JP2018097952A - Wire holding jig, wire harness assembling apparatus, and method for manufacturing wire harness - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology in which a wiring member can be held in a manner in which the wiring member extending from a connector can be drawn out as well as in a manner in which the connector can be rotated.SOLUTION: A wire holding jig 30 includes a wire rod holding member 31 and an opening/closing member 40. The wire rod holding member 31 comprises a holding main body portion 32 formed with a holding hole 32a in which the wiring member 13 is disposed and an opening/closing portion 36 for opening/closing the holding hole 32a of the holding main body portion 32 when an external force is applied. The opening/closing member 40 comprises a holding-material holding portion for holding a plurality of the wire rod holding member 31 arranged in a direction intersecting with the axial center direction of the holding hole 32a, and an external force transferring portion for transferring one external force to each opening/closing portion 36 of the plurality of wire rod holding member 31 held in the holding-material holding portion.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a technique for assembling a wire harness.

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

JP 2008-192456 A

  However, in the technique described in Patent Document 1, since the electric wire hanging from the connector set in the receiving jig is idle, there is a risk that the electric wire may be tangled when the receiving jig is slid along the vertical rail. is there. At this time, if the electric wire is pinched by the holding member so that the electric wire does not play, it becomes difficult to pull out the electric wire from the holding member and rotate the connector with respect to the holding member.

  Then, an object of this invention is to provide the technique which can hold | maintain the said wiring member in the aspect which can pull out the wiring member extended from a connector, and the aspect which can rotate a connector.

  In order to solve the above-described problem, the wire holding jig according to the first aspect includes a holding body portion in which a holding hole in which a wiring member is disposed is formed, and the holding of the holding body portion by applying an external force. A wire holding member including an opening / closing portion that opens and closes the hole, a holding material holding portion that holds a plurality of the wire holding members arranged in a direction intersecting the axial center direction of the holding hole, and one holding force holding the holding material And an opening / closing member having an external force transmitting portion that transmits to each opening / closing portion of the plurality of wire holding members held by the portion.

  The electric wire holding jig according to the second aspect is the electric wire holding jig according to the first aspect, wherein the wire holding member includes two claw members connected to be openable and closable around a shaft portion, and the 2 A biasing member that biases the two claw members in the closing direction, and each of the two claw members has a shaft portion and a split holding hole that extends from the shaft portion to one side and is divided into the holding holes. The split holding main body portion and the opening / closing portion extending from the shaft portion to the other side, and the two holding claws are joined together to form the holding main body portion. Yes.

  An electric wire holding jig according to a third aspect is the electric wire holding jig according to the first or second aspect, wherein the opening / closing member includes a plurality of pressing portions protruding from the flat plate portion and the flat plate portion, respectively. A plurality of coalescing members arranged so that the flat plate portions face each other, and a plurality of the flat plate portions of one coalescing member and the flat plate portion of another coalescing member. A plurality of the wire holding members in such a manner that the wire holding members are arranged in parallel and the opening / closing portion of the wire holding member is positioned between the pressing piece of one united member and the pressing piece of another united member. Is held by the opening / closing member.

  The electric wire holding jig according to the fourth aspect is the electric wire holding jig according to the third aspect, wherein a plurality of insertion holes into which the rod-like fasteners can be inserted are formed in the flat plate portion. At least one of the insertion holes facing each other is formed in a long hole shape, and the opening / closing member is inserted into the plurality of insertion holes, and holds the plurality of wire holding members, respectively. A plurality of the fasteners are further included.

  An apparatus for assembling a wire harness according to a fifth aspect includes an electric wire holding jig according to any one of the first to fourth aspects, and a support member that supports the electric wire holding jig.

  An apparatus for assembling a wire harness according to a sixth aspect is the apparatus for assembling a wire harness according to the fifth aspect, wherein the support member is formed in a long bar shape, and the wire holding jig is a length of the support member. The support member is slidably supported in the scale direction.

  A wire harness assembling apparatus according to a seventh aspect is the wire harness assembling apparatus according to the fifth or sixth aspect, and includes a drive unit that inputs the external force to the opening / closing member.

  The manufacturing method of the wire harness according to the eighth aspect includes (a) inputting one external force to the opening / closing member to open / close the plurality of wire holding members held by the opening / closing member, and (b) Disposing a wiring member extending from the connector in a holding hole of the plurality of opened wire holding members and having a cross-sectional area smaller than the cross-sectional area of the holding hole; and (c) the wiring member in the holding hole. And a step of pulling out the wiring member in the axial direction of the holding hole in the disposed state.

  According to the first to fourth aspects, the wiring member is held by the wire holding member by disposing the wiring member having a cross-sectional area smaller than the cross-sectional area of the holding hole in the holding hole of the wire holding member. It is held without. As a result, the wiring member can be held in such a manner that the wiring member extending from the connector can be pulled out and in which the connector can be rotated. At this time, since the plurality of wire holding members can be opened and closed together by the opening and closing member, the process of holding the wiring member on the wire holding member can be simplified.

  In particular, according to the second aspect, the wire holding member can be formed in a simple shape.

  In particular, according to the third aspect, the interval between the pressing piece of one uniting member and the pressing piece of another uniting member can be changed by sliding the plurality of uniting members. Thereby, the opening / closing part of the wire holding member located between the pressing pieces can be pressed, and the holding hole can be opened / closed.

  In particular, according to the fourth aspect, it is possible to easily hold the plurality of wire holding members on the opening / closing member while allowing the plurality of combined members to be slidable.

  According to the fifth to seventh aspects, by arranging the wiring member having a cross-sectional area smaller than the cross-sectional area of the holding hole in the holding hole of the wire holding member, the wiring member is held by the wire holding member. It is held without. As a result, the wiring member can be held in such a manner that the wiring member extending from the connector can be pulled out and in which the connector can be rotated. At this time, since the plurality of wire holding members can be opened and closed together by the opening and closing member, the process of holding the wiring member on the wire holding member can be simplified.

  In particular, according to the 6th aspect, the branch formation operation | work which forms a branch in a wire harness, etc. become easy by sliding an electric wire holding jig.

  In particular, according to the seventh aspect, the wire holding member can be opened and closed by the driving unit.

  According to the eighth aspect, by arranging the wiring member having a cross-sectional area smaller than the cross-sectional area of the holding hole in the holding hole of the wire holding member, the wiring member is held without being pinched by the wire holding member. The As a result, the wiring member can be held in such a manner that the wiring member extending from the connector can be pulled out and in which the connector can be rotated. At this time, since the plurality of wire holding members can be opened and closed together by the opening and closing member, the process of holding the wiring member on the wire holding member can be simplified.

It is a figure which shows an example of a wire harness. It is the schematic which shows the apparatus for wire harness assembly. It is a schematic plan view which shows an electric wire holding jig. It is a schematic rear view which shows an electric wire holding jig. It is sectional drawing cut | disconnected along the VV line | wire of FIG. It is explanatory drawing which shows a mode that the wire holding member opened. It is explanatory drawing which shows a mode that the wire holding member opened. It is explanatory drawing which shows a mode that a wire holding member is opened using a drive part. It is explanatory drawing which shows a mode that a wire holding member is opened using a drive part. It is explanatory drawing which shows a mode that a wire holding member is opened using a drive part. It is explanatory drawing which shows a mode that a wire holding member is opened using a drive part. It is explanatory drawing which shows a mode that a wiring member is arrange | positioned in a holding hole. It is explanatory drawing which shows a mode that the wiring member was arrange | positioned by the holding hole. It is explanatory drawing which shows a mode that a wiring member is pulled out. It is explanatory drawing which shows a mode that the wiring member was pulled out. It is explanatory drawing which shows a mode that the wiring member was bundled.

{Embodiment}
Hereinafter, an electric wire holding jig according to an embodiment and a wire harness assembling apparatus including the same will be described.

<About wire harness>
First, the wire harness 10 to be manufactured will be described. FIG. 1 is an expanded view of an example of the wire harness 10. In FIG. 1, the electric wires 12 passing through the same path are drawn with a single line. For this reason, in FIG. 1, the electric wire 12 drawn with one line may actually be a bundle of a plurality of electric wires 12.

  In the wire harness 10 to be manufactured, a plurality of (here, four) connectors 14 are connected via a plurality of electric wires 12. More specifically, the wire harness 10 is configured such that a plurality of electric wires 12 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 12 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 12 included in the wire harness 10 are bundled while being branched in a form corresponding to a laying route in the vehicle.

  As described above, the connector 14 is connected to the end of the electric wire 12. For example, the electric wire 12 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding. Hereinafter, when it is necessary to distinguish the four connectors 14, they may be referred to as connectors 14a to 14d.

  The main body of the connector 14 is integrally formed of, for example, an insulating resin material. In the main body portion of the connector 14, a plurality of cavities capable of inserting and holding terminals at the end of the electric wire 12 are formed. When the terminals of the electric wires 12 are inserted and held in the cavities, the electric wires 12 are extended from the connectors 14. Below, the linear member containing the at least 1 electric wire 12 extended from the connector 14 is called the wiring member 13 (refer FIG. 2).

<About wire harness assembly equipment>
The wire harness assembling apparatus 20 will be described. FIG. 2 is a schematic view showing the wire harness assembling apparatus 20. FIG. 3 is a schematic plan view showing the electric wire holding jig 30. FIG. 4 is a schematic rear view showing the electric wire holding jig 30. FIG. 5 is a cross-sectional view taken along line VV in FIG. 6 and 7 are explanatory views showing a state in which the wire holding member 31 is opened. 6 is a view seen from the same direction as FIG. 4, and FIG. 7 is a view seen from the same direction as FIG.

  The wire harness assembling apparatus 20 is used for performing a process such as a bundling process on the wiring member 13 extending from the connector 14. The binding process is a process of binding the wiring member 13 extending from the connector 14 at a position away from the connector 14. The wire harness assembling apparatus 20 includes an electric wire holding jig 30 and a support member 50 that supports the electric wire holding jig 30. Here, the wire harness assembling apparatus 20 further includes a first robot 70 as a wire drawing mechanism, a second robot 80 as a bundling mechanism, an imaging unit 90 as a state information acquisition unit, and a processing control unit 100. Prepare.

  The electric wire holding jig 30 includes a plurality (three in this case) of wire holding members 31 and an opening / closing member 40.

  Each wire holding member 31 includes a holding main body portion 32 and an opening / closing portion 36. A holding hole 32 a in which the wiring member 13 is disposed is formed in the holding main body portion 32. By arranging the wiring member 13 in the holding hole 32 a, the holding main body 32 can hold the wiring member 13 without pinching it. The opening / closing part 36 opens and closes the holding hole 32a of the holding main body part 32 when an external force is applied.

  Here, the wire holding member 31 includes two claw members 33 that are connected around the shaft portion 34 so as to be opened and closed, and a biasing member 38 that biases the two claw members 33 in the closing direction. The wire holding member 31 will be described as being formed in a so-called laundry scissors shape.

  The two claw members 33 each have a shaft portion 34, a divided holding main body portion 35, and the opening / closing portion 36. The two claw members 33 are formed in the same shape, and are connected to each other in opposite directions.

  The shaft portion 34 is a portion that serves as a rotation fulcrum for the two claw members 33. Here, the two claw members 33 are rotatably connected around the shaft portion 34. More specifically, each shaft portion 34 includes a pair of projecting pieces provided apart along the extending direction of the rotation shaft of the two claw members 33. Then, one of the pair of protruding pieces of the claw member 33b (33a) is disposed between the pair of protruding pieces of the claw member 33a (33b) so that the pair of protruding pieces mesh with each other. Two claw members 33 are rotatably coupled around the shaft portion 34.

  The divided holding main body portion 35 extends from the shaft portion 34 to one side. The divided holding main body portion 35 is formed with a divided holding hole 35a obtained by dividing the holding hole 32a. When viewed from one claw member 33, the divided holding hole 35 a is a groove shape in which an intermediate portion in the extending direction between the shaft portion 34 and the tip of the divided holding main body portion 35 is recessed on the other side surface of one side surface of the claw member 33. Is formed. The two divided holding holes 35 a formed by combining the two claw members 33 form the holding hole 32 a, and the two divided holding main bodies 35 form the holding main body 32.

  The opening / closing part 36 extends from the shaft part 34 to the other side. The open / close portions 36 of the two claw members 33 are formed so as to be located at positions separated from each other with the holding hole 32a closed. Then, by bringing the open / close portions 36 of the two claw members 33 closer to each other, the two claw members 33 rotate around the shaft portion 34 and the holding holes 32a are opened.

  Here, the urging member 38 is formed in a ring spring shape in which a part in the circumferential direction is interrupted. And the one end part of the circumferential direction of the urging | biasing member 38 is connected with the outer surface side of the division | segmentation holding | maintenance main-body part 35 of one claw member 33a. Further, the other end in the circumferential direction of the urging member 38 is connected to the outer surface side of the divided holding main body 35 of the other claw member 33b. Each claw member 33 is formed with a through-hole 37 through which an intermediate portion of the urging member 38 passes. A central portion between the two through holes 37 in the urging member 38 is disposed on the opposite side of the shaft portion 34 from the holding hole 32a with a space from the shaft portion 34.

  The opening / closing member 40 includes a holding material holding portion that holds the plurality of wire holding members 31 in a state in which the wire holding members 31 are arranged in a direction intersecting the axial center direction of the holding hole 32a, and a plurality of holding members that hold one external force. And an external force transmitting portion that transmits to each opening / closing portion 36 of the wire holding member 31.

  Specifically, the opening / closing member 40 includes a plurality (two in this case) of combined members 41. Each united member 41 includes a flat plate portion 42 and a plurality (three in this case) of pressing pieces 43 that protrude from the flat plate portion 42. Here, the flat plate portion 42 is formed in a rectangular flat plate shape. The three pressing pieces 43 are formed in a manner extending along the short direction toward the end in the short direction of the flat plate portion 42. The three pressing pieces 43 are formed at regular intervals (here, at equal intervals) from the one end side in the longitudinal direction of the flat plate portion 42. The two coalescing members 41 are formed in the same shape. The two united members 41a and 41b are arranged so that the flat plate portion 42 faces each other and so that the pressing piece 43 thereof is abutted against the flat plate portion 42 on the other side. That is, the united member 41b takes a posture in which the united member 41a is rotated 180 degrees around the axis along the short direction of the flat plate portion 42a. Three wire rod holding members 31 are arranged in parallel in the longitudinal direction of the flat plate portion 42 between the flat plate portion 42a of the combined member 41a and the flat plate portion 42b of the combined member 41b. In addition, in a state where the two flat plate portions 42a and 42b overlap with each other in plan view, the opening / closing portions 36 of the wire holding members 31 are positioned between the pressing piece 43a of the uniting member 41a and the pressing piece 43b of the uniting member 41b. In this manner, three wire holding members 31 are arranged.

  Here, the two united members 41 function as an external force transmission unit. More specifically, from the state in which the flat plate portions 42a and 42b overlap in a plan view (the state shown in FIGS. 3 and 4), the two combined members 41 move relative to each other along the direction in which the pressing pieces 43 are arranged. When this is done (the state shown in FIGS. 6 and 7), the intervals between the three sets of pressing pieces 43a and 43b located on opposite sides of the opening / closing portion 36 are changed. That is, the three sets of pressing pieces 43a and 43b move so as to approach together, and the open / close portions 36a and 36b of the three wire holding members 31 are simultaneously pressed by the corresponding sets of pressing pieces 43a and 43b. As a result, the two claw members 33 in each wire holding member 31 are rotated around the shaft portion 34 so that the two opening / closing portions 36a and 36b approach each other, so that the holding holes 32a in each wire holding member 31 are simultaneously opened. It becomes.

  Here, the opening / closing member 40 further includes a fastener 44. The wire holding member 31 is held by the fastener 44 and the two combined members 41. Accordingly, here, the fastener 44 and the two combined members 41 function as a holding material holding portion.

  More specifically, a plurality (three in this case) of insertion holes 42h through which the rod-like fasteners 44 can be inserted are formed in the flat plate portions 42a and 42b. Of the total six insertion holes 42h of the two flat plate portions 42, at least one of the insertion holes 42h facing each other is formed in a long hole shape. The longitudinal direction of the long hole-shaped insertion hole 42h is a direction in which the plurality of pressing pieces 43 are arranged, that is, a direction in which the two combined members 41 are relatively moved. As a result, the two flat plate portions 42 are relatively movable in the direction in which the pressing pieces 43 are arranged in a state where the fastener 44 is inserted into the insertion hole 42h. Here, since the two united members 41 are formed in the same shape, both of the insertion holes 42h facing each other are formed in a long hole shape.

  In addition, when the insertion hole which is not long hole shape is included, the space | interval of the some holding | maintenance hole 32a may change because the wire holding member 31 is dragged by the flat plate part 42 which moves relatively via the fastener 44. For this reason, it is preferable that all the shapes of the insertion holes 42h formed in the one flat plate portion 42 are long holes. Thereby, the holding holes 32a can be opened and closed without changing the interval between the plurality of holding holes 32a.

  A plurality of (in this case, three) fasteners 44 are provided. Each fastener 44 is formed in a long rod shape and is inserted through three sets of insertion holes 42h. Each fastener 44 penetrates a part of each wire holding member 31. Here, each fastener 44 is inserted into a portion between the biasing member 38 and the shaft portion 34. But the fastener 44 may penetrate the other part in the wire holding member 31, for example, the through-hole which lets the fastener 44 pass to the axial part 34 is formed, and the fastener 44 penetrates the said through-hole. It may be.

  The fastener 44 is inserted into the insertion hole 42h of the flat plate portion 42 and partially penetrates the wire holding member 31, so that the wire holding member 31 moves in the direction along the plane of the flat plate portion 42. Is regulated. Further, the movement of the wire holding member 31 in the direction orthogonal to the plane of the flat plate portion 42 is restricted by the flat plate portion 42. Further, the wire rod holding member 31 is restricted by the pressing piece 43 from rotating around the fastener 44 around the fastener 44. As described above, the wire holding member 31 is held by the two united members 41 and the fasteners 44.

  In the example shown in FIG. 3, a screw 45 a and a nut 46 that fastens the tip of the screw 45 are provided as a fastener 44 a that holds two wire holding members 31 located on the outer side among the three wire holding members 31. . A screw 45b is provided as a fastener 44b for holding the wire holding member 31 located at the center of the three wire holding members 31, and the tip of the screw 45b is fastened to a screw hole formed in the slider 56 described later. ing.

  However, the configuration of the fastener 44 is not limited to the above. For example, the fastener may be composed of a pin and a cap provided at the end of the pin.

  Here, the electric wire holding jig 30 is supported by the support member 50. The support member 50 includes a vertical frame 52 and a horizontal frame 54. The vertical frame 52 is supported in a standing state on the floor. The horizontal frame 54 is supported in a horizontal posture at a position on the floor by the vertical frame 52. The electric wire holding jig 30 is supported in a horizontal posture at a position on the floor by the horizontal frame 54. At this time, the electric wire holding jig 30 is supported in a posture in which the axial center direction of the holding hole 32 a is along the extending direction of the vertical frame 52.

  The horizontal frame 54 is formed in a long bar shape. The electric wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54. More specifically, the horizontal frame 54 is formed with a concave groove 54h extending along the longitudinal direction thereof. A slider 56 that can slide along the concave groove 54h is disposed in the concave groove 54h. The electric wire holding jig 30 is attached to the slider 56. Here, the wire holding jig 30 is attached to the slider 56 by screwing the screw 45 into a screw hole formed in the slider 56. In the example shown in FIG. 3, the concave groove 54h is formed to open upward in the vertical direction, but this is not essential. The concave groove 54h may be formed so as to open in the horizontal direction or may be formed so as to open downward in the vertical direction.

  However, it is not essential that the electric wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54. The electric wire holding jig 30 may be fixed to the support member 50 so as not to move.

  Hereinafter, the direction along the longitudinal direction of the horizontal frame 54 is referred to as an x-axis direction, and two directions orthogonal to the direction are referred to as a y-axis direction and a z-axis direction. Therefore, as shown in FIG. 3, the holding holes 32a are arranged along the x-axis direction. The opening of the holding hole 32a faces the y-axis direction. For this reason, the wiring member 13 is taken in and out along the y-axis direction with respect to the holding hole 32a (see FIGS. 7 and 12). Further, the extending direction of the vertical frame 52 is a direction along the z-axis direction, and here is a direction along the vertical direction.

  The wiring member 13 extending from each connector 14 is held by the holding main body 32 in a state where the terminals at each end of the plurality of electric wires 12 are inserted and held in the corresponding connectors 14. Here, while the connector 14 is positioned above the holding body portion 32, the wiring member 13 extending from the connector 14 is inserted into the holding hole 32a of the holding body portion 32 so as to extend in the vertical direction. Here, description will be made assuming that the wiring member 13 extending from one connector 14 is inserted into one holding hole 32a. However, a plurality of wiring members 13 respectively extending from the plurality of connectors 14 may be inserted into one holding hole 32a. In addition, in the state shown in FIG. 2, each wiring member 13 is not bundled. Therefore, each wiring member 13 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a lower position between the connectors 14. Here, each wiring member 13 extending from each connector 14 hangs down from each holding main body 32 and is curved toward the other holding main body 32 at a position below each holding main body 32.

  The wire drawing mechanism pulls out the plurality of wiring members 13 held without being held by the wire holding jig 30. The wire drawing mechanism includes a holding unit and a moving mechanism. The holding portion holds a portion of the wiring member 13 between the connector 14 and the wire holding jig 30 or the connector 14 in a state where the wiring member 13 is held by the wire holding jig 30. The moving mechanism moves the holding unit away from the electric wire holding jig 30. As described above, here, the first robot 70 is employed as the wire drawing mechanism.

  The first robot 70 includes a robot arm 72 as the moving mechanism and a robot hand 74 as the holding unit provided at the tip of the robot arm 72. The robot hand 74 can be moved to each work position by driving the robot arm 72. The posture of the robot hand 74 can be changed by driving the robot arm 72. The robot hand 74 includes a plurality of fingers, and the connector 14 or the wiring member 13 extending from the connector 14 can be held by the plurality of fingers. In particular, the robot hand 74 holds the wiring member 13 extending from the connector 14 or the connector 14 in a state where the robot hand 74 is moved to the position of the connector 14 or a position below the connector 14 by driving the robot arm 72. In this state, the wiring member 13 can be pulled out from the wire holding jig 30 by moving the robot hand 74 upward by driving the robot arm 72 (see FIGS. 14 and 15). Hereinafter, the robot hand 74 will be described as gripping the connector 14.

  At this time, the wiring member 13 is pulled out without being slid so as to abut both sides of the electric wire holding jig 30. For this reason, the portion between the connector 14 and the wire holding jig 30 in the drawn wiring member 13 may include a bent portion. In this case, it is preferable that the portion of the wiring member 13 between the connector 14 and the wire holding jig 30 is corrected to be as straight as possible by an operator or a wire correction mechanism before being bound later. For example, with the connector 14 positioned, the wiring member 13 is held as straight as possible by gripping the connector 14 side portion of the wiring member 13 and sliding the gripping portion toward the wire holding jig 30 side. Can be corrected. Such a correction operation of the electric wire 12 is also referred to as an ironing operation.

  The bundling mechanism binds the plurality of wiring members 13 in a state of being pulled out by the electric wire drawing mechanism. As described above, here, the second robot 80 is employed as the bundling mechanism.

  The second robot 80 includes a robot arm 82 and a bundling device 84 provided at the tip of the robot arm 82. The bundling device 84 can be moved to each work position by driving the robot arm 82. The binding device 84 is a device that binds the wiring member 13 with a binding member such as an adhesive tape or a binding band. As the binding device 84, for example, a known tape winding device that winds the adhesive tape around the wiring member 13 by rotating a tape winding body around which the adhesive tape is wound around the wiring member 13. Can be used. In particular, in a state where the wiring member 13 is held by the electric wire holding jig 30 at a lower position away from the connector 14, the bundling device 84 is moved above or below the electric wire holding jig 30 by driving the robot arm 82. The wiring member 13 can be bundled by winding the adhesive tape around the wiring member 13 by the bundling device 84 in a state where the wiring member 13 is moved to the next position (see FIG. 16). Below, it demonstrates as what binds the wiring member 13 in the upper position (henceforth a planned binding location) of the electric wire holding jig 30 with the binding apparatus 84. FIG.

  As the robot arms 72 and 82 of the first robot 70 and the second robot 80, general industrial robots can be used. In FIG. 2, general vertical articulated robots are illustrated as the robot arms 72 and 82 of the first robot 70 and the second robot 80.

  Here, the example in which the first robot 70 and the second robot 80 are provided separately has been described, but the robot hand 74 and the bundling device 84 may be moved by a common robot arm. Good.

  The state information acquisition unit acquires state information of the connector 14 and the wiring member 13 in a state where the wiring member 13 is held by the electric wire holding jig 30. As described above, here, the imaging unit 90 is provided as a state information acquisition unit.

  Here, the imaging unit 90 is configured to be able to image the connector 14 and the wiring member 13 extending from the connector 14. That is, the imaging unit 90 is an imaging camera configured by a CCD camera or the like. As the imaging unit 90, a two-dimensional camera may be used, or a stereo camera may be used. When the posture of the robot hand 74 is changed three-dimensionally according to the posture of the connector 14 to be grasped, a stereo camera is preferably used as the imaging unit 90. Here, an example in which a stereo camera is used as the imaging unit 90 will be described.

  The processing control unit 100 determines the holding position of the holding unit based on the state information acquired by the state information acquisition unit. At this time, the machining control unit 100 has a function of performing operation control of the first robot 70 and the second robot 80.

  The processing control unit 100 is connected to the first robot 70, the second robot 80, and the imaging unit 90. The image picked up by the image pickup unit 90 is given to the processing control unit 100, whereby the processing control unit 100 acquires the holding position of the robot hand 74. Further, under the control of the processing control unit 100, the first robot 70 performs an electric wire drawing operation and the second robot 80 performs a binding operation.

  The processing control unit 100 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 holding position determination program for determining the holding position of the robot hand 74, and the like. Operation control of the first robot 70 and the second robot 80 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program. In the processing control unit 100, an image signal input interface and an input / output interface are also connected to the bus line. Then, the image pickup signal of the image pickup unit 90 is input to the main processing control unit 100 through the image signal input interface, and used for the process of acquiring the holding position of the robot hand 74. In addition, a control signal from the machining control unit 100 is given to the first robot 70 and the second robot 80 via the input / output interface, and the first robot 70 and the second robot 80 are driven and controlled.

  Note that an input unit configured by various switches, a touch panel, and the like is connected to the main processing control unit 100, and the wire harness assembling apparatus 20 is configured to receive various instructions to the main processing control unit 100 through the input unit. It is possible that

  Further, some or all of the functions performed by the machining control unit 100 may be realized by hardware using a dedicated logic circuit or the like.

<Manufacturing method>
Based on the wire harness assembling apparatus 20, a method for manufacturing the wire harness 10 will be described.

  First, a plurality of connectors 14 each having an end of a plurality of electric wires 12 connected thereto is prepared. Then, the wiring member 13 extending from the connector 14 is held without being held by the electric wire holding jig 30 in such a manner that the wiring member 13 can be pulled out. Here, a portion of the wiring member 13 extending from the connector 14 in the vicinity of the connector 14 is held by the holding main body portion 32.

  Specifically, one external force is input to the opening / closing member 40 to open / close the plurality of wire holding members 31 held by the opening / closing member 40 (step (a)). Here, an example in which one external force is input to the opening / closing member 40 by the external force input mechanism 60 including the driving unit 62 such as a cylinder will be described with reference to FIGS. 8 to 11.

  As shown in FIGS. 8 and 9, the external force input mechanism 60 includes a driving unit 62 that drives in one direction and a receiving unit 64 that is disposed away from the driving unit 62 along the one direction. Including. In the example shown in FIGS. 8 and 9, the receiving unit 64 is also driven. Then, by driving the driving unit 62 with the driving unit 62 and the receiving unit 64 sandwiching the opening / closing member 40, the two combined members 41 of the opening / closing member 40 as shown in FIGS. Relatively moving, the wire holding member 31 opens and closes. At this time, the drive unit 62 abuts only on one united member 41, and the receiving unit 64 abuts only on the other united member 41.

  For example, the function as the external force input mechanism 60 may be performed by the first robot 70, or may be provided separately from the first robot 70. When provided separately from the first robot 70, for example, it is conceivable that the horizontal frame 54 is slidably attached along the longitudinal direction thereof. Thereby, the electric wire holding jig 30 can be opened and closed at an arbitrary position along the horizontal frame 54. For example, the external force input mechanism 60 may be attached to each electric wire holding jig 30.

  However, it is not essential that the external force input mechanism 60 is provided. An operator may input one external force to the opening / closing member 40.

  Next, as shown in FIG. 12, the wiring member 13 extending from the connector 14 is disposed in the holding holes 32a of the opened wire holding members 31 (step (b)). At this time, the wiring member 13 has a cross-sectional area smaller than the cross-sectional area of the holding hole 32a to be disposed. As a result, the wiring member 13 is held without being held between the holding main body portions 32. In this state, the plurality of electric wires 12 hang down from the holding main body portion 32. At this time, here, the wiring members 13 extending from the plurality of connectors 14 are held by separate holding main body portions 32, respectively. The wiring member 13 may be disposed in the holding hole 32a by an operator or a robot. When the robot performs, the first robot 70 may perform it.

  When the wiring members 13 extending from the four connectors 14 are held in separate holding main body portions 32, they are as shown in FIG. Here, since three holding main body portions 32 are provided in one electric wire holding jig 30, two electric wire holding jigs 30 are used to arrange the four wiring members 13. The two wire members 13 are held by the two wire holding jigs 30 respectively. The wiring member 13 that forms a branch at a position close to the connector 14 may be held by the same wire holding jig 30. Here, the wiring member 13 extending from the connectors 14a and 14b is held by one electric wire holding jig 30, and the wiring member 13 extending from the connectors 14c and 14d is held by the other electric wire holding jig 30. ing. Accordingly, the branch forming operation is facilitated by sliding the wire holding jig 30 along the horizontal frame 54 and changing the interval between the two wire holding jigs 30.

  Next, with the wiring member 13 disposed in the holding hole 32a, the wiring member 13 is pulled out in the axial direction of the holding hole 32a (step (c)). Specifically, as shown in FIG. 14, a portion of the connector 14 or the wiring member 13 between the connector 14 and the wire holding jig 30 (here, the connector 14) is moved by the robot hand 74 of the first robot 70. The robot hand 74 is lifted in this state. Thereby, the part hold | maintained at the holding | maintenance main body part 32 among the wiring members 13 and the part located below this raise, and are pulled out to the connector 14 side rather than the electric wire holding jig 30 passing the holding | maintenance main body part 32 in order. It is. When the two wiring members 13 constituting the branch are pulled out, they are as shown in FIG. The drawn wiring member 13 is maintained in this state. For example, the connector 14 may be held by the connector holding jig 110 provided at the end of the movement of the connector 14, or the robot hand 74 continues to hold the connector 14 at the position of the movement of the connector 14. There may be.

  Here, when the connector 14 or the wiring member 13 is held by the robot hand 74, a holding error may occur if the position and posture of the connector 14 are not constant. Further, the connector 14 or the wiring member 13 may be held from an undesired direction and the connector 14 or the wiring member 13 may be damaged. In particular, here, since the connector 14 is rotatable around the axis of the holding hole 32a, the position and posture of the connector 14 may not be constant. In order to hold the connector 14 or the wiring member 13 more reliably by the robot hand 74 even when the position and posture of the connector 14 are unstable in this way, here, the wiring member extending from the connector 14 and the connector 14 is used. 13 state information is acquired.

  That is, the imaging unit 90 captures an area including the terminal of the wiring member 13. For example, a region including the connector 14 to be held and a member that is likely to be an interference when the connector 14 is held by the robot hand 74 around the connector 14 is imaged. Then, the processing control unit 100 acquires the holding position and the like of the robot hand 74 based on the state information of the connector 14 and the wiring member 13 in the captured image captured by the imaging unit 90. For example, the processing control unit 100 performs pattern recognition on the connector 14 by comparing it with the shape of the connector 14 input in advance in the captured image, and determines the position and orientation of the connector 14. Then, based on the determined position and orientation of the connector 14, an approach path in which the robot hand 74 does not interfere with other connectors 14, the wiring members 13, etc., and a suitable position and orientation of the robot hand 74 with respect to the connector 14 to be held, etc. get. Further, when the robot hand 74 holds the wiring member 13, it is conceivable to extract the image of the wiring member 13 by removing the background from the captured image and acquire the holding position of the robot hand 74. The background may be acquired in advance from a captured image captured without the wiring member 13. Based on the holding position and the like acquired in this way, the machining control unit 100 controls the operation of the robot hand 74. It is preferable that the acquisition of the imaging and holding position is performed every time before holding the connector 14 or the wiring member 13.

  Next, the drawn wiring member 13 is processed. Here, although it demonstrates as what binds to the drawn-out wiring member 13, processing other than binding processing, such as attachment processing of an exterior member, may be performed. Further, here, as the bundling process, the wiring members 13 extending from the plurality of connectors 14 are collectively bundled to form a branch, but the wiring members 13 extending from one connector 14 are bound. It may be a thing.

  More specifically, by pulling out the wiring members 13 extending from the two connectors 14a and 14b respectively set on the two holding main body portions 32 by a predetermined distance, as shown in FIG. The planned binding location is moved to the vicinity of the electric wire holding jig 30 (here, the position adjacent to the upper side of the electric wire holding jig 30).

  In this state, the bundling device 84 is moved to the planned bundling position, and the wiring member 13 extending from the connector 14 is bound by the adhesive tape T or the like. Here, the wiring members 13 extending from the two connectors 14a and 14b are bundled together. As a result, the bound portion forms a branching portion.

  Thereafter, when the bundling device 84 is retracted, as shown in FIG. 16, the two wiring members 13 extending from the two connectors 14 are bundled at the planned bundling location.

  By performing the above-described bundling process on each of the plurality of connectors 14 or the branched portions, the wire harness 10 in which the wiring members 13 extending from the respective connectors 14 are bound is manufactured.

  According to the electric wire holding jig 30 configured as described above and the wire harness assembling apparatus 20 including the same, the wiring member 13 having a transverse area smaller than the transverse area of the holding hole 32a in the holding hole 32a of the wire holding member 31. The wiring member 13 is held without being pinched by the wire holding member 31. As a result, the wiring member 13 can be held in such a manner that the wiring member 13 extending from the connector 14 can be pulled out and the connector 14 can be rotated. At this time, since the plurality of wire holding members 31 can be collectively opened and closed by the opening / closing member 40, the process of holding the wiring member 13 on the wire holding member 31 can be simplified.

  Moreover, since the wire holding member 31 has a clothespin shape, the wire holding member 31 can be formed in a simple shape.

  Moreover, the space | interval of the pressing piece 43 of one uniting member 41 and the pressing piece 43 of another uniting member 41 can be changed by the sliding movement of several uniting members 41. Thereby, the opening / closing part 36 of the wire holding member 31 located between the pressing pieces 43 can be pressed, and the holding hole 32a can be opened and closed.

  Further, the plurality of wire holding members 31 can be held by the opening / closing member 40 while allowing the plurality of united members 41 to be easily slidable by the fasteners 44 and the insertion holes 42h.

  Moreover, since the electric wire holding jig 30 is supported by the supporting member 50 so as to be slidable in the longitudinal direction of the supporting member 50, a branch is formed in the wire harness 10 by sliding the electric wire holding jig 30. Branch formation work becomes easy.

  Moreover, since the drive part 62 which inputs external force into the member 40 for opening and closing is provided, the wire holding member 31 can be opened and closed by the drive part 62.

{Modifications}
In the embodiment, the wire harness assembling apparatus 20 has been described as being used so that the z-axis direction is in the direction along the vertical direction, but this is not essential. For example, the wire harness assembling apparatus 20 may be used such that the y-axis direction is a direction along the vertical direction.

  In the embodiment, the wire holding member 31 has been described as being closed in an initial state where no external force is applied, but this is not essential. The wire holding member 31 may be in an open state in the initial state. In this case, it may be maintained in the closed state by the drive unit 62, or may be maintained in the closed state by a locking structure.

  In the embodiment, the wire holding member 31 has been described as being formed in the shape of a clothespin, but this is not essential. For example, the wire holding member includes a so-called binder including a holding main body portion in which a plate material is bent in a triangular shape in cross section, and two U-shaped opening / closing portions respectively attached to both circumferential ends of the holding main body portion 32. It may be formed in a clip shape.

  Further, even when the wire holding member 31 is formed in the shape of a clothespin, it is not essential to include the two claw members 33 and the urging member 38. For example, it may be formed so as to include the configuration of the two claw members 33 and the urging member 38 by bending one bar-like member. In this case, the portion constituting the biasing member 38 is formed in a torsion coil spring shape, for example.

  In the embodiment, the opening / closing member 40 is described as including the fastener 44, but this is not essential. For example, a locking portion capable of maintaining two combined states may be formed in the combined member 41.

  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 12 Electric wire 13 Wiring member 14 Connector 20 Wire harness assembly apparatus 30 Electric wire holding jig 31 Wire material holding member 32 Holding body part 32a Holding hole 33 Claw member 34 Shaft part 35 Divided holding body part 35a Divided holding hole 36 Opening / closing part 38 biasing member 40 opening / closing member 41 united member 42 flat plate portion 42h insertion hole 43 pressing piece 44 fastener 50 support member 52 vertical frame 54 horizontal frame 54h concave groove 56 slider 60 external force input mechanism 62 drive unit 64 receiving unit

Claims (8)

A wire holding member including a holding main body formed with a holding hole in which a wiring member is disposed, and an opening / closing part that opens and closes the holding hole of the holding main body by applying an external force;
Opening and closing of the holding member holding part holding the plurality of wire holding members arranged in a direction intersecting the axial direction of the holding hole, and the plurality of wire holding members holding one external force in the holding material holding part An opening / closing member having an external force transmitting portion that transmits to the portion;
An electric wire holding jig. The electric wire holding jig according to claim 1,
The wire rod holding member includes two claw members coupled to be openable and closable around a shaft portion, and a biasing member that biases the two claw members in a closing direction,
Each of the two claw members extends from the shaft portion to the other side of the shaft portion, a split holding main body portion formed with a split holding hole that extends from the shaft portion to one side and is divided into the holding holes. The opening and closing part
The electric wire holding jig, wherein the divided holding main body united by combining the two claw members constitutes the holding main body unit. The electric wire holding jig according to claim 1 or 2,
The opening / closing member includes a flat plate portion and a plurality of pressing pieces projecting from the flat plate portion, and includes a plurality of united members arranged so that the flat plate portions face each other.
A plurality of the wire holding members are juxtaposed between the flat plate portion of one united member and the flat plate unit of another united member, and the pressing piece of one united member and the united member of another united member An electric wire holding jig in which a plurality of the wire holding members are held by the opening / closing member in a mode in which the opening / closing portion of the wire holding member is positioned between the pressing pieces. The electric wire holding jig according to claim 3,
The flat plate portion is formed with a plurality of insertion holes through which rod-like fasteners can be inserted,
At least one of the insertion holes facing each other among the plurality of insertion holes is formed in a long hole shape,
The open / close member further includes a plurality of fasteners that are respectively inserted into the plurality of insertion holes and hold the plurality of wire holding members. The wire holding jig according to any one of claims 1 to 4,
A support member for supporting the wire holding jig;
A device for assembling a wire harness. The wire harness assembling apparatus according to claim 5,
The support member is formed in a long bar shape,
The apparatus for assembling a wire harness, wherein the electric wire holding jig is supported by the support member so as to be slidable in the longitudinal direction of the support member. The wire harness assembling apparatus according to claim 5 or 6,
An apparatus for assembling a wire harness, comprising a drive unit that inputs the external force to the opening / closing member. (A) inputting one external force to the opening / closing member to open / close the plurality of wire holding members held by the opening / closing member;
(B) disposing a wiring member extending from the connector into a holding hole of the plurality of opened wire holding members and having a cross-sectional area smaller than the cross-sectional area of the holding hole;
(C) With the wiring member disposed in the holding hole, withdrawing the wiring member in the axial direction of the holding hole;
A method for manufacturing a wire harness.

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