

  Next, details of the branch formation process will be described. In the present embodiment, the case where the secondary branch is formed after the primary branch is formed first will be described. Below, the flow at the time of binding the electric wire groups 12a and 12b as an example in the case of forming a primary branch is demonstrated in detail, and duplication description is abbreviate | omitted about the flow of other branch formation. In the following description, the connector 14a corresponds to the first connector, and the connector 14b corresponds to the second connector. The wire group 12a corresponds to the first wire group, and the wire group 12b corresponds to the second wire group. The hand 812 corresponds to the first robot hand, the hand 822 corresponds to the second robot hand, and the hand 832 corresponds to the third robot hand. In addition, the position held by the hand 812 in the wire group 12a corresponds to the first position, the position held by the hand 822 in the wire group 12b corresponds to the second position, and the hand in the wire groups 12a and 12b. The position held by 832 corresponds to the third position.

  FIG. 3 is a flowchart showing a flow when the electric wire groups 12a and 12b are bundled. FIG. 4 is a diagram illustrating the wire groups 12a and 12b before being bundled. FIG. 5 is a diagram illustrating the electric wire groups 12a and 12b after binding. 6 to 10 are schematic views of the wire groups 12a and 12b and their peripheral parts in the bundling process.

  As shown in FIG. 2, in a state where the connectors 14a and 14b are fixed, the wire groups 12a and 12b extend downward from the connectors 14a and 14b in the vertical direction. Further, as shown in FIGS. 4 and 6, at the start of the branch formation process, the influence of the habit (curving, bending, etc.) that the electric wires 11 constituting the electric wire groups 12a, 12b are unintentionally generated in the manufacturing process. May vary.

  In order to suppress this variation, the hand 812 of the gripping robot 81 squeezes the wire group 12a (step ST1 in FIG. 3). Specifically, the hand 812 is moved, and the hand 812 grips a portion close to the connector 14a in the wire group 12a extending from the connector 14a. The hand 812 is moved by a specific distance in a direction away from the connector 14a (ie, downward in the vertical direction) while the portion is gripped by the hand 812. In this way, the first position P1 gripped by the moved hand 812 in the wire group 12a by sliding the hand 812 along the extending direction of the wire group 12a while gripping the wire group 12a. The portion on the connector 14a side (that is, the upper side in the vertical direction) is squeezed. Here, squeezing the electric wire group 12 means sliding the hand 812 in a direction away from the connector 14 while contacting the outer periphery of the fixed electric wire group 12 having one end connected to the connector 14 with the hand 812. It means that each electric wire 11 is stretched in the extending direction and the habit of each electric wire 11 is corrected.

  Next, the hand 822 of the gripping robot 82 squeezes the electric wire group 12b (step ST2 in FIG. 3). Specifically, the hand 822 is moved, and the portion close to the connector 14b in the wire group 12b extending from the connector 14b is gripped by the hand 822. Then, the hand 822 is moved by a specific distance in a direction away from the connector 14b (that is, downward in the vertical direction) with the hand held by the hand 822. Thus, the second position P2 gripped by the moved hand 822 in the wire group 12b by sliding the hand 822 along the extending direction of the wire group 12b while gripping the wire group 12b. The portion on the connector 14b side (that is, the upper side in the vertical direction) is squeezed. FIG. 7 is a schematic diagram showing the wire groups 12a and 12b and their peripheral parts at this time.

  After squeezing the electric wire groups 12a and 12b, the hand 822 is moved upward of the hand 812 to bring the electric wire group 12a and the electric wire group 12b closer (step ST3 in FIG. 3). As a result, portions of the electric wire groups 12a and 12b that are above the hand 812 and below the hand 822 are particularly close. FIG. 8 is a schematic view showing the electric wire groups 12a and 12b and their peripheral parts at this time.

  Then, both the electric wire groups 12a and 12b are held together by the hand 832 of the holding robot 83 (step ST4 in FIG. 3). Specifically, the hand 832 is moved, and the portions above the hand 812 and below the hand 822 of the wire groups 12a and 12b are collectively held by the hand 832. As a result, the wire groups 12a and 12b are particularly close to each other in the vicinity of the portion gripped by the hand 832.

  Further, in the present embodiment, the portion gripped by the hand 832 is a portion above the hand 812 and below the hand 822 in the wire groups 12a and 12b (that is, the wire groups 12a and 12b are particularly close in step ST3). Part). For this reason, it is possible to easily grip the portion together with the hand 832 of the gripping robot 83. FIG. 9 is a schematic diagram showing the electric wire groups 12a and 12b and their peripheral parts at this time.

  Next, the binding robot 84 binds the electric wire groups 12a and 12b (step ST5). Specifically, the hand 842 is moved, and portions of the wire groups 12 a and 12 b that are above the hand 832 and below the hand 822 are accommodated in the hand 842. The wire groups 12a and 12b are bound by the binding member 843 by performing the winding operation of the binding member 843 around the portion. FIG. 10 is a schematic diagram showing the electric wire groups 12a and 12b and their peripheral parts at this time.

  When the bundling of the wire groups 12a and 12b is finished, the gripping robots 81 to 83 and the bundling robot 84 retreat each hand from the wire groups 12a and 12b and move to a predetermined standby position. As a result, as shown in FIG. 5, the electric wire groups 12a and 12b are in a state of being bound by the binding member 843 (in this embodiment, a tape). In the example shown in FIG. 5, the binding member 843 is wound around the electric wire groups 12a and 12b by one turn, but the binding member 843 may be wound around the electric wire groups 12a and 12b. . The binding position of the electric wire groups 12a and 12b bound by the binding member 843 coincides with the branch position P11 in the wire harness 10 (see FIG. 1).

  In this embodiment, by moving the gripping robots 81 to 83 and the bundling robot 84, the branch formation process of the wire groups 12a and 12b can be performed three-dimensionally. It becomes unnecessary. Further, by controlling the movement amounts of the gripping robots 81 to 83 and the bundling robot 84, the distance from each connector 14 to the branch position in each wire group 12 can be easily adjusted.

  In the present embodiment, the branch position P11 around which the binding member 843 is wound is a position closer to the connector 14a than the first position P1. As described above, the portion of the electric wire group 12a closer to the connector 14a than the first position P1 is ironed by the hand 812. Since the squeezed part is bound, the dimensional accuracy at the time of binding can be improved.

  Moreover, in this embodiment, the electric wire groups 12a and 12b are bundled in a state where the portion at the second position P2 in the electric wire group 12b and the portion on the connector 14a side from the first position P1 in the electric wire group 12a are in parallel. To do. For this reason, the hand 812 and the hand 822 are unlikely to interfere with each other, and can be bundled in a state where the wire groups 12a and 12b are brought close to each other.

  In the present embodiment, the electric wire groups 12a and 12b are bundled at the branch position P11 on the second position P2 side between the first position P1 and the second position P2 (see FIG. 10). In this way, the electric wire group 12b on the second position P2 side (that is, the electric wire group 12b close to the gripping position by the hand 822 and suppressed in variation) is bundled with the electric wire group 12a in a state of being bundled. Dimensional accuracy can be improved.

  In the present embodiment, the wire groups 12a and 12b are held together by the gripping robot 83 prior to binding of the wire groups 12a and 12b. For this reason, these can be bound in the state which suppressed the dispersion | variation in the electric wire groups 12a and 12b, and the dimensional accuracy in the case of binding can be improved.

  Further, in the present embodiment, the electric wire groups 12a and 12b are bundled at a position closer to the connector 14a and the connector 14b than the third position P3 where both the electric wire groups 12a and 12b are held together (see FIG. 10). reference). In this way, by binding the portion between the connectors 14a and 14b to which the wire groups 12a and 12b are connected and the hand 832 that collectively holds the wire groups 12a and 12b, variations in the wire groups 12a and 12b are suppressed. In addition, the dimensional accuracy at the time of binding can be improved.

  Up to this point, the flow of binding the wire groups 12a and 12b to form the primary branch has been described. However, when the primary branches of the three wire groups 12d, 12e, and 12f are formed, the wire group 12c and the wire groups 12a and 12b. The same flow applies when a secondary branch is formed.

  For example, when three electric wire groups 12d, 12e, and 12f are bound, the electric wire groups 12d, 12e, and 12f are brought close to each other by the gripping robots 81 to 83, and then the electric wire group 12d is bound by the binding robot 84. , 12e, 12f are bound together. As another example, after the two wire groups 12d and 12e are bundled first among the three wire groups 12d, 12e and 12f, the bundled wire groups 12d and 12e and the wire group 12f are connected to the two wire groups 12d. , 12e may be bound at the same location as the binding location.

  When the electric wire group 12c and the electric wire groups 12a and 12b are bundled, the electric wire group 12c and the electric wire groups 12a and 12b are brought close to each other by the gripping robots 81 and 82, and each electric wire is moved by the holding robot 83. After the groups 12a to 12c are held together, the wire groups 12a to 12c are bound by the binding robot 84.

  As described above, the wire harness 10 in which the primary branch and the secondary branch are formed is manufactured. Note that a wire harness having tertiary and subsequent branches can also be manufactured by forming a tertiary branch in the same manner as when forming a primary branch or a secondary branch. As described above, in this embodiment, by using the gripping robots 81 to 83 and the bundling robot 84, it is possible to improve the dimensional accuracy at the time of bundling while automating the branching operation of each wire group 12.

{Modifications}
FIG. 11 is a schematic diagram of the electric wire groups 12a and 12b and their peripheral parts in the binding process of the modification. In the above embodiment, the mode in which the branch position P11 is on the connector 14a side with respect to the first position P1 and on the lower side with respect to the second position P2 (the side opposite to the connector 14b) has been described. Absent. For example, as shown in FIG. 11, the branch position P11 may be closer to the connector 14a than the first position P1 and closer to the connector 14b than the second position P2. In this case, it is possible to bind the wire groups 12a and 12b in a state where both are squeezed, and the dimensional accuracy at the time of binding is improved. As another modification, the branch position P11 may be lower than the first position P1 (on the opposite side to the connector 14a) and closer to the connector 14b than the second position P2. That is, the branch position P11 may be at least one position on the connector 14a side than the first position P1 and on the connector 14b side than the second position P2.

  FIG. 12 is a schematic view of the electric wire groups 12a and 12b and their peripheral parts in the binding process of the modified example. In the above-described embodiment, the aspect in which the hand 822 is moved toward the upper side of the hand 812 has been described. However, the present invention is not limited to this aspect. For example, as shown in FIG. 12, the electric wire groups 12a and 12b may be bundled in a state in which the hands 812 and 822 are close to each other and arranged in parallel. In this case, the distances from the connectors 14a and 14b to the branch position P11 can be easily made equal by bringing the hands 812 and 822 closer to each other by the same distance.

  Moreover, although the said embodiment demonstrated the aspect which hold | grips the electric wire groups 12a and 12b with the hand 832 (3rd robot hand), it is not restricted to this aspect. For example, the electric wire groups 12a and 12b may be held together using the hand 812 (first robot hand) or the hand 822 (second robot hand).

  In the first place, the step of gripping the wire groups 12a and 12b together (step ST4 in FIG. 3) is not essential. As in the example shown in FIGS. 11 and 12, this step may be omitted and the wire groups 12a and 12b may be bound.

  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 12, 12a-1212f Electric wire group 14, 14a-14f Connector 40 Connector holder 42 Frame 81-83 Holding robot 84 Bundling robot 811, 821, 831, 841 Arm 812, 822, 832, 842 Hand 843 Bundling member P1 1st position P2 2nd position P3 3rd position P11-P13 Branch position

Claims (6)

A method of manufacturing a wire harness in which a plurality of connectors are connected via a plurality of electric wires,
(A) moving the first robot hand in a direction away from the first connector in a state where the first wire group extending from the first connector is gripped by the first robot hand;
(B) moving the second robot hand in a direction away from the second connector in a state where the second wire group extending from the second connector is gripped by the second robot hand;
(C) bringing the first electric wire group held by the first robot hand close to the second electric wire group held by the second robot hand;
(D) A position closer to the first connector than a first position held by the first robot hand in the first electric wire group and the second robot hand out of the second electric wire group. Binding the first electric wire group and the second electric wire group after the step (c) at at least one position on the second connector side with respect to the second position to be gripped; ,
A method for manufacturing a wire harness. It is a manufacturing method of the wire harness of Claim 1, Comprising:
In the step (d), the state of the second position in the second electric wire group and the portion of the first electric wire group closer to the first connector than the first position are in parallel. Then, the manufacturing method of the wire harness which binds the said 1st electric wire group and the said 2nd electric wire group. It is a manufacturing method of the wire harness according to claim 2,
In the step (d), a wire harness for binding the first electric wire group and the second electric wire group at a position on the second position side between the first position and the second position. Production method. It is a manufacturing method of the wire harness according to claim 1 or 2,
In the step (d), the first electric wire group and the second electric wire group at a position closer to the first connector than the first position and closer to the second connector than the second position. A method of manufacturing a wire harness that binds together. It is a manufacturing method of the wire harness of any one of Claims 1-4,
(E) After the step (c) and before the step (d), both the first electric wire group and the second electric wire group are connected to the first robot hand and the second electric wire group. Gripping with either the robot hand or the third robot hand;
A method of manufacturing a wire harness further comprising: It is a manufacturing method of the wire harness according to claim 5,
In the step (d), the first connector side and the second connector from the third position where both the first wire group and the second wire group are gripped in the step (e). The manufacturing method of a wire harness which binds the said 1st electric wire group and the said 2nd electric wire group in the position of the side.

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