JP2020095969A - Wiring member - Google Patents

Abstract

To provide a wiring member that is suited for the case where the work to connect a connector to a mating connector is done by a robot.SOLUTION: A wiring member 20 includes a linear transmission member (for example, an electric wire 22), a holding member (for example, a sheet member 30) and a connector 40A. The holding member holds the linear transmission member in a two-dimensionally positioned state. The connector 40A is attached to an end of the linear transmission member. The connector 40A is provided with a posture recognition mark 42.SELECTED DRAWING: Figure 4

Description

This invention relates to a wiring member.

Conventionally, the work of assembling the wire harness to the vehicle and the work of connecting the wire harness and the auxiliary machine (connector fitting work) have been performed manually.

In recent years, there is a concern that the working population will decrease as the population decreases and the birthrate declines and the population ages. Much of the automobile manufacturing work is done by people, and securing a working population can be an issue.

In order to solve this problem, automation of vehicle manufacturing processes has been attracting attention. In addition, there is a movement to promote automation in order to reduce manufacturing cost and improve process efficiency.

When trying to automate the connector fitting work, it is necessary for the robot to correctly recognize the positions and orientations of the connector on the wire harness side and the connector on the accessory side and perform the fitting work. However, in the case of the conventional wire harness structure (electric wire bundle), the degree of freedom of movement of the wire harness is very high, and the connector itself is not a structure that can keep the position and orientation constant. Therefore, it is difficult for the robot to recognize and hold the target connector, and it is difficult for the robot to perform the work of fitting the connectors.

Here, Patent Document 1 discloses a technique in which a plurality of connectors are connected in a predetermined order to form a connector row, and a loose portion of an assembled wire between the connector row and the connector is housed in a guide case. Patent Document 1 discloses that the robot holds the guide case, sends out the connectors one by one from the beginning, and assembles them on the other side.

Patent Document 2 discloses a technique in which a bobbin around which a wire harness is wound is provided with a plurality of connector holders, and a plurality of connectors of the wire harness are held in the connector holder one by one. Patent Document 2 discloses that a package formed by winding a wire harness around a bobbin is attached to a robot, and the connectors are assembled into the mating connector one by one.

JP, 2006-244748, A JP, 2006-244935, A

However, in the techniques disclosed in Patent Documents 1 and 2, it is necessary to hold the connector in the guide case or the connector holder of the bobbin at the manufacturing stage of the wire harness. Therefore, there are many restrictions on the wire harness. For example, this is a difficult technique to apply when the wire harness is branched in the middle.

Therefore, an object of the present invention is to provide a wiring member suitable for a robot to perform the work of connecting a connector to a mating connector.

In order to solve the above problems, a wiring member according to a first aspect is a linear transmission member, a holding member that holds the linear transmission member in a two-dimensionally positioned state, and an end of the linear transmission member. And a connector attached with a posture recognition mark.

A second aspect is the wiring member according to the first aspect, wherein the holding member is a sheet member in which the linear transmission member is fixed on a main surface.

A third aspect is the wiring member according to the first or second aspect, wherein the posture recognition mark is provided at a position closer to the tip with respect to the connector.

A fourth aspect is the wiring member according to any one of the first to third aspects, wherein the holding member includes an extending edge portion from which the linear transmission member extends, and the linear transmission. The member includes an extending end portion extending outward from the extending edge portion, and the connector is attached to the extending end portion.

A fifth aspect is the wiring member according to the fourth aspect, wherein the posture recognition mark is a mark for recognizing a tilted posture around an axis along at least the extended edge portion.

A sixth aspect is the wiring member according to the fourth or fifth aspect, wherein the extension end portion and the connector are cantilevered at a position outward from the extension edge portion of the holding member. It is supported in a shape.

A seventh aspect is the wiring member according to any one of the first to sixth aspects, in which the connector receives a gripping operation of the robot gripper to correct the posture of the connector with respect to the robot gripper. The posture correction guide is formed.

According to the first aspect, the linear transmission member is held in a two-dimensionally positioned state by the holding member, and the connector is attached to the end portion of the linear transmission member. Therefore, since the position of the connector is determined to some extent by the holding member, the robot can easily grip the connector. In addition, since the connector is provided with a posture recognition mark, the robot recognizes the posture of the connector based on the posture recognition mark, and based on the recognition result, grips the connector and moves it to the mating connector. Connection can be made. Therefore, the wiring member is suitable for the robot to perform the work of connecting the connector to the mating connector.

According to the second aspect, the linear transmission member can be two-dimensionally held by the sheet member.

According to the third aspect, since the posture recognition mark is provided at a position near the tip of the connector, it is easy to confirm whether or not the connector is connected to the mating connector.

According to the fourth aspect, the connector attached to the extending end portion of the linear transmission member extending from the extending edge portion of the holding member easily tilts with respect to the holding member. In such a case, the robot can recognize the attitude of the connector based on the attitude recognition mark and can hold the connector in an attitude suitable for connection to the mating connector.

Of the linear transmission member, the connector attached to the extending end portion extending from the extending edge portion of the holding member tends to tilt mainly around the axis along the extending edge portion. Therefore, as in the fifth aspect, by attaching a mark for recognizing the tilted posture around the axis along the extended edge portion as the posture recognition mark, the robot properly recognizes the tilt of the connector. it can.

According to the sixth aspect, since the extended end portion and the connector are supported in a cantilever manner at the position protruding outward from the extended edge portion of the holding member, the position and posture of the connector with respect to the holding member are It is kept within a certain range to some extent. Therefore, the robot can easily recognize and grasp the connector.

According to the seventh aspect, since the posture of the connector with respect to the robot gripping portion can be corrected by receiving the gripping operation of the robot gripping portion, it is possible to easily grip the connector in a posture suitable for connection to the mating connector. You can

It is a schematic plan view which shows the wiring member which concerns on embodiment. FIG. 2 is a schematic sectional view taken along line II-II of FIG. 1. It is a schematic plan view which shows one terminal part of a wiring member. It is a schematic side view of a terminal part same as the above. It is a schematic side view of a terminal part same as the above. It is a schematic side view which shows the state which connected the connector to the other party connector. It is a figure which shows the mark for posture recognition which concerns on a modification. It is a schematic perspective view which shows the connector which concerns on a 1st modification. It is a schematic diagram showing the state where a connector same as the above is grasped. It is a schematic perspective view which shows the connector which concerns on a 2nd modification.

The wiring member according to the embodiment will be described below. 1 is a schematic plan view showing a wiring member 20, FIG. 2 is a schematic sectional view taken along the line II-II of FIG. 1, and FIG. 3 is a schematic plan view showing one end portion of the wiring member 20. 4 is a schematic side view of the terminal portion, and FIG. 5 is a schematic side view showing a case where the connector is tilted in FIG. 4 and 5, the imaging device 50 and the robot gripper 60 are illustrated. The meanings of the X direction, Y direction, and Z direction attached to each drawing will be described later.

The wiring member 20 includes a linear transmission member 22, a holding member 30, and connectors 40A, 40B, 40C.

The linear transmission member 22 is a linear member that transmits electricity or light. The holding member 30 is a member that holds the linear transmission member 22 in a two-dimensionally positioned state. The connectors 40A, 40B, 40C are components that are connected to the components mounted on the vehicle. By connecting the connectors 40A, 40B, 40C to the connector 48 on the other side of the parts mounted on the vehicle, the linear transmission member 22 and the parts are electrically connected, or optical signals can be transmitted and received. Connected to. Since the mating connector 48 is provided in a component mounted on the vehicle, it is assumed that it is supported at a fixed position in the vehicle.

With the wiring member 20 installed in the vehicle, the plurality of connectors 40A, 40B, 40C are connected to the respective parts installed in the vehicle. As a result, electric signals are transmitted/received, electric power is transmitted/received, and optical signals are transmitted/received between the parts mounted on the vehicle. That is, the wiring member 20 is a wiring component that connects the components mounted on the vehicle.

Each part will be described more specifically.

The linear transmission member 22 may be a linear member that transmits electricity or light. For example, the linear transmission member may be a general electric wire having a core wire and a coating around the core wire, or may be a bare conductor wire, a shield wire, an enamel wire, a nichrome wire, an optical fiber, or the like.

Various signal lines and various power lines may be used as the linear transmission member that transmits electricity. The linear transmission member that transmits electricity may be used as an antenna, a coil, or the like that sends or receives a signal or power to or from a space.

Here, the description will be made assuming that the linear transmission member 22 is the general electric wire 22 (hereinafter, simply referred to as the electric wire 22). The electric wire 22 has a core wire 24 as a transmission line body and an insulating coating 26 as a coating 26 for covering the core wire 24. Each description regarding the electric wire 22 is applicable to each example of the linear transmission member 22 except for the configuration that is not applicable.

The core wire 24 is composed of one or a plurality of strands. The element wire is formed of a conductor such as copper, a copper alloy, aluminum, or an aluminum alloy. When the core wire 24 is composed of a plurality of strands, the plurality of strands may be twisted. The insulating coating 26 is formed by extruding a resin material such as PVC (polyvinyl chloride) or PE (polyethylene) around the core wire 24. Here, the electric wire 22 is a so-called round electric wire having a circular cross section.

The holding member 30 is a member that holds the electric wire 22 in a two-dimensionally positioned state. It suffices for the holding member 30 to be capable of holding the electric wire 22 in a two-dimensionally positioned state while being placed on a work site or the like. Therefore, the holding member 30 may be a flexible sheet-shaped member that can be easily bent. The holding member 30 may be a sheet-like member having a rigidity that allows the electric wire 22 to be held in a two-dimensionally positioned state while being curved, or the electric wire 22 may be two-dimensionally held in a flat state. It may be a sheet-like member having a rigidity that allows it to be held in the state of being positioned. The holding member 30 may have a three-dimensionally shaped portion such that a wall is partially provided upright.

Here, the holding member 30 will be described as being a bendable sheet member 30. Each description of the sheet member 30 can be applied to the holding member except for the configuration that is not applicable.

The material forming the sheet member 30 is not particularly limited, but the sheet member 30 is preferably formed of a material containing a resin such as PVC (polyvinyl chloride), PET (polyethylene terephthalate), and PP (polypropylene). It The sheet member 30 may be a sheet member whose inside is uniformly buried, or may be a non-woven sheet or the like. The sheet member 30 may include a material such as metal. The sheet member 30 preferably has the flexibility to bend easily in the thickness direction. The sheet member 30 may have a single layer or a plurality of layers. When a plurality of layers are laminated, for example, a resin layer and a resin layer may be laminated. Further, for example, it is conceivable that the resin layer and the metal layer are laminated.

The electric wire 22 is fixed on one main surface of the sheet member 30. On one main surface of the sheet member 30, the electric wire 22 is fixed along a fixed path.

The number of the electric wires 22 fixed on the one main surface of the sheet member 30 may be one or plural. The path of the electric wire 22 on the sheet member 30 may be a straight line or may be a path that bends on the way. When the plurality of electric wires 22 are fixed on one main surface of the sheet member 30, the plurality of electric wires 22 may or may not be branched in the middle.

Here, the plurality of electric wires 22 are fixed on one main surface of the sheet member 30. The route of each electric wire 22 is set so as to avoid the arrangement of parts to be connected in the vehicle and other parts between the parts. Here, the plurality of electric wires 22 are held by the holding member 30 so as to branch in the middle. In the example shown in FIG. 1, one ends of the plurality of electric wires 22 are collected at one place. A portion of the plurality of electric wires 22 near one end is fixed on the sheet member 30 in a linear and parallel state. The middle part of the plurality of electric wires 22 is branched into a plurality of parts. A portion of the group of the branched one electric wires 22 near the other end is fixed on the sheet member 30 in a linear and parallel state, and is bent sideways in the middle. The portion of the other branch of the other group of electric wires 22 near the other end bends outward while maintaining the parallel state, and further bends outward at a plurality of locations (here, two locations).

The sheet member 30 is formed in a shape along the paths of the plurality of electric wires 22. Here, the sheet member 30 has a first strip-shaped portion 32 that holds a portion of the plurality of electric wires 22 near one end, and a second strip-shaped portion that holds a portion of the branched one electric wire 22 near the other end. 34, and a third strip-shaped portion 36 that holds a portion of the other branched wire group 22 near the other end.

The first strip portion 32 is formed in a straight strip shape capable of holding the plurality of electric wires 22 in a parallel state. The second strip-shaped portion 34 is linearly continuous with the first strip-shaped portion 32 and is formed in a linear strip shape narrower than the first strip-shaped portion 32. The third strip-shaped portion 36 extends outward from the boundary portion between the first strip-shaped portion 32 and the second strip-shaped portion 34, bends in the middle, and extends in the direction along the second strip-shaped portion 34, and further in the middle. It is formed in a strip shape that is bent and extends toward the outer side of the second strip portion 34.

By forming the sheet member 30 in a shape along the paths of the plurality of electric wires 22, it is possible to suppress interference between the sheet member 30 and other components, reduce weight, and the like. It is not essential that the sheet member 30 is formed in a shape along the paths of the plurality of electric wires 22, and may be formed in another shape such as a square shape.

The sheet member 30 includes extension edge portions 32a, 34a, 36a from which the electric wires 22 extend.

Here, the edge of the outward end portion of the first strip-shaped portion 32 is the extended edge portion 32a. One end portion of the plurality of electric wires 22 extends outward from the extending edge portion 32a. A portion of one end portion of the plurality of electric wires 22 that extends outward from the extension edge portion 32a is the extension end portion 22a.

Similarly, the edge of the outward end portion of the second strip portion 34 is the extended edge portion 34a. The other end portion of the group of the branched one electric wires 22 extends outward from the extending edge portion 34a. A portion of the other end portion of the group of the branched one electric wires 22 that extends outward from the extension edge portion 34a is the extension end portion 22b.

Similarly, the edge of the outward end portion of the third strip-shaped portion 36 is the extended edge portion 36a. The other end of the group of the other branched electric wires 22 extends outward from the extending edge portion 36a. A portion of the other end of the group of the other branched electric wires 22 that extends outward from the extension edge 36a is an extension end 22c.

The mode in which the electric wire 22 and the sheet member 30 are fixed may be fixed to a contact portion, fixed to a non-contact portion, or both may be used together. Here, the contact portion fixing means that the portions where the electric wire 22 and the sheet member 30 are in contact with each other are fixed to each other. Further, the non-contact part fixing is a fixing mode other than the contact part fixing. For example, a sewing thread, another sheet member, an adhesive tape, or the like presses the electric wire 22 toward the sheet member 30, and a sewing thread, another sheet member, an adhesive tape, or the like surrounds the electric wire 22 and the sheet member 30. Thus, the electric wire 22 and the sheet member 30 are sandwiched between the electric wire 22 and the sheet member 30, and the electric wire 22 and the sheet member 30 are maintained in a fixed state. In the following description, it is assumed that the electric wire 22 and the sheet member 30 are in a state of fixing the contact portion. The respective descriptions regarding the fixing of the contact portion can be applied to the fixing of the non-contact portion as long as the configuration is not applicable.

As a mode of fixing the contact portion, the contact portion may be indirectly fixed, the contact portion may be directly fixed, or both may be used together in different regions. Here, the contact site indirect fixing means that the electric wire 22 and the sheet member 30 are indirectly fixed to each other via an intervening member such as an adhesive agent, an adhesive agent, or a double-sided adhesive tape provided between them. is there. Further, the direct fixing of the contact portion means that the electric wire 22 and the sheet member 30 are directly fixed to each other without an adhesive or the like provided separately. In the direct fixing of the contact portion, it is conceivable that, for example, the resin contained in at least one of the electric wire 22 and the sheet member 30 is melted to be stuck and fixed. In the following description, it is assumed that the electric wire 22 and the sheet member 30 are in a state where the contact portion is directly fixed. The respective descriptions regarding the direct fixing of the contact portion can be applied to the indirect fixing of the contact portion as long as the configuration is not applicable.

In forming such a state where the contact portion is directly fixed, the resin may be melted by heat or may be melted by a solvent, for example. That is, the state of directly fixing the contact portion may be a state of directly fixing the contact portion by heat or a state of directly fixing the contact portion by a solvent. It is preferable that the contact portion is directly fixed by heat.

At this time, the means for forming the state of directly fixing the contact portion is not particularly limited, and various means including known means such as welding, fusing, and welding can be used. For example, when the state of directly fixing the contact portion by heat is formed by welding, various welding means such as ultrasonic welding, heating/pressurizing welding, hot air welding, and high frequency welding can be adopted. When the contact portion directly fixed state is formed by these means, the electric wire 22 and the sheet member 30 are brought into the contact portion directly fixed state by the means. Specifically, for example, when the state where the contact portion is directly fixed is formed by ultrasonic welding, the electric wire 22 and the sheet member 30 are brought into the state where the contact portion is directly fixed by ultrasonic welding. The portion where the contact portion is directly fixed by heat by welding (the portion where the electric wire 22 and the sheet member 30 are fixed) is a welded portion, and among these, the portion fixed by ultrasonic welding is an ultrasonic welded portion, which is heated and pressure welded. The fixed portion may be referred to as a heating and pressure welding portion or the like.

In the case of directly fixing the contact portion, only the resin contained in the coating of the electric wire 22 may be melted or only the resin contained in the sheet member 30 may be melted. In these cases, the melted resin may be stuck to the other outer surface, forming a relatively distinct interface. In the case of directly fixing the contact portion, both the resin contained in the coating of the electric wire 22 and the resin contained in the sheet member 30 may be melted. In this case, both resins may be mixed and a clear interface may not be formed. In particular, when the coating of the electric wire 22 and the sheet member 30 include a resin such as the same resin material that is easily compatible with each other, both resins may be mixed and a clear interface may not be formed.

The connectors 40A, 40B, 40C are attached to the ends of the electric wires 22. That is, the extending end portions 22a, 22b, 22c and the connectors 40A, 40B, 40C are supported in a cantilevered manner at positions outwardly extending from the extending edge portions 32a, 34a, 36a of the sheet member 30. In other words, the connectors 40A, 40B, 40C are supported outwardly from the extending edge portions 32a, 34a, 36a of the sheet member 30 and supported in a horizontal state or an oblique posture without hanging downward so as to be completely downward. Has been done.

The connectors 40A, 40B, and 40C are preferably supported in a cantilever manner in a posture as parallel as possible to the sheet member 30. However, the attitude of the connectors 40A, 40B, 40C with respect to the sheet member 30 depends on the thickness of the electric wires 22, the number of the electric wires 22, the weight of the connectors 40A, 40B, 40C, and the like. For example, the connectors 40A, 40B, 40C may be inclined within a range of ±10 degrees with respect to the front portions of the extending edge portions 32a, 34a, 36a of the sheet member 30, or within a range of ±5 degrees. May be tilted (see angle θ in FIG. 5). In order to make the inclination of the connectors 40A, 40B, 40C as small as possible, the length of the electric wire 22 extending from the extending edge portions 32a, 34a, 36a may be made as short as possible. For example, the distance L (see FIG. 4) between the extended edge portions 32a, 34a, 36a and the connectors 40A, 40B, 40C may be 10 mm, 7 mm, 5 mm, or 3 mm. Good.

The connectors 40A, 40B, 40C are components for connecting the electric wire 22 to other components. Assuming that the connectors 40A, 40B, 40C are electrical connectors, the connectors 40A, 40B, 40C are formed with cavities capable of accommodating the terminals attached to the ends of the electric wires 22, and are fitted to the mating connector 48. It is configured to be connectable. The connectors 40A, 40B, 40C may be optical connectors.

A connector 40A is connected to one end of each of the plurality of electric wires 22. That is, the connector 40A is attached to the extended end portions 22a of the plurality of electric wires 22.

The connector 40B is connected to the other end portion of the group of the branched electric wires 22. That is, the connector 40B is attached to the extended end portions 22b of the plurality of electric wires 22.

A connector 40C is connected to the other end portion of the other branched wire group 22. That is, the connector 40C is attached to the extended end portions 22c of the plurality of electric wires 22.

It is not essential that the end of the electric wire 22 extends from the sheet member 30 and the connectors 40A, 40B, 40C be attached to the extending ends 22a, 22b, 22c. The ends of the electric wires 22 may not extend from the sheet member 30, and the connectors 40A, 40B, 40C may be fixed to the edge of the sheet member 30.

Posture recognition marks 42 are attached to the connectors 40A, 40B, and 40C. Hereinafter, the connector 40C and the posture recognition mark 42 attached to the connector 40C will be mainly described. Here, the extending direction of the extending end 22c of the electric wire 22 is the Y direction, the direction parallel to the sheet member 30 and orthogonal to the Y direction (or the extending direction of the extending edge portion 36a) is the X direction, and The direction orthogonal to the X direction and the Y direction (or the thickness direction of the sheet member 30) is referred to as the Z direction.

The posture recognition mark 42 is a mark that allows the computer to recognize the posture of the connector 40C by performing image recognition processing, posture recognition processing, and the like on the basis of an image captured by the imaging device.

For example, a plurality of marks such as a plurality of points and straight lines attached according to a certain rule can be used as marks for recognizing the attitude of the connector 40C through the image recognition processing and the attitude recognition processing. For example, a dot code including a plurality of points arranged in a grid, a QR code (registered trademark), an AR marker, and the like are well known as marks for recognizing the posture of an object to which the mark is attached. It may be used as a recognition mark. Image recognition processing such as binarization processing is performed by imaging these dot codes, QR codes, AR markers, etc., and based on the binarized images, recognition processing of image size, posture, etc. By performing the posture recognition process, the posture of the connector 40C can be recognized. When a mark to which other information can be added, such as a QR code or an AR marker, is used as the posture recognition mark, the computer identifies the type of the connector 40A, 40B, 40C in addition to the posture of the connector 40A, 40B, 40C. It is also possible to do.

The posture recognizing mark 42 may be any mark as long as it can be imaged by the image pickup device and image processed. The attitude recognizing mark 42 may be printed on the connector 40C, or may be a sticker on which the attitude recognizing mark 42 is printed, or may be an uneven shape formed by a mold. It may be formed as. The printing may be printing with ink, or printing may be performed by modifying the surface with a laser or the like. The posture recognition mark 42 may be three-dimensionally recorded by a holographic technique.

The posture recognition mark 42 may be a mark for recognizing the tilted posture of the connector 40C around the axis along the extended edge portion 36a (the axis along the X direction). Since the connector 40C easily tilts around the axis along the extending edge portion 36a (the axis along the X direction), the attitude recognition mark 42 tilts at least around the axis (the axis along the X direction). With the mark for recognizing the attitude, the attitude of the connector 40C can be recognized by the computer in the direction in which the connector 40C is easily inclined.

The posture recognizing mark 42 may be provided at a position closer to the tip end with respect to the connector 40C, that is, at a position closer to the center than the tip end in the front-rear direction (connection direction) of the connector 40C. Accordingly, for example, when the connector 40C is configured to be fitted into the mating connector 48, when the connector 40C is connected to the mating connector 48, all or a part of the posture recognition mark 42 is of the mating connector 48. It is hidden by the connector 48 (see FIG. 6). Therefore, when the connector 40C is connected to the mating connector 48, the connector 40C recognizes whether all or part of the posture recognition mark 42 is hidden by the mating connector 48. Can be determined to be fully connected to.

The positions of the connectors 40A, 40B, and 40C may be recognized based on the posture recognition mark 42.

An example of the work of assembling the wiring member 20 into the vehicle using the posture recognition mark 42 will be described. Description will be made assuming that the wiring member 20 is automatically assembled to the vehicle by a robot such as a vertical articulated robot.

In this case, first, the wiring member 20 is spread and placed in the vicinity of a portion to be mounted on the vehicle. The mounting location may be the vehicle itself or a workbench near the vehicle. Further, it may be supported by another robot near the assembly target location. When the wiring member 20 is unfolded, each electric wire 22 is kept in a state along a predetermined path by the sheet member 30. Further, since the connectors 40A, 40B, 40C are attached to the ends of the extended end portions 22a, 22b, 22c extending from the respective extended edge portions 32a, 34a, 36a, the connectors 40A, 40B, 40C are The sheet member 30 is held at a substantially constant position.

Then, the robot gripper grips the connectors 40A, 40B, 40C and connects them to the mating connector 48. In this case, since the extension ends 22a, 22b, 22c of the electric wire 22 extend from the extension edges 32a, 34a, 36a of the sheet member 30, the connectors 40A, 40B, 40C may be inclined. is there.

If the robot gripping portion grips the connectors 40A, 40B, 40C in a tilted posture, there is a possibility that the connectors 40A, 40B, 40C may not be successfully connected even if they are inserted into the mating connector 48.

Therefore, as shown in FIGS. 4 and 5, the posture recognizing mark 42 is picked up by the image pickup device 50. Then, the computer executes image processing and orientation recognition processing based on the captured image to recognize the tilt orientation of the connector 40C. In the following, the connector 40C will be mainly described, but the other connectors 40A and 40B can be processed and worked in the same manner.

Then, based on the recognition result of the posture, the posture of the robot gripper 60 is changed so that the connector 40C is gripped by the robot gripper 60 in a predetermined posture, and the robot gripper 60 grips the connector 40C. To do. For example, as shown in FIG. 4, when the connector 40C is in a substantially horizontal posture with respect to the sheet member 30, the robot gripper 60 grips the connector 40C in a posture orthogonal to the sheet member 30. Further, for example, as shown in FIG. 5, when the connector 40C is tilted at an angle θ with respect to the sheet member 30, the robot gripper 60 is tilted at an angle θ from the posture orthogonal to the sheet member 30. Hold 40C. As a result, the robot gripper 60 can grip the connector 40C with respect to the robot gripper 60 according to the tilted posture of the connector 40C.

In FIG. 5, the connector 40C has been described as an example in which the connector 40C is inclined around the axis along the extending edge portion 36a (the axis along the X direction). Even when the connector 40C is tilted around the axis along the Y direction and when it is tilted around the axis along the Z direction, the tilt of the connector 40C is similarly recognized, and the robot according to the tilt is recognized. By gripping the connector 40C with the grip portion 60 tilted, the robot grip portion 60 can grip the connector 40C so that the connector 40C is in a predetermined posture with respect to the robot grip portion 60, as described above. ..

Due to the weight of the connector 40C and the like, the connector 40C easily tilts around the axis along the extending edge portion 36a (the axis along the X direction). In particular, when the connector 40C is a connector having a plurality of poles, the plurality of extension end portions 22c extend from the extension edge portion 36a, and the plurality of extension end portions 22c are connected to the connector 40C. In such a case, since the connector 40C is supported by the plurality of extending end portions 22c, the connector 40C has a certain degree of constantness around the axis along the Y direction and the axis along the Z direction. While it is held in the posture, it is considered that it is likely to be inclined around the axis along the extending edge portion 36a (the axis along the X direction). From the same idea, the connector 40C is held at a certain fixed position in the X direction and the Y direction with respect to the sheet member 30. On the other hand, it is also considered that the connector 40C is likely to move relative to the sheet member 30 in the Z direction (the thickness direction of the sheet member 30).

Therefore, in many cases, when the posture recognition mark 42 recognizes the tilted posture of the connector 40C around the axis along the extending edge portion 36a (the axis along the X direction), the robot gripping portion 60 is provided. Can grip the connector 40C so that the connector 40C is in a predetermined posture with respect to the robot grip 60.

In order to recognize the tilted posture of the connector 40C around the axis along the extended edge portion 36a (the axis along the X direction), the posture recognition mark 42 may be attached to the side surface of the connector 40C. However, even if the posture recognizing mark 42 is attached to the upper surface of the connector 40C or the like, based on the distortion of the posture recognizing mark 42 from the predetermined shape or the like, the axis along the extending edge portion 36a (X direction). It is possible to recognize the tilted posture of the connector 40C around the (axis along). Further, the posture recognition mark 42 attached to the connector 40C also serves as a mark for allowing the computer to recognize the position of the connector 40C in the Z direction. The robot gripper 60 can grip the connector 40C more reliably by mainly gripping the connector 40C while moving in the Z direction. At this time, by recognizing the position of the connector 40C in the Z direction based on the posture recognition mark 42 attached to the connector 40C, the position of the connector 40C with respect to the robot gripping portion 60 can be made uniform, or the position with respect to the robot gripping portion 60 can be fixed. It is easy to recognize the position of the connector 40C.

After the robot gripper 60 grips the connector 40C as described above, as shown in FIG. 6, the robot gripper 60 moves the connector 40C toward the mating connector 48. The electric wire 22 connected to the connector 40C and the sheet member 30 supporting the electric wire 22 move as the connector 40C moves. Then, the robot gripper 60 connects the connector 40C to the mating connector 48. At this time, since the connector 40C is gripped by the robot gripper 60 in a predetermined posture, it is easy to align the connector 40C with the mating connector 48, and the connector 40C can be connected easily and reliably. ..

When the connector 40C is connected to the mating connector 48, all or part of the posture recognition mark 42 attached to the position near the tip of the connector 40C is hidden by the mating connector 48. FIG. 6 shows a state in which the posture recognizing mark 42 has entered the mating connector 48 and is wholly hidden.

After the robot gripper 60 connects the connector 40C to the mating connector 48, an image of the connection point is captured. When the posture recognition mark 42 is not recognized in the captured image, it can be determined that the connector 40C is normally connected to the mating connector 48. In addition, when a part of the posture recognition mark 42 is set to be hidden in the connection state between the connector 40C and the mating connector 48, only a predetermined remaining portion of the posture recognition mark 42 is recognized in the captured image. Then, it can be determined that the connector 40C is normally connected to the mating connector 48.

The merit of attaching the posture recognition mark 42 to the position near the tip of the connector 40C is that the robot gripper 60 can grip the connector 40C in a predetermined posture while the connector 40C is gripped by the robot gripper 60. There is also a point that can be determined. That is, when the robot gripper 60 connects the connector 40C to the mating connector 48, in order to prevent the robot gripper 60 from interfering with the mating connector 48, the robot gripper 60 is provided after the connector 40C. It is good to grasp the position near the edge. Then, with the robot gripper 60 gripping the connector 40C, the portion near the tip of the connector 40C can be exposed as a portion that can be recognized from the outside without being hidden by the robot gripper 60. For this reason, when the posture recognition mark 42 is attached to a position near the tip of the connector 40C, the posture recognition mark 42 of the connector 40C is imaged by the imaging device 50 in a state in which the robot grip 60 holds the connector 40C. Then, the posture of the connector 40C can be recognized based on the image pickup result, and it can be determined whether or not the posture is a predetermined posture with respect to the robot grip 60.

The other connectors 40A and 40B may be connected to the mating connector 48 by the robot gripper 60 in the same manner as described above. As a result, the wiring member 20 is automatically assembled to the vehicle. A part of the assembling work of the wiring member 20 may be performed manually.

According to the wiring member 20 configured as described above, the electric wire 22 that is a linear transmission member is held in a two-dimensionally positioned state by the sheet member 30 that is a holding member, and the end of the electric wire 22 is held. A connector 40C is attached to the section. Therefore, the positions of the connectors 40A, 40B, 40C are determined to some extent by the sheet member 30, and the robot can easily grip the connectors 40A, 40B, 40C by the robot gripping unit 60. Since the connectors 40A, 40B, 40C are provided with the posture recognition marks 42, the robot recognizes the postures of the connectors 40A, 40B, 40C based on the posture recognition marks 42, and Based on this, it is possible to hold the connectors 40A, 40B, 40C, connect to the mating connector 48, and the like. Since the robot gripper 60 can grip the connectors 40A, 40B, and 40C in a predetermined posture, the gripping and connecting work can be performed easily and reliably. Therefore, the wiring member 20 is suitable for the robot to perform the work of connecting the connectors 40A, 40B, and 40C to the mating connector 48.

Further, since the holding member is the sheet member 30, the electric wire 22 can be easily held two-dimensionally. If the sheet member 30 is easily deformable in the thickness direction, the sheet member 30 is deformed in the thickness direction according to the shape of the assembly target location and the electric wire 22 is disposed along the assembly target location. easy.

In particular, the connectors 40A, 40B, 40C attached to the extending end portions 22a, 22b, 22c of the electric wire 22 extending from the extending edge portions 32a, 34a, 36a of the sheet member 30 are attached to the sheet member 30. Easy to lean. In such a case, the robot recognizes the attitudes of the connectors 40A, 40B, 40C based on the attitude recognition marks 42, and grips the connectors 40A, 40B, 40C in an attitude suitable for connection to the mating connector 48. can do.

Further, if the posture recognition mark 42 is a mark for recognizing a tilted posture around the axis along at least the extended edge portions 32a, 34a, 36a, the robots can be mounted in a direction in which the connectors 40A, 40B, 40C are easily tilted. However, the inclination of the connectors 40A, 40B, and 40C can be properly recognized.

As the mark for recognizing the inclination posture around the axis along the extended edge portions 32a, 34a, 36a, in addition to the mark already exemplified, the connectors 40A, 40B attached to the side surfaces of the connectors 40A, 40B, 40C, It may be a line along the front-rear direction of 40C or a line along the up-down direction of the connectors 40A, 40B, 40C. Further, as shown in FIG. 7, the posture recognition mark 42a may be a cross mark (see FIG. 7) in which a line along the front-rear direction and a line along the up-down direction are combined. For example, the posture recognition mark may include information regarding two positions separated in the front-rear direction on the side surfaces of the connectors 40A, 40B, and 40C.

Further, when the posture recognition mark 42 is provided at a position closer to the tip end with respect to the connectors 40A, 40B, 40C, the posture recognition mark 42 is connected to the mating connector 48 and used for posture recognition. It is easy to confirm whether or not the connectors 40A, 40B, 40C are normally connected to the mating connector 48 by confirming whether or not all or part of the mark 42 is hidden.

Further, since the extending end portions 22a, 22b, 22c and the connectors 40A, 40B, 40C are supported in a cantilever manner at the positions protruding outward from the extending edge portions 32a, 34a, 36a of the sheet member 30. The connectors 40A, 40B, 40C for the sheet member 30 are kept within a certain range to some extent. Therefore, the robot can easily recognize and hold the connectors 40A, 40B, and 40C.

{Modification}
As in the first modification shown in FIGS. 8 and 9, the posture correction guide 144 may be provided on the connector 140 corresponding to the connectors 40A, 40B, and 40C. The posture correction guide 144 is configured to be capable of correcting the posture of the connector 140 with respect to the robot grip 160 by receiving the grip operation of the robot grip 160.

Here, the posture correction guide 144 is a groove along the vertical direction of the connector 140, and is formed in a shape in which the depth dimension is gradually increased toward the center of the width direction of the groove, here, a triangular groove shape.

On the other hand, on the inner surfaces of the pair of gripping portions 162 of the robot gripping portion 160, there are formed protrusions 164 that can be fitted into the posture correction guide 144, here, elongated protrusions 164 having a triangular cross section.

Then, when the pair of grips 162 are closed while the pair of grips 162 are arranged outside both sides of the connector 140, the pair of protrusions 164 fit into the pair of posture correction guides 144. At this time, the pair of protrusions 164 contact the inner surface of the posture correction guide 144, the center line in the width direction of the pair of protrusions 164 faces the center line in the width direction of the posture correction guide 144, and the center line in the width direction. The position and orientation of the connector 140 with respect to the robot grip 160 are corrected so that the robot 140 is in a state of being in line.

Therefore, the connector 140 is grasped by the robot grasping portion 160 so as to have a more accurate position and posture.

The posture correction guide 144 of the first modified example guides the robot gripper 160 so that the posture of the connector 140 is constant. More specifically, the posture correction guide 144 guides the connector 140 so that the front-rear direction of the connector 140 is orthogonal to the extending direction of the pair of grips 162. In addition, the posture correction guide 144 guides the connector 140 in the front-rear direction of the connector 140 so that the connector 140 is disposed at a fixed position with respect to the robot grip 160.

As a result, the posture of the connector 140 with respect to the robot gripping portion 160 can be corrected by receiving the gripping operation of the robot gripping portion 160, so that the connector 140 can be easily gripped in a posture suitable for connection to the mating connector. it can.

As described above, the robot gripper 160 may grip the position near the rear end of the connector 140 in consideration of the subsequent connector connection work. From this point, the posture correction guide 144 moves near the rear end of the connector 140. Is preferably formed at the position.

In the second modification shown in FIG. 10, the connector 240 corresponding to the connectors 40A, 40B, and 40C is provided with the posture correction guide 244 having another shape. In addition to the guide function of the posture correction guide 144, the posture correction guide 244 allows the connector 240 to be at a fixed position with respect to the robot gripping portion even in the extending direction of the pair of gripping portions 162 (vertical direction of the connector 140). Guide to be placed.

Here, the posture correction guide 244 is formed in the shape of a quadrangular pyramid that is recessed with the side opening of the connector 240 as a bottom surface. The pair of grips of the robot gripping part that grips the connector 240 may be formed with quadrangular pyramid-shaped protrusions corresponding to the recessed shape of the posture correction guide 244. When the connector 240 is gripped by the pair of grips, the quadrangular pyramid-shaped protrusion contacts the side surface of the posture correction guide 244 recessed in the quadrangular pyramid. Then, the projections of the pair of grips are fitted into the posture correction guides 244 that are recessed in a quadrangular pyramid shape, so that the connector 240 is guided so as to have a fixed posture with respect to the pair of grips. Further, the connector 240 is guided so as to be arranged at a fixed position in the front-rear direction and the up-down direction with respect to the pair of grip portions. For this reason, the connector 240 is more accurately arranged at a fixed position and guided so as to have a fixed posture with respect to the robot gripping portion.

In addition, the posture correction guide 244 may have a cross shape of triangular grooves, a conical shape, or the like.

The first modification and the second modification are applicable to a connector having no posture recognition mark as a structure for guiding the connector to the robot gripper in a constant posture.

Further, in the above-described embodiment, a posture recognition mark may be provided on the mating connector 48. Thus, when the robot connects the connectors 40A, 40B, 40C to the connector 48 on the mating side, the posture or the like of the mating connector 48 is recognized, and the connectors 40A, 40B, 40C are recognized based on the recognition result. The posture can be corrected and the connection work can be performed, and more accurate connection work can be performed.

The configurations described in the above-described embodiment and each modification can be appropriately combined unless they contradict each other.

Although the present invention has been described in detail above, the above description is an example in all aspects, and the present invention is not limited thereto. It is understood that innumerable variants not illustrated can be envisaged without departing from the scope of the invention.

20 wiring member 22 linear transmission member (electric wire)
22a, 22b, 22c Extended end part 30 Holding member (sheet member)
32a, 34a, 36a Extended edge portion 40A, 40B, 40C, 140, 240 Connector 42, 42a Posture recognition mark 144, 244 Posture correction guide 160 Robot gripping part 162 Grip 164 Protrusion 244 Posture correction guide

Claims (7)

A linear transmission member,
A holding member for holding the linear transmission member in a two-dimensionally positioned state;
A connector attached to the end of the linear transmission member and having a posture recognition mark attached thereto,
A wiring member including. The wiring member according to claim 1,
The holding member is a wiring member, which is a sheet member having the main surface on which the linear transmission member is fixed. The wiring member according to claim 1 or 2, wherein
The posture recognizing mark is a wiring member provided at a position closer to the tip end with respect to the connector. The wiring member according to any one of claims 1 to 3, wherein:
The holding member includes an extending edge portion from which the linear transmission member extends,
The linear transmission member includes an extension end portion extending outward from the extension edge portion,
The wiring member, wherein the connector is attached to the extending end. The wiring member according to claim 4,
The posture recognizing mark is a mark for recognizing a tilted posture around an axis along at least the extending edge portion. The wiring member according to claim 4 or claim 5,
A wiring member in which the extended end portion and the connector are supported in a cantilever manner at a position outward from the extended edge portion of the holding member. The wiring member according to any one of claims 1 to 6,
A wiring member, wherein a posture correction guide for correcting the posture of the connector with respect to the robot gripping portion is formed in the connector in response to a gripping operation of the robot gripping portion.

Images