JP2018153891A - Wire harness machining device and wire harness manufacturing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a robot device from interrupting work due to singularity abnormality when manufacturing wire harness by the robot device.SOLUTION: A wire harness machining device is provided for gathering a first electric supply cable extending from a first connector and a second electric supply cable extending from a second connector. The wire harness machining device includes: a robot device having a robot hand and a robot arm; a route information acquisition unit for acquiring route information of an electric supply cable; a gathering posture specifying unit for finding a gripping point when the robot hand gathers the electric supply cable based on the route information of the electric supply cable, specifying multiple posture candidates capable of being taken by the robot hand while arranging the gripping point between a first gripping claw and a second gripping claw being closed, and determining a gathering posture based on manipulability of the robot arm corresponding to each of the multiple posture candidates; and a robot control unit for controlling the robot device so that the robot hand may gather the electric supply cable according to the gathering posture determined.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a technique for manufacturing a wire harness by a robot apparatus.

  Patent Document 1 is a processing trajectory generation device that generates a processing trajectory of a processing robot that finishes a workpiece surface by grinding or polishing, and maintains a TCP position and a tool axis direction vector at a processing point on the workpiece surface. In addition, a technique for selecting a specific posture or a posture without interference with the outside from a plurality of postures of a six-axis robot arm is disclosed.

  Patent Document 2 acquires image data for recognizing a group of electric wires constituting a wire harness by an image acquisition system, and causes a robot hand to collect and collect a plurality of electric wires based on the recognition result. Is disclosed.

JP, 2006-002627, A JP 2016-192135 A

  By the way, the electric wire which comprises a wire harness is a elongate flexible object. For this reason, the electric wire extended from the connector positioned and held at a fixed position can exist at various positions. On the other hand, when the robot apparatus operates, there is a restriction such as a singular point.

  For this reason, even if the position of the electric wire is recognized by the image acquisition system and the operation of the robot apparatus that handles the electric wire is controlled based on the recognition result as in Patent Document 2, the operation of the robot apparatus continues during the work. May become impossible.

  Here, Patent Document 1 describes a posture with no specific posture or interference with the outside from a plurality of postures of the 6-axis robot arm that can be maintained while maintaining the TCP position and the tool axis direction vector at the machining point on the workpiece surface. The technology to choose. For this reason, when the electric wire itself to be processed can exist at various positions, it cannot be applied as a technique for avoiding singularities.

  Therefore, an object of the present invention is to prevent the robot apparatus from interrupting work due to a singularity abnormality when a wire harness is manufactured by the robot apparatus.

  In order to solve the above-described problem, a first aspect is a wire harness processing apparatus that gathers together a first electric wire extending from a first connector and a second electric wire extending from a second connector, and is capable of opening and closing. A robot apparatus having a robot hand including one gripping claw and a second gripping claw, a robot arm including a plurality of joints that move the robot hand, and path information for acquiring path information of the first electric wire and the second electric wire Based on the acquisition unit and the path information of the first electric wire and the second electric wire, the robot hand obtains a holding point when the first electric wire and the second electric wire are gathered together, and the first holding which is closed With the gripping point disposed between the nail and the second gripping nail, a plurality of posture candidates that the robot hand can take are specified, and the robot arm corresponding to each of the plurality of posture candidates is identified. Based on the maneuverability of the robot, the gathering posture specifying unit that determines the posture in which the robot hand gathers the first electric wire and the second electric wire, and the robot hand is decided by the gathering posture specifying unit. A robot control unit for controlling the robot device so as to gather the first electric wire and the second electric wire according to the gathering posture.

  A 2nd aspect is a wire harness processing apparatus which concerns on a 1st aspect, Comprising: The said gathering attitude | position specific | specification part is based on the path information of the said 1st electric wire and the said 2nd electric wire, and the said 1st electric wire and the said The normal direction of the surface connecting the second electric wires at the gripping point is specified, and the gripping point is disposed between the closed first gripping claw and the second gripping claw, and the first gripping is performed. The extending direction of the claw and the second gripping claw coincides with the normal direction, and the opening / closing direction of the first gripping claw and the second gripping claw is in a direction in which the first electric wire and the second electric wire are arranged. The matching posture is set as the first posture candidate, and the extending direction of the first gripping claw and the second gripping claw and the opening / closing direction of the first gripping claw and the second gripping claw are orthogonal to the first posture candidate. At least one posture rotated around the axis and at least one second posture candidate It is intended to identify with.

  A 3rd aspect is a wire harness processing apparatus which concerns on a 1st or 2nd aspect, Comprising: When collecting the electric wire extended from each of three or more connectors, the said route information acquisition part is one side. The route information is obtained by using the electric wire extending from the outer connector as the first electric wire and the electric wire extending from the other outer connector as the second electric wire.

  A fourth aspect is the wire harness processing apparatus according to any one of the first to third aspects, wherein the robot control unit is a gathering posture determined by the gathering posture specifying unit by the robot hand. Then, the first electric wire and the second electric wire are gathered together, and then the robot hand is moved in the extending direction of the first electric wire and the second electric wire to squeeze them.

  A fifth aspect is the wire harness processing apparatus according to any one of the first to fourth aspects, wherein a grippable width of the first gripping claw and the second gripping claw of the robot hand is the gripping When the distance between the first electric wire and the second electric wire on both sides of the point is smaller than that of the point, the gathering operation of the robot hand is stopped.

  According to a sixth aspect, the robot device includes a robot hand including a first gripping claw and a second gripping claw that can be opened and closed, and a robot arm including a plurality of joints that move the robot hand. A method of manufacturing a wire harness by gathering together a first electric wire and a second electric wire extending from a second connector, wherein (a) acquiring path information of the first electric wire and the second electric wire; (B) a step of obtaining a grip point when the robot hand gathers the first electric wire and the second electric wire based on path information of the first electric wire and the second electric wire; and (c) closed. Listing a plurality of posture candidates that the robot hand can take with the gripping point disposed between the first gripping claw and the second gripping claw; and (d) that of the plurality of posture candidates. A step of determining a posture of the robot hand collecting the first electric wire and the second electric wire based on an operable degree of the robot arm corresponding thereto; and (e) the robot hand is configured to perform the step (d And a step of gathering the first electric wire and the second electric wire according to the gathering posture determined in step (b), and (f) a step of binding the collected first electric wire and the second electric wire.

  According to the first to sixth aspects, the robot hand determines a posture for gathering the first electric wire and the second electric wire based on the operable degree of the robot arm corresponding to each of a plurality of posture candidates. The greater the manipulability, the more freely the robot hand can move. Therefore, when the wire harness is manufactured by the robot apparatus, it is possible to prevent the robot apparatus from interrupting work due to a singularity abnormality.

  According to the second aspect, in the state where the gripping point is disposed between the closed first gripping claw and the second gripping claw, the extending direction of the first gripping claw and the second gripping claw is The first posture candidate is a posture that matches the normal direction and that the opening and closing directions of the first gripping claws and the second gripping claws coincide with the direction in which the first electric wires and the second electric wires are arranged. Then, at least one rotated from the first posture candidate around an axis orthogonal to the extending direction of the first gripping claw and the second gripping claw and the opening / closing direction of the first gripping claw and the second gripping claw. One posture is specified as at least one second posture candidate. For this reason, the 1st attitude | position candidate suitable for bringing together a 1st electric wire and a 2nd electric wire as a some attitude | position candidate, and an at least 1 2nd attitude | position candidate can be specified.

  According to the 3rd aspect, the electric wire extended from each of three or more connectors can be collected.

  According to the 4th aspect, the gathered 1st electric wire and 2nd electric wire can be ironed.

  According to the 5th aspect, the grip mistake by a robot hand can be suppressed.

It is a schematic perspective view which shows the wire harness processing apparatus which concerns on embodiment. It is explanatory drawing which shows an example of a wire harness. It is a functional block diagram of a control unit. It is a flowchart which shows an example of a gathering attitude | position specific process. It is explanatory drawing of a gathering attitude | position specific process. It is explanatory drawing of a gathering attitude | position specific process. It is explanatory drawing of a gathering attitude | position specific process. It is explanatory drawing which shows a gathering work example. It is explanatory drawing which shows a gathering work example. It is a flowchart which shows the example of an electric wire binding process by a robot control part. It is explanatory drawing which shows a gathering work example. It is explanatory drawing which shows a gathering work example. It is explanatory drawing which shows the example of a ironing operation | work. It is explanatory drawing which shows a binding work example. It is explanatory drawing which shows the relationship between the space | interval of an electric wire, and the grippable width. It is explanatory drawing which shows the example of a work which gathers together three or more electric wires. It is explanatory drawing which shows the operation example which collects and bundles three or more electric wires one by one.

  Hereinafter, the manufacturing method of the wire harness processing apparatus and wire harness which concern on embodiment are demonstrated. FIG. 1 is a schematic perspective view showing a wire harness processing apparatus 20.

  The wire harness processing device 20 is a device that collects the electric wires 14 extending from the plurality of connectors 12. After the plurality of electric wires 14 are gathered together, the electric wires 14 are bundled by using another bundling member 18 such as an adhesive tape by another robot device 46 or manually. Thereby, the wire harness 10 containing the some electric wire 14 is manufactured.

  In addition, as shown in FIG. 2, the wire harness 10 branches and binds the some electric wire 14 by which the connector 12 was attached to the edge part according to the wiring form in a vehicle etc. In FIG. 2, a plurality of electric wires 14 extending from two connectors 12 are bundled together and bound by a binding member 18, and a plurality of electric wires 14 extending from the other two connectors 12 are combined into one. An example of binding and binding by a binding member 18 is shown. There may be a case where the wire harness 10 is branched into a larger number according to the wiring form in the vehicle. In FIG. 2, the electric wires 14 extending from each connector 12 are indicated by a single line, but actually, a plurality of electric wires 14 are included. In the following, if necessary, one of the two connectors 12 is distinguished from the first connector 12A and the other is separated from the second connector 12B, and the wire harness processing device 20 extends from the first connector 12A. An example of gathering 14A and the second electric wire 14B extending from the second connector 12B will be mainly described.

  The wire harness processing device 20 is a device that collects the electric wires 14 extending from the connector 12 supported by the work support portion 21.

  The work support portion 21 is configured to be able to hold the connector 12 in a state where the electric wire 14 hangs down from the connector 12. More specifically, the work support portion 21 includes a support frame 22 and a connector holder 24. The support frame 22 includes a horizontal frame 22a and a support column 22b, and the support frame 22b supports the horizontal frame 22a in a horizontal posture at a predetermined height position. A plurality of connector holders 24 are supported on the horizontal frame 22a. The connector holder 24 detachably supports the connector 12 in a state where the back portion of the connector 12 on the side where the electric wire 14 extends is exposed outward (downward here). For example, the connector holder 24 is formed with a recess into which the connector 12 can be fitted, and the connector 12 can be detachably fitted into the recess. And the electric wire 14 extended from the some connector 12 supported by the some connector holder 24 is supported in the state hung down in the U-shape.

  In manufacturing the wire harness 10, the plurality of electric wires 14 are held by the work support portion 21 via the connector 12 at the end.

  The wire harness processing apparatus 20 includes a robot apparatus 30 and a control unit 50. The robot apparatus 30 performs an operation for gathering the electric wires 14 together. Here, a bundling robot device 46 is provided around the work support unit 21, and the electric wires 14 gathered by the robot device 30 are bundled by the bundling robot device 46.

  The robot apparatus 30 is provided around the work support unit 21. The robot apparatus 30 includes a robot hand 40 and a robot arm 32.

  The robot hand 40 includes a first gripping claw 41 and a second gripping claw 42 that can be opened and closed. More specifically, the robot hand 40 is provided with a first gripping claw 41 and a second gripping claw 42 that can be opened and closed with respect to the hand base 43. The first gripping claws 41 and the second gripping claws 42 are driven to open and close in directions toward and away from each other by an air cylinder, a hydraulic cylinder, an electromagnetic actuator, a motor, and the like. By approaching the first gripping claws 41 and the second gripping claws 42, the plurality of electric wires 14 can be gathered together or the electric wires 14 can be grasped. Further, by moving the robot hand 40 in the extending direction of the electric wires 14 in a state where the plural electric wires 14 are lightly grasped, the plural electric wires 14 can be ironed.

  The robot arm 32 moves the robot hand 40, and is configured by a general vertical articulated robot arm. The robot hand 40 is attached to the tip of the robot arm 32. The robot arm 32 is preferably constituted by a 6-axis robot arm. Here, an example in which the robot arm 32 is a six-axis robot arm having six joints will be described. In the robot arm 32, the six joint angles from the base toward the tip side are defined as θ (1), θ (2), θ (3), θ (4), θ (5), and θ (6), respectively.

  The bundling robot device 46 is configured such that a bundling device 48 is attached to the tip of a robot arm 47 having the same configuration as the robot arm 32. As the binding device 48, for example, a well-known tape winding device for winding an adhesive tape around a bundle of electric wires 14, or a band winding device for winding a binding band around a bundle of electric wires 14 can be used. It is not essential that the wire harness processing apparatus 20 includes the bundling robot apparatus 46. For example, the operation | work which binds the electric wire 14 manually may be implemented.

  The wire harness processing apparatus 20 includes imaging units 39 and 49 capable of imaging the connector 12 and the electric wire 14 supported by the work support unit 21. The imaging units 39 and 49 are constituted by a CCD camera or the like. The imaging units 39 and 49 are configured by a stereo camera or the like, and can image the electric wire 14 three-dimensionally. The imaging unit 39 is provided at the tip of the robot arm 32, and the imaging unit 49 is provided at the tip of the robot arm 47. Thereby, the work area by the robot hand 40 and the work area by the bundling device 48 can be appropriately imaged. It is not indispensable that the imaging units 39 and 49 are mounted on the robot arms 32 and 47. The imaging units 39 and 49 are not required to be mounted on the robot arms 32 and 47. It may be provided.

  Then, based on the work program stored in advance by the control unit 50, the operation of the robot devices 30 and 46 is controlled. At this time, the control unit 50 acquires the route information of the electric wires 14 based on the images captured by the imaging units 39 and 49, and the gathering posture when the robot hand 40 gathers the electric wires based on the route information. decide. Then, the robot apparatus 30 is controlled so that the control unit 50 gathers the electric wires 14 based on the gathering posture. Further, after gathering, the control unit 50 controls the bundling robot device 46 to bind the gathered electric wires 14 together.

  The control unit 50 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. In the external storage device, an OS (operation system), work instruction data indicating which wires 14 are gathered together, a program for recognizing route information of the wires 14 based on images taken by the imaging units 39, 49, and gathering A program for determining the posture, a machining program including a program for collecting the electric wires 14 according to the collecting posture, and the like are stored. Operation control of the robot apparatus 30 and the bundling robot apparatus 46 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program. For example, a control signal from the control unit 50 is given to the robot apparatus 30 and the bundling robot apparatus 46 via the input / output interface, and the robot apparatus 30 and the bundling robot apparatus 46 are controlled in operation.

  FIG. 3 is a functional block diagram showing functions executed by the control unit 50. As shown in the figure, the control unit 50 includes functions as a route information acquisition unit 52, a gathering posture specifying unit 64, and a robot control unit 66. In addition, the storage unit 68 stores work instruction data 68a that defines work locations, work contents, and the like according to the form of the wire harness 10 to be manufactured, and the gathering posture specifying unit 64 stores the work instructions. The gathering posture when gathering together the predetermined electric wires 14 defined in the data 68a is specified. Further, the robot control unit 66 controls the robot device 30 and the bundling robot device 46 to perform a work of collecting and bundling the predetermined electric wires 14 defined in the work instruction data 68a.

  The route information acquisition unit 52 acquires route information data of the first electric wire 14A and the second electric wire 14B to be collected from the captured image obtained by the imaging unit 39 (or 49). The route information acquisition unit 52 acquires, for example, three-dimensional point cloud data of the first electric wire 14A and the second electric wire 14B to be collected from an image captured by a stereo camera or the like, and each electric wire 14A is obtained from the point cloud data. By specifying the route of 14B, the route information data of the electric wires 14A and 14B can be acquired.

  When the robot hand 40 gathers the first electric wire 14A and the second electric wire 14B based on the route information of the first electric wire 14A and the second electric wire 14B specified by the route information acquisition unit 52, the gathering posture specifying unit 64 Is obtained. Then, the gathering posture specifying unit 64 specifies a plurality of posture candidates that the robot hand 40 can take in a state where the gripping point P is disposed between the closed first gripping claws 41 and the second gripping claws 42. . Next, the gathering posture specifying unit 64 is a posture in which the robot hand 40 gathers the first electric wire 14A and the second electric wire 14B based on the manipulability w of the robot arm 32 corresponding to each of the plurality of posture candidates. To decide. A method for determining the gathering posture by the gathering posture specifying unit 64 will be described in more detail later.

  The robot control unit 66 controls the robot device 30 so as to gather the first electric wire 14A and the second electric wire 14B according to the gathering posture determined by the gathering posture specifying unit 64.

  In addition, the robot controller 66 holds the first electric wire 14A and the second electric wire 14B by the robot hand 40 of the robot device 30 and holds the first electric wire by the bundling device 48 of the bundling robot device 46. The bundling robot device 46 is controlled so that the connector side or the opposite side of the gripping portion of the electric wire 14A and the second electric wire 14B is bundled by the bundling member 18.

  FIG. 4 is a flowchart showing the gathering posture specifying process in the gathering posture specifying unit 64. This process will be described with reference to FIGS. Note that the following processes can be performed as processes in an XYZ coordinate system with the base of the robot arm 32 as a reference, for example.

  First, in step S1, as shown in FIG. 5, a two-part dividing line L of the inter-wire continuous surface F is obtained based on the route information of the first electric wire 14A and the second electric wire 14B. The inter-wire continuous surface F is a continuous surface that connects the first electric wire 14A extending from the first connector 12A and the second electric wire 14B extending from the second connector 12B. The inter-electric wire continuous surface F includes, for example, each point on the first electric wire 14A and each point on the second electric wire 14B that are equidistant from each end (the first connector 12A or the second connector 12B). It can be obtained as a set of connecting lines. Further, the two-part dividing line L is a line that divides the inter-wire continuous surface F into two parts between the first electric wire 14A and the second electric wire 14B. The two-part dividing line L connects, for example, each point on the first electric wire 14A and each point on the second electric wire 14B, which are equidistant from each end (the first connector 12A or the second connector 12B). It can be obtained as a set of midpoints of lines.

  In the next step S2, the gripping point P and the normal vector N of the continuous surface F between the wires at the gripping point P are obtained. Usually, when collecting the first electric wire 14A and the second electric wire 14B, the first electric wire 14A and the second electric wire 14B are collected together by the distance E based on the first connector 12A or the second connector 12B. Has been identified. Therefore, as shown in FIG. 5, the gripping point P is, for example, a point PA on the first electric wire 14A that is a distance E away from the first connector 12A and a second electric wire 14B that is a distance E away from the second connector 12B. It can be obtained as the midpoint of the point connecting with the point PB.

  Further, the normal vector N of the continuous surface F between the wires at the gripping point P is, for example, orthogonal to the line connecting the point PA and the point PB and orthogonal to the direction of the two-part dividing line L at the gripping point P. As a normal vector N to be obtained. The direction of the two-part dividing line L at the gripping point P is, for example, from a point close to a minute distance (or a point far from the minute distance) from the point PA on the first wire 14A to the first connector 12A side and a point PB on the second wire 14B It can be approximately obtained as the direction of a straight line connecting the middle point of the point close to the second connector 12B (or a point far from the minute distance) and the gripping point P. Thereby, based on the route information of the first electric wire 14A and the second electric wire 14B, the normal direction at the gripping point P of the inter-wire continuous surface F connecting the first electric wire 14A and the second electric wire 14B can be specified. .

  Without being limited to the above example, the gripping point P and the normal vector N can be obtained by various mathematical methods.

  In the next step S3, the TCP (Tool Center Point) position of the robot hand 40, the direction D of the robot hand 40, and the width posture (vector) T of the robot hand 40 are specified.

  Here, as shown in FIG. 6, the TCP position of the robot hand 40 is the center position of the base end portions of the opened first gripping claws 41 and the second gripping claws 42, that is, the center position of the hand base portion 43. Suppose there is. The TCP position of the robot hand 40 is specified to coincide with the gripping point P.

  The direction D of the robot hand 40 is a direction in which the first gripping claws 41 and the second gripping claws 42 of the robot hand 40 face. Here, the vector indicating the direction D of the robot hand 40 is specified as coincident with the normal vector N.

  The width posture T of the robot hand 40 is the opening / closing direction of the first gripping claws 41 and the second gripping claws 42. Here, the vector indicating the width posture T of the robot hand 40 is specified as a horizontal direction orthogonal to the vertical direction that is the gravity direction. Normally, the first electric wire 14A and the second electric wire 14B are suspended from the first connector 12A and the second connector 12B. For this reason, if the opening and closing direction of the first gripping claws 41 and the second gripping claws 42 is a horizontal direction, the first gripping claws 41 and the second gripping claws 42 open, the first electric wires 14A and the second electric wires. The first electric wire 14 </ b> A and the second electric wire 14 </ b> B that are aligned with the direction in which the lines 14 </ b> B are aligned can be effectively gathered together by the first holding claws 41 and the second holding claws 42. For this reason, normally, the direction in which the first electric wire 14A and the second electric wire 14B are arranged is the horizontal direction, and the vector indicating the width posture T of the robot hand 40 is a horizontal direction orthogonal to the vertical direction that is the gravity direction. It may be specified as

  But when the 1st electric wire 14A and the 2nd electric wire 14B are arranged in the direction which crosses the direction of gravity, etc., the vector which shows width posture T of robot hand 40 is the 1st electric wire 14A and the 2nd electric wire. 14B, for example, the direction of a line connecting the point PA and the point PB may be specified.

  In step S3, the posture in which the robot hand 40 gathers the first electric wire 14A and the second electric wire 14B at the gripping point P is specified by the direction D and the width posture T.

  In the next step S4, a plurality of posture candidates are generated.

  First, the posture of the robot hand 40 identified in step S3 is set as a first posture candidate. With the first gripping claw 41 and the second gripping claw 42 closed, the gripping point P (TCP position) is disposed between the first gripping claw 41 and the second gripping claw 42. For this reason, the extending direction (direction D) of the first gripping claws 41 and the second gripping claws 42 is determined with the gripping point P disposed between the closed first gripping claws 41 and the second gripping claws 42. The first posture candidate is a posture that matches the normal vector N and that the opening / closing direction (direction T) of the first gripping claws 41 and the second gripping claws 42 matches the direction in which the first electric wires 14A and the second electric wires 14B are arranged. It is said.

  Further, as shown in FIG. 7, from the first posture candidate, the extending direction D of the first gripping claws 41 and the second gripping claws 42 and the opening / closing direction of the first gripping claws 41 and the second gripping claws 42 (here, At least one posture rotated around an axis A orthogonal to (the same as the width posture T) is specified as at least one second posture candidate. For example, a plurality of postures rotated by a predetermined angle around the axis A from the first posture candidate are set as the second posture candidates. If the first posture candidates are rotated around the axis A by a predetermined angle, 71 second posture candidates are specified, and 72 candidates are determined in combination with the first posture candidates and the second posture candidates. In the first posture candidate and the second posture candidate, with the TCP position of the robot hand 40 placed at the gripping point P, the width posture T of the robot hand 40 is set in the horizontal direction (as described above, the width posture T Since the posture may be in line with the direction of the line connecting PB, the posture can hold the first electric wire 14A and the second electric wire 14B, respectively. The second posture candidate is defined by the extending direction D and the width posture T.

  In next step S5, an operable degree w for the plurality of posture candidates (first posture candidate and at least one second posture candidate) is calculated.

  That is, the position and orientation vector of the robot hand 40 is set to r. The position / orientation vector r is determined by the TCP position represented by the coordinates of xyz and the orientation represented by the rotation angle around each axis of XYZ with respect to the initial posture of the robot hand 40. The first posture candidate and at least one second posture candidate are specified as the posture of the robot hand 40 at the TCP position (gripping point P). The TCP position (grip point P) is specified as a fixed position (each coordinate of xyz) in step S3. Further, the posture of the robot hand 40 is specified by the extending direction D and the width posture T for each of the first posture candidate and the at least one second posture candidate, which are XYZ with respect to the initial posture of the robot hand 40. Can be specified as a rotation angle around each axis. For this reason, the position / orientation vector r corresponding to each of the first attitude candidate and at least one second attitude candidate is specified.

  Further, since the length between the joints of the robot arm 32 and the relative positional relationship between the joints are known, the joint angles (θ (1), θ (2), θ (3), θ (4), θ There is a forward kinematics f for obtaining a position / orientation vector r from a vector q indicating (5), θ (6)), and r = f (q). When this inverse kinematics is solved, the vector q can be obtained from the position and orientation vector r. That is, for each of the first posture candidate and at least one second posture candidate, each joint angle θ (1), θ (2), θ (3), θ (4), θ (5) of the robot arm 32. ), Θ (6) can be obtained.

  Further, the Jacobian matrix J of the forward kinematics f can be obtained by partially differentiating the forward kinematics f with θ. Since the maneuverability w is a determinant of the Jacobian matrix J, the joint angles θ (1), θ (2) are added to the determinant | J | for each of the first posture candidate and at least one second posture candidate. ), Θ (3), θ (4), θ (5), θ (6) are substituted, and the manipulability w is obtained for each of the first posture candidate and at least one second posture candidate. be able to. That is, if the operability w (1) of the first candidate posture, the operability w (2), w (3), ... of at least one second candidate posture, the operability w (1), Each value of w (2), w (3),... can be obtained.

  In the next step S6, the gathering posture is specified based on the manipulability w (1), w (2), w (3),. The operable degree w is a value representing the degree of freedom of the robot hand. The smaller the degree of freedom, the smaller the degree of freedom, and the larger the degree, the greater the degree of freedom. Therefore, the operable degrees w (1), w (2), w (3),... Are compared, the largest one is specified, and the position / orientation vector r having the largest operable degree w (a) is determined. , Decide as a gathering posture.

  The determination of the gathering posture in step S6 need not be made as described above. For example, an operable degree w (1) corresponding to the first posture candidate is obtained, and whether or not this operable degree w (1) is not a singular point and exceeds a reference value indicating a degree of freedom suitable for performing work. If the reference value is exceeded, the posture corresponding to the manipulability w (1) may be determined as a collective posture. In this case, if the manipulability degree w (1) does not exceed the reference value, the manipulability degrees w (2), w (3), w (4),. It is sequentially determined whether or not the reference value is exceeded (for example, a second candidate posture close to the first posture candidate may be compared with the reference value sequentially), and if the reference value is exceeded, the maneuverability w The corresponding postures may be determined as the collective posture. When the manipulability w and the reference value are the same, it may be determined that the gathering posture is determined or not determined.

  FIG. 8 is an example showing the gathering work of the robot hand 40 when the first posture candidate is determined as the gathering posture. In this case, the robot hand 40 gathers the first electric wire 14A and the second electric wire 14B in a posture in which the direction D of the robot hand 40 is matched with the normal vector N. FIG. 9 is an example showing the gathering work of the robot hand 40 when the second posture candidate is determined as the gathering posture. In this case, the robot hand 40 gathers the first electric wire 14A and the second electric wire 14B in a posture in which the direction D of the robot hand 40 is inclined with respect to the normal vector N. In any case, with the first candidate posture as a reference, the posture in which the robot hand 40 is tilted around the X axis is set as the second candidate posture, and from these candidate postures, those having a relatively high maneuverability w are gathered together. As specified. For this reason, the robot hand 40 can gather the first electric wires 14A and the second electric wires 14B according to the actual paths of the first electric wires 14A and the second electric wires 14B with a relatively large degree of freedom.

  FIG. 10 is a flowchart showing the bundling process of the electric wires 14A and 14B by the robot control unit 66.

  Under the situation where the gathering posture is determined as described above, in step S11, the robot control unit 66 follows the gathering posture determined by the gathering posture specifying unit 64 with respect to the robot apparatus 30 by the robot hand 40. As shown in FIG. 11, an instruction is given to gather the first electric wire 14A and the second electric wire 14B. Thereby, the robot hand 40 moves to the gripping point P in the gathering posture as shown in FIG. Then, as shown in FIG. 12, the first gripping claws 41 and the second gripping claws 42 are closed to gather the first electric wires 14A and the second electric wires 14B.

  In next step S <b> 12, the robot control unit 66 gives an instruction to the robot apparatus 30 so that the first electric wire 14 </ b> A and the second electric wire 14 </ b> B gathered together. Thereby, as shown in FIG. 13, the robot hand 40 holds the first electric wire 14A and the second electric wire 14B while holding the first electric wire 14A and the second electric wire 14B between the first holding claw 41 and the second holding claw 42. It moves to the side away from the 1st connector 12A and the 2nd connector 12B along the extension direction of 2 electric wires 14B. Then, the first electric wire 14 </ b> A and the second electric wire 14 </ b> B are squeezed into a bundle with the slack removed.

  In the next step S13, the robot controller 66 instructs the bundling robot apparatus 46 to bind the first electric wire 14A and the second electric wire 14B gathered together. As a result, as shown in FIG. 14, the robot hand 40 is gripping the first electric wire 14A and the second electric wire 14B at a position away from the first connector 12A and the second connector 12B, and next to the holding portion. In position, the binding device 48 binds the first electric wire 14A and the second electric wire 14B.

  By implementing each said process with respect to the location where a binding is required in the wire harness 10, the wire harness 10 bound while the some electric wire 14 branched can be manufactured.

  According to the wire harness processing apparatus 20 and the method of manufacturing the wire harness 10 configured as described above, the robot hand 40 is connected to the first electric wire based on the manipulability degree w of the robot arm 32 corresponding to each of a plurality of posture candidates. A posture for gathering 14A and the second electric wire 14B is determined. Since the robot hand 40 can move freely as the manipulability degree w increases, it is possible to prevent the robot apparatus 30 from interrupting work due to a singularity abnormality when the wire harness 10 is manufactured by the robot apparatus 30. .

  Further, since the appropriate gripping posture of the robot hand 40 at the gripping point P and the gripping point P can be automatically specified according to the actual paths of the first electric wire 14A and the second electric wire 14B, the prior teaching work for the robot apparatus 30 is possible. Can be omitted.

  Further, when specifying a plurality of posture candidates, the first gripping claws 41 and the second gripping claws 42 in a state where the gripping point P is disposed between the closed first gripping claws 41 and the second gripping claws 42. Of the first gripping claw 41 and the second gripping claw 42 is in the opening / closing direction (D) of the first electric wire 14A and the second electric wire 14B. The posture that coincides with the direction in which the symbols are arranged is set as the first posture candidate. Then, at least one posture rotated around the axis D orthogonal to the extending direction D and the opening / closing direction (D) from the first posture candidate is specified as at least one second posture candidate. For this reason, what is suitable for gathering together the 1st electric wire 14A and the 2nd electric wire 14B can be specified as a some attitude | position candidate. In addition, this makes it possible to limit candidate gathering postures to some extent, and it is possible to make the arithmetic processing for determining the gathering postures as light as possible.

  Further, after determining the gathering posture, the first electric wires 14A and the second electric wires 14B are gathered together according to the gathering posture, and then the first electric wires 14A and the second electric wires 14B are ironed and bound. Thereby, the wire harness 10 can be manufactured smoothly while suppressing the work interruption of the robot apparatus 30.

{Modification}
Various modifications will be described based on the above embodiment.

  As shown in FIG. 15, the gathering posture specifying unit 64 of the control unit 50 specifies the interval C1 between the first electric wire 14A and the second electric wire 14B based on the path information of the first electric wire 14A and the second electric wire 14B. You may make it do. The interval C1 is, for example, the width C1 of the first electric wire 14A and the second electric wire 14B at the gripping point P, and is the distance between the point PA and the point PB.

  In the control unit 50, when the grippable width C2 of the first gripping claws 41 and the second gripping claws 42 is smaller than the interval C1, the gathering operation by the robot hand 40 may be stopped. The grippable width C2 is the distance between the first gripping claws 41 and the second gripping claws 42 in the open state (particularly, the distance between the tip portions).

  When the first electric wire 14A and the second electric wire 14B are largely opened at the holding point P, the first holding claw 41 and the second holding claw 42 cannot gather and hold the first electric wire 14A and the second electric wire 14B. And subsequent ironing and bundling cannot be performed. By doing as described above, a gripping error of the robot hand 40 at the gripping point P can be suppressed. When the gathering operation by the robot hand 40 is stopped, it is preferable to emit a warning sound, a warning display, or the like.

  Moreover, although the said embodiment demonstrated the case where the 1st electric wire 14A and the 2nd electric wire 14B extended from two 1st connector 12A and the 2nd connector 12B were gathered together. Electric wires 14 extending from three or more connectors 12 can also be gathered. In this case, as shown in FIG. 16, in the direction in which three or more connectors 12 are arranged, one outer connector 12 is the first connector 12A, and the electric wire 14 extending from the first connector 12A is the first electric wire. 14A, the other outer connector 12 is the second connector 12B, the electric wire 14 extending from the second connector 12B is the second electric wire 14B, and the path information of the first electric wire 14A and the second electric wire 14B is acquired, The gathering posture can be specified in the same manner as described above. And the 1st electric wire 14A and the 2nd electric wire 14B can be gathered together by the robot hand 40, and the electric wire 14 between them can be gathered together at that time.

  Moreover, when manufacturing the wire harness 10, the some electric wire 14 extended from the some connector 12 may be bound one by one. For example, as shown in FIG. 17, after binding the first electric wire 14A and the second electric wire 14B extending from the first connector 12A, the bundle 114A of the first electric wire 14A and the second electric wire 14B is connected to another connector 12 as shown in FIG. In some cases, the wire 14 is bound to the wire 14 extending from the wire. In this case, the bundle 114A of the first electric wire 14A and the second electric wire 14B is the first electric wire 114A, and the electric wire 14 extending from the other connector 12 is the second electric wire 114B. The route information of the second electric wire 114B is acquired, and the gathering posture can be specified in the same manner as described above. Then, the first electric wire 114 </ b> A and the second electric wire 114 </ b> B can be collected and bound by the robot hand 40.

  In the above-described embodiment, the robot hand 40 is configured to open and close by moving closer and away from each other while the first gripping claws 41 and the second gripping claws 42 are kept parallel to each other. No. The first gripping claw and the second gripping claw may be configured to open and close by rotating around the base end side axis. Moreover, the shape which draws L shape or an arc shape may be sufficient as a 1st holding claw and a 2nd holding claw. As long as the first gripping claw and the second gripping claw have an L shape or an arc shape, the first electric wire 14A and the second electric wire 14B vary along the direction D of the robot hand. It is easy to aggregate the electric wires 14A and the second electric wires 14B in one place. Moreover, the 1st holding claw and the 2nd holding claw may have a joint structure in the extension direction intermediate part.

  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 12A 1st connector 12B 2nd connector 14A 1st electric wire 14B 2nd electric wire 18 Bundling member 20 Wire harness processing apparatus 30 Robot apparatus 32 Robot arm 39 Imaging part 40 Robot hand 41 1st holding nail 42 2nd holding nail 46 Bundling robot device 48 Bundling device 50 Control unit 52 Route information acquisition unit 64 Collecting posture specifying unit 66 Robot control unit 114A First electric wire 114B Second electric wire

Claims (6)

A wire harness processing apparatus that gathers together a first electric wire extending from a first connector and a second electric wire extending from a second connector,
A robot apparatus having a robot hand including first and second gripping claws that can be opened and closed; and a robot arm including a plurality of joints that move the robot hand;
A route information acquisition unit for acquiring route information of the first electric wire and the second electric wire;
Based on the route information of the first electric wire and the second electric wire, the robot hand obtains a holding point when the first electric wire and the second electric wire are gathered together, and the closed first holding claw and the first electric wire A plurality of posture candidates that the robot hand can take in the state where the gripping point is disposed between two gripping claws, and based on the maneuverability of the robot arm corresponding to each of the plurality of posture candidates A gathering posture specifying unit for determining a posture in which the robot hand gathers the first electric wire and the second electric wire,
A robot control unit for controlling the robot device so that the robot hand gathers the first electric wire and the second electric wire according to the gathering posture determined by the gathering posture specifying unit;
A wire harness processing apparatus comprising: It is a wire harness processing apparatus of Claim 1, Comprising:
The gathering posture specifying unit specifies a normal direction at the gripping point of a surface connecting the first electric wire and the second electric wire based on the path information of the first electric wire and the second electric wire, and closes it. With the gripping point disposed between the first gripping claw and the second gripping claw, the extending direction of the first gripping claw and the second gripping claw coincides with the normal direction, In addition, a posture in which the opening and closing directions of the first gripping claw and the second gripping claw coincide with the direction in which the first electric wire and the second electric wire are arranged is set as a first posture candidate, and the first gripping from the first posture candidate is performed. At least one posture rotated around an axis orthogonal to the extending direction of the nail and the second gripping nail and the opening and closing direction of the first gripping nail and the second gripping nail is specified as at least one second posture candidate Wire harness processing equipment. The wire harness processing device according to claim 1 or 2,
When collecting electric wires extending from each of the three or more connectors, the path information acquisition unit uses the electric wire extending from one outer connector as the first electric wire, and extends from the other outer connector. The wire harness processing apparatus which acquires those path | route information by making the electric wire to perform into said 2nd electric wire. It is a wire harness processing apparatus of any one of Claims 1-3,
The robot control unit gathers the first electric wire and the second electric wire according to the gathering posture determined by the gathering posture specifying unit by the robot hand, and then moves the robot hand to the first electric wire and the first electric wire. A wire harness processing device that moves them in the extending direction of the two electric wires and squeezes them. It is a wire harness processing apparatus of any one of Claims 1-4,
When the grippable width of the first gripping claw and the second gripping claw of the robot hand is smaller than the distance between the first electric wire and the second electric wire on both sides of the gripping point, the robot hand is gathered together. Wire harness processing equipment that stops operation. A first electric wire and a second electric wire extending from the first connector by a robot apparatus having a robot hand including a first gripping claw and a second gripping claw that can be opened and closed, and a robot arm including a plurality of joints that move the robot hand. A wire harness manufacturing method for manufacturing a wire harness by gathering together second electric wires extending from a connector,
(A) obtaining route information of the first electric wire and the second electric wire;
(B) obtaining a gripping point when the robot hand gathers the first electric wire and the second electric wire based on path information of the first electric wire and the second electric wire; and
(C) listing a plurality of posture candidates that the robot hand can take with the gripping point disposed between the closed first gripping claw and the second gripping claw;
(D) determining a posture at which the robot hand gathers the first electric wire and the second electric wire based on the operable degree of the robot arm corresponding to each of the plurality of posture candidates;
(E) the robot hand gathering the first electric wire and the second electric wire according to the gathering posture determined in the step (d);
(F) binding the collected first electric wire and second electric wire;
A method of manufacturing a wire harness comprising:

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