JP2956466B2 - Peeling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stripping apparatus for performing a stripping process in wire harness manufacturing. In particular, the present invention relates to a peeling apparatus with an improved scrap removing structure for dropping scrap generated during peeling.

[0002]

2. Description of the Related Art A wire harness is an electric wiring system including a large number of electric wires, terminals, connectors, and the like incorporated in an automobile, a copying machine, and the like. To manufacture this wire harness, measure the length of the electric wire, cut it to a predetermined length, cut the wire, cut off the insulating coating on both ends of the cut wire, and strip the exposed wire. Terminal crimping to crimp the terminal to the end, wiring to wire the wire crimped to the end to the drawing board, and terminal insertion to insert the terminal of the wired wire end into the connector housing. Many steps are involved. Therefore, the production of the wire harness requires a great deal of labor and time, and there has been a higher demand for automation of the production process than before.

In recent years, various automatic wire harness manufacturing apparatuses have been provided. For example,
JP-A-42085, JP-B-3-6670, JP-A-1-313870, etc. disclose conventional automatic wire harness manufacturing apparatuses.

[0004]

However, the conventionally proposed automatic wire harness manufacturing apparatus requires a specially developed robot capable of moving in two axes, so that the structure is complicated and the equipment cost is extremely high. Expensive and large. In addition, since the structure is complicated, the work of changing the setup in accordance with the change of the model of the wire harness or the like becomes very complicated, and there is a problem that it takes time and effort.

[0005] On the other hand, with respect to certain types of work up to the completion of the wire harness, there is one aspect in terms of the reliability of the work that, as a practical problem, it is necessary to rely on manual assembly work. . That is, at present, the manufacturing process of the wire harness includes a part automated by a robot and a part related to an assembly line by a human.

[0006] In a manufacturing process of a wire harness automated by a robot, it is required to perform a manufacturing operation at a high speed in order to amortize the above-mentioned expensive equipment cost. And frequent changeovers are
Since time and cost are lost, a lot is manufactured in one lot to avoid this. And in this way, many kinds produced at high speed by robots,
A large number of electric wires and the like are transported to the required positions on the assembly line by humans, respectively, and are deployed.

[0007] However, no matter how fast the automatic manufacturing apparatus is manufactured as described above, the manufacturing speed of the wire harness is ultimately limited by the feed speed of the assembly line by a person. In addition, in the manufacturing process, a large number of different types of stocks manufactured by the automated manufacturing apparatus are held, which also increases the manufacturing cost of the wire harness. That is, in the current situation where it is difficult to avoid assembly work by humans,
Using expensive and complex automated machines, as described above, is inefficient.

[0008] In the above-mentioned automatic machine,
Since cutting, stripping, crimping of terminals, and wiring are performed at multiple stations, it may be necessary to change the end of the wire when moving the station. Thus, for example, there is a possibility that an error occurs in the amount of peeling or the terminal crimping position. by the way,
A rotatable upper arm rotatable about an axis orthogonal to the one axis is provided on a gantry that is movable in one axis, and a rotatable forearm rotatable about an axis orthogonal to the one axis is provided on the upper arm. In addition, general-purpose robots capable of controlling one axis have become inexpensive and widely used in recent years.

In order to manufacture a wire harness manufacturing apparatus, the inventors of the present invention use the above-mentioned general-purpose robot capable of controlling one axis to perform, for example, cutting and stripping of electric wires in the wire harness manufacturing process. Achieve terminal crimping and wiring, and send the assembly drawing board on which the wires are wired by the robot to the assembly work line by a person as it is, making it difficult for the robot to work, for example, wiring of joint wires, mounting of connectors If a wire harness manufacturing line where robot work and human work can coexist, such as corrugating, tape winding, grommet threading, continuity inspection, etc., is performed by humans, expensive equipment costs and We thought that it would be possible to reduce unnecessary inventory, and at the same time, to have equipment that was excellent in applicability to high-mix low-volume production.

[0010] To realize this, the end of the wire must be peeled and the terminal crimped to the end of the wire while the wire is gripped by the general-purpose robot. The present invention has been made in view of such a technical background, and it is an object of the present invention to provide a stripping apparatus capable of accurately and reliably stripping an end of an electric wire gripped by a general-purpose robot.

According to the present invention, from a different point of view, in a stripping apparatus for stripping a wire end having a free end, the stripping generated during stripping can be reliably removed from the blade, and the stripping can be reliably eliminated. It is to provide a peeling device.

[0012]

According to the first aspect of the present invention,
In a peeling apparatus for removing an insulating coating of a distal end portion of an electric wire having a free end, a pair of cutting blades provided so as to be able to come close to and away from each other, and cutting the end of the electric wire by coming close to each other. It is arranged at a predetermined interval from the pair of cutting blades, and is provided so as to be able to approach and separate from each other, and by being in contact with each other, an insulating coating of an end of the wire at a predetermined distance from the tip of the wire. A pair of skinning blades, which are arranged between the pair of cutting blades and the pair of skinning blades, and the skin scraping tends to be displaced while being stuck to either the cutting blade or the skinning blade. At this time, there is provided a scrap removing means for separating the scraping from the blade, and the scrap removing means is provided in a direction in which the electric wire enters.
Two plate members arranged at a predetermined interval in the cross direction
And the plate material included in the scrap removing means is the one pair
Is approximately equal to the facing distance between the cutting blade and the pair of skinning blades.
A peeling apparatus characterized in that it is a plate material having a large thickness .

According to a second aspect of the present invention, the tip is in a free state.
A peeling device for removing the insulation coating on the end of the wire.
So that they can come and go
Cut off the ends of the wires by leaning against each other
A pair of cutting blades, and a predetermined distance from the pair of cutting blades.
So that they can move close to and away from each other
At the end of the wire
Cut off the insulation coating at the end of the wire at a predetermined distance from the
A pair of peeling blades to be eyed and said pair of cutting blades
And a pair of peeling blades, and the peeling
Let's move while sticking to either the blade or the peeling blade
When, and has a means to remove the skin scraps from the blade,
The scrap removing means is a sheet having a wire entry opening formed therein.
A peeling apparatus comprising:

[0014] According to a third aspect of the invention, the debarking apparatus of claim 2 Symbol mounting plate material contained in the waste dropped means,
It is a plate material having a thickness substantially equal to an opposing distance between the pair of cutting blades and the pair of peeling blades. According to a fourth aspect of the present invention, in the peeling apparatus according to any one of the first to third aspects, the peeling device is further provided on a side of the pair of cutting blades opposite to a side on which a chip removing means is disposed. It is characterized in that a suction means for sucking debris is provided.

[0015] The invention according to claim 5 is the invention according to claims 1 to 4.
In the peeling apparatus according to any one of the above, further, prior to cutting the wire tip by the cut blade and making a cut to the insulation coating by the peel blade, the wire is brought into contact with a center and a pair of the pair of cut blades. Centering means for aligning the center of the peeling blades with each other, the centering means including a pair of guide plates capable of moving toward and away from each other, and one of the pair of guide plates is provided with one of the guide plates; The guide plate is arranged between the cutting blade and the scrap removing means, and the other guide plate is arranged between the scrap removing means and the peeling blade.

[0016]

According to the peeling apparatus of the first aspect, when cutting and peeling of the tip of the electric wire are performed by the pair of cutting blades and the pair of peeling blades, the peeling is caused by either the cutting blade or the peeling blade. When the pair of cutting blades and the pair of skinning blades are separated from each other while they are still attached to the blade, the skinning skin attached to one of the blades can be reliably removed from the blades by means of the chip removing means. For this reason, the next time the skinning is performed,
The insulating coating is not attached to the cutting blade and the peeling blade, and the previous peeling does not interfere with the next peeling process.

Further , since the chip removing means includes two plates, the free end of the electric wire inserted for peeling does not interfere with the chip removing means. According to the peeling apparatus of the second aspect , the scrap removing means can be constituted by one plate material, and the positioning and arrangement of the scrap removing means can be easily performed.

According to the first or third aspect of the present invention, the gap between the cutting blade and the peeling blade is almost completely filled by the scraping means, so that the skin scraping dropped by the scraping means is sucked by a suction nozzle or the like. At the time of suction, the suction can be performed well. That is, when suction is performed by the suction nozzle, the gap between the cutting blade, the scrap removing means, and the skin stripping blade is small, so that no air leaks from between them, and the skin scraping can be suctioned well.

According to the peeling apparatus of the fourth aspect , the suction can be performed. According to the peeling apparatus of the fifth aspect , since the center shifting means is further provided, the wire end is cut by the cutting blade prior to the cutting of the wire end by the cutting blade and the cutting of the insulating coating by the peeling blade. The center and the center of the peeling blade are aligned along the center and the cutting blade and the peeling blade can be cut and scored satisfactorily.

[0020]

An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1A is a plan view showing a schematic configuration of a wire harness manufacturing apparatus including one embodiment of the present invention, and FIG. 1B is a front view thereof. FIG.
With reference to A and 1B, the wire harness manufacturing device includes:
A first station 1, a second station 2, a third station 3, and a fourth station 4 are arranged in order from the left in the figure, arranged in series.

In the first station 1, the electric wire P is clamped by a pair of robot hands R1 and R2, which are mechanical devices. In this state, the electric wire P is cut by scale cutting, stripping to remove the insulating coating on both ends of the electric wire, and stripping. Terminal crimping of crimping the terminal to the exposed wire end and wiring of the terminal crimped wire are performed. At the second station 2, the wiring of the joint electric wires (a plurality of electric wires branched by connecting the joint terminals and the like), the insertion of the terminals into the connector housing, the mounting of the corrugate, and the like are performed manually by the person M1. Will be

At the third station 3, a person M2 manually performs tape fixing, grommet threading, continuity inspection, appearance inspection, and the like, and takes out the completed wire harness. In the fourth station 4, a wiring jig on an assembly drawing 5 described later is checked by a sensor.

An assembly board 5 used for manufacturing a wire harness is transported between these four stations. The transport is performed at the first station 1 as shown in FIG. 1B.
The assembly drawing 5 is conveyed to the fourth station 4 from each of the stations, and in each station, the conveyance of the assembly drawing 5 is stopped for a predetermined time, and the work is performed. Then, at the fourth station 4, the assembly drawing board 5 is lowered, and then conveyed to the lower side of the first station 1 through the lower sides of the third station 3 and the second station 2, and at the first station 1, It is raised to a workable position. As described above, the assembly drawing board 5 is returned from the fourth station 4 to the first station 1 through the lower side of each station, thereby saving space in the transport mechanism. In addition,
Although the transport mechanism is not specifically illustrated, a known chain transport mechanism including a chain, a pulley, and a drive motor may be used.

On the left side of the first station 1 (the side opposite to the side where the second station 2 is connected), a plurality of types of electric wires P
Are provided, and a wire selection table 20 for selecting a wire P to be passed to the robot hands R1 and R2 of the first station 1 is provided. A peeling device 3 is provided on the front side of the first station 1.
0 and a terminal crimping device 40 are arranged.

FIG. 2 is a plan view showing a schematic configuration of the first station 1 and each device arranged adjacent thereto. Referring to FIG. 2, a plurality of types of electric wires P fed from a plurality of electric wire supply devices 6 are sent to electric wire selection table 20. The electric wire selection table 20 has a habit removing mechanism 21 for removing a curl or the like of each of the transmitted electric wires P,
Feed-back preventing mechanism 22 for preventing the wire P from returning in the direction opposite to the feeding direction Y.
1, a wire delivery mechanism 23 that holds the wire P in a deliverable state, and a cutting device 24 for cutting the rear end of the delivered wire P.

The electric wire selection table 20 is mounted on a rail 25 arranged in a direction perpendicular to the electric wire feeding direction Y, and extends in the X1 direction and the X1 direction along the length of the rail 25.
It is movable in two directions. By doing so, of the plurality of types of wires P on the wire selection table 20, the wire selection is performed such that the wires P to be received by the robot hands R1 and R2 are always at a fixed position (a fixed position in the X1 and X2 directions). This is a mechanism in which the table 20 is controlled.

The robot hands R1 and R2 are respectively
Each of the pedestals 7 and 8 is guided by a guide rail 9 extending in the length direction of the first station 1 (the electric wire feeding direction Y), and is mounted in the length direction of the first station 1. It can be moved independently. That is, the robot hands R1 and R2 are general-purpose robot hands mounted on the mounts 7 and 8 that can move one axis along the guide rail 9.

The robot hand R1 has the cut electric wire P
Is moved onto the electric wire delivery mechanism 23 of the electric wire selection table 20 in order to clamp the front end (the so-called A end). At this time, the robot hand R1 always moves to a fixed clamp position. The wire selection table 20 moves in the X1 or X2 direction, and stops the wire P to be clamped by the robot hand R1 below the robot hand R1. Then, the robot hand R1 clamps the end A of the electric wire P and moves in the electric wire feeding direction Y by a length necessary for the electric wire P. Next, the robot hand R2 moves to clamp the rear end (the so-called B end) of the electric wire P, and the robot hand R2 clamps the B end of the electric wire P.
4 cuts the electric wire P.

The ends A and B of the electric wire P clamped by the robot hands R1 and R2 are supplied to the peeling device 30 according to one embodiment of the present invention while being clamped by the robot hands R1 and R2, respectively. The coating on the end of the wire is peeled off. The specific configuration of the peeling device 30 will be described later. After peeling, the terminal is provided to the terminal crimping device 40 to crimp the terminal to the end of the electric wire. And it is wired on the assembly drawing board 5.

The terminal crimping device 40 includes a press ram 41 and a plurality of applicators 42 selectively mounted on the press ram 41. Each of the applicators 42 is movable toward and away from the press ram 41 by a guide rail 44 provided on a gantry 43. Also, the stand 43
Is slidably supported by a guide rail 45 extending in a direction perpendicular to the guide rail 44 in order to move the applicator 42 to be advanced to a predetermined position. Each applicator 42 is supplied with a required terminal band T.

FIG. 3 is a perspective view for explaining the overall configuration of the robot hand R1. Referring to FIG. 3, a robot hand R1 includes a main body 10 fixed on a gantry 7 slidable on a guide rail 9, and a base end of the main body 10 rotatably provided about a vertical axis. A rotating upper arm 11, a rotating forearm 12 having a base end rotatably provided around a vertical axis on the rotating upper arm 11, and a servo motor 13 provided at a distal end of the rotating forearm 12.
And A clamp mechanism 15 is provided at a lower end of the rod 14 that is moved up and down by the servo motor 13.

The robot hand R2 has the same configuration.
FIG. 4 is a partial perspective view illustrating a detailed configuration of the clamp mechanism 15 of the robot hand R1. Next, FIG.
Referring to FIG. 4 and FIG. 4, the clamp mechanism 15 has a pair of main clamp claws C1, a pair of sub clamp claws C2, and
Air cylinders 18, 19 for expanding and contracting C1, C2 respectively
And are included.

The main clamp claw C1 provided in the clamp mechanism 15 of each of the robot hands R1 and R2 connects the electric wires 30 to
The auxiliary clamp claws C2 clamp the electric wire with a width of about 5 to 10 mm. Further, since the clamp mechanism 15 of the robot hand R1 is for clamping the A end of the electric wire P, one front end face of the pair of main clamp claws C1 has:
The stopper plate C3 is fixed. The stopper plate C3
When the A end of the electric wire P held by the electric wire transfer mechanism 23 (see FIG. 2) is clamped, if the A end of the electric wire P is warped upward, the warp is corrected and the A end of the electric wire P is corrected. Is provided so as to be able to be clamped in a straight state.

The clamp mechanism of the robot hand R2 has the same configuration as the clamp mechanism 15 shown in FIG. 4, except that the above-mentioned stopper plate C3 is not provided. Next, referring to FIGS. 5 to 8, the robot hands R1,
A description will be given of the process of cutting and stripping the wire P by R2, and the process of crimping the terminal. First, as shown in FIG. 5A, the robot hand R1 is moved to a predetermined position on the electric wire delivery mechanism 23 of the electric wire selection table 20. At the same time, the electric wire selection table 20 is slid in the X1 direction or the X2 direction (see FIG. 2), and the electric wire P to be selected is positioned below the clamp mechanism 15 of the robot hand R1.

Next, as shown in FIG. 5B, the electric wire P is clamped by the main clamp claws C1 and the sub clamp claws C2 of the clamp mechanism 15. And robot hand R
1 is the electric wire feeding direction Y with the A end of the electric wire P clamped.
Then, the wire P is moved by a predetermined amount, and the wire P is drawn out by a predetermined length.

Next, as shown in FIG. 6A, the rear end of the electric wire P is clamped by the clamp mechanism 15 of the robot hand R2. Thereafter, as shown in FIG. 6B, the rear end of the electric wire P is cut by the cutting device 24 to become the B end. As a result, the A end and the B end of the cut electric wire P are respectively
The state is clamped by the robot hands R1 and R2.

Next, as shown in FIGS. 7A and 7B, the robot hand R1 moves the A end to the peeling device 30, and
The edges are peeled. Next, as shown in FIGS. 8A and 8B, the robot hand R1 moves the peeled A end to the terminal crimping device 40, and crimps the terminal T to the A end. A
After the peeling of the end and the terminal crimping are completed, the robot hand R2 similarly moves the B end to the peeling device 30 to peel the B end (see FIG. 7), and thereafter, the robot hand R2
Moves the B end to the terminal crimping device 40 to crimp the terminal T to the B end (see FIG. 8).

Thus, the terminals T are crimped to the ends A and B of the electric wire P, respectively. Next, the robot hand R
1 clamps the A end to a predetermined wiring jig of the assembly drawing board 5 and then releases the clamp.
However, after the end B is clamped to a predetermined wiring jig, the clamp is released. Then, both robot hands R1 and R2 return to the home position.

FIG. 9 is a plan view of the peeling apparatus 30 according to one embodiment of the present invention. FIG. 10 shows the peeling device 3.
0 is a front view of the electric wire as viewed from the wire insertion surface side. Further, FIG.
1 is a right side view of the peeling apparatus 30. The configuration of the peeling apparatus 30 will be described mainly with reference to FIG. 9 and supplementarily with reference to FIGS. 10 and 11.

The peeling device 30 has a base plate 31. A mounting table 38 is arranged on the base plate 31. The mounting table 38 is parallel to the base plate 31 and can be displaced in the directions of arrows A3 and A4.
It is attached to the base plate 31. Mounting table 38
A pair of cylinders 32a and 32b are fixed above. A pair of cylinders 32a and 32b
a and 33b are arranged so as to be opposite to each other and to be located on the same straight line. Each rod 33a, 33b has
The frame plates 34a and 34b are connected to each other. The pair of frame plates 34a, 34b are arranged in parallel with each other, and the distance between the pair of frame plates 34a, 34b changes as the rods 33a, 33b expand and contract.

Peeling blade units 35a and 35b are attached to the facing surfaces of the frame plates 34a and 34b, respectively. The skinning blade unit 35a and the skinning blade unit 35b are paired, and the skinning blade unit 35a includes a cutting blade 351a, a skinning blade 352a, and a center shifting guide plate 353a. Similarly, the peeling blade unit 35b includes a cutting blade 351b, a peeling blade 352b, and a center shifting guide 353b.

When the frame plates 34a, 34b are moved in the direction of the arrow A2 by the action of the cylinders 32a, 32b, the peeling blade units 35a, 35b are moved toward the center, and the electric wires are cut by the cutting blades 351a, 351b provided on both. The tip is cut, and the peeling blades 352a and 352b are cut.
As a result, a cut is made in the insulation coating at the end of the electric wire.
Prior to cutting the tip and cutting the insulating coating, the centering guide plate 353a,
The electric wire is positioned at the center by 353b.

Although not shown in FIGS. 9 and 10, between the cutting blades 351a and 351b and the peeling blades 352a and 352b approaching the center, there is an insulating coating or the like peeled off at the time of peeling, that is, the peeling. A scrap removing plate (to be described later in detail) for treating scrap is provided. A pair of cut blades 351a, 351b, skinning blades 352a, 35
As shown in FIG. 10, three types of center guide plates 353a and 353b are arranged in the vertical direction. In this embodiment, for example, the upper blade and the centering guide plate have a conductor cross-sectional area of 1.2 mm.
Suitable for 5 mm ² . The middle blade and the centering guide plate have a conductor cross-sectional area of 0.3 mm ²
The lower blade and the centering guide plate are also suitable for an electric wire having a conductor cross-sectional area of 0.3 mm ² . The middle blade and the centering guide plate and the lower blade and the centering guide plate are made suitable for electric wires having the same thickness (conductor cross-sectional area). Are set relatively long, and the lower one is set to have a relatively short stripping length. As described above, even if the electric wires have the same conductor cross-sectional area, when the stripping lengths are different, the cutting blade, the skinning blade, and the centering guide plate can be respectively set.

Instead of such a configuration, each of the cutting blade, the peeling blade, and the center shifting guide plate may have a simple configuration of one kind. Alternatively, four or more types of blades and centering guide plates may be vertically arranged so as to be suitable for more types of electric wires than in the above embodiment. Further, a pair of clamp units 36a, 36b
Is attached to the base plate 31 (FIG. 10,
11). The left end of the clamp unit 36a and the right end of the clamp unit 36b are engaged with frame plates 34a and 34b, respectively, as shown in FIG. An engagement portion between the clamp unit 36a (36b) and the frame plate 34a (34b) is indicated by an arrow A3.
It can be shifted in the A4 direction. That is, FIG.
As shown in (1), a long and thin notch 341 is formed at the tip (left end in the figure) of the frame plate 34a (34b). Therefore, even if the frame plate 34a (34b) is displaced in the directions of arrows A3 and A4, the clamp unit 36a (36b) is not displaced in the directions of arrows A3 and A4 in conjunction therewith.

On the other hand, referring to FIG.
When a and 34b are displaced in the direction of arrow A2, the clamp units 36a and 36b approach the center. Conversely, when the frame plates 34a, 34b are displaced in the direction of the arrow A1, the clamp units 36a, 36b separate to both sides. The clamp units 36a and 36b are provided with clamps 361a and 361b on the opposing surface side, respectively. When the clamp units 36a and 36b approach the center, the clamp 36
The electric wire P is sandwiched between 1a and 361b.

The clamp units 36a and 36b are also provided with holding springs 363a and 363b.
The holding spring 363a (363b) is connected to the frame plate 34a.
The clamp 361a (361b) is elastically biased toward the center with respect to (34b). Therefore, a pair of clamps 361
Since the wires a and 361b are elastically urged toward each other, the electric wires P can be reliably held by the clamps 361a and 361b. In particular, regardless of the thickness of the electric wire P, the electric wire P can be reliably held.

On the front side (lower side in FIG. 9) of the clamps 361a and 361b, a center shift wrapper 37 is disposed. This center shift wrapper 37 is attached to the base plate 31. The cylinder 39 is further attached to the base plate 31. The rod 391 of the cylinder 39 extends in the directions of arrows A3 and A4,
It is connected to the mounting table 38. Therefore, cylinder 39
Thus, the mounting table 38 can be displaced in the directions of arrows A3 and A4. When the mounting table 38 is displaced in the directions of arrows A3 and A4, the frame plates 34a and 34b connected to the cylinders 32a and 32b are also displaced in the directions of arrows A3 and A4. When the frame plates 34a and 34b are displaced in the directions of arrows A3 and A4, the peeling blade units 35a and 35b
3. Displaced in the A4 direction.

On the other hand, the clamp units 36a and 36b
Does not follow the displacement of the frame plates 34a, 34b, as described above, and remains as it is. Furthermore, cutting blade 3
The front end of the suction nozzle 393 faces the rear side (upper side in FIG. 9) of the center position where the 51a and 351b meet. The suction nozzle 393 is for sucking debris such as a stripped insulated wire.

FIG. 12 is an enlarged plan view of an essential part of the peeling apparatus, in which the electric wire P to be peeled is inserted, and the pair of cutting blades 351a,
351b, center guide plate pair 353a, 353
b and a state in which the pair of peeling blades 352a and 352b are close to the center. As shown in the figure, the centering guide plates 353a and 353b are close to the cutting blade 351b and the peeling blade 352a, respectively, and are arranged at a predetermined gap D from each other. And this gap D
, A scrap removing plate 50 is arranged in parallel with the center shift guide plates 353a and 353b.

As shown in FIG. 13, the scrap removing plate 50
For example, it is made of a thin plate and has a hole 51 into which the electric wire P is inserted. In this embodiment, a pair of cutting blades 351a and 351b, skinning blades 352a and 352b,
Three holes 51, 52, and 53 are formed in the upper and lower directions corresponding to the three types of the center shift guide plates 353a and 353b, which are vertically arranged as shown in FIG. A lower end portion of the dust removing plate 50 is bent to form a mounting portion 54, and the mounting portion 54 has a mounting long hole 55. The mounting portion 54 and the mounting slot 55 are fixed to, for example, the mounting table 38 shown in FIG.

If the scrap removing plate 50 is formed by cutting a single thin plate by press working or the like and bending it, there is an advantage that it can be constructed at low cost. Further, as the dust removing plate 50, for example, a thick plate having a thickness of about the gap D may be used. The operation of the scrap removing plate 50 is as follows. 12 and 13, the free end of the electric wire P held by the main clamp claw C1 and the sub-clamp claw C2 provided in the clamp mechanism 15 of the robot hand enters in the direction A3. For this reason, the front end of the electric wire P first advances to the back through the center shift wrapper 37,
As shown in FIG. 13, it is inserted into the hole 51 of the chip removing plate 50. Then, when inserted to a predetermined position, FIG.
As shown in the figure, a pair of cutting blades 351a, 351b, centering guide plates 353a, 353b, and peeling blades 352a, 352b cross each other,
The centering of the electric wire P, the cutting of the tip of the electric wire P, and the cutting of the insulating coating are performed. In this state, the cutting blades 351a and 351b and the center shifting guide plate 35
3a, 353b, peeling blades 352a, 352b, and
Peeling is achieved by shifting the scrap removing plate 50 in the direction of arrow A3. After that, the cutting blades 351a, 351b,
The center shift guide plates 353a and 353b and the peeling blades 352a and 352b open in the left-right direction. In this case, the peeled insulating coating or the like, that is, the swarf is sucked by the suction nozzle 393.

However, when the cutting blades 351a and 351b and the peeling blades 352a and 352b are opened, the skin peeling adheres to one of the left and right cutting blades 351a and 351b or the peeling blades 352a and 352b. There is a case that the situation moves to. If this is left as it is, the suction nozzle 393 cannot suck in the skin chips. Therefore, when the cutting blades 351a and 351b and the peeling blades 352a and 352b are opened to the left and right, if any of the blades is stuck to the blade, the scraping plate 50 acts to remove the peeling from the blade. It is. That is, the scraping comes off from the blade when the scraping coming into contact with the blade comes into contact with the scraping plate 50. The swarf removed from the blade by the swarf removing plate 50 is supplied to the suction nozzle 39.
It is sucked by 3.

The scrap removing plate 50 shown in FIG. 12 and FIG.
Is sufficient in terms of the function of removing the skin scraps adhered to the cutting blades 351a and 351b or the skinning blades 352a and 352b from the blades after the skinning. However, on the other hand, when the diameter of the holes 51, 52, and 53 into which the ends of the electric wires P are inserted is small, and when the ends of the electric wires P are bent as shown by dashed lines in FIG.
Interfere with each other and do not enter the hole 51. Also, as shown in FIG.
When the dust removing plate 50 is thinner than the gap D between the a and 353b, air leaks at the time of suction by the suction nozzle 393 due to the gap between the centering guide plates 353a and 353b and the scrap removing plate 50. There is also a problem that the suction of is not good.

Therefore, in order to solve such a problem, the one shown in FIGS. 14 and 15 may be employed instead of the dust removing plate 50 shown in FIGS. FIG.
FIG. 13 is an enlarged plan view of a main part of the peeling apparatus as in FIG.
FIG. 5 is a perspective view of a scrap removing plate 60 according to another embodiment adopted in FIG. The feature of this scrap removing plate 60 is that it is connected to the upper and lower ends of two long thin plates 61 and 62 and two thick plates 61 and 62 that extend in the vertical direction and are arranged on the left and right. A holding member 63 for holding the members 61 and 62 at regular intervals. Holding member 6
3 has a substantially U-shaped plane shape. In addition, a mounting long hole 64 is formed. The holding member 63 is attached to the suction nozzle stay 57 that holds the suction nozzle 393 with a screw 65, for example. Such a scrap removing plate 6
When 0 is used, even if the free end of the tip of the electric wire P held and inserted by the claws C1 and C2 of the clamp mechanism 15 is slightly bent, the insertion of the electric wire P is not hindered thereby. That is, the interval between the two thick plates 61 and 62 is sufficiently large, and the two thick plates 61 and 62 only divide right and left, and the upper and lower portions of the space sandwiched by the two thick plates 61 and 62 are separated. The direction is completely unobstructed. Therefore, the free end of the electric wire P can reliably insert the electric wire to a predetermined position without interfering with the thick plates 61 and 62.

On the other hand, as described above, the scrap removing plate 60
Cutting blades 351a, 351b and peeling blades 352a, 3
When the opening 52b is to be opened to the left or right, it serves to prevent the peeling that is still attached to one of the blades from moving right or left. This scrap removing plate 60
When the blade is opened, even if the swarf stuck to the blade is displaced to the right or left as the blade is opened, it comes into contact with the thick plate 61 or 62 and is removed from the blade to be opened. Therefore, the function of the scrap removing plate 60 of this embodiment is not impaired at all.

Further, the skin scraps dropped by the scrap stripping plate 60 are sucked by the suction nozzle 393. In this case, the thicknesses of the thick plates 61 and 62 of the scrap removing plate 60 are substantially equal to the gap D between the centering guide plates 353a and 353b.
Therefore, at the time of suction by the suction nozzle 393, there is no air leakage, and good suction of skin scraps is realized. In the dust removing plate 60 shown in FIG. 15, the two thick plates 61 and 62 are held at the upper end by the holding member 63, but the holding member 63 may be provided at the lower end.

Further, instead of the structure shown in FIG. 15, the dust removing plate may be constituted by one thick plate, and a large window extending vertically may be formed at the center of the thick plate. .
As described above, when the dust dropping plate 60 shown in FIGS. 14 and 15 is adopted, even when the free end of the electric wire P is slightly bent, the dust dropping plate 60 does not interfere with the wire end when the electric wire P is inserted. The electric wire P can be satisfactorily inserted into the stripping position.
In particular, even if the tip of the electric wire P is bent in the vertical direction, no interference occurs. Further, the suction effect by the suction nozzle 393 can be improved.

FIG. 16 shows guide plates 353a, 353b and cutting blades 351a, 351 at the time of peeling.
FIG. 6B is a diagram for explaining the operation of the b and the peeling blades 352a and 352b. Next, the overall operation of the peeling apparatus 30 will be described with reference to FIGS. In a state where the skinning blade units 35a and 35b are not close to each other, that is, in a state where the frame plates 34a and 34b are not displaced in the direction of the arrow A2 by the cylinders 32a and 32b, the electric wires P clamped by the robot hands R1 and R2. The free end is inserted into the peeling device 30. The free end of the inserted electric wire P passes through the center approach wrapper 37, passes between the thick plates 61 and 62 of the scrap removing plate 60 provided at the back, and enters the back of the peeling device 30. At this time, the robot hand R1 (R2) is
To a predetermined position.

After the end of the electric wire P is inserted, the peeling device 3
At 0, first, the cylinders 32a and 32b are operated.
And the frame plate 3 connected to the rods 33a and 33b.
4a and 34b are displaced in the direction of arrow A2. As a result, the clamp units 36a and 36b approach each other in the center direction, and the root portion of the electric wire clamped by the robot hand R1 (R2) is firmly held.

At the same time, the peeling blade units 35a, 35b
Also close to the center and the corresponding cutting blades 351a, 351
1b, the centering guide plates 353a, 353b, and the peeling blades 352a, 352b cross each other to cut the front end of the electric wire P, shift the center of the electric wire P, and make a cut in the insulating coating of the electric wire P. . In this case, a pair of center shift guide plates 353a,
353b have the narrowest interval between each other. The pair having the next smallest interval is the pair of cut blades 351a and 351b, and the pair having the widest interval is the pair of peeling blades 352a and 352b. Therefore, when the peeling blade units 35a and 35b come close to each other, the centering guide plates 353a and 353b first intersect as shown in FIG.
The center shift guide plates 353a and 353b are members for aligning the tip of the electric wire P to the center, as the name suggests. When the amount of intersection between the center shift guide plates 353a and 353b increases, the electric wire is surrounded by the deep guide groove 354 in the lateral direction and guided to the center.

The centering guide plates 353a, 353a, 3
As the amount of intersection of 53b increases, a pair of cutting blades 351
a, 351b begins to cross. FIG. 17 shows the cutting blade 35.
1 shows a perspective view of 1a and 351b. As shown in FIG.
The cutting edges of the cutting blades 351a and 351b have a V-shaped plane. Therefore, when the cutting blades 351a and 351b come close to each other and the bottoms of the V-shaped cutting edges intersect, the tip of the electric wire inserted therein is cut. Peeling blade 35
Similarly, 2a and 352b have a pair of V-shaped blades.

On the other hand, the peeling blades 352a and 352b are mounted so that the bottom portions of the V-shaped blade edges do not completely overlap with each other in a state where they are closest to each other. That is, if the skinning blades 352a and 352b completely intersect, they cut the electric wire P. Therefore, a cut is made in the insulating coating of the electric wire P, but the cutting is made so that the cutting edge does not reach the core wire of the electric wire P (see FIG. 16B).

As described above, the peeling blade units 35a, 35
The unnecessary lengths of the distal ends are cut off by the cutting blades 351a and 351b while the leading ends of the electric wires are brought closer to the center by the guide plates 353a and 353b, and the electric wires P are further cut off. A cut is made by the stripping blades 352a and 352b in a portion of the insulating coating that has entered from the tip by a length necessary for stripping the insulating coating.

Next, the peeling blade units 35a, 35b
The cylinders 39 are driven in a state in which they are close to each other, and the mounting table 38 is displaced in the direction of arrow A3. Thereby, the pair of cylinders 32 attached to the mounting table 38
a, 32b, frame plates 34a, 34b connected to the pair of cylinders 32a, 32b and frame plates 34a,
Peeling blade units 35a, 35b attached to 34b
Is displaced. That is, the cutting blades 351a, 351
b, the centering guide plates 353a, 353b and the peeling blades 352a, 352b are displaced in the direction of arrow A3.

In this case, the clamp unit 36
a and 36b are close to each other and pinch the electric wire P. However, the clamp units 36a, 36b
Are the frame plates 34a, 34A,
Does not move with 34b. Therefore, while the electric wire P is firmly held between the clamp bodies 361a and 361b, the skin peeling blade units 35a and 35b and the dust removing plate 6 are removed.
0 is displaced in the direction of arrow A3. Thereby, peeling of the distal end portion of the electric wire P is realized.

As in this embodiment, the clamp unit 36
a, 36b, while the electric wire is held therebetween, the peeling blade unit 3
When the peeling process is performed by displacing the 5a and 35b, no force is applied to the robot hand R1 (R2) at the time of peeling. That is, if the clamp units 36a and 36b are not provided, the skin peeling blade units 35a and 35b
When displacing in the direction, the root of the electric wire P is clamped by the robot hand R1 (R2), so that a force is applied to the robot hand that clamps the root of the electric wire P in the direction of the arrow A3. . Robot hand R1
Since the clamping force of (R2) is not very strong, the clamped electric wire P is pulled in the direction of arrow A3 as it is,
Peeling may not be successful. In order to ensure that the skinning treatment is performed without such adverse effects,
It is necessary to increase the clamping force of the robot hand R1 (R2). However, it is not easy to enhance the clamping force of the robot hand R1 (R2). Further, even if the clamping force of the robot hand R1 (R2) is enhanced, the robot hand R1 (R2) may be pulled when the tip of the wire clamped by the robot hand R1 (R2) is pulled.
There is also a risk that the cable itself will be pulled and cause a displacement.

Therefore, in this embodiment, the above-mentioned clamp units 36a, 36
b is provided. Thereafter, a pair of cylinders 32a,
32b is driven and displaced so that the peeling blade units 35a and 35b are opened right and left. At this time, as described above, the cutting blades 351a, 351b, the peeling blades 352a,
There may be an attempt to move to the right or left while the skin is stuck to any blade of 352b. However, the swarf adhering to the blade is removed from the thick plate 61 or 62
And is dropped from the attached blade. At this time, since the suction is being performed by the suction nozzle 393, the skin scraps dropped from the blade are sucked into the suction nozzle 393 and guided to a waste container (not shown). Therefore, a large number of scrapings are not scattered in the vicinity of the stripping units 35a and 35b. Thereafter, the peeling device 30 returns to the original position.

In the above-described embodiment, the peeling apparatus 30 uses the two cylinders 32a and 32b to move the pair of peeling blade units 35a and 35b in directions close to each other. A mechanism may be used in which the pair of peeling units 35a and 35b move toward and away from each other by one cylinder. In the above-described embodiment, when the type of the electric wire is changed and the cut blade or the peeling blade attached cannot be used, the cut blades 351a and 351b are formed so that the optimum peeling can be performed on the changed electric wire.
And the peeling blades 352a and 352b can be exchanged.

In the above embodiment, the center shift guide plates 353a and 353b are provided with the cutting blades 351a and 351b.
1b and the example in which it is disposed between the peeling blades 352a and 352b, the present invention is not limited to this example, and the centering guide plate 353 is provided.
a, 353b may be provided on the front side of the peeling blades 352a, 352b (on the front side in the insertion direction of the electric wire P). The present invention is not limited to the above embodiments, and various design changes can be made without departing from the scope of the present invention.

[0070]

According to the peeling apparatus of the first aspect, in performing the peeling for removing the insulating coating at the tip of a so-called cantilever wire whose tip is held in a free state, a pair of cutting blades and a pair of cutting blades are used. The skin can be satisfactorily stripped with the peeling blade. In addition, even if the peeling is stuck to either the cutting blade or the peeling blade, it is separated from the blade by the scraping means, so that in the subsequent peeling, the peeling generated in the previous peeling There is no worry about getting in the way. In addition, if the scraping removed from the blade is sucked by a suction nozzle or the like and guided to a predetermined scrap holder (claim 5), the scraping is scattered in the vicinity of the cutting blade or the stripping blade. Never do.

[0071] Then, when advancing the distal free end of the wire, even a little bent tip of the wire, without means off tip and debris wire interference, entry of wire is not hindered.
According to the peeling apparatus of the second aspect , since the scrap removing means includes a single plate, the plate can be disposed and fixed at a predetermined position of the peeling apparatus, and the positioning and mounting of the scrap removing means can be performed. Easy to do.

According to the peeling apparatus according to the first or third aspect , when the skin scraps dropped by the scrap removing means are sucked by the suction nozzle or the like, the suction can be performed well. According to the peeling apparatus of the fourth aspect , the above suction can be realized. According to the peeling apparatus according to claim 5 , the center shift guide plate allows
Since the electric wire before being subjected to the stripping treatment by the cutting blade and the stripping blade is arranged along the cutting blade and the stripping blade, accurate stripping can be performed.

[Brief description of the drawings]

FIG. 1A is a plan view illustrating a schematic configuration of a wire harness manufacturing apparatus according to an embodiment of the present invention. B is a front view thereof.

FIG. 2 is a plan view showing a schematic configuration of a first station 1 and each device arranged adjacent thereto.

FIG. 3 is a perspective view for explaining the overall configuration of the robot hand R1.

FIG. 4 is a partial perspective view illustrating a detailed configuration of a clamp mechanism 15 of the robot hand R1.

FIG. 5 is a view for explaining clamping of the end A of the electric wire P by the robot hand R1.

FIG. 6 is a view for explaining clamping of the B end of the electric wire P by the robot hand R2.

FIG. 7 is a diagram for explaining a peeling process by the robot hand R1.

FIG. 8 is a diagram for explaining terminal crimping by the robot hand R1.

FIG. 9 is a plan view of the peeling apparatus 30 according to one embodiment of the present invention.

FIG. 10 is a front view of the peeling apparatus 30 according to one embodiment of the present invention as viewed from the wire insertion surface side.

FIG. 11 is a right side view of the peeling apparatus 30 according to one embodiment of the present invention.

FIG. 12 is an enlarged plan view of a main part of the peeling apparatus according to one embodiment of the present invention.

FIG. 13 is a perspective view for explaining a configuration of a dust removing plate 50 employed in one embodiment of the present invention.

FIG. 14 is an enlarged plan view of a main part of a peeling apparatus according to another embodiment of the present invention.

FIG. 15 is a perspective view for explaining a configuration of a dust removing plate employed in another embodiment of the present invention.

FIG. 16 is a centering guide plate 353a, 353 at the time of peeling in the peeling apparatus 30 according to one embodiment of the present invention.
b, cutting blades 351a, 351b and peeling blade 352
It is a figure for explaining operation of a and 352b.

FIG. 17 is a perspective view of cut blades 352a and 352b.

[Explanation of symbols]

 Reference Signs List 30 peeling device 35a, 35b peeling blade unit 351a, 351b cutting blade 352a, 352b peeling blade 353a, 353b centering guide plate 393 suction nozzle 50 dust removing plate 51, 52, 53 hole 60 dust removing plate 61, 62 thick plate 63 holding Element

Claims (5)

(57) [Claims] A stripping apparatus for removing an insulation coating on a tip portion of an electric wire having a free end, provided in such a manner as to be able to move toward and away from each other, and cutting off the end of the electric wire by approaching each other. A cutting blade, which is disposed at a predetermined distance from the pair of cutting blades, is provided so as to be able to approach and separate from each other, and is close to each other, so that the electric wire is at a predetermined distance from the tip of the electric wire. A pair of skinning blades for scoring the insulating coating at the end, and a pair of skinning blades disposed between the pair of cutting blades and the pair of skinning blades, wherein the shavings adhere to either the cutting blade or the skinning blade; When it is attempted to displace it, it has a scrap removing means for separating the peeling from the blade, and the scrap removing means is provided in a direction intersecting the direction of entry of the electric wire.
The plate material includes two plate materials arranged at regular intervals, and the plate material included in the scrap removing means includes the pair of cuts.
Of a thickness substantially equal to the facing distance between the blade and the pair of skinning blades
A peeling device characterized by being a plate material. 2. An insulated sheath at an end of an electric wire having a free end.
In a peeling device for removing a covering, the peeling device is provided so as to be able to approach and separate from each other,
A pair of wires that cut the end of the wire
The cutting blade and the pair of cutting blades are arranged at a predetermined distance from each other,
Provided so that they can come and go
By a specified distance from the end of the wire.
A pair of cuts in the insulation coating at the end of the wire
A peeling blade, and the pair of cutting blades and the pair of peeling blades;
Between the cutting blades or skinning blades.
When trying to displace while sticking to either,
A scrap removing means for separating the scrap from the blade, wherein the scrap removing means is a sheet having a wire entry opening formed therein;
A peeling apparatus characterized by including a plate material of: 3. A debarking apparatus of claim 2 Symbol mounting plate material contained in the waste dropped means, the pair of cutting blades and 1
A stripping apparatus characterized in that the stripping apparatus is a plate having a thickness substantially equal to an interval between the pair of stripping blades . 4. A debarking apparatus according to any one of claims 1 to 3, further on the opposite side of the pair side debris dropped means is placed against the cut edge of the suction the debarking waste A peeling device provided with a suction means for performing peeling. 5. The debarking apparatus of any one of claims 1 to 4, further wherein prior to break with in the insulating covering by cutting and stripping blades of the wire tip by cutting blades, a pair of the electric wire A centering means is provided along the center of the cutting blades and the center of the pair of skinning blades, the centering means including a pair of guide plates capable of moving toward and away from each other, and a pair of guides. One of the guide plates is disposed between the cutting blade and the chip removing means, and the other guide plate is disposed between the chip removing means and the peeling blade. Peeling device .