JP6763338B2 - End setting device and end processing device - Google Patents

Description

The present invention relates to a technique for processing an end portion of a twisted electric wire.

A wire harness mounted on a vehicle such as an automobile may include a twisted electric wire obtained by twisting a plurality of electric wires.

Since the twisted electric wire has an effect of canceling noise between a plurality of electric wires, it is not easily affected by noise. Therefore, the twisted electric wire may be adopted as a communication medium such as a wired communication network.

Patent Document 1 discloses a twisted electric wire having a structure in which two twisted insulated electric wires are bonded by an adhesive layer formed on the surface of the insulated electric wire.

A plurality of electric wires in the twisted electric wire as described above are connected to an electric device via a terminal crimped to an end portion or the like. At this time, in order to crimp the terminal to the end of each electric wire, it is necessary to untwist at the end of the twisted electric wire. Since the effect of canceling noise is weakened in the untwisted portion, it is desirable that the untwisted length dimension is short.

Japanese Unexamined Patent Publication No. 2013-84365

However, when the untwisted length dimension is shortened, the handleability of the untwisted portion of the electric wire is deteriorated accordingly. For this reason, conventionally, an operator grips a twisted electric wire and performs terminal crimping work.

Therefore, an object of the present invention is to provide a technique capable of automating the work related to crimping terminals to the ends of each electric wire in a wiring member in which a plurality of electric wires extend integrally like a twisted electric wire.

In order to solve the above problems, the end setting device according to the first aspect is an end setting device for setting the ends of a plurality of electric wires in a positioning state, and extends along the first direction. A crotch jig formed in a tapered shape along a second direction intersecting the first direction so as to be inserted between the ends of a plurality of electric wires, and the crotch jig is the plurality of electric wires. A crotch portion including a first-direction relative moving portion capable of relatively moving the crotch jig and the plurality of electric wires along the first direction while being inserted between the ends, and the crotch portion. With the crotch jig pinching the crotch between the ends of the plurality of electric wires, an insertion piece inserted between the ends of the plurality of electric wires on the rear end side of the crotch jig, and It is provided with a tip chuck including two holding pieces capable of chucking each of the plurality of electric wires with the insertion piece, and is set at the end of the plurality of electric wires by inserting the crotch jig. The crotch of the insertion target area of the insertion piece is opened so that the insertion piece can be inserted .

The end setting device according to the second aspect is the end setting device according to the first aspect, and is a second direction in which the tip chuck and the plurality of electric wires are relatively moved along the second direction. A relative moving portion and an electric wire holding portion that sandwiches the plurality of electric wires and presses the plurality of electric wires from the opposite side to the tip chuck are further provided along the second direction.

The end setting device according to the third aspect is the end setting device according to the first or second aspect, and the first direction relative moving portion moves the plurality of electric wires.

The end setting device according to the fourth aspect is the end setting device according to any one of the first to third aspects, and the first-direction relative moving portion is inserted into the electric wire. The electric wire and the crotch jig are relatively moved so that the crotch jig moves from the rear end side to the tip side.
The end processing device according to the fifth aspect includes an end setting device according to any one of the first to fourth aspects, and a terminal crimping device capable of simultaneously crimping terminals to the ends of the plurality of electric wires. A transport unit for feeding the plurality of electric wires chucked by the tip chuck to the terminal crimping device.

The end processing device according to the sixth aspect is the end processing device according to the fifth aspect, further comprising a transfer chuck for chucking the plurality of electric wires on the rear end side of the tip chuck, and the transfer. The unit sends the plurality of electric wires chucked by the tip chuck and the transport chuck to the terminal crimping device.

According to the first to sixth aspects, the ends of the plurality of electric wires are automatically chucked in a state of being partitioned at predetermined intervals. Further, by sending a plurality of electric wires to the terminal crimping device in this state, it becomes easy to crimp the terminals to the ends of the electric wires by an automatic machine. From the above, it is possible to automate the work related to crimping terminals to the ends of each electric wire in a plurality of electric wires.

In particular, according to the second aspect, when the insertion piece in the tip chuck is inserted between the plurality of electric wires by the second direction relative moving portion, the insertion due to the plurality of electric wires being pushed by the insertion piece. You can suppress mistakes.

In particular, according to the third aspect, the first-direction relative moving portion can be provided on the electric wire conveying side. This makes it possible to simplify the overall configuration when the electric wire end setting device and another device such as a crimping device are installed side by side.

In particular, according to the sixth aspect, the transport posture of the plurality of electric wires is less likely to be disturbed.

It is a schematic plan view which shows the end processing apparatus which concerns on embodiment. It is the schematic plan view which shows the twist electric wire processed by the end processing apparatus which concerns on embodiment. It is a side view which shows the transport part. It is a front view which shows the transport chuck. It is a top view which shows the transport chuck. It is a front view which shows the tip chuck. It is a top view which shows the tip chuck. It is the schematic side view which shows the untwisting apparatus which concerns on embodiment. It is a front view which shows the centering chuck. It is a front view which shows the twisted part. It is explanatory drawing which shows the positional relationship between a centering chuck and a twisted portion. It is explanatory drawing which shows the positional relationship between a centering chuck and a twisted portion. It is a block diagram which shows the posture recognition part and the posture correction part. It is a schematic side view which shows the electric wire end part set part. It is an enlarged view of a part of FIG. It is a front view which shows the centering chuck. It is a front view which shows the crotch part. It is a front view which shows the tip cut peeling device. It is a front view which shows the terminal crimping apparatus. It is a block diagram which shows the hardware composition of a control part. It is explanatory drawing which shows the state that the twisted part chucks an electric wire. It is explanatory drawing which shows the state that the twisted part chucks an electric wire. It is explanatory drawing which shows an example of the acquired image. It is explanatory drawing which shows the state of acquiring the line width. It is explanatory drawing which shows the state of recognizing the posture of an electric wire from the acquired line width. It is explanatory drawing which shows the mode that the rotation amount of an electric wire is acquired from the acquired posture. It is explanatory drawing which shows the state of rotating an electric wire. It is explanatory drawing which shows another example of the acquired image. It is explanatory drawing which shows the state of acquiring the line width. It is explanatory drawing which shows the state of recognizing the posture of an electric wire from the acquired line width. It is explanatory drawing which shows the mode that the rotation amount of an electric wire is acquired from the acquired posture. It is explanatory drawing which shows the state of rotating an electric wire. It is explanatory drawing which shows the state that the chuck for twisting chucks an electric wire. It is explanatory drawing which shows the state that the chuck for twisting chucks an electric wire. It is explanatory drawing which shows a mode that a chuck for untwisting and an electric wire move relative to each other. It is explanatory drawing which shows a mode that a chuck for untwisting and an electric wire move relative to each other. It is explanatory drawing which shows the state of placing an electric wire on a stage. It is explanatory drawing which shows a mode that a centering chuck chucks an electric wire. It is explanatory drawing which shows how the crotch jig is inserted between electric wires. It is explanatory drawing which shows how the crotch jig is inserted between electric wires. It is explanatory drawing which shows a mode that a crotch jig and an electric wire move relative to each other. It is explanatory drawing which shows the state that the tip chuck chucks an electric wire. It is explanatory drawing which shows the state that the tip chuck chucks an electric wire. It is explanatory drawing which shows the state that the tip chuck chucks an electric wire. It is explanatory drawing which shows the state that the tip chuck chucks an electric wire. It is explanatory drawing which shows the state that the tip chuck chucks an electric wire. It is explanatory drawing which shows a mode that a tip chuck and a transport chuck chuck an electric wire. It is explanatory drawing which shows the state that the tip cutting peeling device processes an electric wire in a state where the tip chuck and the transport chuck chuck the electric wire. It is explanatory drawing which shows a mode that a terminal crimping apparatus crimps a terminal to an electric wire in a state where a tip chuck and a transport chuck chuck the electric wire. It is explanatory drawing which shows the deformation example of a twisted part. It is explanatory drawing which shows the modification of the untwisting operation.

{Embodiment}
Hereinafter, the end processing apparatus according to the embodiment will be described. FIG. 1 is a schematic plan view showing an end processing apparatus 1 according to an embodiment. FIG. 2 is a schematic plan view showing a twisted electric wire 2 processed by the end processing apparatus 1 according to the embodiment.

The end processing device 1 is a device for processing the end portion of the twisted electric wire 2.

<Twisted wire 2>
First, the twisted electric wire 2 processed by the end processing apparatus 1 will be described first.

The twisted electric wire 2 before processing includes a plurality of twisted electric wires 3 and a jacket 6 that covers the plurality of electric wires 3. In the following, an example will be described in which the twisted electric wire 2 includes two electric wires 3.

Each electric wire 3 includes a core wire 4 and an insulating coating 5 that covers the periphery of the core wire 4. The core wire 4 is formed of a conductive material such as copper or aluminum. The core wire 4 may be composed of one wire or a plurality of wires. When the core wire 4 is composed of a plurality of strands, the plurality of strands may or may not be twisted. The insulating coating 5 is formed by, for example, extrusion molding of an insulating material such as resin (for example, polyethylene or polyvinyl chloride) around the core wire 4.

In particular, here, the colors of the insulating coatings 5 of the two electric wires 3 are different. As a result, the two electric wires 3 can be distinguished by color. However, the colors of the insulating coatings 5 of the two electric wires 3 may be the same.

The jacket 6 is also called a sheath or the like, and is formed by extrusion molding around two electric wires 3 in which an insulating material such as resin (for example, polyethylene or polyvinyl chloride) is twisted.

The twisted electric wire 2 before being processed by the end processing apparatus 1 exists in a long state. Then, the twisted electric wire 2 in a long state is cut to a required length on the upstream side of the end processing apparatus 1 and conveyed to the downstream side. Therefore, in the twisted electric wire 2 at the initial stage of processing, the jacket 6 covers from one end edge portion to the other end edge portion of the twisted electric wire 2.

The twisted electric wire 2 processed by the end processing apparatus 1 further includes a terminal 7 crimped to the end of each electric wire 3. More specifically, the twisted wire 2 cut to the required length is then stripped of the jacket 6 at the end. As a result, the three ends of the electric wire are exposed. Then, at the exposed end of the electric wire 3, the insulation coating 5 is peeled off after being untwisted. As a result, the four ends of the core wire are exposed. The terminal 7 is connected to the exposed end of the core wire 4.

Specifically, the terminal 7 includes a crimping portion 8 and a mating side connecting portion 9. The crimping portion 8 includes a core wire crimping portion 8a and a covering crimping portion 8b. The mating side connection portion 9 may be formed in a male terminal shape or a female terminal shape, for example. Here, the mating side connecting portion 9 has a box portion formed in a box shape. Inside the box, a contact portion that can be connected to the tab terminal on the other side inserted inside the box is formed.

The twisted electric wire 2 processed in this way is incorporated in a wire harness mounted on a vehicle, and is used, for example, as a cable for high-speed communication conforming to an Ethernet (registered trademark) standard.

<End processing device 1>
Next, the overall configuration of the end processing apparatus 1 will be described. As shown in FIG. 1, in the end processing apparatus 1, the twisted electric wire 2 is calibrated and cut, and the jacket 6 at the end of the twisted electric wire 2 is peeled off. The untwisting process of untwisting the two electric wires 3, the end setting process of setting the ends of the two electric wires 3 while positioning them, and the cutting of the ends of the three electric wires to cover the insulating coating 5. It is possible to continuously perform the tip cutting peeling step of peeling and the terminal crimping step of crimping the terminal 7 to the end of the electric wire 3. Each step is performed by a device provided separately. Therefore, the end processing device 1 includes a transport unit 100 that conveys the twisted electric wire 2 to each device that performs each of the above steps, and a scale cutting device that scales and cuts each device that performs each of the above steps, that is, the twisted wire 2. 200, a jacket peeling device 300 for peeling the jacket 6 at the end of the twisted electric wire 2, an untwisting and untwisting device 400 for the two twisted electric wires 3, and two electric wires 3. An end setting device 500 that sets while positioning the end, a tip cut peeling device 600 that cuts the tip of the end of the electric wire 3 and peels the insulating coating 5, and terminal crimping that crimps the terminal 7 to the end of the electric wire 3. A device 700 is provided. The scale cutting device 200, the jacket peeling device 300, the untwisting device 400, the end setting device 500, the tip cutting peeling device 600, and the terminal crimping device 700 are provided along the transport direction in the transport unit 100. They are arranged in this order.

In the present embodiment, the long twisted electric wire 2 is sized and cut to the required length by the first calibrated cutting device 200, and then sequentially conveyed to each device on the downstream side and passed through each process. , The terminal 7 is crimped to each of the three ends of the twisted electric wire 2.

In particular, in the present embodiment, both ends of the twisted electric wire 2 scaled and cut by the first scale cutting device 200 are separately chucked by the transport portion 100, and both ends of the twisted electric wire 2 are collectively attached to each device. The case of being sequentially transported is shown.

The drive of each component in the end processing apparatus 1 is controlled by the control unit 800.

Here, the twisted electric wire 2 is conveyed by the conveying portion 100 in a direction orthogonal to the extending direction in a state where the intermediate portion is supported by the conveying chuck 150 described later of the conveying portion 100. Hereinafter, the transport direction of the transport unit 100 will be described as the x-axis direction, the extending direction of the twisted electric wire 2 to be transported will be described as the y-axis direction, and the directions orthogonal to the x-axis direction and the y-axis direction will be described as the z-axis direction. In the present embodiment, the z-axis direction is the direction along the vertical direction. In the x-axis direction, the direction of transport from the upstream side to the downstream side is defined as a positive direction. In the y-axis direction, the direction from the portion of the twisted electric wire 2 supported by the transport chuck 150 of the transport portion 100 toward the tip is set to the positive direction. The upward direction in the vertical direction in the z-axis direction is defined as the positive direction.

Hereinafter, each device of the end processing device 1 will be described in detail.

<Transport section 100>
FIG. 3 is a side view showing the transport unit 100. The transport unit 100 includes an x-direction moving unit 110 and at least one transport unit 120. In the example shown in FIG. 1, the transport unit 100 includes a plurality of transport units 120.

The x-direction moving unit 110 moves the transport unit 120 along the x-direction. Each device that performs each process is arranged along the x-direction moving portion 110. As a result, the twisted electric wire 2 supported by the transport unit 120 is sequentially transported to each device. In the example shown in FIG. 1, a plurality of transfer units 120 are sequentially transported to each device performing each process by one x-direction moving unit 110. In this case, the x-direction moving unit 110 may include a chain laid in an endless annular shape and a driving unit that rotationally drives the chain. When one transport unit 120 is sequentially transported to each device that performs each process by one x-direction moving unit 110, the x-direction moving unit 110 is a traveling unit and a traveling unit that can travel along the rail. It is also conceivable that the traveling unit is provided with a driving unit for driving the vehicle and the traveling unit reciprocates along the rail.

Each transport unit 120 includes two chuck units 122. One of the two chuck units 122 in one transport unit 120 chucks one end of one twisted wire 2, and the other of the two chuck units 122 in one transport unit 120 chucks the other end of the same twisted wire 2. To do. As a result, the x-direction moving unit 110 sequentially conveys the transport unit 120 in a state where both ends of one twisted electric wire 2 are chucked by different chuck units 122 in the x-direction, so that one twisted electric wire 2 is integrated. Is sequentially conveyed in the x direction.

Specifically, each chuck unit 122 includes a y-direction moving portion 130, a z-direction first moving portion 140, a transport chuck 150, a z-direction second moving portion 160, and a tip chuck 170. Here, the y-direction moving portion 130 is provided so as to be movable along the x-direction by the x-direction moving portion 110. The y-direction moving unit 130 provides the z-direction first moving unit 140 so as to be movable in the y-direction via the first base unit 124. The second base portion 126 is provided so as to be movable in the z direction by the first moving portion 140 in the z direction. A transport chuck 150 and a second moving portion 160 in the z direction are fixed to the second base portion 126. The tip chuck 170 is movably provided in the z direction by the second moving portion 160 in the z direction via the third base portion 128.

The ball screw mechanism is adopted here for the y-direction moving portion 130. The ball screw mechanism includes, for example, a motor 132, a screw shaft 134 rotatable by the motor 132, and a nut with a ball (not shown) that supports the first base portion 124 and is movable by the rotation of the screw shaft 134. .. However, the y-direction moving portion 130 may be configured by a cylinder or the like. The y-direction moving unit 130 is an example of a first-direction relative moving unit capable of relatively moving the crotch jig 522 and the two electric wires 3 described later along the first direction (here, the y-direction).

The first moving unit 140 in the z direction includes a rail 142, a traveling unit 144 capable of traveling along the rail 142, and a drive source (not shown) such as a motor or a cylinder for driving the traveling unit 144. However, other configurations such as a ball screw mechanism may be adopted as the first moving portion 140 in the z direction.

FIG. 4 is a front view showing the transport chuck 150. FIG. 5 is a plan view showing the transport chuck 150. The transport chuck 150 includes a claw portion 152 and a drive unit 154 that drives the claw portion 152 to open and close. Here, the claw portion 152 is opened and closed in parallel along one straight line direction by the drive portion 154. That is, here, the transport chuck 150 will be described as a so-called parallel opening / closing chuck. However, the transport chuck 150 may be a so-called fulcrum opening / closing chuck in which the claw portion 152 rotates around the fulcrum to open / close.

Each claw portion 152 is formed in a plate shape using metal, resin, or the like as a material. A recess 152a that is inclined in the opening / closing direction is formed on the side surface of the claw portion 152. The recess 152a is formed symmetrically in the pair of claw portions 152. By fitting the electric wire 3 into the recess 152a and chucking it, it is possible to chuck the electric wires 3 having different diameters while centering them in the x-direction and the z-direction. Here, two pairs of claw portions 152 are provided so as to be separated in the y direction as shown in FIG. The two pairs of claws 152 are integrally driven by one drive unit 154. However, the claw portions 152 may be paired or may be three or more pairs. Further, the drive unit 154 may drive one of the pair of claw portions 152. Further, when two or more pairs of claw portions 152 are provided, different drive portions 154 may be provided for each pair.

The second moving unit 160 in the z direction includes a rail 162, a traveling unit 164 capable of traveling along the rail 162, and a drive source (not shown) such as a motor or a cylinder for driving the traveling unit 164. However, other configurations such as a ball screw mechanism may be adopted as the second moving portion 160 in the z direction. The z-direction second moving portion 160 is an example of a second-direction relative moving portion that relatively moves the tip chuck 170 and the two electric wires 3 along the second direction (here, the z direction).

FIG. 6 is a front view showing the tip chuck 170. FIG. 7 is a plan view showing the tip chuck 170. The tip chuck 170 chucks while partitioning the two electric wires 3. That is, the tip chuck 170 can hold the two electric wires 3 while positioning them. Specifically, the tip chuck 170 includes an insertion piece 172, two holding pieces 174, and a drive unit 176. Here, the insertion piece 172 and the drive unit 176 are fixed to the third base unit 128. Then, the two holding pieces 174 are supported by the drive unit 176 so as to be driveable. Here, the two holding pieces 174 are opened and closed in parallel along the x direction by the drive unit 176. That is, here, the tip chuck 170 will be described as a so-called parallel opening / closing chuck. However, the tip chuck 170 may be a so-called fulcrum opening / closing chuck.

The insertion piece 172 is a portion inserted between the two electric wires 3. The insertion piece 172 is formed in a plate shape using resin, metal, or the like as a material, and is formed in a tapered shape in which the tip portion 173a in the insertion direction becomes thinner toward the tip with respect to the base end portion 173b. Here, the insertion piece 172 is inserted between the two electric wires 3 while being moved along the z direction by the second moving portion 160 in the z direction. Therefore, the insertion piece 172 has a tapered shape along the z direction. The intermediate portion 173c of the side surface of the tip portion 173a is formed parallel to the yz plane. The intermediate portion 173c is a portion that sandwiches the electric wire 3 with the sandwiching piece 174. The tip portion and the base end portion of the tip portion 173a are tapered from the intermediate portion 173c. The insertion piece 172 is fixed to the third base via a connecting piece 173d extending in the y direction from the base end portion 173b.

The sandwiching piece 174 is formed in a plate shape using resin, metal, or the like as a material. The holding piece 174 is provided so as to project toward the insertion piece 172 along the x direction with respect to one corner of the claw portion 178 directly driven by the driving portion 176. The sandwiching piece 174 is provided at a position of the insertion piece 172 facing the intermediate portion 173c. In the sandwiching piece 174, the side surface of the insertion piece 172 facing the intermediate portion 173c is also parallel to the yz plane. The two holding pieces 174 are provided on opposite sides of the insertion piece 172. The protruding dimension of the holding piece 174 with respect to the claw portion 178 along the x direction is set to be the same as (slightly smaller here) the protruding dimension of the side surface of the base end portion 173b with respect to the intermediate portion 173c of the insertion piece 172. ..

Although it has been described that the twisted electric wire 2 is sequentially conveyed to all the devices by one x-direction moving unit 110 in the conveying unit 100, this is not an essential configuration. For example, the twisted electric wire 2 may be transferred between adjacent stations by making a station for each of several devices. In this case, for example, the transport unit 100 includes a plurality of x-direction moving units 110 provided for each station. In this case, one transport unit 120 may be provided at each station, and the x-direction moving unit 110 may reciprocate the one transport unit 120 along the x-direction. As such an x-direction moving unit 110, it is conceivable to include a rail, a traveling unit capable of traveling along the rail, and a driving unit for driving the traveling unit. Further, in this case, it is conceivable that the transport unit 100 is further provided with a transfer unit which is arranged between adjacent stations and transfers the twisted electric wire 2 between the transport units 120 of the adjacent stations.

When making stations for each of several devices, the configuration of the chuck unit 122 at each station may be customized as appropriate. For example, when the station including the scale cutting device 200 does not include the device downstream of the twisting device 400, it is conceivable that the tip chuck 170 is omitted from the chuck unit 122 in the station including the scale cutting device 200. Be done. Further, in the case of making a station for each of several devices, it is preferable that the devices are allocated so that the total time of the processes performed at each station is as uniform as possible. This reduces play time at each station and increases production per hour on a single production line.

<Scale cutting device 200>
The scale cutting device 200 is a device that scales and cuts a long twisted electric wire 2 to a required length. The scale cutting device 200 may have, for example, a configuration including an electric wire supply unit, a scale unit, and a cutting unit (not shown). The electric wire supply unit includes a reel around which a long twisted electric wire 2 is wound, and an electric wire transmitting unit that transmits the twisted electric wire 2 from the reel along the longitudinal direction thereof. The scale unit is configured to be capable of measuring the length of the twisted electric wire 2 sent out from the electric wire supply unit, that is, measuring. For example, the length of the twisted electric wire 2 can be determined by sandwiching the twisted electric wire 2 to be transmitted with a pair of rollers or the like and detecting the number of rotations, the rotation angle, etc. of the rollers that rotate driven by the transmission of the twisted electric wire 2. measure. The cutting portion is configured to be able to cut the twisted electric wire 2 sent out via the measuring portion. For example, the cutting portion includes a pair of cutting blades capable of sandwiching and cutting the twisted electric wire 2 transmitted through the scale portion. Then, when the twisted electric wire 2 is sent out for the required length based on the output signal from the scale unit, the pair of cutting blades cut the twisted electric wire 2. As a result, the twisted electric wire 2 having the target length can be continuously manufactured.

The twisted electric wire 2 cut to a predetermined length by the scale cutting device 200 is conveyed in a U-shaped bent state with both ends chucked by the conveying portion 100.

<Jacket peeling device 300>
The jacket peeling device 300 is provided on the downstream side of the scale cutting device 200, and is configured to be able to peel off the jackets 6 at both ends of the twisted electric wire 2. The jacket peeling device 300 includes, for example, a pair of peeling blades 620 having parallel cutting edges, and in a state where the pair of peeling blades 620 are cut into the jacket 6 of the twisted electric wire 2, the pair of peeling blades 620 are twisted. The jacket 6 at the end of the twisted electric wire 2 is peeled off by rotating the twisted electric wire 2 toward the end side along the extending direction of the twisted electric wire 2. By this jacket peeling device 300, the electric wires 3 having a predetermined length are exposed at both ends of the twisted electric wires 2.

<Twisting device 400>
Next, the twisting device 400 according to the embodiment will be described with reference to FIGS. 8 to 13. FIG. 8 is a schematic side view showing the twisting device 400 according to the embodiment. FIG. 9 is a front view showing the centering chuck 432. FIG. 10 is a front view showing the twisted portion 440. FIG. 11 is an explanatory view showing the positional relationship between the centering chuck 432 and the twisted portion 440. FIG. 12 is an explanatory view showing the positional relationship between the centering chuck 432 and the twisted portion 440. FIG. 13 is a block diagram showing a posture recognition unit 410 and a posture correction unit 430.

The untwisting device 400 is a device for untwisting the ends of the two electric wires 3, and particularly here, untwisting the two electric wires 3 exposed from the jacket 6 at the ends of the twisted electric wires 2. In the following, of the two twisted electric wires 3, the portion exposed from the jacket 6 at the end of the twisted electric wire 2 is defined as the untwisted region. Specifically, the untwisting device 400 includes a posture recognition unit 410, a twist unwinding chuck 420, and a posture correction unit 430. Further, here, a part of the components of the transport unit 100 also serves as a component of the untwisting device 400. For example, the y-direction moving unit 130 in the transport unit 100 functions as a relative moving unit between the twisting chuck 420 and the twisted electric wire 2 in the untwisting device.

The posture recognition unit 410 is provided so as to be able to recognize the posture of the twisted electric wires 2 around the axis (here, around the y-axis) of the two electric wires 3 in the untwisted region while the twisted electric wires 2 are supported. The posture recognition unit 410 includes an imaging unit 412, an imaging data acquisition unit 413, an electric wire extraction unit 414, a line width acquisition unit 416, and a posture acquisition unit 418.

The imaging unit 412 is capable of imaging the untwisted region. In particular, here, the imaging unit 412 is capable of imaging a chuck target region by the untwisting chuck in the untwisting region. In the following, it is assumed that the position near the boundary between the jacket 6 and the two electric wires 3 in the untwisted region is the chuck target region. Specifically, the image pickup unit 412 is composed of a camera, an illumination unit (not shown), and the like. The camera is fixed to the horizontal frame 404 extending from the vertical frame 402, and can image the untwisted region from the z direction.

Here, the camera is preferably a color camera capable of outputting a color image. That is, in the twisted electric wire 2, the colors of the insulating coatings 5 of the two electric wires 3 are different. Therefore, it is possible to distinguish between the two electric wires 3 by utilizing this difference in color. Then, since the posture correction unit 430 may consider not only the relative posture of the two electric wires 3 but also the positions of the two electric wires 3, it is preferable to obtain a color image. However, when the two electric wires 3 can be discriminated by the difference in the shade (luminance) of the image in the captured data, a camera that outputs a black-and-white image may be adopted.

The image pickup data acquisition unit 413 processes the signal sent from the image pickup unit 412 that has imaged the untwisted region to acquire the image pickup data. The data captured by the imaging unit 412 may be processed by another computer or the like to acquire the imaging data. In this case, the imaging data may be taken into the control unit 800 from the outside via the above-mentioned reading unit or communication unit.

For the imaging data given to the imaging data acquisition unit 413, the electric wire 3 is first extracted by the electric wire extraction unit 414. Next, based on the obtained electrical alignment, the line width acquisition unit 416 acquires the width dimensions of the two electric wires 3 in the chuck target region. After that, the postures of the two electric wires 3 are acquired by the posture acquisition unit 418 based on the width dimensions of the two electric wires 3 obtained.

The electric wire extraction unit 414 processes the imaging data acquired by the imaging data acquisition unit 413, extracts the outline of the electric wire 3, and acquires the electric wire data. In the present embodiment, since the color camera is used as the image pickup unit 412, the electric wire data can be acquired by using, for example, the color change in the image pickup data. Specifically, in order to extract the electric wire 3 from the imaging data, for example, it is conceivable to read the three electric wires and the background color in the color data included in the imaging data.

The line width acquisition unit 416 acquires the line width of each electric wire 3 in the chuck target region. Specifically, in the electric wire data, a reference line along the x direction is set in the chuck target area. For example, it is conceivable to set a reference line at a predetermined distance from the line corresponding to the edge of the jacket 6. Then, the width of the electric wire on the reference line, that is, the distance between the intersection of the reference line and the outer line of the electric wire 3 is measured.

The posture acquisition unit 418 acquires the postures of the two electric wires 3 in the chuck target region based on the line width data. This will be described in detail later.

The untwisting chuck 420 can chuck two electric wires 3 in the untwisting region. Specifically, the untwisting chuck 420 includes a claw portion 422 and a drive portion 424 for opening and closing the claw portion 422. Here, the untwisting chuck 420 will be described as a so-called parallel opening / closing chuck. More specifically, the drive unit 424 is fixed to the vertical frame 402. Then, the pair of claw portions 422 are divided in the z direction and supported by the drive unit 424 so that they can be opened and closed in the z direction. Each claw portion 422 includes a base end portion 422a projecting in the y direction with respect to the drive unit 424, and a tip end portion 422b projecting from the tip end of the base end portion in the z direction. As a result, the pair of claws 422 are positioned on the jacket 6 side of the untwisted area of the untwisted area 3 while keeping the tip side of the untwisted area of the two electric wires 3 in the pocket without chucking. The chuck target area to be chucked can be chucked.

Here, the opening / closing direction of the pair of claw portions 422 is determined according to the posture corrected by the posture correcting portion 430, and is not limited to the z direction, and may be, for example, the x direction. More specifically, the posture correction unit 430 straightens the two electric wires 3 into a posture in which each central axis (central axis of the core wire 4) is aligned in the x direction in the chuck target region. The opening / closing direction of the pair of claws 422 is a direction (here, z) orthogonal to the direction in which the central axes are lined up in the chuck target region (here, the x direction) and the extending direction of each central axis (here, the y direction). Direction) is set.

The posture correction unit 430 sets the posture of the two electric wires 3 with respect to the untwisting chuck 420 to be the target attitude based on the attitudes of the two electric wires 3 recognized by the attitude recognition unit 410 around the y-axis. The relative posture between the posture of the two electric wires 3 and the posture of the untwisting chuck 420 is corrected. Here, the posture correction unit 430 corrects the postures of the two electric wires 3 in the untwisted region to the target postures. In particular, here, the posture correction unit 430 corrects the postures of the two electric wires 3 in the chuck target region to the target postures. Hereinafter, the target posture will be described as a posture in which the central axes of the two electric wires 3 (the central axes of the core wires 4) are aligned in the x direction in the chuck target region. By setting such a posture as the target posture on the premise that the twisted electric wire 2 is rotated, the twisted electric wire 2 is conveyed to each device after the twisting device 400 in the state where the posture is the target posture. This makes it easier to process the twisted electric wire 2 in each device. Specifically, the posture correction section 430 includes a centering chuck 432, a twist section 440, a wire holding section 470, and a rotation amount acquisition section 438.

The centering chuck 432 is a portion for chucking and centering the twisted electric wire 2 before rotation. Further, the twisted electric wire 2 is rotated by the twisted portion 440 while the centering chuck 432 is chucked. Therefore, the centering chuck 432 is also a portion that suppresses the axial direction of the rotating twisted electric wire 2 from being deviated. The centering chuck 432 is supported by a support base portion 406 fixed to the horizontal frame 404. Specifically, the centering chuck 432 includes a claw portion 434 and a drive portion 436 for opening and closing the claw portion 434. Here, the centering chuck 432 will be described as a so-called parallel opening / closing chuck. Two pairs of claws 434 are provided like the claws 152 of the transport chuck 150, and an inclined recess 434a is formed on the side surface of each claw 434. The electric wire 3 can be centered in the x direction and the z direction by being chucked while the electric wire 3 is fitted in the recess 434a.

The twisted portion 440 is a portion in which the twisted electric wire 2 on the rear end side of the untwisted region is rotated while being chucked to achieve the target posture. The twisted portion 440 is supported by the support base portion 406. Specifically, the twisted portion 440 includes a center gear 442 and a first unit 450 and a second unit 460.

The center gear 442 is provided so as to be rotationally driveable by a motor (not shown). The motor that drives the center gear 442 is fixed to, for example, the support base portion 406. The center gear 442 has teeth formed on the outer peripheral surface thereof so as to mesh with the first rack portion 452 and the second rack portion 462, which will be described later. In the example shown in FIG. 10, the center gear 442 is drawn with teeth omitted.

The first unit 450 and the second unit 460 are provided so as to be linearly movable in opposite directions by the rotation of the center gear 442. The first unit 450 includes a first rack portion 452, a first base portion 454, a first guide portion 456, a first drive unit (not shown), and a first claw piece 459. Similarly, the second unit 460 includes a second rack portion 462, a second base portion 464, a second guide portion 466, a second drive portion (not shown), and a second claw piece 469. The first unit 450 and the second unit 460 are provided plane-symmetrically with respect to the yz plane.

The first rack portion 452 and the second rack portion 462 are provided so as to mesh with the center gear 442 from opposite sides along the x direction. The first rack portion 452 and the second rack portion 462 are formed so that the teeth are aligned in the z direction. Therefore, the first unit 450 and the second unit 460 linearly move in the z direction in opposite directions due to the rotation of the center gear 442. The center gear 442 and the first rack portion 452 and the second rack portion 462 relatively move the first claw piece 459 and the second claw piece 469 in the z direction. Therefore, the center gear 442 and the first rack portion 452 and the second rack portion 462 are examples of the claw piece moving portions.

The first base portion 454 and the second base portion 464 are portions that support the first rack portion 452 and the second rack portion 462, respectively. The first base portion 454 and the second base portion 464 are formed so as to extend in the z direction. The first guide portion 456 and the second guide portion 466 are fixed to the lower ends of the first base portion 454 and the second base portion 464, respectively.

The first guide portion 456 is provided at the lower end of the first base portion 454 and includes a first rail portion 457 extending in the x direction and a first traveling portion 458 traveling along the first rail portion 457. Similarly, the second guide portion 466 is provided at the lower end of the second base portion 464 and has a second rail portion 467 extending in the x direction and a second traveling portion 468 traveling along the second rail portion 467. Be prepared. The first traveling unit 458 and the second traveling unit 468 are independently driven by the first driving unit and the second driving unit (not shown), respectively. Further, the first claw piece 459 and the second claw piece 469 are fixed to the first traveling portion 458 and the second traveling portion 468, respectively.

The first claw piece 459 and the second claw piece 469 are formed in a plate shape using metal, resin, or the like as a material, and the surfaces facing each other in the x direction are parallel to the yz plane. The first claw piece 459 and the second claw piece 469 can be moved closer to each other in the x direction by the traveling drive of the first traveling unit 458 and the second traveling unit 468. Therefore, here, the holding direction of the first claw piece 459 and the second claw piece 469 is the x direction. The twisted electric wire 2 can be sandwiched between the facing surfaces in an approaching state. The first claw piece 459 and the second claw piece 469 are arranged between two pairs of claw portions 434 separated in the y direction in the centering chuck 432. Then, the first claw piece 459 and the second claw piece 469 sandwich the twisted electric wire 2, and the two pairs of claw portions 434 of the centering chuck 432 hold the first claw piece 459 and the second claw piece 469 along the y direction. The twisted electric wire 2 is rotated by driving the center gear 442 to rotate while the twisted electric wire 2 is sandwiched at the sandwiching position.

More specifically, by rotationally driving the center gear 442, the first claw piece 459 and the second claw piece 469 move in opposite directions along the z direction (see FIGS. 27 and 32). At this time, since the twisted electric wire 2 is sandwiched at the position where the two pairs of claw portions 434 of the centering chuck 432 sandwich the first claw piece 459 and the second claw piece 469 along the y direction, the second of the twisted electric wires 2 The portion sandwiched by the 1st claw piece 459 and the 2nd claw piece 469 does not move in the z direction. As a result, the twisted electric wire 2 is given torque in the same direction from the facing surfaces of the first claw piece 459 and the second claw piece 469, respectively, and the twisted electric wire 2 is rotated by the torque. Therefore, it is preferable that the facing surfaces of the first claw piece 459 and the second claw piece 469 have a high friction coefficient. For example, it is conceivable to use a material having a relatively high friction coefficient as the material constituting the facing surface, or to increase the friction coefficient by roughening the surface roughness (providing fine irregularities on the surface).

The rotation amount acquisition unit 438 processes the line width acquired by the line width acquisition unit 416 to acquire the target rotation amount of the twisted electric wire 2. The amount of rotation of the center gear 442 is determined according to the amount of target rotation thus obtained. This will be described in detail later.

The wire holding portion 470 prevents a chuck error from occurring when the transport chuck 150 chucks the twisted wire 2 again after the twisted wire 2 is rotated by the twisted portion 440 in a state where the chuck of the transport chuck 150 is released. It is a part to suppress. The electric wire holding portion 470 is supported by the tip of the horizontal frame 404. The electric wire holding portion 470 is provided at a position opposite to the twisted portion 440 with the transport chuck 150 interposed therebetween along the y direction. Further, the electric wire holding portion 470 is provided at a position opposite to the transport chuck 150 with the twisted electric wire 2 interposed therebetween along the z direction. As a result, when the twisted electric wire 2 is rotated by the twisted portion 440 in the state where the chuck of the transport chuck 150 is released, the portion of the twisted electric wire 2 on the rear end side of the twisted portion 440 tries to rise in the + z direction. If this is the case, the wire holding portion 470 can suppress this. As a result, after the twisted electric wire 2 is rotated by the twisted portion 440, when the transport chuck 150 chucks the twisted electric wire 2, a chuck error is less likely to occur.

The initial state when the twisted electric wire 2 is conveyed to the twisting device 400 by the conveying unit 100 is the state shown in FIG. In this state, the second base portion 126 moves in the + z direction by the first moving portion 140 in the z direction, so that the twisted electric wire 2 reaches the operating region of the twisted portion 440 (see FIG. 21). In this state, after the twisted electric wire 2 is rotated and the postures of the two electric wires 3 are corrected to the target postures, the z-direction first moving portion 140 is moved in the + y direction by the y-direction moving portion 130, and the z-direction first moving portion 140 is moved. When the second base portion 126 moves in the −z direction by the moving portion 140, the chuck target region of the twisted electric wire 2 reaches the operating region of the twisting chuck 420 (see FIG. 33). In this state, the untwisting chuck 420 chucks the chuck target area of the twisted electric wire 2, and then the untwisting chuck 420 and the twisted electric wire 2 are moved relative to each other to twist the two electric wires 3 in the untwisted electric wire 3. The untwisting operation is performed.

As the untwisting operation, for example, a squeezing operation and a twisting operation can be considered. Here, the untwisting operation is described as a squeezing operation, and a case where the untwisting operation is a twisting operation will be described later.

More specifically, in a state where the untwisting chuck 420 chucks the chuck target area of the twisted electric wire 2, the untwisted chuck 420 and the twisted electric wire 2 are relatively moved in the y direction. At this time, both move relative to each other so that the untwisting chuck 420 moves toward the tip side with respect to the twisted electric wire 2. Here, the twisted wire 2 moves in the −y direction with respect to the untwisting chuck 420 by moving the first moving portion 140 in the z direction in the −y direction by the moving unit 130 in the y direction (see FIG. 35). .. As a result, in the state where the untwisting chuck 420 chucks the two electric wires 3, the chucked portion shifts to the tip side of the electric wire 3, and the frictional force generated at this time causes the two electric wires 3 to be twisted. It will be resolved. The untwisted wire 2 in the untwisted region is sent to the end setting device 500.

<End setting device 500>
Next, the end setting device 500 will be described with reference to FIGS. 14 to 17. FIG. 14 is a schematic side view showing the end setting device 500. FIG. 15 is an enlarged view of a part of FIG. FIG. 16 is a front view showing the centering chuck 510. FIG. 17 is a front view showing the crotch portion 520.

The end setting device 500 is a device for setting the ends of a plurality of electric wires 3 in a positioned state. Here, the end setting device 500 holds the ends of the two electric wires 3 while positioning them. Specifically, the end setting device 500 includes a centering chuck 510, a crotch portion 520, and an electric wire holding portion 550. Further, here, a part of the components of the transport unit 100 also serves as a component of the end setting device 500. For example, the tip chuck 170 in the transport unit 100 functions as the tip chuck 170 in the end setting device 500.

The centering chuck 510 is provided so that the twisted electric wire 2 can be centered. Here, the centering chuck 510 chucks the portion of the twisted electric wire 2 where the jacket 6 remains in a state where the two electric wires 3 reach the operating region of the crotch portion 520. Specifically, the centering chuck 510 includes a claw portion 512 and a drive portion 514. Here, the centering chuck 510 will be described as a so-called fulcrum opening / closing chuck. The claw portion 512 is supported so as to be rotationally driveable around the y-axis. At this time, the centering chuck 510 may be capable of centering the twisted electric wire 2 in the x direction, and it is not essential to center the twisted electric wire 2 in the z direction. Therefore, the claw portion 512 is formed with a groove portion 512a that extends uniformly in the z direction in the closed posture. The drive unit 514 is composed of, for example, a cylinder or a motor, and is fixed to a horizontal frame 504 extending from the vertical frame 502.

The crotch part 520 includes a crotch jig 522, a crotch jig moving part 526, and a stage 540. Further, the crotch portion 520 can move the crotch jig 522 and the plurality of electric wires 3 relative to each other in a state where the crotch jig 522 is inserted between the ends of the plurality of electric wires 3. Includes a relative moving part in the y direction. Here, the y-direction moving unit 130 in the transport unit 100 also serves as the y-direction relative moving unit.

The crotch jig 522 is formed so as to be insertable between the ends of a plurality of electric wires 3 extending along the y direction. The crotch jig 522 is formed in a plate shape using resin, metal, or the like as a material. The crotch jig 522 is formed in a tapered shape along the z direction. Therefore, an inclined surface 524 inclined with respect to the z direction is formed at the tip of the crotch jig 522. Here, the crotch jig 522 is formed with two inclined surfaces 524. The two inclined surfaces 524 are formed in a shape symmetrical to the yz plane. The angle at which the two inclined surfaces 524 intersect is not particularly limited as long as it is larger than 0 degrees and smaller than 180 degrees. Here, the two electric wires 3 are placed on the stage 540, and the crotch jig 522 approaches the two electric wires 3 from the side opposite to the stage 540. Therefore, after the tip of the crotch jig 522 enters between the electric wires 3, the amount of tearing the crotch of the electric wire 3 can be gradually increased until it comes into contact with the stage 540. In other words, when the crotch jig 522 comes into contact with the stage 540, it cannot move any further and cannot further crotch the electric wire 3. Therefore, the maximum amount that the crotch jig 522 tears the crotch of the electric wire 3 (the sum of the moving distances of the two electric wires 3 in the x direction) depends on the diameter of the electric wire 3 and the angle at which the two inclined surfaces 524 intersect. It is decided. Therefore, it is preferable that the angle of the inclined surface 524 is set so that this maximum amount is larger than the target crotch amount.

Considering the intersecting angle of the two inclined surfaces 524 from another viewpoint, if the intersecting angle of the two inclined surfaces 524 is too small, the crotch jig 522 is used in order to separate the two electric wires 3 by the target distance or more. It is necessary to make a large entry between the two electric wires 3. If the stage 540 is located in front of the crotch jig 522 in the traveling direction, the crotch cannot be further performed after the stage 540 comes into contact with the stage 540. Further, if the angle at which the two inclined surfaces 524 intersect is too large, the tip of the crotch jig 522 may not be able to enter between the two electric wires 3. In particular, if the stage 540 is located in front of the crotch jig 522 in the traveling direction, the crotch jig 522 may sandwich the two electric wires 3 with the stage 540. In view of these, the angle at which the two inclined surfaces 524 intersect is preferably, for example, 90 degrees or more and 150 degrees or less. Here, the angle at which the two inclined surfaces 524 intersect is set to 120 degrees.

The crotch jig moving portion 526 is a portion that moves the crotch jig 522 so as to enter between the two electric wires 3. Here, in order to allow the crotch jig 522 to enter the portion where the two electric wires 3 extending in the y direction are lined up in the x direction, the crotch jig moving portion 526 moves the crotch jig 522 in the z direction. Specifically, the crotch jig moving unit 526 includes a drive unit 527, a guide unit 531 and an urging unit 536.

The drive unit 527 is composed of a cylinder including a cylinder tube 528 and a cylinder rod 530. The cylinder tube 528 is fixed to the horizontal frame 504. The cylinder rod 530 extends in the z direction, and its tip can press the crotch jig 522 in the z direction.

The guide portion 531 includes a guide rail 532 fixed to the vertical frame 502 and extending in the z direction, and a traveling portion 534 capable of traveling in the z direction along the guide rail 532. A crotch jig 522 is fixed to the traveling portion 534. By fixing the crotch jig 534 to the traveling portion 534, the movement of the crotch jig 522 in the z direction is guided.

The urging portion 536 urges the crotch jig 522 in the z direction. One end of the urging portion 536 is fixed to the crotch jig 522, and the other end is fixed to the horizontal frame 504. As the urging portion 536, for example, a spring member such as a coil spring can be used.

Here, the urging portion 536 urges the crotch jig 522 in the −z direction. A so-called single-acting cylinder is adopted as the drive unit 527, and the crotch jig 522 can be pressed only in the + z direction. Therefore, in a state where the crotch jig 522 is separated from the two electric wires 3 in the + z direction, the pressing force of the drive unit 527 is weakened, and the urging force of the urging unit 536 causes the crotch jig 522. Moves in the −z direction, that is, in the direction approaching the two electric wires 3. As a result, even when the crotch jig 522 comes into contact with the electric wire 3, it becomes difficult to press the electric wire 3 with an excessive force. On the other hand, in a state where the crotch jig 522 is in a position close to the two electric wires 3, the crotch jig 522 is + z against the urging force of the urging unit 536 by driving the drive unit 527. It moves in a direction, that is, in a direction separated from the two electric wires 3. However, the drive unit 527 may be a double-acting type or the like. That is, the drive unit 527 may be able to reciprocate the crotch jig 522. Further, the urging unit 536 may be omitted.

The stage 540 is a portion on which two electric wires 3 are placed. The stage 540 is fixed to the vertical frame 502. The stage 540 is provided at a position facing the crotch jig 522 along the z direction. The surface of the stage 540 facing the crotch jig 522 is parallel to the xy plane. The length dimension of the stage 540 along the y direction is preferably longer than the dimension along the y direction of the electric wire 3 in the untwisting region.

The electric wire holding portion 550 is a portion that holds the electric wire 3 when the tip chuck 170 chucks the electric wire 3. The electric wire pressing portion 550 includes a pressing member 552 and a pressing member moving portion 554.

The pressing member 552 is arranged between the centering chuck 510 and the crotch jig 522.

The presser member moving unit 554 moves the presser member 552 along the z direction. The pressing member moving portion 554 is composed of, for example, an actuator such as a cylinder or a linear motor. In the example shown in FIG. 15, the pressing member moving portion 554 is composed of a cylinder including a cylinder tube and a cylinder rod. The cylinder tube is fixed to the horizontal frame 504. The cylinder rod can reciprocate in the z direction, and a pressing member 552 is fixed to the tip of the cylinder rod.

As described above, the tip chuck 170 provided in the transport section 100 functions as the tip chuck 170 in the end setting device 500. The insertion piece 172 in the tip chuck 170 has the ends of the plurality of electric wires 3 on the rear end side of the crotch jig 522 in a state where the crotch jig 522 holds the crotch between the ends of the plurality of electric wires 3. Is inserted between. Further, the two holding pieces 174 can chuck each of the plurality of electric wires 3 with the insertion piece 172.

At this time, the z-direction second moving portion 160 of the conveying portion 100 functions as a z-direction relative moving portion that relatively moves the tip chuck 170 and the plurality of electric wires 3 along the z direction. Then, the electric wire pressing portion 550 presses the plurality of electric wires 3 from the side opposite to the tip chuck 170 with the plurality of electric wires 3 sandwiched in the z direction.

The twisted electric wire 2 set while the ends of the two electric wires 3 are positioned by the end setting device 500 is sent to the tip cutting peeling device 600.

<Tip cut peeling device 600>
FIG. 18 is a front view showing the tip cutting peeling device 600.

The tip cutting peeling device 600 includes a tip cutting portion having a cutting blade 610 and a covering peeling portion having a peeling blade 620. Here, two cutting blades 610 and two peeling blades 620 are provided separately in the z direction. The cutting blade 610 and the peeling blade 620 are driven by the same drive unit 630. The drive unit 630 is composed of, for example, a cylinder or the like, and is provided so that the upper blade of the cutting blade 610 and the peeling blade 620 and the lower blade of the cutting blade 610 and the peeling blade 620 can be moved close to each other. At this time, the pair of cutting blades 610 are provided so as to be able to cut the electric wire 3 in a state of being close to each other by driving the drive unit 630. Further, the pair of peeling blades 620 are provided so as to bite into the insulating coating 5 in a state of being close to each other by the drive of the drive unit 630 and not to reach the core wire 4.

<Terminal crimping device 700>
FIG. 19 is a front view showing the terminal crimping device 700.

The terminal crimping device 700 includes an upper die 710, a lower die 720, and a drive unit 730 (see FIG. 49). Further, here, the terminal crimping device 700 includes a terminal chuck 740. The upper die 710 is a portion that plastically deforms the crimping portion 8 of the terminal 7 into a shape corresponding to the inner surface thereof while sandwiching the terminal 7 together with the lower die 720. Here, in order to enable simultaneous crimping of the two terminals 7, the upper die 710 is formed in a shape in which two deformable portions 712 that can be plastically deformed are arranged side by side in the x direction. At this time, since the two terminals 7 are arranged at positions relatively close to each other in the x direction, the partition wall 714 partitioning the two deformed portions 712 is shorter in the z direction than the outer wall 716. Here, since the core wire crimping portion 8a and the coated crimping portion 8b are provided as the crimping portion 8 of the terminal 7, the upper die 710 also has two upper molds 710a for the core wire crimping portion and an upper mold 710b for the coated crimping portion. An upper die 710 is provided (see FIG. 49). The lower mold 720 is a portion on which the terminal 7 is placed. The lower mold 720 is arranged to face the upper mold 710. Here, one lower mold 720 can handle two upper molds 710. The drive unit 730 is composed of, for example, a cylinder or the like, and is provided so that the upper die 710 and the lower die 720 can be moved close to each other. Hereinafter, the drive unit 730 will be described as moving the upper die 710.

<Control unit 800>
FIG. 20 is a block diagram showing a hardware configuration of the control unit 800. The control unit 800 includes a CPU 802, a read-only ROM 804 in which a basic program and the like are stored, a RAM 806 mainly used as a working area of the CPU 802, and a storage unit 808 which is a non-volatile recording medium. In this way, the control unit 800 is configured as a general computer. The operation of each of the end processing devices 1 is controlled by the control unit 800.

The program Pr is stored in the storage unit 808. Various functions are realized by the CPU performing arithmetic processing according to the program Pr. Further, the program Pr may be stored in a memory such as a storage unit in advance, but is provided in a form (program product) recorded in a CD-ROM, a DVD-ROM, or a flash memory, and the recording medium is used. It may be read by the reading unit 810 and taken into the control unit 800. Alternatively, the program Pr stored on the network may be incorporated into the control unit 800 via the communication unit 812. Other data may also be taken into the control unit 800 via the reading unit 810 or the communication unit 812.

Further, the control unit 800 is connected to the display unit 814 and the operation unit 816 via bus wiring, a network line, or a serial line. The display unit 814 is a device for displaying an image such as a liquid crystal display. The operation unit 816 is, for example, an input device composed of a keyboard, a mouse, or switches, and receives various operations from the operator. The operation unit 816 may be composed of a touch panel or the like. In this case, the touch panel may function as the display unit 814.

Further, the control unit 800 is connected to each device of the end processing device 1 via bus wiring, a network line, or a serial line.

Further, FIG. 13 is also a block diagram showing a software configuration of the control unit 800 according to the embodiment. As shown in FIG. 13, the CPU 802 of the control unit 800 functions as an imaging data acquisition unit 413, an electric wire extraction unit 414, a line width acquisition unit 416, a posture acquisition unit 418, and a rotation amount acquisition unit 438. In addition, a part or all of these functions may be realized by hardware by a dedicated circuit or the like.

<Operation>
Next, the operation of the end processing apparatus 1 will be described.

As described above, the twisted electric wire 2 obtained by adjusting the long twisted electric wire 2 to the required length by the measuring cutting device 200 and cutting the twisted electric wire 2 is conveyed by the conveying portion 100 with the intermediate portion bent in a U shape. Both ends are chucked by the chuck 150. Then, while maintaining this state, the transfer unit 100 transfers the device to each device downstream of the scale cutting device 200. Hereinafter, the operation of the two chuck units 122 of the one transport unit 120 with respect to the two electric wires 3 chucked by the preceding chuck unit 122 will be described. Of the two chuck units 122 in one transport unit 120, the operation with respect to the two electric wires 3 chucked by the succeeding chuck unit 122 is basically the same. After the operation in one device for the two preceding electric wires 3 is completed, the two preceding electric wires 3 wait for the completion of the operation in the same one device for the two following electric wires 3 and then the next. The operation in the device may be performed, or the operation in the next device may be performed without waiting.

Specifically, the calibrated twisted electric wire 2 is sent to the jacket peeling device 300 by the transport unit 100, and the jacket 6 at the end of the twisted electric wire 2 is peeled off. The twisted electric wire 2 from which the jacket 6 at the end of the twisted electric wire 2 has been peeled off is sent by the transport unit 100 to the twisting device 400 on the downstream side of the jacket peeling device 300.

When the twisted electric wire 2 is sent to the twisting device 400, first, as shown in FIG. 21, the first moving unit 140 in the z direction is driven to move the twisted electric wire 2 in the + z direction. Then, in this state, as shown in FIG. 22, the claw portion 434 of the centering chuck 432 chucks the twisted electric wire 2, and the first claw piece 459 and the second claw piece 469 sandwich the twisted electric wire 2. Further, the transport chuck 150 releases the chuck of the twisted electric wire 2. The chuck operation of the centering chuck 432, the pinching operation of the first claw piece 459 and the second claw piece 469, and the chuck release operation of the transport chuck 150 are performed in this order, for example.

After the chuck operation of the centering chuck 432 is completed or after the pinching operation of the first claw piece 459 and the second claw piece 469 is completed, the imaging unit 412 images the untwisted region. Here, the region including the chuck target region of the untwisted region is imaged. As a result, the imaging data acquisition unit 413 acquires imaging data as shown in FIG. 23 or FIG. 28, for example. The cases shown in FIGS. 23 to 27 and the cases shown in FIGS. 28 to 32 are cases in which the postures of the two electric wires 3 are different from each other.

Here, since the two electric wires 3 have the insulating coatings 5 of different colors and the image pickup unit 412 is configured by the color camera, the two electric wires 3 can be distinguished by the color in the image pickup data thus obtained. To. To show this, in FIGS. 23 and 28, one of the two electric wires 3 is hatched with sand (the same applies to FIGS. 25 and 30). In the following, the electric wire 3 with sand hatching may be referred to as an electric wire 3a, and the remaining electric wire 3 may be referred to as an electric wire 3b.

Next, as shown in FIGS. 24 and 29, the electric wire extraction unit 414 extracts the outline of the electric wire 3 (virtual line in FIGS. 24 and 29) based on the obtained image pickup data, and the extracted outline is extracted. The line width acquisition unit 416 acquires the line widths W1 and W2 of the two electric wires 3 at the target position (here, the chuck target region) in the captured image based on the above. Here, the line width W1 is the line width of the electric wire 3a, and the line width W2 is the line width of the electric wire 3b.

Next, as shown in FIGS. 25 and 30, the posture acquisition unit 418 acquires the postures of the two electric wires 3 in the chuck target region from the line widths W1 and W2 of the two electric wires 3 obtained. For example, a table T for associating the line widths W1 and W2 of the two electric wires 3 with the postures of the two electric wires 3 is stored in advance in the storage unit 808, and the attitude acquisition unit 418 stores the obtained two electric wires 3 It is conceivable to illuminate the line widths W1 and W2 of the above table T and acquire the postures of the two electric wires 3. Further, for example, the posture acquisition unit 418 can acquire the postures of the two electric wires 3 as follows by using the line widths W1 and W2 of the two electric wires 3 obtained. That is, due to the characteristics of the twisted electric wire 2, it is unlikely that both of the two electric wires 3 are hidden by the other side in a certain portion along the extending direction. That is, it is considered that one of the line widths W1 and W2 of the two obtained electric wires 3 is the same as the line width of the electric wire 3 or slightly larger than that by the bending of the electric wire 3. At this time, the other is considered to be the same as or smaller than one. When one and the other are the same, it is considered that the posture is side by side in the x direction. When the other is smaller than one, it is considered that the electric wire 3 having the other line width is located in the −z direction with respect to the electric wire 3 having one line width. Then, it is considered that the position of the electric wire 3 having the other line width is determined with respect to the electric wire 3 having the one line width depending on how much the other is smaller than one.

Next, as shown in FIGS. 26 and 31, the rotation amount acquisition unit 438 acquires the target rotation amount of the twisted electric wire 2 based on the postures of the two obtained electric wires 3. The target rotation amount of the twisted electric wire 2 is acquired as shown below, for example. First, a wire L1 connecting the central axes of the two electric wires 3 is provided in the postures of the two obtained electric wires 3. Further, in the target posture, a line L2 connecting the central axes of the two electric wires 3 is provided. Here, the target posture is a posture in which the two electric wires 3 are arranged side by side in the x direction in the chuck target region. That is, in the target posture, the line L2 connecting the central axes of the two electric wires 3 is a line parallel to the x direction. The angle formed by these wires L1 and L2 is the target rotation amount of the twisted electric wire 2.

In particular, here, of the two electric wires 3, the electric wire 3 located in the + x direction in the target posture is defined. Here, the electric wire 3a is located in the + x direction with respect to the electric wire 3b in the target posture. In this case, one of the two corners formed by the two wires L1 and L2 is the target rotation amount of the twisted electric wire 2. When the electric wire 3 located in the + x direction in the target posture is not defined among the two electric wires 3, either of the two corners formed by the two wires L1 and L2 may be the target rotation amount of the twisted electric wire 2. .. The direction in which the twisted electric wire 2 is rotated is uniquely determined by which of the two corners formed by the two wires L1 and L2 is the target rotation amount of the twisted electric wire 2. In the following, the posture in which the sand-hatched electric wire 3 of the two electric wires 3 is located in the + x direction with respect to the other electric wire 3 will be described as the target posture. Therefore, of the two corners formed by the two wires, in the case shown in FIG. 26, the obtuse angle is the target rotation amount of the twisted wire 2, and in the case shown in FIG. 31, the acute angle is the purpose of the twisted wire 2. It becomes the amount of rotation. Further, in the case shown in FIG. 26, the direction of rotation is counterclockwise around the y-axis when viewed from the −y direction, and in the case shown in FIG. 31, it is clockwise when viewed from the −y direction. ..

Next, as shown in FIGS. 27 and 32, the twisted portion 440 rotates the twisted electric wire 2 based on the obtained target rotation amount to correct the twisted wire 2 to the target posture. Here, the target rotation amount of the center gear 442 is acquired based on the target rotation amount of the obtained twisted electric wire 2, and the center gear 442 is set to the same direction as the above rotation direction by the target rotation amount of the center gear 442. By rotating, the twisted electric wire 2 is corrected to the target posture.

More specifically, first, the target movement amount of the first claw piece 459 (or the second claw piece 469) is acquired based on the target rotation amount of the obtained twisted electric wire 2. The target movement amount of the first claw piece 459 is obtained by the target rotation amount of the twisted electric wire 2, the diameter of the electric wire 3, and the like. Next, the target rotation amount of the center gear 442 is acquired based on the target movement amount of the first claw piece 459. The target rotation amount of the center gear 442 is obtained by the target movement amount of the first claw piece 459, the diameter of the center gear 442, and the like.

By driving the motor 132 to rotate the center gear 442 according to the target rotation amount of the center gear 442 thus obtained, the first claw piece 459 and the second claw piece 469 move by the target movement amount, and the twisted electric wire 2 Rotates the target rotation amount. As a result, the postures of the two electric wires 3 in the chuck target region are arranged side by side in the x direction, and one electric wire 3 is always located in the + x direction.

When the postures of the two electric wires 3 in the chuck target region become the target postures, the twisted electric wires 2 are chucked by the transport chuck 150. In addition, the twisted electric wire 2 is released from being pinched by the first claw piece 459 and the second claw piece 469. Further, the chuck of the twisted electric wire 2 by the centering chuck 432 is released.

After that, as shown in FIGS. 33 and 34, the twisted electric wire 2 is moved to move the chuck target region to the operating region of the untwisting chuck 420. After that, the chuck target area is chucked by the untwisting chuck 420. More specifically, the operation of the chuck 420 for untwisting the chuck target region by driving the y-direction moving portion 130 and the z-direction first moving portion 140 to move the twisted electric wire 2 in the + y direction and the −z direction. Move to area. In this state, the drive portion 424 of the untwisting chuck 420 is driven, and the chuck target region is chucked by the claw portion 422. At this time, since the postures of the two electric wires 3 in the chuck target region are arranged side by side in the x direction and the claw portion 422 chucks the two electric wires 3 from the z direction, a chucking error due to the claw portion 422 is unlikely to occur.

When the untwisting chuck 420 chucks the chuck target area, the untwisting operation is executed. Here, by relatively moving the twisting chuck 420 and the twisted electric wire 2 in the y direction, the two electric wires 3 are squeezed and untwisted. More specifically, as shown in FIGS. 35 and 36, the twist wire 2 is moved in the −y direction by driving the y-direction moving portion 130 in a state where the twisting chuck 420 chucks the chuck target area. Let me. As a result, in a state where the untwisting chuck 420 chucks the two electric wires 3, the chuck position by the untwisting chuck 420 gradually moves to the tip side of the two electric wires 3. As a result, a frictional force is generated on the two electric wires 3, and the frictional force untwists the two electric wires 3. That is, in a state where the two electric wires 3 are chucked by the untwisting chuck 420 from the direction intersecting the extending direction (here, the z direction), the two electric wires 3 are chucked in the extending direction (here, y) with respect to the untwisting chuck 420. By sliding in the direction), the twist is unwound. In the examples shown in FIGS. 35 and 36, a state during the untwisting operation is shown. In the untwisting operation here, the twisted electric wire 2 is moved in the −y direction to a position where the two electric wires 3 are pulled out from the untwisting chuck 420.

The twisted wire 2 thus untwisted is then sent to the end setting device 500.

The twisted electric wire 2 sent to the end setting device 500 first moves so that the two electric wires 3 are located above the stage 540 as shown in FIG. 37. Here, the two electric wires 3 are described as being mounted on the stage 540, but they may be floated from the stage 540. More specifically, the y-direction moving portion 130 is driven to move the twisted electric wire 2 in the + y direction. Here, the positions of the two electric wires 3 along the y direction are such that the portion close to the jacket 6 is located directly below the crotch jig 522. When moving the twisted electric wire 2 in the + y direction, for example, by driving the first moving portion 140 in the z direction to move the twisted electric wire 2 in the + z direction and then moving it in the −z direction, the two electric wires are moved. It becomes easy to put 3 on the stage 540.

The two electric wires 3 may be mounted on the stage 540 by driving the moving portion 110 in the x direction and moving the moving portion 110 in the + x direction in a state where the two electric wires 3 are positioned in the y direction. In this case, it is preferable that an inclined surface for guiding the two electric wires 3 is formed on the side surface of the stage 540 on the −x direction side.

After the two wires 3 are placed on the stage 540, the twisted wires 2 are then chucked by the centering chuck 510, as shown in FIG. 38. Specifically, the drive unit 514 is driven to close the claw unit 512. As a result, the twisted wire 2 is chucked and centered by the centering chuck 510. Here, since the two electric wires 3 are mounted on the stage 540, centering in the z direction is unnecessary. Therefore, the centering chuck 510 centers the twisted electric wire 2 only in the x direction. However, the centering chuck 510 may also be centered in the z direction.

After the twisted wire 2 is chucked by the centering chuck 510, the tip of the crotch jig 522 is then inserted between the two wires 3 as shown in FIGS. 39 and 40. Specifically, the crotch jig 522 is moved in the −z direction by the crotch jig moving unit 526. Here, the driving force of the driving unit 527 is weakened and the crotch jig 522 is moved in the −z direction by the urging force of the urging unit 536. As a result, when the crotch jig 522 presses the two electric wires 3, it becomes difficult for an excessive force to be applied to the two electric wires 3.

As the crotch jig 522 moves in the −z direction, as shown by the imaginary line in FIG. 40, one of the two electric wires 3 comes into contact with one of the two inclined surfaces 524 at the tip thereof, and two electric wires 3 The other of the two wires 3 abuts on the other of the inclined surface 524. At this time, since the two electric wires 3 are mounted on the stage 540, they cannot escape in the −z direction. As a result, when the crotch jig 522 is moved in the −z direction as it is, each electric wire 3 is pressed against each inclined surface 524 and slides in the x direction in opposite directions. As a result, as shown by the solid line in FIG. 40, the intersecting portion of the two inclined surfaces 524 at the tip of the crotch jig 522 is inserted between the two electric wires 3. As described above, the portion of the two electric wires 3 near the jacket 6 is in a state where the crotch is bitten by the crotch jig 522.

After the tip of the crotch jig 522 is inserted between the two electric wires 3, then, as shown in FIG. 41, the crotch jig 522 and the twisted electric wire 2 are relatively moved in the y direction to move the two electric wires. Gradually remove the crotch of the other areas of 3. At this time, the crotch jig 522 and the twisted electric wire 2 move relative to each other in the y direction so that the crotch jig 522 moves toward the tip end side of the twisted electric wire 2. At this time, it is preferable to release the centering chuck 510 and then move the crotch jig 522 and the twisted electric wire 2 relative to each other. More specifically, the drive unit 514 is driven to open the claw unit 512. After that, the y-direction moving unit 130 is driven to move the twisted electric wire 2 in the −y direction. As a result, the crotch jig 522 moves to the tip side of the two electric wires 3, and the area where the crotch of the two electric wires 3 is avoided expands.

When the crotch jig 522 moves to the tip side of the two electric wires 3 and the area where the crotch of the two electric wires 3 is avoided expands, the tip chuck 170 next chucks the two electric wires 3. At this time, as shown in FIG. 42, the drive of the y-direction moving portion 130 is stopped at a position where the two electric wires 3 do not come off from the crotch jig 522, and the tip of the crotch jig 522 is the two electric wires 3. It is preferable to chuck the two electric wires 3 by the next tip chuck 170 while being inserted between them. As a result, chuck mistakes of the two electric wires 3 by the tip chuck 170 are less likely to occur.

More specifically, the second electric wire 3 in the z direction is in a position where the two electric wires 3 cannot be pulled out from the crotch jig 522, and the tip of the y crotch jig 522 is still inserted between the two electric wires 3. The moving unit 160 is driven to move the tip chuck 170 in the + z direction. As the tip chuck 170 moves in the + z direction, the insertion piece 172 of the tip chuck 170 is inserted between the two electric wires 3 as shown in FIGS. 43 and 44. At this time, the crotch jig 522 opens the crotch of the insertion target region of the insertion piece 172 in the two electric wires 3, and the crotch jig 522 is in a state of pressing the tip portions of the two electric wires 3. It is unlikely that the insertion piece 172 is not inserted between the two electric wires 3.

Further, at this time, by moving the tip chuck 170 in the + z direction while the twisted electric wire 2 is held by the electric wire pressing portion 550, the situation where the insertion piece 172 is not inserted between the two electric wires 3 is further less likely to occur. Specifically, the pressing member moving portion 554 is driven to move the pressing member 552 in the −z direction, which is opposite to the side where the insertion piece 172 is inserted into the two electric wires 3 (here, the −z direction). Hold the twisted wire 2 from the side (here, the + z direction). As a result, the pressing member 552 presses the twisted electric wire 2 at a position closer to the insertion piece 172 than the crotch jig 522, so that the insertion piece 172 approaching from the −z direction comes into contact with the electric wire 3 and the electric wire 3 moves in the + z direction. Even if an attempt is made to escape, the pressing member 552 can suppress this. As a result, the insertion piece 172 can be more reliably inserted between the two electric wires 3. In the example shown in FIG. 43, the portion of the twisted electric wire 2 where the jacket 6 is located (near the edge portion of the jacket 6) is pressed, but the two electric wires 3 may be suppressed.

When the insertion piece 172 is inserted between the two electric wires 3, the two electric wires 3 are chucked by the tip chuck 170 as shown in FIGS. 45 and 46. More specifically, the drive unit 176 is driven to move the two sandwiching pieces 174 closer to the insertion piece 172 along the x direction. As a result, the two electric wires 3 are separated by the insertion piece 172, and are chucked by the insertion piece 172 and the two holding pieces 174, respectively.

When the tip chuck 170 chucks the two electric wires 3 and the transport chuck 150 chucks the jacket 6 portion of the twisted electric wire 2, the state as shown in FIG. 47 is obtained. In this state, the twisted electric wire 2 is sequentially conveyed to each device on the downstream side of the end setting device 500.

The twisted electric wire 2 is first conveyed to the tip cutting peeling device 600 on the downstream side of the end setting device 500. Then, in the tip cutting peeling device 600, the tip cutting process is performed on the two electric wires 3 at the same time. Further, after the tip cutting process, the two electric wires 3 are simultaneously peeled. As a result, the tips of the electric wires 3 are aligned and the insulating coating 5 in a part of the tip is peeled off. More specifically, with the two wires 3 located between the cutting blades 610, the drive unit 630 is driven to move the cutting blades 610 closer as shown in FIG. 48, and the tips of the two wires 3 are moved closer to each other. Are disconnected at the same time. After that, in a state where the two electric wires 3 are moved between the peeling blades 620, the drive unit 630 is driven to move the peeling blades 620 closer to each other. At this time, the peeling blade 620 is located at a position where the two electric wires 3 each bite into the insulating coating 5 and do not reach the core wire 4. In this state, the y-direction moving portion 130 is driven to move the twisted electric wire 2 in the −y direction to peel off the insulating coating 5 at the tips of the two electric wires 3.

After that, the twisted electric wire 2 is sent to the terminal crimping device 700, and the terminal 7 is simultaneously crimped to the tips of the two electric wires 3. More specifically, the drive unit 730 is driven with the two terminals 7 mounted on the lower mold 720 and the two electric wires 3 positioned between the two terminals 7 and the upper mold 710. The upper die 710 approaches the lower die 720, and the crimping portion 8 at the terminal 7 is plastically deformed into a shape corresponding to the inner surface of the deformed portion 712 of the upper die 710 while involving the end of the electric wire 3. As a result, the terminals 7 are crimped to the tips of the two electric wires 3. When the upper die 710 is lowered, the first moving portion 140 in the z direction may be driven to move the twisted electric wire 2 in the −z direction as well. Further, at the time of crimping, the terminal 7 is preferably in a state in which the mating side connecting portion 9 (box portion) located at the tip of the crimping portion 8 is chucked by the terminal chuck 740.

From the above, the twisted electric wire 2 shown in FIG. 2 in which the terminals 7 are crimped to the ends of the two electric wires 3 is completed.

According to the above aspect, the untwisting device 400 can automate the untwisting work of the twisted electric wire 2. At this time, since the twisting chuck 420 chucks the plurality of electric wires 3 after recognizing the postures of the two electric wires 3 around the y-axis in the untwisting region, the chucking can be surely performed in the target posture. Then, since the untwisting chuck 420 untwists in a state where the two electric wires 3 are chucked in the target posture, the untwisted state is stable in the plurality of electric wires 3.

Further, the end setting device 500 automatically chucks the ends of the two electric wires 3 in a state of being partitioned at predetermined intervals. By sending the two electric wires 3 to the terminal crimping device 700 in this state, it becomes easy to crimp the terminals 7 to the ends of the electric wires 3 by an automatic machine. Therefore, it is possible to automate the work related to crimping terminals to the ends of the two electric wires 3 in the two electric wires 3. In particular, here, by automating the twisting process and the end setting process of the two electric wires 3 in the twisted electric wire 2, it is possible to automate the process from the scale cutting of the twisted electric wire 2 to the terminal crimping.

At this time, in the twisting device 400, the twisting chuck 420 and the twisted electric wire 2 are relatively moved in the y direction, so that the two electric wires 3 can be untwisted.

In addition, the electric wire 3 side can be rotated when the posture is corrected. As a result, when another device such as a crimping device is installed on the downstream side of the twisting device 400, the electric wire 3 can be maintained in a rotated state even in the device on the downstream side. As a result, it is possible to save the trouble of re-rotating the electric wire 3 in the device on the downstream side, and it is possible to simplify the overall configuration.

Further, the twisted portion 440 can chuck and rotate the intermediate portion of the electric wire 3.

Further, in order to acquire the line width of each electric wire 3 in the imaging data captured from the z direction and recognize the posture of the electric wire 3 based on the line width, the circumference of the axis of the two electric wires 3 in the untwisting region can be easily obtained. The posture of is recognizable.

Further, in the end setting device 500, when the electric wire holding portion 550 is provided, the insertion piece 172 in the tip chuck 170 is inserted between the two electric wires 3 by the second moving portion 160 in the z direction. It is possible to suppress an insertion error caused by the two electric wires 3 being pushed by the insertion piece 172.

Further, since the twisted electric wire 2 is moved in the y direction with respect to the crotch jig 522 fixed in the y direction, the y direction moving portion 130 can be provided on the transport portion 100 side. Thereby, when the end setting device 500 and another device such as a crimping device are installed side by side, the overall configuration can be simplified.

{Modification example}
FIG. 50 is an explanatory view showing a modified example of the twisted portion 440.

So far, it has been described that the first claw piece 459 and the second claw piece 469 are provided in one set, but the first claw piece 459 and the second claw piece 469 are provided in two sets separated from each other in the axial direction. It may have been. At this time, as shown in FIG. 50, the first claw piece 459 and the second claw piece 469 of the second set are relative to the first claw piece 459 and the second claw piece 469 of the first set along the y direction. It is preferable that the transfer chuck 150 is sandwiched between them. For example, it is conceivable to provide a second set of the first claw piece 459 and the second claw piece 469 at the position of the electric wire pressing portion 470 in the twisted portion 440 according to the embodiment in place of the electric wire pressing portion 470. It is also conceivable to add the centering chuck 432 to the positions of the first claw piece 459 and the second claw piece 469 of the second set.

According to such an aspect, when the twisted electric wire 2 is rotated by the twisted portion 440A, the twisted electric wire 2 is rotated while being chucked by two sets of the first claw piece 459 and the second claw piece 469. The direction of the axis of the is less likely to shake. Further, when the twisted electric wire 2 is conveyed to the position where the post-process is performed, the conveying chuck 150 that chucks the twisted electric wire 2 chucks between two sets of the first claw piece 459 and the second claw piece 469, thereby twisting. It becomes easy to convey the electric wire 2 to the position where the post-process is performed.

FIG. 51 is an explanatory diagram showing a modified example of the untwisting operation.

So far, it has been described that the untwisting operation is executed by relatively moving the two electric wires 3 and the untwisting chuck 420 in the y direction, but this is not an essential configuration. It is also conceivable to rotate the two electric wires 3 and the untwisting chuck 420 relative to each other around the y-axis to perform the untwisting operation. In this case, for example, the untwisting operation is executed as follows.

That is, the chuck target area of the twisting chuck 420 may be set at the tips of the two electric wires 3. In this case, in the chuck target area set at the tips of the two electric wires 3, the two electric wires 3 are corrected into a side-by-side posture in the x direction by the posture correction unit 430. Then, as shown in FIG. 51, in a state where the untwisting chuck 420 chucks the chuck target area set at the tips of the two electric wires 3, the twisted portion 440 twists the twisted electric wires 2 in the direction opposite to the twisting direction. By rotating, the two electric wires 3 are untwisted. The amount of rotation when the twisted portion 440 rotates the twisted electric wire 2 in the direction opposite to the twisting direction is determined based on, for example, the twisting amount of the electric wire 3 in the untwisting region. The amount of twisting of the electric wire 3 in the untwisting region can be easily obtained from known values of the peeling length of the jacket 6 and the twisting pitch.

According to such an aspect, the untwisting can be performed by rotating the untwisting chuck 420 and the two electric wires 3 in the direction opposite to the twisting direction.

{Other variants}
In the end processing device 1 of the embodiment, it is conceivable that, for example, a dielectric assembling device for assembling a dielectric holding two terminals 7 is provided on the downstream side of the terminal crimping device 700. Such a dielectric is formed of an insulating material such as a resin, and includes an accommodating portion for accommodating the two terminals 7 while partitioning them. By providing the dielectric, deterioration of noise resistance at the tip of the twisted electric wire 2 that has been untwisted is suppressed.

Further, although the twisted electric wire 2 in the embodiment has been described as not having the shield conductor, this is not an essential configuration. It is also conceivable that the twisted electric wire 2 is provided with a shield conductor that covers the periphery of the two twisted electric wires 3. The shield conductor may be braided or metal foil. As a material for forming a braid or a metal foil, general copper, copper alloy, aluminum, iron or the like can be used. For example, when the shield conductor is a braid, it is preferable to knit the braid on the outer circumference of the two electric wires 3 twisted by the braid knitting machine. When the shield conductor is a metal foil, it is preferable to spirally wind a long metal foil around the outer periphery of the two twisted electric wires 3. Further, so-called vertical attachment may be performed when covering the jacket 6.

When the twisted electric wire 2 includes a shield conductor that covers the periphery of the two twisted electric wires 3, it is conceivable that the end processing device 1 further includes an apparatus for processing the shield conductor. As such a device, for example, when a braid is used as a shield conductor, a braid raising device that raises the braid, a braid cutting device that cuts the tip of the raised braid, and a braid that is raised and the tip is cut are inverted. A braid reversing device or the like can be considered. These devices are incorporated, for example, between the jacket peeling device 300 and the untwisting device 400. It is also conceivable that an outer conductor connecting device for connecting an outer conductor for grounding the braid is further provided. The outer conductor connecting device is incorporated, for example, on the downstream side of the dielectric assembly device.

Further, although the twisted electric wire 2 has been described as including two electric wires, it may include three or more electric wires.

Further, it has been described so far that the twisting device 400 and the end setting device 500 are separated. This is mainly to reduce the time required for one device. However, this is not an essential configuration. The untwisting device 400 and the end setting device 500 may be integrally provided. In this case, for example, while positioning the centering chuck 510 and the crotch portion 520 of the end setting device 500 at the position of the untwisting chuck 420 in the untwisting device, the untwisting chuck is located at the position of the wire holding portion 550. It is conceivable to provide a chuck to replace the 420.

It should be noted that the configurations described in the above-described embodiment and each modification can be appropriately combined as long as they do not conflict with each other.

The present specification includes the following disclosure.
The end setting device according to the first aspect is an end setting device for setting the ends of a plurality of electric wires in a positioning state, and the ends of the plurality of electric wires extending along a first direction are set. A crotch jig formed in a tapered shape along a second direction intersecting the first direction so as to be inserted between the crotch jigs, and the crotch jig is inserted between the ends of the plurality of electric wires. A crotch portion including a first-direction relative moving portion capable of relatively moving the crotch jig and the plurality of electric wires along the first direction, and the plurality of crotch jigs. An insertion piece inserted between the ends of the plurality of electric wires on the rear end side of the crotch jig with the ends of the electric wires sandwiched between the ends of the electric wire, and the plurality of insertion pieces. It is provided with a tip chuck including two holding pieces capable of chucking each of the electric wires of the above.
The end setting device according to the second aspect is the end setting device according to the first aspect, and is a second direction in which the tip chuck and the plurality of electric wires are relatively moved along the second direction. A relative moving portion and an electric wire holding portion that sandwiches the plurality of electric wires and presses the plurality of electric wires from the opposite side to the tip chuck are further provided along the second direction.
The end setting device according to the third aspect is the end setting device according to the first or second aspect, and the first direction relative moving portion moves the plurality of electric wires.
The end processing device according to the fourth aspect includes an end setting device according to any one of the first to third aspects, and a terminal crimping device capable of simultaneously crimping terminals to the ends of the plurality of electric wires. A transport unit for feeding the plurality of electric wires chucked by the tip chuck to the terminal crimping device.
The end processing device according to the fifth aspect is the end processing device according to the fourth aspect, further comprising a transfer chuck for chucking the plurality of electric wires on the rear end side of the tip chuck, and the transfer. The unit sends the plurality of electric wires chucked by the tip chuck and the transport chuck to the terminal crimping device.
According to the first to fifth aspects, the ends of the plurality of electric wires are automatically chucked in a state of being partitioned at predetermined intervals. Further, by sending a plurality of electric wires to the terminal crimping device in this state, it becomes easy to crimp the terminals to the ends of the electric wires by an automatic machine. From the above, it is possible to automate the work related to crimping terminals to the ends of each electric wire in a plurality of electric wires.
In particular, according to the second aspect, when the insertion piece in the tip chuck is inserted between the plurality of electric wires by the second direction relative moving portion, the insertion due to the plurality of electric wires being pushed by the insertion piece. You can suppress mistakes.
In particular, according to the third aspect, the first-direction relative moving portion can be provided on the electric wire conveying side. This makes it possible to simplify the overall configuration when the electric wire end setting device and another device such as a crimping device are installed side by side.
In particular, according to the fifth aspect, the transport posture of the plurality of electric wires is less likely to be disturbed.
Although the present invention has been described in detail as described above, the above description is an example in all aspects, and the present invention is not limited thereto. It is understood that a myriad of variations not illustrated can be envisioned without departing from the scope of the invention.

1 End processing equipment 2 Twisted electric wire 3, 3A, 3B electric wire 4 Core wire 5 Insulation coating 6 Jacket 7 Terminal 8 Crimping part 100 Conveying part 110 x direction moving part 120 Conveying unit 122 Chuck unit 130 y direction moving part 140 z direction 1st Moving part 150 Conveying chuck 160 Z direction 2nd moving part 170 Tip chuck 172 Insert piece 174 Holding piece 176 Drive part 200 Scale cutting device 300 Jacket peeling device 400 Twisting device 410 Attitude recognition part 412 Imaging unit 420 For twisting unwinding Chuck 422 Claw part 424 Drive part 430 Posture correction part 432 Centering chuck 438 Rotation amount acquisition part 440 Twist part 450 1st unit 452 1st rack part 459 1st claw piece 460 2nd unit 462 2nd rack part 468 2nd running part 469 2nd claw piece 470 Electric wire holding part 500 End setting device 510 Centering chuck 520 Crotch part 522 Crotch cutting jig 524 Inclined surface 526 Crotch cutting jig moving part 536 Bounce part 540 Stage 550 Wire holding part 600 Tip cut peeling Equipment 700 Terminal crimping device 710 Upper type 720 Lower type 730 Drive unit

Claims (6)

An end setting device for setting the ends of a plurality of electric wires in a positioning state.
A crotch jig formed in a tapered shape along a second direction intersecting with the first direction so as to be inserted between the ends of the plurality of electric wires extending along the first direction, and the crotch jig. A first-direction relative moving portion capable of relatively moving the crotch jig and the plurality of electric wires along the first direction while the jig is inserted between the ends of the plurality of electric wires. With the crotch part including
With the insertion piece inserted between the ends of the plurality of electric wires on the rear end side of the crotch jig in a state where the crotch jig is crotch between the ends of the plurality of electric wires. , A tip chuck including two holding pieces capable of chucking each of the plurality of electric wires with the insertion piece.
Equipped with a,
By inserting the crotch jig, the crotch of the insertion target area of the insertion piece set at the ends of the plurality of electric wires is opened so that the insertion piece can be inserted. apparatus. The end setting device according to claim 1.
A second-direction relative moving portion that relatively moves the tip chuck and the plurality of electric wires along the second direction.
An end setting device further comprising, along the second direction, an electric wire holding portion that sandwiches the plurality of electric wires and presses the plurality of electric wires from a side opposite to the tip chuck. The end setting device according to claim 1 or 2.
The first-direction relative moving unit is an end setting device that moves the plurality of electric wires. The end setting device according to any one of claims 1 to 3.
The first-direction relative moving portion relatively moves the electric wire and the crotch jig so that the crotch jig inserted into the electric wire moves from the rear end side to the tip side. , End set device. The end setting device according to any one of claims 1 to 4 .
A terminal crimping device that can simultaneously crimp terminals to the ends of each of the plurality of electric wires,
A transport unit that sends the plurality of electric wires chucked by the tip chuck to the terminal crimping device, and
An end processing device. The end processing apparatus according to claim 5 .
Further provided with a transport chuck that chucks the plurality of electric wires on the rear end side of the tip chuck.
The transport unit is an end processing device that sends the tip chuck and the plurality of electric wires chucked by the transport chuck to the terminal crimping device.

Images