JP2019122100A - Cable terminal processing apparatus and cable terminal processing method - Google Patents

Abstract

To automate a processing step for dispersing electronic wires inside from one another after removing a sheath of a cable.SOLUTION: A cable terminal processing apparatus 11 is provided with: first holding means 40 for holding, for a cable 12 having notches in a circumferential direction on a sheath, a first sheath 15a on the opposite side of a terminal than the notches; second holding means 42 for holding a second sheath 15b on a terminal side than the notches; displacement means 44 for displacing the first holding means 40 and the second holding means 42 from each other; a line arrangement member 48 in which a line arrangement groove 25 in which electric wires 14 are accommodated is formed; and movement means 52, 53 for moving the line arrangement member 48 to the cable 12. The first holding means 40 and the second holding means 42 are displaced, and an exposed part 62 on which the electric wires 14 are exposed is formed between the first sheath 15a and the second sheath 15b. The movement means 52, 53 move the line arrangement member 48 toward the exposed part 62 to accommodate the electric wires 14 in the line arrangement groove 25 to be further moved in a direction of an axis of the cable 12.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a terminal processing apparatus and a terminal processing method of a cable having a plurality of electric wires.

In order to simultaneously transmit and receive a plurality of signals, a plurality of electric wires are collectively covered with a covering layer such as PVC (polyvinyl chloride) in order to transmit and receive a plurality of signals simultaneously. In each electric wire, a signal line made of a conductor is covered with an insulating layer such as PVC.
Generally, in order to connect a cable to an electronic device or the like, it is necessary to remove the coating layer of the cable end and then remove the insulating layer at the end of each wire to expose the signal line. However, usually within the cable, the wires are twisted together. For this reason, in order to remove the insulating layer from the end of the wire, it is necessary to disperse the twisted wires apart. This operation is complicated, and in particular, when the number of electric wires is large, a large number of man-hours are required. For this reason, in order to automate removal of the insulating layer of a wire, the processing apparatus which can disperse | distribute the twisted wires automatically separately is desired.

JP, 2014-203724, A

In patent document 1, the apparatus which automated the process which removes an insulating layer from an electric wire terminal is proposed by aligning several electric wires which comprise a cable planarly. In this apparatus, each wire is previously formed into a substantially straight shape without twisting or twisting to form a bundle of wires, a pusher is pressed against the axial end of the bundle, and the wires are aligned in a planar manner After that, the insulation layer of each wire end is removed.
However, in the device of Patent Document 1, in order to press the pusher, a pretreatment such as forming each wire into a substantially linear shape without twisting or twisting is required. In Patent Document 1, the method of forming is performed. Is only described as "preformed into a substantially straight line without twisting or twisting by a tool or jig" (paragraph 0033).
For this reason, it was still difficult to automate the process from the state where the electric wire is covered with the covering layer to the state where the insulating layer of the electric wire is removed, for the cable provided with a plurality of electric wires.

  In view of the above situation, the present invention provides a cable end processing device capable of automatically removing the twisting wires from each other by removing the covering layer from the cable in which the plurality of wires are covered with the covering layer. The purpose is to

  One embodiment of the present invention is a cable terminal processing apparatus for removing the sheath in a predetermined range from an end of a cable in which a plurality of electric wires are collectively covered with the sheath, and the cables are subjected to distributed processing. And a cut in the circumferential direction in the shell at a predetermined position from the terminal, the shell on the side opposite to the terminal from the cut being the first shell, and the shell on the terminal side than the cut being the second shell; Separating the first holding means for holding the first shell, the second holding means for holding the second shell, the first holding means and the second holding means in the direction of the axis of the cable, Alternatively, displacement means for displacing in an approaching direction, extending in one direction orthogonal to the axis of the cable, and having a predetermined interval in a direction orthogonal to both the direction of the axis of the cable and the one direction Each other A wire arranging member having a wall surface facing each other and between which the wire arranging groove for accommodating the electric wire is formed, and moving means for moving the wire arranging member with respect to the cable; An exposed portion is formed between the first and second skins when the first and second holding means move away from each other in the direction of the axis of the cable. The wire moving member moves the wire aligning member toward the exposed portion to accommodate the electric wire in the wire aligning groove, and the wire arranging in a state in which the wire is accommodated in the wire aligning groove A member is moved in the direction of the axis of the cable.

  Another aspect of the present invention is a cable end processing method for removing a plurality of wires from a terminal in a predetermined range from a terminal and treating the wires in a distributed manner, in a cable in which a plurality of wires are collectively covered with the outer shell A cutting step for forming a circumferential incision in the outer shell at a predetermined position from the terminal, and the outer shell on the side opposite to the terminal as the first outer shell, and the outer shell on the terminal side than the second cut As the first outer skin is held by the first holding means and the second outer skin is held by the second holding means, and in a state where a part of the electric wire remains inside the second outer skin, the first outer skin And the second skin separated from each other in the direction of the axis of the cable to form an exposed portion between the first skin and the second skin to expose the electric wire, the first skin and the first skin The second shell is And a bending step of bending the electric wire of the exposed portion by making them approach each other in the direction of the axis of the cable, extending in one direction orthogonal to the axis of the cable, and the direction of the axis of the cable and the one A wall alignment member having a wall facing at a predetermined interval in a direction orthogonal to any of the directions, and in which a groove alignment groove is formed between the wall surfaces, the wall alignment member facing the exposed portion Wire moving step for moving the wire aligning member in the direction of the cable axis in a state where the wire is accommodated in the wire aligning groove and the wire is accommodated in the wire aligning groove It is characterized by performing.

  According to the present invention, for a cable in which a plurality of electric wires are covered with an outer covering such as a covering layer or a shield, the outer covering can be removed and the twisted electric wires can be automatically dispersed. Thereby, the terminal of the electric wire inside a cable can be efficiently processed into the state which can be wired.

It is a principal part block diagram which shows the principal part of a structure of a cable terminal processing apparatus. It is explanatory drawing which shows the form of the robot holding a cable. It is a schematic diagram of the cable cross section processed with a cable terminal processing apparatus. It is a principal part enlarged view explaining the form of the wire alignment apparatus in FIG. It is a side view and a front view showing arrangement of a wire arrangement member of a 1st embodiment. It is a schematic diagram explaining operation | movement of the cable terminal processing apparatus in a cutting step. It is a schematic diagram explaining the operation | movement of the cable terminal processing apparatus in a pulling-out step. It is a schematic diagram explaining operation | movement of the cable terminal processing apparatus in a bending step. FIG. 9 (a) is a schematic view of the aligning apparatus in the X-axis direction, and FIG. 9 (b) is a schematic view of the state in which the electric wire of the exposed portion is accommodated in the aligning groove in the Y-axis direction. It is. It is explanatory drawing explaining the structure of the coating removal apparatus which removes the insulating layer of an electric wire. It is a side view and a front view showing arrangement of a wire arrangement member of a 2nd embodiment. It is the schematic diagram which looked at the state in which the electric wire of the exposure part was accommodated in the wire arrangement groove | channel of 2nd Embodiment was seen in the Y-axis direction. It is a front view which shows the form of the wire arrangement apparatus of 3rd Embodiment. Fig. 14 (a) is a schematic view of the wire aligning device of the third embodiment as viewed in the X-axis direction, and Fig. 14 (b) is a state in which the partition member is inserted into the electric wire accommodated in the wire aligning groove. It is a schematic diagram seen in the Y-axis direction.

First Embodiment
Embodiments of the invention will be described with reference to the drawings. FIG. 1 is a main part configuration diagram for explaining main parts of a cable terminal processing apparatus 11 according to a first embodiment of the present invention. The cable terminal processing device 11 is a device that removes the sheath of the cable 12 and disperses the electric wire 14 inside. FIG. 2 is an explanatory view showing a form of the robot 21 holding the cable 12. Hereinafter, for convenience of explanation, as shown in FIG. 1, the X axis and the Y axis are set along the base surface 13a of the housing 13 on which the main part of the cable terminal processing device 11 is mounted, and the base surface Set the Z axis in the direction perpendicular to 13a.

FIG. 3 shows an example of the cable 12 processed by the cable end processing apparatus 11 in a cross section in the direction orthogonal to the axis of the cable 12. In the cable 12, a plurality of electric wires 14 (in this example, the number of the electric wires is four, but is not limited thereto) is collectively covered with an outer skin.
In the cable 12 of FIG. 3 (a) (referred to as the cable 12a to distinguish it from the cable of FIG. 3 (b)), the four electric wires 14 are collectively covered with the covering layer 15. The covering layer 15 is made of resin such as PVC (polyvinyl chloride).
Each electric wire 14 is covered with an insulating layer 17 with a signal line 16 made of a conductor. The diameter of the electric wire 14 (which is the outer diameter of the insulating layer 17) is approximately 0.5 mm to 4 mm. When the number of electric wires 14 incorporated in the cable 12a is large (approximately four or more), interposing yarns made of polypropylene or the like may be incorporated together with the respective electric wires 14. Moreover, the drain wire which is not covered with the insulating layer 17 may be twisted together with the electric wire 14.
In the cable 12 (cable 12b) of FIG. 3 (b), the four electric wires 14 are collectively covered with a shield 18, and a resin covering layer 15 is provided on the outer periphery thereof.
In addition, although two types of cables 12 were demonstrated in FIG. 3, the kind of these cables 12 and its structure are an illustration, and it is not limited to this. In the following description, the covering layer 15 covering the plurality of electric wires 14 and the shield 18 will be referred to as an outer cover.

  The cable terminal processing apparatus 11 of the first embodiment will be described with reference to FIG. Here, the case where the terminal of the cable 12 shown to Fig.3 (a) is processed is demonstrated as an example. The cable terminal processing device 11 includes a robot 21 (see FIG. 2) that holds the cable 12, a cable terminal holding device 22, and a wire aligning device 23. The cutting device 20 and the sheath removing device 24 (FIG. 10). In combination with the above, the covering layer 15 of the cable 12 can be removed, and the end of the electric wire 14 can be processed into a routable state.

The cutting device 20 will be described. The cutting device 20 is a device for forming a cut in the cutting position in order to remove the covering layer 15 in a predetermined range. As shown in FIG. 1, the cutting device 20 is mounted on the base surface 13 a of the housing 13 together with the cable terminal processing device 11.
The cutting device 20 includes a blade 27, a cutting drive unit 28, and a first linear movement unit 29. The cutting drive unit 28 includes a pair of cutting arms 30 extending in the X-axis direction. The pair of cutting arms 30 are attached to be separated from each other in the Z-axis direction, and by switching the supply port of the compressed air supplied to the cutting drive portion 28, in a direction approaching or separating from each other in the Z-axis direction Moving.

The blades 27 are made of metal and attached near the tip of each cutting arm 30, and the cutting edges face each other in the Z direction. The cable 12 is installed between the blade 27 and the blade 27 with the axis directed in the Y-axis direction. By pressing the cutting edge of the blade 27 against the cable 12, the covering layer 15 can be cut.
The shape of each cutting edge when viewed in the Y-axis direction is V-shaped, and the cutting can be formed in the covering layer 15 in a wide range in the circumferential direction. The shape of the cutting edge is not limited to this. For example, when the upper and lower blades 27 are aligned, the cutting edge may be a circle slightly larger than the outer periphery of the electric wire 14 inside the cable. In this way, it is possible to make incisions almost all around the covering layer 15 only by cutting once.

  The cutting drive unit 28 is mounted on the first linear movement unit 29. The first linear movement portion 29 is configured by combining a linear movement portion X moving in the X axis direction and a linear movement portion Y moving in the Y axis direction in directions orthogonal to each other. Although not shown, each of the linear motion units X and Y includes a motor and a ball screw. By rotating each ball screw with a motor, a nut screwed into the ball screw is moved in the axial direction of the ball screw. The linear movement portion X is mounted on the nut of the linear movement portion Y, and the cutting drive portion 28 is mounted on the nut of the linear movement portion X. Thus, the cutting drive unit 28 freely moves in the XY direction.

Next, the robot 21 will be described with reference to FIG. In FIG. 2, the X axis, the Y axis, and the Z axis are set in the directions shown in the figure. The direction of each axis is the same as the direction of the X axis, the Y axis, and the Z axis in FIG.
The robot 21 is a six-axis articulated industrial robot and is fixed to the upper housing 13 downward in the vertical direction. The robot 21 includes a robot arm 33 which can be freely displaced in a three-dimensional direction. The robot arm 33 includes a first arm 33a, a second arm 33b, and a third arm 33c, and the arms 33a, 33b, and 33c are connected together so as to be bendable. The robot arm 33 is attached to the housing 13 via the rotation seat 34, and can rotate around the Z axis.

A first air chuck 40 (first holding means) is provided at an end of the first arm 33a. The first air chuck 40 includes the first clamp 41. By switching the supply port of the compressed air supplied to the first air chuck 40, the first clamp 41 can be opened and closed, and the cable 12 can be gripped. . In addition, the first air chuck 40 is rotatable around the axis of the first arm 33a (which is an axis directed from the joint connecting the first arm 33a to the second arm 33b to the first clamp 41).
Thus, the robot 21 can hold the cable 12 at any position and orientation in the three-dimensional space.

The robot 21 communicates with two image capturing devices 39 (see FIG. 2).
Each image photographing device 39 is, for example, a CCD camera, and photographs the cables 12 from different directions. The photographed image signal V is transmitted to a control device (not shown). The control device controls the movement of the robot 21 and calculates positional information indicating the position and orientation of the cable 12 based on the image signal V. The robot 21 can move the cable 12 to a predetermined position and direction based on the position information.

Refer back to FIG. The cable terminal holding device 22 includes a second air chuck 42 (second holding means) and a motor 43, and a second linear movement portion 44 on which these are mounted.
The second air chuck 42 includes a second clamp 45 that opens and closes in a direction orthogonal to the Y axis, and opens and closes the second clamp 45 by switching the supply port of the compressed air supplied to the second air chuck 42. The cable 12 can be gripped.

  The second air chuck 42 is supported by a rolling bearing (not shown) or the like. The second air chuck 42 can be rotated about the Y axis by a motor 43 (rotation means). As the motor 43, a servomotor is preferably used. By using the servomotor, the rotation angle of the second air chuck 42 around the Y axis can be accurately controlled.

The second air chuck 42 is mounted on the nut of the second linear movement portion 44 via the support 46 and can be displaced in the Y-axis direction. The second linear moving unit 44 has the same configuration as the first linear moving unit 29.
In the cable terminal processing device 11, the robot 21 and the second linear movement unit 44 function as “displacement means”, and the first air chuck 40 and the second air chuck 42 are separated from each other in the direction of the axis of the cable 12. Or can be displaced in an approaching direction.
Note that the “displacement means” may be the first air chuck 40 and the second air chuck, as long as the first air chuck 40 and the second air chuck 42 can be displaced in directions of separating or approaching each other. It may be provided only in any one of 42.

  Next, with reference to FIG. 1, the line aligning device 23 will be described with reference to FIGS. 4 and 5. FIG. 4 is an enlarged view of an essential part showing the positional relationship between the cable 12 and the wire aligning device 23. As shown in FIG. FIG. 5 is an explanatory view showing the arrangement of the wire alignment member 48 and showing the positional relationship with the cable 12. FIG. 5 (a) is a front view of the wire alignment members 48, 48 in FIG. FIG. 5B is a side view of the wire aligning members 48, 48 in FIG. 4 as viewed in the X-axis direction.

Please refer to FIG. The wire alignment device 23 includes a pair of wire connection members 48 and 48, a wire connection drive unit 52, and a third linear movement unit 53. The wire alignment drive unit 52 is mounted on the third linear movement unit 53, and can be freely displaced in the X axis direction and the Y axis direction. The third linear movement unit 53 has the same configuration as the first linear movement unit 29.
The alignment driver 52 includes a pair of alignment arms 36 extending in the X-axis direction. The pair of alignment arms 36 are mounted apart from each other in the Z-axis direction, and by switching the supply port of the compressed air supplied to the alignment driver 52, they move toward or away from each other in the Z-axis direction. Moving. The wire aligning drive unit 52 and the third linear moving unit 53 are moving means for moving the wire aligning members 48 and 48 relative to the cable 12.

  As shown in FIG. 4, the wire aligning members 48 are fixed to the end of the wire aligning arm 36 and disposed so as to face each other in the Z-axis direction with the cable 12 interposed therebetween. The wire alignment member 48 is made of a resin material such as polyamide resin, and is a substantially rectangular plate-like member having a uniform plate thickness. Each wire alignment member 48 is installed so that the thickness direction thereof is substantially the same as the axis of the cable 12.

The form of the wire alignment member 48 will be described with reference to FIG.
Since the pair of wire aligning members 48, 48 have the same shape as each other, the upper wire aligning member 48 of FIG. 5 will be described as an example. In the wire aligning member 48, a wire aligning groove 25 which penetrates in the thickness direction and extends in the Z axis direction as one direction orthogonal to the axis of the cable 12 is formed substantially at the center of the X axis direction. . The alignment grooves 25 are defined by a pair of side surfaces 25a and 25b (wall surfaces) and an arc surface 25c connecting the pair of side surfaces 25a and 25b. The pair of side surfaces 25a and 25b are both parallel to each other in a plane orthogonal to the X axis. The distance N between the pair of side surfaces 25 a and 25 b in the X-axis direction is larger than the diameter of the wire 14 and smaller than twice the diameter of the wire 14. The alignment groove 25 is opened at an end face 48 a on one side of the alignment member 48, and a chamfer 48 b is provided at the opening. The width of the chamfer 48b in the X-axis direction increases as it goes to the end face 48a.

When viewed in the direction of the axis of the cable 12 (Y-axis direction), the pair of alignment members 48, 48 are arranged such that the alignment grooves 25, 25 are on the same straight line, and the openings face each other. It is arrange | positioned (refer FIG. 5 (a)).
Further, when viewed from the X-axis direction, the pair of wire-straightening members 48, 48 are separated by a distance D in the Y-axis direction (see FIG. 5B). Thereby, when a pair of wire-straightening members 48 and 48 approach mutually in Z-axis direction, it can prevent mutually interfering.

(Cable terminal processing method)
Next, a cable terminal processing method according to an embodiment of the present invention will be described in detail.
In this cable end processing method, the cutting step, the pulling step, the bending step, and the wire dispersing step are sequentially performed to remove the coating layer 15 of the cable 12 and automatically perform the twisted wires 14 inside the cable. Can be dispersed into pieces.

FIG. 6 is a schematic view illustrating the operation of the cutting device 20 in the cutting step. In the cutting step, the cable 12 is installed in the cutting device 20 to form a cut at a position where the covering layer 15 is removed. In FIG. 6, the Y axis is set in the direction of the axis of the cable 12 (horizontal direction in the drawing), the X axis in the direction orthogonal to the paper surface, and the Z axis in the vertical direction in the drawing. The directions of the respective axes are the same as the directions of the X axis, the Y axis, and the Z axis in FIG. 1 (the same applies to FIGS. 7 and 8).
The cable 12 is held by the first air chuck 40 of the robot 21 at a position away from the terminal and installed at a position where the axis is directed in the Y-axis direction and sandwiched between the pair of blades 27 and 27 in the Z-axis direction. Be done. The end of the cable 12 protrudes from the blade 27 by a predetermined length L0, and the covering layer 15 in the protruding area is removed. The first clamp 41 holds the cable 12 on the side opposite to the end of the cable 12 from the position of the blade 27 (the side on which the covering layer 15 remains).

Next, the pair of blades 27 approach each other in the Z-axis direction, and a cut is formed in the covering layer 15 at a predetermined position from the end. The displacement of the blade 27 in the Z-axis direction is limited by a stopper or the like (not shown), and the cutting edge is set so as not to reach the electric wire 14 inside the cable 12. In the following description, the covering layer 15 on the opposite side (remaining side) of the end from the incision is the first covering 15a, and the covering layer 15 on the end side (the removal side) of the incision is the second covering 15b. explain. At the completion of the cutting step, the first outer skin 15a and the second outer skin 15b may be partially connected and may not be completely separated.
When forming the incision, the blade 27 may approach only once in the Z-axis direction to form the incision, or the approach and separation may be repeated multiple times. At this time, by rotating the cable 12 around the Y axis by the robot 21, it is possible to form a circumferentially continuous cut. Alternatively, the cable 12 may be rotated about the axis with the blade 27 pressed against the covering layer 15. Moreover, although illustration is abbreviate | omitted, you may rotate the blade 27 along the outer periphery of the cable 12. FIG.

Moreover, when processing the end of a shielded cable having a plurality of electric wires 14 shown in FIG. 3 (b), cuts are formed in the circumferential direction in both the covering layer 15 and the shield 18.
In this case, although not shown, for example, a cut having a predetermined depth can be formed by contacting the outer periphery of the cable 12 while rotating a thin plate having a thin plate shape at high speed. . At the same time, it is possible to form a cut around the entire circumference of the covering layer 15 and the shield 18 by rotating the cable 12 about the axis. The cutting device may be a device installed separately from the cable terminal processing device 11.

FIG. 7 is a schematic view for explaining the operation of the cable terminal processing apparatus 11 in the pulling step. In the pulling step, the second jacket 15b is pulled out in the direction of the axis of the cable 12 with at least a part of the electric wire 14 remaining in the direction of the axis of the cable 12 inside the second jacket 15b. In FIG. 7, the internal electric wire 14 is indicated by an alternate long and short dash line.
In the drawing step, as shown in FIG. 7A, the blade 27 is moved in the Y-axis direction by a distance L1 toward the cable terminal holding device 22 while being cut into the covering layer 15. At the same time, the wire 14 does not exist in the range of L1 from the terminal inside the second skin 15b. At this time, the second clamp 45 of the cable terminal holding device 22 is in the open state. In FIG. 7A, the second clamp 45 is indicated by a solid line.

Next, the second clamp 45 holds the second outer cover 15b in the area where the electric wire 14 is not present inside. In FIG. 7A, the second clamp is indicated by a broken line.
Thereafter, as shown in FIG. 7B, the second clamp 45 moves in the Y-axis direction by a predetermined distance L2. In FIG. 7B, the position of the second clamp 45 in FIG. 7A is indicated by a broken line. On the other hand, the first outer cover 15 a of the cable 12 is fixed by the first clamp 41 of the robot 21 in the Y-axis direction together with the electric wire 14 inside. For this reason, the second outer skin 15b and the first outer skin 15a are completely separated by moving the second outer skin 15b in the Y-axis direction. At this time, a length L3 obtained by combining the distance L2 and the distance L1 is smaller than the length L0 of the covering layer 15 to be removed. As a result, a part of the electric wire 14 (an area indicated by “P” with hatching in FIG. 7B) remains inside the second outer cover 15b.

  Thus, the plurality of electric wires 14 are exposed between the first outer skin 15a and the second outer skin 15b, and an exposed portion 62 having a length L3 in the axial direction of the cable 12 is formed. In the exposed portion 62, the respective electric wires 14 are twisted together in a spiral so as to be in close contact with each other.

Next, the bending step will be described with reference to FIG.
In the bending step, the second clamp 45 moves in the Y-axis direction while holding the second skin 15b. As a result, the second outer skin 15b and the first outer skin 15a approach each other in the Y-axis direction, and the length L4 of the exposed portion 62 in the Y-axis direction is shortened (L4 <L3). 14 bends in the radial direction. Since each electric wire 14 bends in different directions according to the position, the direction of twist, etc., the plural electric wires 14 in close contact with each other are loosened, and a gap is generated between the electric wire 14 and the electric wire 14. It will be. FIG. 8 schematically shows the form of the electric wire 14 in the exposed portion 62 in the bending step.

When the first outer cover 15a and the second outer cover 15b are brought close to each other, the twist of the electric wire 14 can be unfolded to more reliably generate a gap between the electric wire 14 and the electric wire 14. The details will be described below.
A plurality of electric wires 14 inside the cable 12 are incorporated in a twisted state in a fixed direction so as to form a spiral around the axis of the cable 12.
In the cable terminal processing apparatus 11 according to the first embodiment, the second air chuck 42 is connected to a motor 43 as a rotation unit and is rotatable around the Y axis. Therefore, in a state where the first outer cover 15a is fixed, the electric wires 14 of the exposed portion 62 are aligned substantially in the Y-axis direction by rotating the second air chuck 42 in the direction to return the twist of the electric wires 14 The close contact between the wire 14 and the wire 14 is relaxed.
In this state, when the first outer cover 15a and the second outer cover 15b are made to approach each other, each electric wire 14 can be bent in the radial direction without being substantially affected by the other electric wires 14, so An even larger gap can be created between them.

The operation of relatively rotating the first outer skin 15a and the second outer skin 15b to return the twist of the electric wire 14 may be performed prior to bringing the first outer skin 15a and the second outer skin 15b close to each other. Therefore, for example, it may be carried out before or after the operation of axially pulling out the second outer skin 15b in the drawing step, or simultaneously with the operation of drawing.
In the first embodiment, the first outer cover 15 a may be rotated by displacing the robot arm 33. In this case, the robot arm 33 functions as a rotating means.

The wire distribution step will be described with reference to FIGS. 8 and 9 with reference to FIGS. 4 and 5. In the wire distribution step, as shown in FIG. 8, the wire alignment members 48 and 48 are disposed toward the exposed portion 62 substantially at the center of the exposed portion 62 in the Y-axis direction.
As shown in FIG. 5, a chamfer 48 b is provided at the opening of the alignment groove 25. Moreover, in FIG. 5, the range which the electric wire 14 of the exposure part 62 spreads to radial direction is shown with the circle | round | yen R of a dashed-dotted line in a bending step. The width E1 of the chamfer 48b is large enough to accommodate all the wires of the exposed portion at the end face 48a. Each electric wire 14 of the exposed portion 62 is guided by the chamfer 48 b and accommodated in the alignment groove 25.
The length F of the pair of side surfaces 25a and 25b in the Z-axis direction is approximately five to ten times the diameter of the cable 12, and at least the electric wires 14 inside the cable 12 are arranged in the Z-axis direction It is the size that can be done.

  FIG. 9 is a schematic view showing the state of the plurality of wires 14 when the wire alignment members 48, 48 are closest to each other in the Z-axis direction. FIG. 9A is a schematic view of the wire aligning member 48 in the X-axis direction, and FIG. 9B is a schematic view of the wire aligning member 48 in the Y-axis direction from the left side of FIG. It is. In FIG. 9A, the first skin 15a (which is the remaining skin) is located on the right side of the exposed portion 62, and the second skin 15b (which is the skin to be removed) is located on the left side of the exposed portion 62. doing. Although not shown, the first outer skin 15 a is held by the robot 21, and the second outer skin 15 b is held by the cable terminal holding device 22. The directions of the X axis, the Y axis, and the Z axis are the same as in FIG.

  When the wire aligning members 48 and 48 are closest to each other in the Z-axis direction, the wire aligning grooves 25 formed in the upper and lower wire aligning members 48 and 48 overlap each other, as shown in FIG. An axially extending space extending in the Z-axis direction is formed. The inner width (distance N) in the X-axis direction of the alignment grooves 25 is larger than the diameter of the wire 14 and smaller than twice the diameter of the wire 14. Therefore, in the alignment groove 25, the electric wires 14 do not overlap in the X-axis direction, and are arranged substantially parallel to the Z-axis direction along the alignment groove 25.

  FIG. 9 shows, as an example, a case where a part of the plurality of electric wires 14 housed in the alignment groove 25 are in a mutually twisted state, in order to explain the operation of dispersing the electric wires 14. . That is, four wires (i) to (iv) are accommodated side by side in the Z-axis direction in the alignment groove 25 and between the alignment member 48 and the second outer cover 15b, ) And the electric wire (c) twist each other.

  In the wire dispersing step, the wire aligning member 48 is moved in the Y-axis direction with the wire 14 accommodated in the wire aligning groove 25. In the portion indicated by J in FIG. 9A (hereinafter referred to as “intersection”), the wire (b) and the wire (c) overlap in the X-axis direction, so the dimension in the X-axis direction is at least the diameter of the wire 14 Greater than 2 times. Since the inner width (distance N) in the X-axis direction of the alignment groove 25 is smaller than twice the diameter of the wire 14, when the alignment member 48 approaches the intersection, the wires (b) and (c) By being in contact with the side surfaces 25a and 25b of the alignment groove 25, the direction of arrows H1 and H2 in FIG. 9A is pushed. Thereby, the position of the intersection moves to the side of the second skin 15b. By repeatedly reciprocating the wire aligning member 48 in the Y-axis direction, the crossing portion is more reliably moved to the terminal side of the wire 14.

Thereafter, the cable end holding device 22 is moved away from the first sheath 15a, and the second sheath 15b is completely withdrawn from the cable 12.
As indicated by “P” in FIG. 7B and the like, since the length of the electric wire 14 remaining inside the second outer cover 15 b is short, the intersection is located in the vicinity of the end of the electric wire. Therefore, the ends of the wires 14 can be freely displaced by pulling out the second outer cover 15b, so that the wires 14 can be easily dispersed. At this time, the wire alignment members 48 move to the end of the wires 14 to disperse the wires 14 more reliably.
Thus, in the wire distribution step, the wires 14 twisted together at the exposed portion 62 can be dispersed to one another.

  As described above, according to the cable terminal processing method of the first embodiment, the wires 14 inside the cable 12 can be automatically dispersed. Thereby, the terminal of each electric wire 14 can be processed into the state which can be easily wired. For example, when the case where the insulating layer 17 of the terminal of each electric wire 14 is removed by the coating removal apparatus 24 is demonstrated to an example, it becomes as follows.

FIG. 10 is an explanatory view for explaining the configuration of the coating removal apparatus 24. As shown in FIG. The directions of the X-axis, the Y-axis, and the Z-axis shown in the drawing are the same as the directions of the respective axes in FIG.
The coating removal apparatus 24 has a blade 60 for cutting the insulating layer 17 of the wire 14. The blade 60 can be displaced (indicated by an arrow Mz) in the Z-axis direction, and the cutting amount can be changed by adjusting the displacement amount. The blade 60 is supported by a rolling bearing or the like and is fixed to a rotating shaft 58 supported so as to be movable in the Y-axis direction, and can rotate (indicated by an arrow Mr) around the Y-axis.
When removing the insulating layer 17, the end of each wire 14 is inserted inside the blade 60. In the first embodiment, the plurality of wires 14 in the cable 12 are dispersed to one another in the wire dispersing step. Therefore, by installing a second robot or the like (not shown), the positions of the electric wires 14 can be recognized, gripped individually, and inserted inside the blade 60. Thereafter, the blade 60 is rotated to form a cut around the entire circumference of the insulating layer 17. Next, the blade 60 can be moved in the Y-axis direction (indicated by the arrow My) to remove the insulating layer 17 at the end of the wire to expose the signal line 16.

  Thus, by using the cable end processing method according to the present invention, the end of the electric wire 14 inside the cable can be efficiently processed into a wiring ready state. In addition, the method of removing the insulating layer 17 of the disperse | distributed electric wire terminal is not limited to said method, Moreover, after removing the insulating layer 17, after attaching a crimp terminal etc., it can utilize variously.

Second Embodiment
The cable terminal processing apparatus 11 of the second embodiment differs in the form of the wire alignment member 61 compared to the first embodiment. Hereinafter, the description of the common configuration will be omitted, and the form of the wire alignment member 61 of the second embodiment and the function of dispersing the plurality of electric wires 14 using the wire alignment member 61 will be described.

FIG. 11 is an explanatory view similar to FIG. 5, and shows the arrangement of the wire alignment member 61 of the second embodiment. The wire aligning members 61 are fixed to the ends of the wire aligning arms 36 (see FIG. 1) as in the first embodiment. Also in the second embodiment, the pair of wire-straightening members 61, 61 are arranged to face each other in the Z-axis direction across the cable 12. Since the pair of wire-straightening members 61, 61 have the same shape, the upper wire-straightening member 61 of FIG. 11 will be described as an example.
The wire alignment member 61 is made of stainless steel and includes a base 55 and a plurality of columns 56. The base 55 has a substantially rectangular parallelepiped shape. The pillars 56 are cylindrical in shape having a uniform cross section in the longitudinal direction, and extend in parallel from each other at a predetermined distance K1 from the side surface 55a of the base 55 in one direction. Each pillar 56 is disposed on a single plane orthogonal to the axis of the cable 12. Thus, the outer circumferential surfaces (wall surfaces) of the pillars 56 adjacent to each other face each other in the X-axis direction, and the wire arranging grooves 63 in which the electric wires 14 are accommodated are formed between the pillars 56. In the wire alignment member 61 of the second embodiment, the plurality of wire alignment grooves 63 are arranged in parallel to one another along a plane orthogonal to the axis of the cable 12.

  Also in FIG. 11, the range in which the electric wire 14 of the exposed portion 62 spreads in the radial direction in the bending step is indicated by a circle R of a dashed dotted line. The distance K1 in the X-axis direction between the pillars 56 and 56 is larger than the diameter of the wire 14 and smaller than twice the diameter of the wire 14. The total width E2 of the pillars 56 (the size of the range in which the pillars 56 are installed in the longitudinal direction of the base 55) is about five to ten times the diameter of the cable 12 and at least In the step, all the electric wires in the radially bent exposed portion are sized to be accommodated in any of the alignment grooves 63. The diameter d1 of the column 56 is set to at least 1 mm or more, and is preferably approximately the same size as the wire 14. If the diameter d1 is smaller than 1 mm, the strength of the pillars 56 is weak and there is a risk of breakage when the cable 12 is dispersed. When the diameter d1 is large, it may be difficult to insert the column 56 between the wires 14 and 14 in the wire dispersing step. Further, the length F of the column 56 is approximately 5 to 10 times the diameter of the cable 12 and at least at the exposed portion 62 when inserted into the exposed portion 62, the length of the exposed portion 62 of the radial direction The size is sufficient to accommodate all the electric wires 14 in the Z-axis direction of the alignment groove 63.

  As materials of the base 55 and the pillars 56, in addition to stainless steel, metal materials such as iron plated with chromium and resin materials such as polyamide reinforced with glass fiber can be appropriately selected. In the case of a resin material, the base 55 and the pillar 56 can be integrally manufactured by injection molding.

The pair of wire alignment members 61, 61 are oriented such that the longitudinal direction of each column 56 is the same (in the second embodiment, the Z-axis direction), and the tip of the column 56 sandwiches the cable 12 Are arranged to face each other.
Further, the pair of wire alignment members 61, 61 are arranged such that the positions of the columns 56 are the same as each other in the X-axis direction and slightly misaligned (D1) in the Y-axis direction. Thus, when the pair of wire alignment members 61 and 61 approach each other in the Z-axis direction, the respective columns 56 do not interfere with each other. When viewed in the Y-axis direction, each alignment groove 63 penetrates in the Y-axis direction, and a plurality of elongated hole-shaped spaces extending in the Z-axis direction are formed.

The wire distribution step in the second embodiment will be described with reference to FIG. In the wire distribution step, the wire alignment members 61 and 61 are moved in the Z-axis direction toward the exposed portion 62 substantially at the center of the exposed portion 62 in the Y-axis direction. FIG. 12 is a schematic view of the wire aligning member 61 as viewed in the Y-axis direction similar to FIG. 9B, and when the wire aligning members 61 and 61 are closest to each other, the respective wires 14 are wire-aligned. The example of the state accommodated in the groove | channel 63 is shown. In addition, although illustration is abbreviate | omitted, in the cable 12 of FIG. 12, the 1st outer skin 15a and the 2nd outer skin 15b are arrange | positioned similarly to FIG.
The distance K1 in the X-axis direction of the alignment grooves 63 is larger than the diameter of the electric wire 14 and smaller than twice the diameter of the electric wire 14. Therefore, in the alignment groove 63, the electric wires 14 do not overlap in the X-axis direction, and the electric wires 14 are arranged along the alignment groove 63 substantially in parallel to the Z-axis direction.

  In FIG. 12, as an example, the case where some of the some electric wires 14 accommodated in the wire alignment groove | channel 63 are mutually in the state of being twisted is shown. That is, the electric wire (i) and the electric wire (ii) are accommodated in different alignment grooves 63, and the electric wire (iii) and the electric wire (ii) are accommodated in the same alignment groove 63. The electric wire (i) and the electric wire (ii) and the electric wire (ii) and the electric wire (ii) are mutually twisted between the wire alignment member 61 and the second outer cover 15b.

  Next, the wire alignment member 61 is moved in the Y-axis direction with the wire 14 accommodated in the wire alignment groove 63. Since the dimension in the X-axis direction between the column (a) and the column (b) is smaller than twice the diameter of the wire 14, in the same manner as in the first embodiment, the wire (3) and the wire (2) The position of the intersection moves to the side of the second skin 15b. In the electric wire (i) and the electric wire (ii), since the pillar (d) is pressed to the intersection, the position of the intersection moves to the side of the second skin 15b.

Thereafter, the end of the wires 14 can be freely displaced by completely pulling out the second outer cover 15 b from the cable 12 so that the wires 14 can be easily dispersed. In addition, the wire alignment members 61 move to the end of the wires 14 to disperse the wires 14 more reliably.
Thus, also in the wire dispersion step of the second embodiment, the wires 14 twisted together at the exposed portion 62 can be dispersed to one another.

Third Embodiment
The cable terminal processing apparatus 11 according to the third embodiment differs from the cable terminal processing apparatus 11 according to the first embodiment in that the wire alignment apparatus 64 further includes a partition member 68. Hereinafter, in the third embodiment, the description of the configuration common to the first embodiment will be omitted or simplified, and the aligning device 64 will be described in detail.

FIG. 13 is a front view of the wire alignment device 64 in the third embodiment as viewed in the Y-axis direction.
The wire aligning device 64 includes a pair of wire aligning members 48, 48 facing each other in the Z-axis direction as one direction across the cable 12, and a partition member 68 disposed in a direction orthogonal to the wire aligning members. The configuration of moving means for moving the pair of wire aligning members 48, 48 and the wire aligning members 48, 48 in the Z-axis direction is the same as that of the first embodiment.
The partition member 68 is fixed to an end of another alignment arm different from the alignment arm 36 of the first embodiment, and can move in the X-axis direction. The other alignment arm and the second moving means for moving the same have the same configuration as that of the alignment arm 36 and the alignment driving unit 52 of the first embodiment, and the directions thereof differ by only 90 °. The illustration and the description of the configuration are omitted.

  The partition member 68 has the same form as the wire-straightening member 61 in the second embodiment, and includes a base end 69 and a plurality of columns 70 (columns). The material of the proximal end 69 and the column 70 is the same as that of the wire-straightening member 61 of the second embodiment. The pillars 70 have a cylindrical shape having a uniform cross section in the longitudinal direction, and extend in parallel from each other at a predetermined distance K2 in one direction from the side surface 69a of the proximal end portion 69.

  The distance K2 at which the outer peripheral surfaces of the adjacent pillars 70 face each other in the Z-axis direction is larger than the diameter of the electric wire 14 and smaller than twice the diameter of the electric wire 14. The total width E3 of the columns (the size of the range in which the columns are installed in the longitudinal direction of the base end 69) is formed by overlapping the alignment grooves 25 of the pair of alignment members 48, 48 in the Z-axis direction Preferably, the dimension is set larger than the dimension of the space in the Z-axis direction. The diameter d2 of the column 70 is set to at least 1 mm or more, and is preferably approximately the same size as the wire 14. If the diameter d2 is smaller than 1 mm, the strength of the column 70 is weak and there is a risk of breakage when the cable 12 is dispersed. When the diameter d2 is large, it may be difficult to insert the column 70 between the electric wire 14 and the electric wire 14.

  The partition member 68 is an X-axis in which the axis of each pillar 70 is disposed on the XZ plane orthogonal to the axis of the cable 12 and intersects the direction in which the alignment grooves 25 of the alignment member 48 extend. It is arranged in the direction. Further, the position of the partition member 68 in the Y-axis direction is disposed closer to the second outer cover 15 b than the wire alignment member 48.

The wire distribution step in the third embodiment will be described with reference to FIG.
FIG. 14A is a schematic view of the aligning device 64 in the X-axis direction, and FIG. 14B is a schematic view of the aligning device 64 in the Y-axis direction from the left side of the drawing.
In the third embodiment, as in the first embodiment, the wire aligning members 48 and 48 are made to approach each other in the Z-axis direction, and the electric wire 14 of the exposed portion 62 is accommodated in the wire aligning groove 25. The width (spacing N) in the X axis direction of the alignment groove 25 is larger than the diameter of the electric wire 14 and smaller than twice the diameter of the electric wire 14, so the electric wires 14 in the exposed portion 62 overlap in the X axis direction. It is arranged substantially parallel to the Z-axis direction along the alignment grooves 25 without the problem.
Thereafter, the partition member 68 is moved in the X-axis direction toward the exposed portion 62. The respective wires 14 are arranged in parallel in the Z-axis direction, so that the columns 70 can be easily inserted between the wires 14 and the wires 14. The movement of the partition member 68 in the X-axis direction may be performed simultaneously with the movement of the wire alignment members 48, 48 in the Z-axis direction.

FIG. 14 schematically shows a state in which the column 70 of the partition member 68 is inserted between the electric wire 14 and the electric wire 14. Moreover, FIG. 14 illustrates the case where a part of the plurality of electric wires 14 housed in the alignment groove 25 are in a mutually twisted state, as in FIG. 9.
When the partition member 68 is moved in the X-axis direction, each pillar 70 is inserted between the electric wire 14 and the electric wire 14 at the end side of the wire alignment member 48. As shown in FIG. 14, the column (c) is inserted also between the electric wire (ii) and the electric wire (iii) twisted to each other.
In the third embodiment, the wire alignment member 48 and the partition member 68 are simultaneously moved in the Y-axis direction in a state where the column 70 is inserted between the electric wires 14. As a result, since the column (c) is pressed to the intersection of the electric wire (b) and the electric wire (c), the position of the intersection moves to the side of the second jacket 15b more reliably than in the first embodiment. Do.

Thereafter, the second jacket 15b is completely pulled out of the cable 12, whereby the end of each wire 14 can be freely displaced, and the wires 14 can be easily dispersed. Further, by moving the wire alignment member 48 and the partition member 68 to the end of the wires 14, the wires 14 can be dispersed more reliably.
Thus, in the wire dispersion step of the third embodiment, the wires 14 twisted together at the exposed portion 62 can be dispersed to each other more reliably.

The partition member 68 may have a brush shape. Although not shown, the brush-like partition member has a form in which a large number of fibrous columns, wires, and the like (hereinafter, "columns and the like") are installed at the base end of a rectangular parallelepiped or the like. The columns and the like extend substantially parallel to each other in the X-axis direction which is a direction intersecting the one direction (the Z-axis direction) from one side surface of the base end portion, and form a plurality of column portions.
In the brush-like partition member, after the pair of wire aligning members 48 and 48 are made to approach each other in the Z-axis direction and the electric wire 14 of the exposed portion 62 is accommodated in the wire aligning groove 25, a pillar or the like is directed to the exposed portion 62 X It moves in the axial direction and abuts on the electric wire 14 of the exposed portion 62. Next, with the pillars and the like in contact with the wires 14, the pillars and the like are inserted between the wires 14 and 14 by reciprocating the wire alignment member 48 and the brush in the Y-axis direction. The electric wires 14 are dispersed into pieces. The brush-like partition member 68 is effective when the diameter of the electric wire 14 inside the cable is small (for example, 1 mm or less).

  As described above, according to the present invention, the outer sheath of the cable 12 in which the plurality of electric wires 14 are covered with the outer covering such as the covering layer 15 and the shield 18 is removed, and the twisted wires 14 are automatically dispersed. It can be done. Thereby, the terminal of the electric wire 14 inside a cable can be efficiently processed into the state which can be wired.

  The present invention is not limited to the embodiment described above, and various other modifications are possible. For example, in each of the above-described embodiments, the pair of wire-straightening members 48 and wire-straightening members 61 facing each other across the cable 12 are used, but only one of them may be used. Further, in the third embodiment described above, the partition member 68 is disposed in the direction in which the direction of the column 70 is orthogonal to the alignment groove 25, but the present invention is not limited to this. For example, two or more partition members 68 may be installed, and the orientations of the respective pillars 70 may be disposed so as to intersect each other and the direction in which the alignment grooves 25 extend. Further, in the third embodiment, the partition members 68 are combined with the wire alignment members 48 of the first embodiment, but the partition members 68 may be combined with the wire alignment members 61 of the second embodiment.

  When the interposing yarn is twisted together with the electric wire 14, the electric wire 14 and the interposing yarn are dispersed in the electric wire dispersing step. Therefore, after the electric wire 14 is dispersed, the air is sprayed to form the interposing yarn The electric wire 14 can be easily separated.

11: Cable end processing device, 12: Cable, 13: Housing, 14: Electric wire, 15: Coating layer, 15a: first skin, 15b: second skin, 17: insulating layer, 18: shield, 20: notched Device: 21: Robot, 22: Cable terminal holding device, 23: Wire-laying device (first embodiment), 24: Coating removing device, 25: Wire-alignment groove (first embodiment), 33: Robo arm, 36: Wire alignment Line arm, 39: image capturing device, 40: first air chuck, 41: first clamp, 42: second air chuck, 45: second clamp, 48: wire alignment member (first embodiment), 56: post 61: wire arranging member (second embodiment) 62: exposed portion 63: wire arranging groove (second embodiment) 64: wire arranging device (third embodiment) 68: partition member 69: base End, 70: pillar

Claims (8)

What is claimed is: 1. A cable terminal processing apparatus for removing a sheath of a cable in which a plurality of electric wires are collectively covered with a sheath in a predetermined range from a terminal, and performing distributed processing of the wires,
The cable has a circumferential cut in the circumferential direction at a predetermined position from the terminal, the sheath on the side opposite to the terminal as the first sheath is the first sheath, and the outer sheath on the terminal side than the notch is the second As a hull,
First holding means for holding the first skin;
Second holding means for holding the second skin;
Displacing means for displacing the first holding means and the second holding means away or approaching each other in the direction of the axis of the cable;
Between the wall surfaces, the wall surfaces extend in one direction orthogonal to the axis of the cable, and face each other at a predetermined distance in a direction orthogonal to both the direction of the axis of the cable and the one direction, A wire aligning member in which a wire aligning groove in which the electric wire is accommodated is formed;
Moving means for moving the wire alignment member with respect to the cable;
An exposed portion to which the electric wire is exposed is formed between the first outer skin and the second outer skin when the first holding means and the second holding means are separated from each other in the direction of the axis of the cable.
The moving means moves the wire aligning member toward the exposed portion to accommodate the electric wire in the wire aligning groove, and further, the wire arranging member is accommodated in the wire aligning groove. A cable terminal processing apparatus characterized in that it is moved in the direction of the axis of the cable.   The wire aligning member has a plurality of the wire aligning grooves, and the wire aligning grooves are disposed parallel to each other along a plane orthogonal to the axis of the cable. The cable terminal processing device according to Item 1.   The cable terminal processing device according to claim 1, wherein the distance between the wall surfaces is larger than a diameter of the electric wire and smaller than twice a diameter of the electric wire. A partition member having a base end and a plurality of pillars extending substantially parallel to each other from the base end; and second moving means for moving the partition member relative to the cable ,
The partition member is installed in a direction in which the extending direction of the column portion is orthogonal to the axis of the cable and in a direction intersecting the one direction.
The second moving means is a means for moving the partition member toward the exposed portion and further moving in the direction of the axis of the cable. Cable terminal processing equipment to be described.   At least one of the first holding means and the second holding means rotates around the axis of the cable with respect to the other of the first holding means and the second holding means, respectively. The cable terminal processing apparatus according to any one of claims 1 to 4, further comprising means. A cable end processing method for removing a plurality of wires from a terminal in a predetermined range from a terminal and dispersing the wires, with respect to a cable in which a plurality of wires are collectively covered by the outer shell,
A cutting step for forming a circumferential cut in the shell at a predetermined position from the end of the cable;
The outer skin on the side opposite to the end of the incision is the first outer skin, and the outer skin on the end side of the incision is the second outer skin, and the first outer skin is held by the first holding means and the second outer skin is the second The first sheath and the second sheath are separated from each other in the direction of the axis of the cable while being held by the holding means and in a state in which a part of the electric wire remains inside the second sheath, the first sheath A drawing step forming an exposed portion between the second skin and the electric wire to be exposed;
A flexing step of flexing the wire of the exposed portion by bringing the first skin and the second skin closer together in the direction of the axis of the cable;
A wall surface extending in a direction orthogonal to the axis of the cable and facing each other at a predetermined distance in a direction perpendicular to both the direction of the axis of the cable and the direction is also provided. A wire alignment member having a wire groove formed thereon, the wire alignment member being moved toward the exposed portion to accommodate the electric wire in the wire alignment groove, and the electric wire being received in the wire alignment groove A cable end processing method comprising: sequentially performing an electric wire dispersing step of moving the wire alignment member in a direction of an axis of the cable in a state. The partition member further includes: a base end; and a plurality of pillars extending substantially parallel to each other from the base end,
In the wire distributing step, after the wire is accommodated in the groove, or simultaneously when the wire is accommodated in the groove,
The partition member moves the extending direction of the column portion toward the exposed portion as a direction orthogonal to the axis of the cable and intersecting the one direction.
The cable terminal processing method according to claim 6, wherein the partition member is moved in the direction of the axis of the cable together with the wire alignment member in a state where the pillar portion is inserted between the electric wires.   In the bending step, before bringing the first skin and the second skin closer to each other in the direction of the axis of the cable, the first skin and the first skin in any one of the bending steps from the pulling step. The cable terminal processing method according to claim 6 or 7, wherein the second sheath is relatively rotated in the direction to return the twist of the electric wire around the axis of the cable.

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