JP3186531B2 - Terminal crimping wire manufacturing equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a manufacturing apparatus of a terminal crimping electric wire crimping terminal is attached to the end of the cable.

[0002]

2. Description of the Related Art Conventionally, as a wire terminal processing device for processing a wire terminal portion, a cutting device for cutting a supplied cable to a predetermined length, and a cable cut to a predetermined length by the cutting device for a predetermined length. A cable transport device for transporting to the crimping position, a terminal supply device for supplying a crimp terminal to the end of the cable transported to the crimping position by the cable transport device, and a crimp terminal supplied to the cable end for connection to the cable Some have a terminal crimping device so that crimping terminals can be automatically connected to ends of cables cut to a predetermined length.

As shown in FIGS. 20 and 21, a terminal feeder 100 for sequentially feeding crimp terminals connected to ends of electric wires in an aligned manner is provided by a spiral feeder unit 101.
And a linear feeder section 105. The spiral feeder section 101 has a bowl-shaped vibrating ball body 102 having a spiral alignment step 103 formed on the inner surface side, and applies a predetermined vibration to the vibrating ball body 102. Vibration imparting mechanism 10
And 4.

The linear feeder section 105 is composed of an elongated linear guide rod 106 having a linear alignment groove 107 formed on the upper surface thereof, and a vibration applying mechanism 108 for applying a predetermined vibration to the linear guide rod 106. It is configured.

Further, in FIG.
Is a controller for controlling the vibration imparting mechanisms 104 and 108. The controllers 109 and 110, the spiral feeder unit 101, and the linear feeder unit 105 are installed on the substrate 111.

[0006] The linear guide rod 106 of the linear feeder 105 is aligned with the alignment step 10 of the vibrating bowl 102.
3 are arranged so that the alignment grooves 107 are aligned with each other, and the crimp terminals accommodated in the vibrating ball body 102 in large numbers, as shown by arrows in FIG.
Is guided sequentially in an aligned manner along the alignment step 103 by the vibration of the linear guide rod 106, and thereafter, is transferred to one end of the alignment groove 107 of the linear guide rod 106, and the other end is formed along the alignment groove 107 by the vibration of the linear guide rod 106. It is configured to be sequentially guided to the side.

An alignment groove 107 is open at the other end of the linear guide rod 106, and a small gap S is provided in front of the crimp terminal in the guide direction with the other end of the linear guide rod 106 for taking out. The block 112 is mounted on the fixed unit 113 side of the electric wire terminal processing device. Further, the take-out block 112 is formed with a take-out standby groove 114 as a crimp terminal take-out portion facing the alignment groove 107 of the rectilinear guide rod 106. The crimp terminal guided sequentially to the end side is configured to be delivered to the removal standby groove 114 of the removal block 112. And the take-out standby groove 1
The crimp terminal passed to 14 is set at a predetermined position on a crimping die by an air cylinder (not shown).

When the crimp terminals are sequentially fed in an aligned manner, if the crimp terminals do not have a predetermined posture in the middle of the feeding route, the crimp terminals are sorted out by a posture restricting section (not shown) to be eliminated. It is configured to be returned inside.

[0009]

The terminal supply device 100 as described above is dedicated to the shape of the crimp terminal used, and therefore has no versatility and manufactures small lots and many kinds of products. Very disadvantageous in case.

Further, due to the mechanism of the terminal supply device 100, the supply of the crimp terminal may be stopped by the clogging terminal being clogged or caught in the alignment groove 107 of the linear guide rod 106 of the linear feeder portion 105. In many cases, there is a problem that the adjustment and setup of the device become very complicated.

Therefore, an object of the present invention is to provide a crimp terminal that can be supplied even if the shape of the crimp terminal used is slightly changed, is versatile, and stably supplies the crimp terminal. adjustment is to provide a manufacturing apparatus of a terminal crimping electric wires not Temadora the setup.

[0012]

In order to solve the above-mentioned problems, the invention according to claim 1 is provided with a cable provided.
Cable to the specified length and the end of the cable.
Cutting and peeling means for stripping the coating;
Cable to transport crimped cable to crimping work area of crimp terminal
Supplying crimp terminals to the crimping work area
Terminal supply means, supplied in the crimping work area;
Crimping means for crimping the crimped terminal to the cable end.
The terminal supply means was placed on the placement surface randomly.
Imaging means for imaging the crimp terminal, and
Direction of the crimp terminal, front and back,
Image recognition hand that recognizes the mounting state of crimp terminals, such as position
And the mounting of the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in the specified state based on the
Terminal transporting means for transporting to the crimping work area in a predetermined state
The crimping work area,
Holding mechanism for holding a cable conveyed by the feeding means
Is provided, and the crimping means is transported to the crimping work area.
The cable held by the holding mechanism is
By moving the entire holding mechanism, the terminal supply
Supplied to the crimping position in the crimping work area by means
Has a cable setting mechanism to set the crimped terminal
The cable setting mechanism is provided with
Cable exceeds the wire barrel of the crimp terminal
Move the entire holding mechanism to a position
Set the covered part in the wire barrel once, and
By pulling back the entire holding mechanism, the core wire is
It is set in the barrel.

According to a second aspect of the present invention, there is provided
Cable to the specified length, and
Cutting and peeling means for peeling off the end coating;
The cable that has been cut and stripped by the stripping means
Crimping work area, reversing work area, second crimping work area
Cable conveying means for sequentially conveying, and the first crimping operation
Supplying crimp terminals to the area and the second crimping work area
A terminal supply means, and a first crimping work area;
Crimp the supplied crimp terminal to one end of the cable.
One crimping means and one end in the reversing work area
Reversing hand for reversing the cable with crimped terminal crimped on the part
Step and the pressure applied in the second crimping work area
Second crimping of the terminal to the other end of the inverted cable
Crimping means, and the terminal supply means has no
Imaging means for imaging the crimp terminal mounted on the feature;
Crimping end based on the imaging information imaged by the imaging means
Check the mounting condition of the crimp terminal, such as the
Image recognition means to recognize
The crimp terminal is always specified based on the mounted state of the crimp terminal
In a predetermined state and transported to the crimping work area in a predetermined state
And terminal transfer means, and in the crimping work area
Is a cable carried by the cable carrying means.
Is provided, and the crimping means includes
Transported to the crimping work area and held by the holding mechanism
Moving the entire cable holding mechanism
By the terminal supply means,
Cable set to crimp terminal supplied to crimp position
A cable setting mechanism.
Indicates that the core of the stripped cable is
Move the entire holding mechanism to a position beyond the ear barrel
And place the covered part of the cable inside the wire barrel once.
And pulling back the entire holding mechanism
Setting the core portion in a wire barrel.
You.

According to a third aspect of the present invention, there is provided
Cable to the specified length, and
Cutting and peeling means for peeling off the end coating;
The cable that has been cut and stripped by the stripping means
Crimping work area, reversing work area, second crimping work area
Cable conveying means for sequentially conveying, and the first crimping operation
Supplying crimp terminals to the area and the second crimping work area
A terminal supply means, and a first crimping work area;
Crimp the supplied crimp terminal to one end of the cable.
One crimping means and one end in the reversing work area
Reversing hand for reversing the cable with crimped terminal crimped on the part
Step and the pressure applied in the second crimping work area
Second crimping of the terminal to the other end of the inverted cable
Crimping means, and the terminal supply means has no
Imaging means for imaging the crimp terminal mounted on the feature;
Crimping end based on the imaging information imaged by the imaging means
Check the mounting condition of the crimp terminal, such as the
Image recognition means to recognize
The crimp terminal is always specified based on the mounted state of the crimp terminal
In a predetermined state and transported to the crimping work area in a predetermined state
Terminal crimping work area,
In each of the rolling work areas,
A holding mechanism for holding the cable to be transported is provided.
The crimping means is transported to the crimping work area, and
The cable held by the mechanism is
Is moved by the terminal supply means.
Set the crimp terminal supplied to the crimping position in the crimping work area
A cable setting mechanism for setting
The setting mechanism is the core of the stripped cable
To the position beyond the wire barrel of the crimp terminal
Move the entire holding mechanism to remove the cable sheath.
Set in the wire barrel and pull the entire holding mechanism.
The core part is set in the wire barrel by
The reversing work area and the second pressure
In the reversing work area, between the receiving work area
When the cable is held by the holding mechanism.
The amount of deviation of the holding position from the predetermined position is measured, and this measurement
In the second crimping work area based on the displacement amount.
Movement of the holding mechanism by the cable setting mechanism
Displacement amount meter with displacement amount measuring means for adjusting the amount
A measurement work area is provided, and the displacement
From the reversing work area to the second crimping work area.
To carry the cable .

Further, according to the invention described in claim 4, the terminal
A transport means, a terminal stock portion for temporarily placing a crimp terminal,
Hold the crimp terminal placed on the placement surface and
A terminal removal robot to be temporarily placed on the
Hold the crimp terminal temporarily placed on the stocking part and move it to the crimping position.
Terminal setting slot at the end of the cable
It is composed of bots.

Further , the invention according to claim 5 is provided.
Cable to the specified length, and
Cutting and peeling means for stripping the end coating
Convey the cut cable to the crimping work area of the crimp terminal
A crimp terminal is provided in the cable conveying means and the crimping work area.
A terminal supply means for supplying the power and a crimping work area.
Crimping means for crimping the supplied crimp terminal to the cable end
Wherein the terminal supply means is mounted on the mounting surface
Imaging means for imaging the crimped terminal, and
Direction and table of the crimp terminal based on the imaging information
Image recognition that recognizes the mounting state of the crimp terminal, such as the back and position
Recognition means and crimp terminals obtained by this image recognition means
Always hold the crimp terminal in the specified state based on the mounting state of
Terminal conveying means for conveying the crimping work area in a predetermined state by pressing
And the terminal transport means temporarily holds the crimp terminal.
The terminal stock part to be placed and the pressure placed on the placement surface
Terminal to hold the terminal and temporarily place it in the terminal stock part
The removal robot and the pressure temporarily placed on the terminal stock section
Hold the terminal and secure it to the end of the cable at the crimping position.
It is composed of a terminal setting robot to set
Things.

According to a sixth aspect of the present invention, there is provided the
Cable to the specified length, and
Cutting and peeling means for peeling off the end coating;
The cable that has been cut and stripped by the stripping means
Crimping work area, reversing work area, second crimping work area
Cable conveying means for sequentially conveying, and the first crimping operation
Supplying crimp terminals to the area and the second crimping work area
A terminal supply means, and a first crimping work area;
Crimp the supplied crimp terminal to one end of the cable.
One crimping means and one end in the reversing work area
Reversing hand for reversing the cable with crimped terminal crimped on the part
Step and the pressure applied in the second crimping work area
Second crimping of the terminal to the other end of the inverted cable
Crimping means, and the terminal supply means has no
Imaging means for imaging the crimp terminal mounted on the feature;
Crimping end based on the imaging information imaged by the imaging means
Check the mounting condition of the crimp terminal, such as the
Image recognition means to recognize
The crimp terminal is always specified based on the mounted state of the crimp terminal
In a predetermined state and transported to the crimping work area in a predetermined state
Terminal transport means, the terminal transport means,
Place the crimp terminal temporarily on the terminal stock
Hold the mounted crimp terminal and temporarily attach it to the terminal stock part.
The terminal removal robot to be placed and the terminal
Hold the crimp terminal and place the cable at the crimping position.
Terminal setting robot set at the end of the
It is composed.

Further, the invention according to claim 7 is characterized in that the terminal
The unloading robot has a chuck that opens and closes at the tip and closes
The chuck with the wire barrel of the crimp terminal
And the chuck is opened by opening the chuck.
Press the cable against the inner surface of the wire barrel to
Is to be gripped.

[0019]

[0020]

Embodiments will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the terminal crimping wire manufacturing apparatus 1 includes both ends of a 15 to 30 sq EB or AV cable for connecting a vehicle-mounted battery and a starter motor, a relay box, a mission, and the like. And a crimp terminal.
0, cable cutting and stripping means 20, cable transport means 30, crimping means 40, terminal supply means 50, cable inversion means 60, terminal crimping wire discharging means 70 (see FIG. 4), and the like.

The cable feeding means 10 includes a cable K
And a cable feeder 12 that feeds the cable K drawn out of the cable drum 11 to the cutting / peeling means 20. The cable feeder 12 includes: Cable drum 11
A plurality of guide rollers for holding the cable K drawn out of the cable K, and a drive roller for sending out the cable K by rotating the cable K while holding it.

As shown in FIG. 6, the cutting and peeling means 20 includes a cutting blade 22 and a pair of peeling blades 23 arranged at regular intervals before and after the cutting blade 22. And a pair of fixed chucks 24 and 25 disposed before and after the cutting and peeling portion 21, and the cutting and peeling portion gripping the cable K sent from the cable feeding means 10. Retraction chuck 26 drawn into 21
And a transport chuck 27 (see FIG. 8) for delivering the cable K cut and peeled by the cutting and peeling section 21 to the cable transport means 30. K is cut and peeled.

First, as shown in FIG. 6A, the end of the cable K cut and peeled in the previous step is gripped by the drawing chuck 26, and the next cutting position of the cable K is set to the cutting blade 22. The cable K is drawn into the cutting / peeling section 21 so as to coincide with the above (indicated by a dashed line in the figure).

Next, as shown in FIG. 3B, after the fixing chucks 24 and 25 grip the cable K before and after the cutting / peeling portion 21, as shown in FIG.
The cutting blade 22 and the peeling blade 23 operate simultaneously, and the cutting blade 2
The cable K is cut by 2 and the coating of the cable K before and after the cut portion is cut by the peeling blade 23.

In this state, as shown in FIG. 7 (a), the entire cutting / peeling section 21 moves by a predetermined amount in the cable K feeding direction (downstream side). Only the coating of the cable K separated by the cut portion upstream of the cut portion moves downstream by a predetermined amount, and the coating of the cable end portion upstream of the cut portion is partially stripped off. At this time, as shown in FIG. 3B, the fixed chuck 25 on the downstream side of the cutting portion moves downstream by a predetermined amount (twice the moving amount of the cutting / peeling portion 21). The coating on the end of the cable K on the downstream side is also stripped off.

Thereafter, as shown in FIG. 3C, the cutting blade 22 and the peeling blade 23 separate from the cable K and the fixed chuck 25 further moves in the direction of the arrow in FIG. Cable K on the downstream side of the cut portion, which has been cut into pieces and the coating on both ends thereof has been partially stripped off.
After being transported to the transport chuck 27 and gripped by the transport chuck 27 as shown in FIG. 8, it is delivered to the cable transport unit 30 by the transport chuck 27.

As described above, the cable transport means 30 sequentially transports the cables K, both ends of which are partially stripped, to nine working areas via the delivery area.
As shown in FIG. 5, a movable chuck 31 for transferring the cable K between the delivery area and the fixed chuck 81 installed in each of the work areas is provided.

Of the delivery area and the eight working areas, a fixed chuck 81 is provided in each area from the delivery area on the upstream side and the first to fourth working areas. From the fifth work area to the final ninth work area, each work area has one right and left.
Individual fixed chucks 81 (81a, 81b) are installed at regular intervals. Further, each of the fixed chucks 81 installed in each of the delivery area, the first to fourth working areas, and the downstream side (left side) of the final working area from the fourth working area. The installation intervals of each installed fixed chuck 81b are constant. Accordingly, the installation intervals of the fixed chucks 81a installed on the upstream side (right side) of the fifth work area to the final work area are similarly constant.

In front of the delivery area and each work area,
A plurality of support columns 32 to which guide rails 32a extending in the vertical direction are attached are erected at regular intervals, and are provided in a lateral direction through slide guides 33 slidably fitted on the guide rails 32a of the respective support columns 32. The first support plate 34 extending vertically is supported by the support column 32 so as to be vertically movable. The first support plate 34 is moved up and down by driving means (not shown).

The first support plate 34 is provided with a guide rail 34a extending in the left-right direction over substantially the entire length thereof. The guide rail 34a is slidably fitted to the guide rail 34a. An extended second support plate 36 is supported by the first support plate 34 so as to be movable in the left-right direction. Then, the second support plate 3
6 is the first support plate 34 by driving means (not shown).
To the left and right.

When the second support plate 36 is moved to the upstream side (right side), the movable chuck 31 is mounted on each of the fixed areas installed in the delivery area and the first to eighth working areas. To correspond to the chucks 81, they are respectively supported on the upper end of the second support plate 36 at the same installation interval as the fixed chucks 81, and the cables K are sequentially transferred to the fixed chucks 81 on the downstream side as follows. It is supposed to be handed over.

FIG. 9A shows the delivery area, the fixed chucks 81 installed in the first to fourth working areas, and the upstream side of the fifth working area to the eighth working area. The state where the cable K is gripped by each fixed chuck 81a installed on the (right side) is shown. At this time, the first support plate 34 descends and the second support plate 36 moves to the upstream side (right side), and the movable chucks 31 move to the first to eighth work areas. It is in a state of waiting below each of the installed fixed chucks 81.

In this state, when the first support plate 34 is raised by the driving means, the movable chuck 31 moves to the same height level as the fixed chuck 81, as shown in FIG. Here, the fixed chuck 8
1 releases the grip of the cable K, and the movable chuck 31 grips the cable K.

Thereafter, when the first support plate 34 is further raised by the driving means, the movable chuck 31 holding the cable K is moved to a position higher than the fixed chuck 81, as shown in FIG. .

Next, in a state where the movable chuck 31 maintains this height level, the second drive is performed by the driving means.
When the support plate 36 is moved to the downstream side by the installation interval of the fixed chuck 81, as shown in FIG. 10A, the movable chucks 31 are located above the fixed chuck 81 in the adjacent work areas on the respective downstream sides. Go to

Thereafter, by lowering the first support plate 34 by the driving means, the movable chuck 31 is moved to the same height level as the fixed chuck 81 as shown in FIG. Here, the movable chuck 31
Releases the gripping of the cable K and the fixed chuck 8
1 grips the cable K so that each cable K
Are transported to the work areas adjacent to each downstream side, and each work is performed in each work area.

By lowering the first support plate 34 further by the driving means, the movable chuck 31 is retracted below the fixed chuck 81 as shown in FIG. When the second support plate 36 is moved to the upstream side by the installation interval of the fixed chuck 81 by means, the movable chuck 31 returns to the initial state.

Although not shown in the drawing, while the second support plate 36 is moving to the downstream side, the transport chuck 27 holding the cable K immediately after cutting and peeling is moved to the delivery area. The cable K which has been moved to a position facing the fixed chuck 81 of the
After being handed over to No. 1, it retreats to the initial position. Therefore, the cable K is successively conveyed to the adjacent downstream work area by the movable chuck 31 repeating the above-described operation.

The work contents in each work area will be sequentially described below, starting from the work area on the upstream side. First, FIG.
As shown in the figure, in the first working area, the cutting and stripping means 20 completely removes the remaining stripping scrap of the cable K which has been cut to a predetermined length and both ends of which are partially stripped. A mechanism 82 is installed.
By 2, the skin scraps on one end side of the cable K conveyed from the delivery area are removed.

In the second work area, a crimp terminal is crimped to one end of the cable K, from which the peeling debris has been removed and the core portion has been completely exposed, which has been transported from the first work area. The crimping means 40 is provided.

The crimping means 40 includes an upper crimping upper mold and a lower crimping mold 41 which are vertically opposed to each other, and an elevating mechanism such as an air cylinder for vertically moving the upper crimping mold relative to the lower crimping mold 41. This is a general terminal crimping machine provided with a wire barrel portion of a crimp terminal supplied by the terminal supply means 50 placed on the crimping lower mold 41, and a core portion of a cable K peeled in the wire barrel. After setting, the crimping terminal is crimped to the core wire portion of the cable K by lowering the crimping upper mold by the elevating mechanism, sandwiching the wire barrel portion with the crimping lower mold 41 and pressing. I have.

As shown in FIGS. 1 and 2, the terminal supply means 50 includes a terminal feeder section 51 for sequentially sending out a large number of crimp terminals, and a crimp terminal sent by the terminal feeder section 51 for transporting the crimp terminals. The terminal feeder unit 51 includes a feeder body 52 and a control device 53 for controlling the feeder body 52, as shown in FIG. And In this embodiment, as the terminal feeder 51, a product name "Intelligent Feeder" manufactured by Daikin Industries, Ltd. is used.

As shown in FIG. 12, the feeder main body 52 has a housing 5 having an openable and closable crimp terminal T outlet.
2a, a bowl feeder 52b housed in the housing 52a, a CCD camera 52c, a light source 52d, and a half mirror 52e.

The bowl feeder 52b includes a bowl-shaped vibrating ball body having a spiral conveying path formed on the inner surface side, and a vibration applying mechanism for applying a predetermined vibration to the vibrating ball body. A large number of crimping terminals T accommodated in the vibrating ball body are sequentially guided along the transport path by the vibration of the vibrating ball body, and a predetermined mounting surface S formed by a transparent acrylic plate extending on the transport path. It is designed to be transported upward. In the bowl feeder 52b, a plurality of crimp terminals T are conveyed onto the mounting surface S, and the positions, postures, and the like of the respective crimp terminals T vary.

The crimp terminal T conveyed on the mounting surface S in this manner is connected to the light source 5 via the half mirror 52e.
Light from 2d is irradiated, and the crimp terminal T on the mounting surface S is imaged by the CCD camera 52c.

The control device 53 includes the CCD camera 5
2c, the placement state such as the direction, front and back, and the position of the crimp terminal T on the placement surface S is recognized based on the imaging information picked up, the crimp terminal T that can be taken out is selected, and the direction about the crimp terminal T is selected. In addition to transmitting information such as the position, posture, and the like to the terminal transport unit 54, the opening / closing operation of the bowl feeder 52b and the outlet of the housing 52a is controlled.

The terminal transport section 54 is provided with a transportable crimp terminal T mounted on the mounting surface S of the feeder body 52.
A terminal take-out robot 55 that grasps the terminal and removes it from the feeder main body 52, a terminal stock portion 56 for temporarily placing the crimp terminal T taken out by the terminal take-out robot 55, and a crimp terminal temporarily placed in the terminal stock portion 56. And a terminal setting robot 57 for holding the terminal T and setting the terminal T in the crimping lower mold 41 of the crimping means 40.

The terminal take-out robot 55 receives terminal information (direction, position, posture data, etc.) from the control device 53.
Is received by the robot controller 55b shown in FIG. 11, and one of the crimp terminals T that can be taken out of the crimp terminals T on the mounting surface S described above is gripped based on an instruction from the robot controller 55b. Further, as shown in FIG. 13 (a), the terminal take-out robot 55 has a terminal grip chuck 55a which opens and closes at a tip end thereof, and as shown in FIG. After being inserted into the wire barrel of the crimp terminal T in the closed state, the chuck 55a is opened to press the chuck 55a against the inner surface of the wire barrel to grip the crimp terminal T as shown in FIG. It has become. When the crimp terminal T is gripped in this manner, even if another crimp terminal T is placed in the vicinity of the crimp terminal T to be gripped, the other crimp terminal T does not interfere with the predetermined crimp terminal T. The terminal T can be securely held.

After one of the plurality of crimp terminals T on the mounting surface S is taken out by the terminal take-out robot 55, the remaining crimp terminals T are returned to the bowl feeder 52b again. It is supposed to be.
If there is no crimp terminal T on the mounting surface S that can be taken out by the terminal take-out robot 55,
All the crimp terminals T on the mounting surface S are returned into the bowl feeder 52b, and the crimp terminals T
Is taken out.

As shown in FIG. 14, the terminal stock portion 56 receives a metal disc 56a and crimping terminals T provided at equal intervals on the upper peripheral edge of the disc 56a in a predetermined posture for positioning. A plurality of temporary placing portions 56b, a motor 56c for rotating the disk 56a, and the disk 5
When the temporary storage portion 56b is rotated to the temporary storage position by the terminal take-out robot 55, the temporary storage portion 5b is rotated.
6b, an optical sensor 56d including a light receiving element and a light emitting element for detecting whether the crimp terminal T has been temporarily placed, that is, whether the crimp terminal T can be temporarily placed on the temporary placement portion 56b; When the portion 56b comes to the gripping position by the terminal setting robot 57, it is to detect whether the crimp terminal T is temporarily placed on the temporary placing portion 56b, that is, whether the crimp terminal T can be taken out from the temporary placing portion 56b. And a light sensor 56e composed of a light receiving element and a light emitting element.

Accordingly, the crimp terminal T gripped by the terminal take-out robot 55 is temporarily placed on the temporary placement portion 56b of the terminal stock portion 56, so that the crimp terminal T is always kept in a fixed posture by the terminal setting robot 57. The crimp terminal T is sent to the gripping position, and the terminal setting robot 57 can reliably remove the crimp terminal T.

As described above, the terminal setting robot 57 grips the tip of the crimping terminal T temporarily placed in the terminal stock portion 56, transports it to the crimping means 40, and crimps it onto the crimping lower mold 41. The wire barrel portion of the terminal T is set.

In the terminal supply means 50 configured as described above, first, one of the plurality of crimp terminals T which can be taken out from the plurality of crimp terminals T on the mounting surface S is selected by the terminal feeder 51, The crimp terminal T is connected to the
The terminal pick-up robot 55 of No. 4 grasps and temporarily places the terminal stock portion 56 in the temporary placement portion 56b at the temporary placement position. Then, the crimp terminal T which has been conveyed to the position where the terminal stock portion 56 is taken out by the rotation of the disk 56a is gripped by the terminal setting robot 57 and set on the crimping lower die 41 of the crimping means 40.

As described above, this terminal supply means 50
Since it does not use a conventional linear feeder,
The crimp terminal T can be stably supplied to the terminal crimping means 40 without stopping the supply of the crimp terminal T due to clogging or catching of the crimp terminal T. When supplying crimp terminals T having different shapes and sizes, the image recognition program of the control device 53 is changed, and the terminal stock portion 56 is replaced with the crimp terminals T.
There is an advantage that it is possible to supply various types of crimp terminals T only by replacing the disk 56a with a temporary placing portion 56b that conforms to the above, and it is very advantageous when a small lot / many kinds of products are manufactured. is there.

Further, the fixed chuck 81 installed in this working area can be moved horizontally from the vicinity of the cable transporting means 30 to the vicinity of the crimping lower die 41 of the crimping means 40 by a cable setting mechanism (not shown). At the same time, it is possible to move up and down in the vicinity of the crimping lower mold 41, and the cable K delivered from the movable chuck 31 of the cable conveying means 30 is gripped by the fixed chuck 81, The stripped core portion of the cable K is set in the wire barrel of the crimp terminal T which is conveyed to the vicinity of the crimping lower mold 41 by the cable setting mechanism and held on the crimping lower mold 41 by the terminal setting robot 57. However, the set is performed as follows.

As shown in FIG. 15 (a), the cable K gripped by the fixed chuck 81 passes over the wire barrel of the crimp terminal T at which the core portion at the tip is set by the cable setting mechanism. After being conveyed to a position above the wire barrel, the fixed chuck 81 is lowered by the cable setting mechanism as shown in FIG. As shown in c), the fixed chuck 81 is provided by the cable setting mechanism.
Is pulled back slightly to set the core portion of the cable K in the wire barrel. The reason why the core portion of the cable K is set in the wire barrel by such a method is that the cable K is simply transported until the core portion comes to a position above the wire barrel, and the core portion is set in the wire barrel. If this is done, if the core wire portion is loose, a part of the core wire may protrude outside the wire barrel, and the wire barrel cannot be securely crimped to all the core wires.

In the third work area, as shown in FIG.
A crimping height measuring device 83 is installed to measure whether the crimping height of the crimp terminal T crimped to one end of the cable K in the second work area is appropriate.

In the fourth work area, as shown in FIG.
Cable K by a predetermined angle about the axis of cable K
A cable rotating device 84 for rotating the
When the directions of the crimp terminals T attached to both ends of the cable K are different from each other, the cable rotation device 84 rotates the cable K by a predetermined angle. Therefore, when the directions of the crimp terminals T attached to both ends of the cable K are the same, the cable K simply passes through this work area, and no work is performed in this work area.

In the fifth work area, a reversing means 60 constituted by a robot hand for exchanging the end of the cable K held by the fixed chuck 81 is installed.
The reversing operation is performed as follows. First, since the cable K conveyed from the fourth work area is delivered to the left fixed chuck 81b, the crimp terminal T is not attached by the chuck 61 of the reversing means 60 as shown in FIG. At the same time as the end of the cable K is gripped, the fixed chuck 81b releases the grip of the cable K. Then, as shown by a dashed line in the same drawing, while the chuck 61 of the reversing means 60 is rotating while holding the cable K, the end side of the cable K to which the crimp terminal T is not attached is adjacent to the cable K. Fixed chuck 81a
After the fixed chuck 81a grips the cable K and the chuck 61 releases the grip of the cable K at the same time, the reversing means 60 returns to the initial position. As a result, the ends of the cable K are switched, and in the subsequent work area, the cable K is gripped by the right fixed chuck 81a.

In this embodiment, the case of the short cable K has been described. However, in the case of the long cable, as shown by the dashed line in FIG. K fixed chuck 81b
The vicinity is gripped by the chuck 61 of the reversing means 60, and in this state, the chuck 61 is slid along the cable K to move the gripping position to the other end of the cable K. Then, with one end of the cable K held by the fixed chuck 81b, the chuck 61 of the reversing means 60 is moved in the direction indicated by the arrow in FIG.
The other end of the cable K is delivered to the adjacent fixed chuck 81a, and is gripped by the fixed chuck 81a. At the same time, when the chuck 61 releases the grip of the cable K, the reversing means 60 returns to the initial position (FIG. 9B). reference). In the subsequent work area, one end of the cable K is gripped by the left fixed chuck 81b, and the other end of the cable K is gripped by the right fixed chuck 81a.

As described above, the left and right fixed chucks 81 are installed in the sixth working area, but are opposed to the right fixed chuck 81a, and are located at the other end as in the first working area. A scrap removing mechanism 82 for completely removing the remaining scraping of the cable K whose remaining end is partially stripped is provided, and the scraping mechanism 82 removes the scraping on the other end side. Fixed chuck 8 for removed cable K
A displacement amount measuring means 85 for measuring the displacement of the gripping position by 1a is provided. This displacement amount measuring means 85
As shown in FIG. 18A, the contact body 85a at a predetermined position is brought into contact with the tip of the core portion on the other end side of the cable K, and the amount of movement is measured. As shown in (), the displacement dL from an appropriate distance L from the preset fixed chuck 81a to the tip of the core wire on the other end of the cable K held by the fixed chuck 81a is measured. The moving amount of the fixed chuck 81a by the cable setting mechanism in a seventh working area described later is adjusted.

In the seventh working area, the same crimping means 40 and cable setting mechanism as those in the second working area are installed, and by the same steps as in the second working area,
Cable K from which skin has been removed in the sixth working area
The crimp terminal T is crimped to the other end of the terminal. As described above, the amount of horizontal movement of the fixed chuck 81a by the cable setting mechanism in this work area is corrected so as to take into account the amount of displacement dL of the gripping position of the cable K by the fixed chuck 81a.
Even when the holding position of the cable K of the fixed chuck 81a is deviated from the proper position due to the reversing operation by 0, the core portion of the cable K can be properly set in the wire barrel of the crimp terminal T.

Since the shape of the crimp terminal T for crimping the cable K is different between the above-mentioned second working area and this working area, the terminal feeder 51 and the terminal transport section are formed in the same manner as in the second working area. Terminal supply means 5 comprising a part 54
0 is also installed separately. However, in this embodiment, as shown in FIG. 1, both of the two crimping work areas (second and sixth work areas) each having the crimping means 40 are provided with the cable conveyed by the cable conveying means 30. K
, And a portion of the terminal supply means 50 can be shared. That is, the terminal pick-up robot 55 of the terminal transfer unit 54 is shared by both terminal transfer units 54, and one terminal pick-up robot 55 separates the terminal stock units 56 from the respective terminal feeder units 51. Each crimp terminal T is temporarily placed in sequence. Also,
When the same crimp terminal T is crimped to both ends of the cable K, all of the terminal supply means 50 can be shared.

In the eighth work area, as shown in FIG.
Crimping height measuring device 8 similar to the third working area 8
3 is provided to measure whether the crimping height of the crimp terminal T crimped to the other end of the cable K in the seventh work area is appropriate.

The final ninth working area is provided with a discharging means 70 for moving the fixed chucks 81 (81a, 81b) installed to the discharging position, and the terminal crimped electric wire completed in the eighth working area is provided. After being transferred to the fixed chuck 81, the wire is conveyed to the discharging position by the discharging means 70, and the fixed chuck 81 releases the gripping of the cable K, so that the terminal crimped electric wire is discharged.

In the terminal crimping wire manufacturing apparatus 1 configured as described above, a terminal crimping wire is manufactured as follows. First, a continuous cable K fed by the cable feeding means 10 is cut to a predetermined length by the cutting / peeling means 20 as shown in FIG. Peeled off. And
The cable K is transported to the first work area by the cable transport means 30 via the delivery area,
The scraping mechanism 82 completely removes the skin scraps on one end of the cable K, as shown in FIG.

The cable K having the core portion exposed at one end in this manner is transported to the second working area by the cable transporting means 30 and is pressed by the crimping means 40.
A crimp terminal T is crimped to one end of the cable K as shown in FIG. The cable K to which the crimp terminal T is crimped to one end side is conveyed to the third work area by the cable conveying means 30 and the crimping height measuring device 83 measures the crimping height. Although the cable is conveyed to the fourth working area by the means 30, in this embodiment, since the directions of the crimp terminals T at both ends are the same, no work is performed in the fourth working area, and the cable is left as it is. It is transported to the fifth work area by the transport means 30.

In the fifth work area, the cable K is reversed by the reversing means 60 as shown in FIG.
To the sixth work area. In the sixth work area, as shown in FIG. 3E, the scraping mechanism 82 completely removes the skin scraps on the other end side of the cable K, and then the cable K is moved by the cable transport means 30. It is transported to a seventh work area.

In the seventh working area, different types of crimp terminals T are crimped to the other end of the cable K by the crimping means 40 as shown in FIG. Then, a terminal crimped wire in which the crimp terminals T are crimped to both ends of the cable K is completed. This crimped terminal wire is transported to the eighth working area by the cable transporting means 30 and the crimping height measuring device 83 uses the cable K.
After the crimping height of the crimp terminal T connected to the other end of the crimping terminal T is measured, the crimping terminal T is conveyed to the ninth working area by the cable conveying means 30 and discharged to a predetermined discharging position by the discharging means 70.

In this embodiment, the manufacturing apparatus and the manufacturing method of the terminal crimping wire for connecting the crimping terminals T to both ends of the cable K have been described. However, the crimping terminal T is connected only to one end of the cable K. In this case, it is not necessary to provide the fourth to eighth working areas.

In this embodiment, both ends of the cable K are partially peeled off by the cutting and peeling means 20, and then, the scraping mechanism 82 completely removes the peeling of the cable K. However, the present invention is not limited to this. For example, the coating at both ends of the cable K may be completely removed by the cutting and peeling means 20.

Further, in this embodiment, after the crimp terminal T is connected to one end of the cable K, the cable K is immediately reversed by the reversing means 60, and the crimp terminal T on the other end is connected. However, for example, the cable K, to which the crimp terminal T is connected at one end, is once discharged from the production line to the outside by the reversing means 60,
After the protective tube has been inserted into the production line, it can be returned to the production line by the reversing means 60 again.

[0073]

As described above, the terminal crimping wire of the present invention
Crimping the manufacturing apparatus, captures a crimp terminal which is casually placed on the placement surface, the direction of the crimp terminal on the basis of the imaging information, the front and back, recognizes the placed state of the terminal, such as the position, the resulting Since the crimp terminal is always gripped in a predetermined state based on the mounting state of the terminal and fed to the cable end in a predetermined state, it can sufficiently cope with a slight change in the shape of the crimp terminal used. And increase versatility,
This is very advantageous when manufacturing small lots and many kinds of products.

Further, since a linear feeder or the like for supplying a crimp terminal along the alignment groove by vibrating the linear guide rod is not used as in the prior art, the crimp terminal is jammed or caught in the alignment groove during the supply. Without
Since the crimp terminals can be supplied stably, the adjustment work of the apparatus does not become complicated.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing one embodiment of a terminal crimping wire manufacturing apparatus according to the present invention.

FIG. 2 is a left side view of the same.

FIG. 3 is a plan view showing a detail (right half) of the above.

FIG. 4 is a plan view showing a detail (left half) of the above part.

FIG. 5 is a right side view showing the detail of the above part.

FIG. 6 is a process diagram showing a cutting and peeling step of the above.

FIG. 7 is a process chart showing a cutting and peeling step of the above.

FIG. 8 is a process diagram showing a cutting and peeling step of the above.

FIG. 9 is an operation diagram showing an operation of the cable transport means of the above.

FIG. 10 is an operation diagram showing an operation of the cable transport means of the above.

FIG. 11 is a perspective view showing a part of the terminal supply means in the embodiment.

FIG. 12 is a schematic diagram showing a configuration of a feeder main body of the above.

FIG. 13 is an operation view showing terminal removal by the terminal removal robot according to the first embodiment.

FIG. 14 is a perspective view showing a terminal stock portion of the above.

FIG. 15 is an operation diagram showing setting of a cable to a crimp terminal by the cable setting mechanism of the above.

FIG. 16 is an operation diagram showing an operation of reversing a cable (short length) by the reversing means of the above.

FIG. 17 is an operation diagram showing an operation of reversing a cable (long) by the reversing means of the above.

FIG. 18 is an operation diagram showing a method of measuring the amount of displacement of the gripping position of the cable by the above-described displacement amount measuring means.

FIG. 19 is a process chart showing a manufacturing process of the terminal crimped electric wire by the above manufacturing apparatus.

FIG. 20 is a perspective view showing a conventional terminal supply means.

FIG. 21 is a plan view showing part of the above.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Terminal crimping wire manufacturing apparatus 10 Cable feeding means 11 Cable drum 12 Cable feeding machine 20 Cutting / peeling means 21 Cutting / peeling part 22 Cutting blade 23 Peeling blade 24,25 Fixed chuck 26 Pull-in chuck 27 Transport Chuck 30 Cable transfer means 31 Movable chuck 32 Support pillar 32a Guide rail 33, 35 Slide guide 34 First support plate 34a Guide rail 36 Second support plate 40 Crimping means 41 Crimping lower mold 50 Terminal supply means 51 Terminal feeder section 52 Feeder body 52a Housing 52b Bowl Feeder 52c CCD Camera 52d Light Source 52e Half Mirror 53 Controller 54 Terminal Transport Unit 55 Terminal Removal Robot 55a Chuck 56 Terminal Stock Unit 56a Disk 56b Temporary Placement Unit 56c Motor 56d, 56 Optical sensor 57 Terminal setting robot 60 Inversion means 61 Chuck 70 Ejection means 81 Fixed chuck 82 Debris removal mechanism 83 Crimping height measurement device 84 Cable rotation device 85 Position shift amount measurement means 85a Contact body 86 Ejection mechanism T Crimping terminal K Cable S Mounting surface

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H01R 43/048 H01B 13/00 521 H01R 43/00 H01R 43/055

Claims (7)

(57) [Claims] 1. A supplied cable is cut into a predetermined length.
Along with cutting and peeling off the coating on the end of the cable
Stripping means and crimping work area of crimp terminal
Conveying means for conveying to a crimping terminal, and terminal supplying means for supplying a crimp terminal to the crimping work area
In the crimping work area, the supplied crimp terminal is
Crimping means for crimping to the end of the cable, the terminal supply means comprising:
Imaging means for imaging the terminal, and imaging by the imaging means
Direction, front and back, and position of the crimping terminal based on the obtained imaging information
Image recognition means for recognizing the mounting state of crimp terminals
And placing the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in a predetermined state based on the state and
With the terminal transport means for transporting in a predetermined state to the crimping work area
The crimping work area is provided by the cable conveying means.
A holding mechanism for holding the conveyed cable is provided, and the crimping means is conveyed to the crimping work area, and
Cable held by the holding mechanism
By moving the body, the terminal supply means
To the crimp terminal supplied to the crimping position in the crimping work area
A cable setting mechanism for setting, the cable setting mechanism comprising a stripped cable
Position where the core of the cable exceeds the wire barrel of the crimp terminal
The entire holding mechanism is moved to the position
Set the cover part in the wire barrel once, and
By pulling back the entire structure,
Manufacture of crimped wire for terminals characterized by being set in a barrel
Manufacturing equipment. 2. The supplied cable is cut into a predetermined length.
Along with cutting and peeling off the coating on the end of the cable
Peeling means, and the casing cut and peeled by the cutting and peeling means.
The first crimping work area, the reversing work area, and the second crimping work
A cable conveying means for sequentially conveying the work area, the first
Crimping terminal in the crimping work area and the second crimping work area
Terminal supplying means for supplying a crimp terminal supplied in the first crimping work area
A first crimping means for crimping the cable to one end of the cable, and a crimp terminal attached to one end of the cable in the reversing work area.
Reversing means for reversing the attached cable; and a supplied crimp terminal in the second crimping work area.
Crimp to crimp the other end of the inverted cable
Means, and the terminal supply means includes a crimping device that is randomly mounted on the mounting surface.
Imaging means for imaging the terminal, and imaging by the imaging means
Direction, front and back, and position of the crimping terminal based on the obtained imaging information
Image recognition means for recognizing the mounting state of crimp terminals
And placing the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in a predetermined state based on the state and
With the terminal transport means for transporting in a predetermined state to the crimping work area
The crimping work area is provided by the cable conveying means.
A holding mechanism for holding the conveyed cable is provided, and the crimping means is conveyed to the crimping work area, and
Cable held by the holding mechanism
By moving the body, the terminal supply means
To the crimp terminal supplied to the crimping position in the crimping work area
A cable setting mechanism for setting, the cable setting mechanism comprising a stripped cable
Position where the core of the cable exceeds the wire barrel of the crimp terminal
The entire holding mechanism is moved to the position
Set the cover part in the wire barrel once, and
By pulling back the entire structure,
Manufacture of crimped wire for terminals characterized by being set in a barrel
Manufacturing equipment. 3. The supplied cable is cut into a predetermined length.
Along with cutting and peeling off the coating on the end of the cable
Peeling means, and the casing cut and peeled by the cutting and peeling means.
The first crimping work area, the reversing work area, and the second crimping work
A cable transporting means for sequentially transporting to the work area, and the first crimping work area and the second crimping work area
Terminal supply means for supplying a crimp terminal; and a crimp terminal supplied in the first crimping work area.
A first pressing means for crimping the one end of the cable, in the inverted working area, crimping terminals on one end pressure
Reversing means for reversing the attached cable; and a supplied crimp terminal in the second crimping work area.
Crimp to crimp the other end of the inverted cable
Means, and the terminal supply means includes a crimping device that is randomly mounted on the mounting surface.
Imaging means for imaging the terminal, and imaging by the imaging means
Direction, front and back, and position of the crimping terminal based on the obtained imaging information
Image recognition means for recognizing the mounting state of crimp terminals
And placing the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in a predetermined state based on the state and
With the terminal transport means for transporting in a predetermined state to the crimping work area
The crimping work area and the reversal work area are each provided with the cable.
For holding the cables transported by the cable transport means.
Holding mechanism is provided, and the crimping means is transported to the crimping work area, and
Cable held by the holding mechanism
By moving the body, the terminal supply means
To the crimp terminal supplied to the crimping position in the crimping work area
A cable setting mechanism for setting, the cable setting mechanism comprising a stripped cable
Position where the core of the cable exceeds the wire barrel of the crimp terminal
The entire holding mechanism is moved to the position
Set the cover part in the wire barrel once, and
By pulling back the entire structure,
To be set in a barrel, between the reversing work area and the second crimping work area,
In the inversion work area, the inverted cable is
From the specified holding position when holding by the holding mechanism
Is measured, and based on the measured
The cable setting in the second crimping work area.
Position adjustment for adjusting the amount of movement of the holding mechanism by the
A work area for measuring the amount of misalignment provided with an
Via the position's Les quantity measuring working area of the inversion work area
Transporting the cable from the second crimping work area to the second crimping work area
An apparatus for manufacturing a crimped terminal wire . 4. A crimp terminal is temporarily placed on said terminal transport means.
Terminal stock part and crimping end mounted on the mounting surface described above
Terminal removal that grips the child and temporarily places it in the terminal stock part
Robot and crimping end temporarily placed in the terminal stock section
Hold the cable and set it at the end of the cable at the crimping position.
Configuration with a terminal setting robot
The terminal pressure according to any one of claims 1 to 3, wherein
Equipment for manufacturing incoming wires . 5. The supplied cable is cut into a predetermined length.
Along with cutting and peeling off the coating on the end of the cable
Stripping means and crimping work area of crimp terminal
Conveying means for conveying to a crimping terminal, and terminal supplying means for supplying a crimp terminal to the crimping work area
In the crimping work area, the supplied crimp terminal is
Crimping means for crimping to the end of the cable, the terminal supply means comprising:
Imaging means for imaging the terminal, and imaging by the imaging means
Direction, front and back, and position of the crimping terminal based on the obtained imaging information
Image recognition means for recognizing the mounting state of crimp terminals
And placing the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in a predetermined state based on the state and
With the terminal transport means for transporting in a predetermined state to the crimping work area
And the terminal transport means includes a terminal storage for temporarily placing the crimp terminal.
And hold the crimp terminal placed on the mounting surface
Terminal removal robot temporarily placed in the terminal stock section
Hold the crimp terminal temporarily placed in the terminal stock
Terminal set at the end of the cable at the splice position
Characterized by being constituted by a robot
Production equipment for crimped electric wires. 6. The supplied cable is cut into a predetermined length.
Along with cutting and peeling off the coating on the end of the cable
Peeling means, and the casing cut and peeled by the cutting and peeling means.
The first crimping work area, the reversing work area, and the second crimping work
A cable transporting means for sequentially transporting to the work area, and the first crimping work area and the second crimping work area
Terminal supply means for supplying a crimp terminal; and a crimp terminal supplied in the first crimping work area.
A first pressing means for crimping the one end of the cable, in the inverted working area, crimping terminals on one end pressure
Reversing means for reversing the attached cable; and a supplied crimp terminal in the second crimping work area.
Crimp to crimp the other end of the inverted cable
Means, and the terminal supply means includes a crimping device that is randomly mounted on the mounting surface.
Imaging means for imaging the terminal, and imaging by the imaging means
Direction, front and back, and position of the crimping terminal based on the obtained imaging information
Image recognition means for recognizing the mounting state of crimp terminals
And placing the crimp terminal obtained by this image recognition means.
Always hold the crimp terminal in a predetermined state based on the state and
With the terminal transport means for transporting in a predetermined state to the crimping work area
The terminal transport means temporarily places the crimp terminal
Terminal stock part and crimping end mounted on the mounting surface described above
Terminal removal that grips the child and temporarily places it in the terminal stock part
Robot and crimping end temporarily placed in the terminal stock section
Hold the cable and set it at the end of the cable at the crimping position
To be configured by a terminal setting robot
Characteristic equipment for manufacturing terminal crimped wires. 7. The robot according to claim 1, wherein the terminal take-out robot opens and closes at a tip thereof.
Having a chuck which closes the chuck in the closed state.
Insert into the wire barrel of the terminal and open the chuck.
The chuck to the inside of the wire barrel
And pressing the crimp terminal.
The terminal crimped wire according to any one of claims 4 to 6.
manufacturing device.