JPH0715199A - Automatic wiring method - Google Patents

Abstract

PURPOSE:To reduce time for wiring work by taking a wire supplied to a wiring point for automatic wiring, bending the wire and fixing a bend as the wire supplied is held. CONSTITUTION:One holder 3a of a set of holders 3 holding both ends of a wire 1 is fixed and held stationary, while the other holder 3b is being moved horizontally and operated to turn over, thus bending the wire 1. Then, with one holder 3a held stationary, the holder 3b is moved as if returning it to its original position, the bend of the wire 1 does not completely return to the original straight line condition and the bend 5 is fixed. After the bend 5 is made on the wire 1, a set of wiring robots are activated to connect the wire to a wiring point of an electric tool to complete wiring. This makes it unnecessary for making a bend of the wire by hand after the wire is wired, thus enabling the wire to be wired fully automatically.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic wiring method in which an electric wire of an arbitrary length is inserted into a wiring place by a robot or the like for connection.

[0002]

2. Description of the Related Art As a technique for automatically wiring electric wires with a robot or the like, for example, there is one provided in Japanese Patent Publication No. 3-60200. This product supplies an electric wire cut to a predetermined length and holds it in a holder, then conveys this wire to the wiring place of the electric appliance with the holding tool, and inserts both ends of the wire into the wiring place with the holding tool. By doing so, automatic wiring is performed. Here, when wiring the electric wire to an electric appliance, it is necessary to bend the electric wire when wiring around the place where other parts are to be mounted, and to bend the electric wire in this way and to add bending habit. There may be

[0003]

However, even if the automatic wiring is performed as described above, it is not possible to add the bending habit. Therefore, after performing the automatic wiring, it is necessary to bend the electric wire by hand to add the habit. However, there is a problem in that it is difficult to completely automate the wiring and the wiring work takes time.

The present invention has been made in view of the above points, and an object of the present invention is to provide an automatic wiring method in which wiring work does not take time.

[0005]

According to the automatic wiring method of the present invention, when the supplied electric wire 1 is carried to the wiring place 2 and automatically wired, the electric wire 1 is bent while being held. It is characterized by making a habit. In this case, the bending of the electric wire 1 can be performed by operating the holder 3 that holds the supplied electric wire 1.

Further, in the automatic wiring method according to the present invention, when the supplied electric wire 1 is carried to the wiring point 2 and automatically wired, the electric wire 1 wired at the wiring point 2 is bent by a means for wiring. It is characterized by performing. In this case, by carrying the electric wire 1 to the wiring place 2 and operating the gripper 4 for automatic wiring, it is possible to bend the electric wire 1 after wiring.

[0007]

When the supplied electric wire 1 is carried to the wiring place 2 and automatically wired, the electric wire 1 is bent while holding the supplied electric wire 1 so that the electric wire 1 is wired. After doing so, there is no need to manually bend the character. In addition, the electric wire 1 wired in the wiring point 2
In addition, since the bending habit is applied by the means for wiring, it is not necessary to manually add the bending habit after wiring the electric wire 1.

[0008]

EXAMPLES The present invention will be described in detail below with reference to examples. FIG. 4 shows the entire structure of an example of the apparatus used in the present invention, and the electric wire 1 used as a lead wire is supplied by being unwound from the drum 10. 1
Reference numeral 1 denotes a pedestal, on the upper surface of which a pair of wiring robots 14 which are articulated robots provided with an electric wire supply device 12, a holder 3, and a gripper 4 are provided. These wire feeders 12
The holding tool 3, the wiring robot 14, and the gripping tool 4 are automatically controlled by the robot controller 16.
Further, an electric appliance 15 for wiring can be set on the gantry 11. In FIG. 4, 19 is a safety fence.

As shown in the schematic structure of FIG. 5, the electric wire supply device 12 is rotationally driven so that the electric wire 1 is sandwiched and sent.
The pair of feed rolls 17a and 17b and the feed roll 17
It is formed by including a coating stripping machine 18 provided between a and 17b. The electric wire 1 wound around the drum 10 is fed out by a feed roll 17a and passed through the coating stripping machine 18, and the electric wire 1 is fed by the coating stripping machine 18. After partially peeling off the insulating coating 1a on the outer periphery of the wire and exposing the end of the insulating coating 1 to expose the conductive wire 1b formed of a copper wire or the like, the wire 1 is fed from the coating peeling machine 18 by the feed roll 17b I am sending it out.

The holders 3 are a set of two guide members 20.
The electric wire holding recess 22 is provided at the upper end of each holder 3, 3. Of the pair of holders 3 and 3, the holder 3a on the side closer to the electric wire supply device 12 is driven up and down in the vertical direction (the direction substantially orthogonal to the electric wire 1 supply direction as indicated by the arrow in FIG. 5A). And the holder 3 on the side far from the electric wire supply device 12.
b is a horizontal direction along the longitudinal direction of the guide body 20 (see FIG.
It is configured to be slidably driven in a direction substantially parallel to the supply direction of the electric wire 1 as indicated by an arrow (a). In the embodiment shown in FIG. 4, two guide bodies 20 are provided in parallel with each other.

The wiring robot 14 has a plurality of arms 14a.
Is formed as a multi-joint robot configured by connecting joints with joints, and a gripping tool 4 is provided at the tip thereof.
As shown in FIG. 2A, the gripping tool 4 is a pair of chuck arms 2.
3, 23 are pivotally attached so as to be openable, closable, and rotatable.
An electric wire gripping recess 25 is provided on the facing surface of the tip of each chuck arm 23 of the gripping tool 4.

Therefore, when wiring the electric appliance 15 set on the frame 11, first, as shown in FIG.
As described above, the electric wire 1 is fed by the feed rolls 17a and 17b, and the insulation peeling machine 18 peels off the insulating coating 1a at the tip of the electric wire 1. Then, the holder 3a is moved downward as shown by the arrow in FIG.
5B is inserted along the guide body 20 while feeding the electric wire 1 by the feed rolls 17a and 17b.
The wire 1 is cut at the time when the required length of the wire 1 passes through the coating stripping machine 18 and the insulating coating 1b at the rear end is stripped off, and the holder 3a is moved to the position shown in FIG. The rear end of the electric wire 1 is inserted into the electric wire holding concave portion 22 of the holder 3a to hold the electric wire 1 as shown in FIG. 1 (a). Holder 3,3
Hold in.

Next, of the pair of holders 3 and 3 for holding both ends of the electric wire 1, one holder 3a is fixed and kept stationary, while the other holder 3a is fixed as shown by an arrow in FIG. Holder 3b
Is operated while being horizontally moved, and the electric wire 1 is bent as shown in FIG. 1 (b). After this,
One of the holders 3a remains stationary while the holder 3b is shown in FIG.
When it is moved so as to return to the original position as shown by the arrow in (c), the bent portion of the electric wire 1 does not completely return to the original straight state, and the bending habit 5 is attached.

Although the electric wire 1 is inserted and held in the electric wire holding concave portion 22 of the holder 3 in the above embodiment, the electric wire 1 is chucked by forming the holder 3 with a pair of chucks which can be opened and closed. You may make it hold | maintain by doing. Further, in the above embodiment, the bending habit is set by the operation of reversing and rotating the one holder 3, but the present invention is not limited to this. In addition to the above method, a method of using a pin or the like can be used as the method of bending habit.

After attaching the bending habit 5 to the electric wire 1 as described above, the pair of wiring robots 14 and 14 are operated to move the grippers 4 and 4 to both ends of the electric wire 1 as shown in FIG. 2 (a). 2 (b), the both ends of the electric wire 1 are moved to the respective gripping tools 4 as shown in FIG. ，
4. Hold and hold at 4. Next, each wiring robot 14 is operated to move the electric wire 1 to the wiring location 2 of the electric appliance 15. Then, as shown in FIG. 3A, the electric wire 1 is arranged between the wiring points 2 and 2 of the electric appliance 15, and each gripper 4 is moved as shown by an arrow in FIG. By inserting the exposed ends of the conductor 1b of the electric wire 1 into the insertion hole 26 formed at the position 2, the electric wire 1 is connected to the wiring position 2 of the electric appliance 15 for wiring as shown in FIG. 3B. be able to. Here, a quick-connect terminal is provided in the insertion hole 26 so that the electric wire 1 can be connected by inserting the end portion of the electric wire 1 into the insertion hole 26.

FIG. 6 shows another embodiment of the present invention, in which the electric wire 1 is bent and bent immediately after the wiring portion 2 is wired. That is, FIG. 6A shows the final step of performing the automatic wiring of the electric wire 1 by the procedure of FIGS. 5, 2 and 3, in which both ends of the electric wire 1 are grasped by the pair of grasping tools 4, 4. The wiring is shown by being inserted into the insertion hole 26 of the wiring portion 2 by means of the wiring.
After the electric wire 1 is wired in the wiring place 2 in this way, after the electric wire 1 is once held by the holding tools 4 and 4, the electric wire 1 is held in the electric wire holding recess 25, and the holding tools 4 and 4 are held. Is moved along the electric wire 1, and the portion near the central portion of the electric wire 1 is again grasped by the grasping tools 4 and 4. Then, by moving the pair of grippers 4, 4 in opposite directions in the direction intersecting the longitudinal direction of the electric wire 1, for example, as shown in FIG.
As shown in the arrow (b), one gripping tool 4 is moved upward, and the other gripping tool 4 is moved downward so that the bending habits 5 are formed at two positions of the electric wire 1 as shown in FIG. 6 (c). Can be attached. The chuck arm 23 of the gripping tool 4 is
The shape, the number, the operation, etc. are not limited to the illustrated embodiment.

[0017]

As described above, according to the present invention, when the supplied electric wire is carried to the wiring location and automatically wired, the electric wire is bent while holding the supplied electric wire. There is no need to manually bend the electric wire after wiring the electric wire, and the wiring can be completely automated, and the wiring work does not take time.

Further, when the supplied electric wire is carried to the wiring place and automatically wired, the electric wire arranged at the wiring place is bent by the means for wiring, and therefore, in the same manner as described above, This eliminates the need to manually bend and bend the wire after wiring it.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention (a),
(B), (c) is a perspective view which shows the order of the operation | movement which attaches a bending habit to an electric wire, respectively.

FIG. 2 shows another process of the above embodiment,
(A), (b) is a perspective view which shows the order of operation.

FIG. 3 is a perspective view showing still another process of the above-mentioned embodiment, in which (a) and (b) are operation sequences.

FIG. 4 is a perspective view showing an overall configuration of an embodiment of an apparatus used for automatic wiring.

FIG. 5 is a view showing a device for peeling and holding the insulating coating of the electric wire, and (a), (b) and (c) are front views showing the order of operations.

FIG. 6 shows another embodiment of the present invention,
(A), (b), (c) is a perspective view which shows the order of the operation | movement which gives a bending habit to an electric wire, respectively.

[Explanation of symbols]

 1 electric wire 2 wiring location 3 holding tool 4 gripping tool 5 bending habit

Claims (4)

[Claims] 1. An automatic wiring method characterized in that when a supplied electric wire is carried to a wiring location and automatically wired, the electric wire is bent and bent while holding the supplied electric wire. 2. The automatic wiring method according to claim 1, wherein bending of the electric wire is performed by operating a holder that holds the electric wire to be supplied. 3. An automatic wiring method, characterized in that when a supplied electric wire is transported to a wiring place and automatically wired, the electric wire wired at the wiring place is bent by a means for wiring. 4. The automatic wiring method according to claim 3, wherein the electric wire after wiring is bent and bent by operating a gripping tool that carries the electric wire to a wiring location and performs automatic wiring. .