JPH0765653A - Method for wire harness manufacture and wire harness manufacturing apparatus to realize such method - Google Patents

Abstract

PURPOSE:To provide an economical wiring harness manufacturing apparatus for which a pair of widely used and uniaxially controllable robot hands are used. CONSTITUTION:Robot hands R1, R2 are set in a station 1. The robot hand R1 has a cramp system at the tip end and cramps the A end of an electric cable extended to an electric wire selecting table 20. A prescribed length of an electric wire is drawn in the electric wire sending direction Y and the length of the electric wire is adjusted. Then, the robot hand R2 cramps the B end of the electric wire and after that, the rear end of the electric wire is cut by a cutting apparatus 24. After the A end and the B end of the electric wire cramped by the robot hands R1, R2 are respectively sent to a coating peeling apparatus 30 and the insulating coatings of the electric wire ends are peeled, and terminals are crimped to the ends of the electric wire. After that, the electric wire is laid at the prescribed position of a layout plate 5 for assembly. After laying the wire, cramping of the electric wire by the robot hands R1, R2 is released. Since a plurality of processes are carried out by the pair of the robot hands R1, R2, the manufacturing apparatus is manufactured at a low cost.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire harness manufacturing method and a wire harness manufacturing apparatus for realizing the method.

[0002]

2. Description of the Related Art A wire harness is an electric wiring system including a large number of electric wires, terminals, connectors and the like incorporated in automobiles, copying machines and the like. This wire harness is manufactured by measuring the length of the electric wire, measuring the length of the electric wire and cutting it to a predetermined length, peeling the insulation coating from both ends of the electric wire, and peeling the exposed electric wire. Terminal crimping to crimp a terminal to an end, wiring to lay an electric wire with a terminal crimped on the drawing board, and insertion of the terminal of the wired wire end into a connector housing. Many steps are involved. Therefore, a great deal of labor and time are required to manufacture the wire harness, and there has been a strong demand for automation of the manufacturing process as compared with the related art.

Therefore, in recent years, various automated manufacturing apparatuses for wire harnesses have been provided. For example,
Japanese Patent Publication No. 42085, Japanese Examined Patent Publication No. 3-6670, Japanese Patent Laid-Open No. 1-313870 and the like disclose conventional automated manufacturing apparatuses for wire harnesses.

[0004]

However, the conventionally proposed automated manufacturing apparatus for wire harnesses requires a specially developed robot capable of biaxial movement. In addition, the manufacturing line is composed of a plurality of manufacturing stations, and in each manufacturing station, a wire harness manufacturing and assembling process is sequentially performed by a specially developed robot. Therefore, there are problems that the structure of each manufacturing station is complicated, the entire manufacturing line becomes large, and the equipment cost becomes very high. Further, since the structure is complicated, the setup change work accompanying the change of the model of the wire harness becomes very complicated, and there is a problem that it takes time and effort.

Further, in the above-mentioned automatic machine,
Since the length cutting, stripping, terminal crimping, and wiring are performed at multiple stations, it may be necessary to re-grip the ends of the wires when moving between stations. Therefore, for example, there is a possibility that an error may occur in the stripping amount, the terminal crimping position, or the like. By the way, 1
A rotatable upper arm portion is provided on a pedestal capable of axial movement and rotatable about an axis orthogonal to this one axis.
A general-purpose robot capable of uniaxial control, which has a rotatable forearm portion rotatable about an axis orthogonal to the axis, has become inexpensive and widely spread in recent years.

Therefore, the inventor of the present invention does not use a specially developed robot that can move in two axes as in the conventional wire harness manufacturing apparatus to create a manufacturing apparatus, but a general-purpose robot that can control one axis. The present invention has been completed by attempting to manufacture a manufacturing device at low cost. A main object of the present invention is to provide a wire harness manufacturing method capable of manufacturing a wire harness using inexpensive and small equipment, and a wire harness manufacturing apparatus which realizes the manufacturing method.

Another object of the present invention is to provide a wire harness manufacturing apparatus which uses a general-purpose robot capable of single-axis control, has a low equipment cost, and has a small occupied space.

[0008]

The invention according to claim 1 is
In the method for manufacturing the wire harness, the vicinity of the tip of the electric wire fed from the electric wire supply section is clamped, and the clamped electric wire is pulled out by a predetermined length to obtain an electric wire of a required length, and the adjusted electric wire is After clamping the vicinity of the rear end, cutting the rear end of the wire, and while clamping the vicinity of the end of the wire, remove the insulation coating from the end of the wire, remove the skin, and crimp the terminal to the exposed end of the wire. Perform crimping treatment, and while clamping near the rear end of the wire, strip the insulation coating on the rear end of the wire and perform terminal crimping to crimp the terminal to the rear end of the wire exposed by peeling. , Wire the tip of the wire to a predetermined position on the assembly drawing board to release the clamp, and wire the rear end of the wire to the predetermined position on the assembly drawing board to release the clamp, Single manufacturing step It is characterized in that performed in Deployment.

According to a second aspect of the present invention, in the wire harness manufacturing apparatus, a peeling means for removing the insulating coating on the end portion of the electric wire, which is arranged at a predetermined single manufacturing station,
A terminal crimping means for crimping a terminal to an end of an electric wire and an assembly drawing board on which electric wires constituting a wire harness are laid, provided in the manufacturing station, and clamped near one end of the electric wire, near one end of the electric wire. Is clamped to the stripping means to strip one end of the electric wire, and the stripping treatment is applied to the terminal crimping means to supply the one end of the electric wire with the exposed end core wire to the terminal crimping means to attach the terminal to the one end. First clamp means for releasing the clamp by arranging one end of the electric wire after the stripping treatment and the terminal crimping treatment at a predetermined position of the assembly drawing board after crimping the terminal for crimping, and the manufacturing. It is provided in the station, clamps the vicinity of the other end of the electric wire, gives it to the peeling means while clamping the vicinity of the other end of the electric wire, and causes the other end of the electric wire to be peeled off. After applying the other end of the exposed electric wire to the terminal crimping means to crimp the terminal to the other end of the electric wire, after performing the peeling treatment and the terminal crimping treatment to a predetermined position of the assembly drawing board Second clamping means for releasing the clamp by arranging the other end of the electric wire of the above.

According to a third aspect of the present invention, in the wire harness manufacturing apparatus according to the second aspect, the first clamping means further moves a predetermined amount in a predetermined direction after clamping the vicinity of one end of the electric wire. According to the above, it is characterized by performing a scale process for taking out the electric wire by a required length. According to a fourth aspect of the present invention, in the wire harness manufacturing apparatus according to the second or third aspect, the first clamping means and the second clamping means are respectively a uniaxially controllable robot hand and a tip of the robot hand. It is characterized by including a clamp mechanism provided.

[0011]

According to the wire harness manufacturing method and the manufacturing apparatus of the present invention, the first clamp means and the second clamp means keep the vicinity of one end and the vicinity of the other end of the electric wire constituting the wire harness clamped, respectively. A stripping process of stripping the insulating coating on each wire end and a terminal crimping process of crimping a terminal to the tip of the wire exposed by stripping are performed. Then, a wiring process is performed to wire the electric wire to a predetermined position on the assembly drawing board. After the wiring process, the clamps near the ends of the electric wires are released. In this way, the vicinity of the wire end is once clamped, and the stripping process, the terminal crimping process, and the wiring process are performed while the clamp is maintained. That is, in the conventional device, for each process, the vicinity of the wire end is clamped by the dedicated clamp means, so that the wire holding by the clamp means
There was a mistake in the clamp or the clamp position was misaligned. According to the present invention, since there is no holding process by such a clamping means, the yielding and the peeling can be performed accurately and accurately.
Terminal crimping and wiring processing can be performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. 1A is a plan view showing a schematic configuration of a wire harness manufacturing line including a wire harness manufacturing apparatus according to an embodiment of the present invention, and FIG. 1B is a front view thereof.

Referring to FIGS. 1A and 1B, in the wire harness manufacturing line, the first station 1, the second station 2, the third station 3 and the fourth station 4 are arranged in series from the left in the figure. It is included. The first station 1 includes a pair of robot hands R1 and R2 which are manufacturing apparatuses according to an embodiment of the present invention. Then, the pair of robot hands R1 and R2
Thus, the electric wire P is cut to a size, the insulation coating on both ends of the electric wire is removed, the terminal crimping is performed by crimping the terminal to the electric wire end exposed by the peeling, and the wiring of the terminal crimped wire is performed.

At the second station 2, a person M1 manually puts a joint electric wire (an electric wire branched by connecting a plurality of electric wires with a joint terminal, etc.), inserting the terminal into a connector housing, and mounting a corrugate. And so on. At the third station 3, a person M2 manually performs tape fixing, grommet threading, continuity inspection, visual inspection, and the like, and the completed wire harness is taken out.

At the fourth station 4, a wire laying jig on an assembly drawing board 5 which will be described later is confirmed by a sensor. An assembly drawing board 5 (described in detail later) used for manufacturing a wire harness is conveyed between these four stations.
As shown in FIG. 1B, the assembly drawing board 5 is transferred from the first station 1 to the fourth station 4,
At each station, the work of the assembly drawing board 5 is stopped for a predetermined time. And 4th station 4
, The assembly board 5 is lowered and then passes under the third station 3 and the second station 2 to the first station.
It is conveyed to the lower side of the station 1 and is raised to a workable position in the first station 1. In this way, the 4th station 4
By returning the assembling drawing board 5 from the to the first station 1, space saving of the transport mechanism is achieved. Although not specifically shown in the drawings, the transport mechanism may be a known chain transport mechanism including a chain, a pulley and a drive motor, or the like.

On the left side of the first station 1 (on the side opposite to the side where the second station 2 is connected), there are a plurality of types of electric wires P.
An electric wire selection table 20 is provided for selecting the electric wires P to be delivered to the plurality of electric wire supply devices 6 and the robot hands R1 and R2 of the first station 1. A peeling device 30 and a terminal crimping device 40 are arranged on the front side of the main body of the first station 1.

FIG. 2 is a plan view showing a schematic configuration of the main body of the first station 1 and each device arranged adjacent to the main body. With reference to FIG. 2, the plurality of types of electric wires P fed from the plurality of electric wire supply devices 6 are sent to the electric wire selection table 20. The electric wire selection table 20 includes a peculiarity removing mechanism 21 for removing the curl and the like of each electric wire P that has been sent, and a reverse feeding prevention mechanism for preventing the electric wire P from returning in the direction opposite to the feeding direction Y. 22, a wire delivery mechanism 23 for holding the removed electric wire P in a state where it can be delivered to the robot hands R1 and R2, and a cutting device 24 for cutting the rear end of the delivered electric wire P. .

The electric wire selection table 20 is engaged with a rail 25 arranged in a direction orthogonal to the electric wire feeding direction Y, and along the length direction of the rail 25, the X1 direction and the X direction.
It is movable in two directions. By doing so, the electric wire selection is performed so that the electric wire P to be received by the robot hands R1 and R2 among the plural kinds of electric wires P on the electric wire selection table 20 is always at a fixed position (a fixed position in the X1 and X2 directions). This is a mechanism for controlling the table 20.

The robot hands R1 and R2 are respectively
The pedestals 7 and 8 are attached to the pedestals 7 and 8, and each pedestal 7 and 8 is guided by a guide rail 9 extending in the length direction of the first station 1 (electric wire feeding direction Y) to extend in the length direction of the first station 1. Can be moved independently. That is, the robot hands R1 and R2 are general-purpose robot hands mounted on the mounts 7 and 8 that are uniaxially movable along the guide rail 9.

The robot hand R1 has a cut electric wire P.
In order to clamp the front end (so-called A end) of the wire, the wire is moved onto the wire transfer mechanism 23 of the wire selection table 20. At this time, the robot hand R1 always moves to a fixed clamp position. The electric wire selection table 20 moves in the X1 or X2 direction, and stops the electric wire P to be clamped by the robot hand R1 below the robot hand R1. Then, the robot hand R1 clamps the A end of the electric wire P and moves in the electric wire feeding direction Y by the length required for the electric wire P. As a result, the wire P is calibrated. Next, the robot hand R2 moves to clamp the portion (so-called B end) which is the rear end of the electric wire P, and the robot hand R2 moves the electric wire P.
After clamping the B end of the wire, the cutting device 24 cuts the electric wire P.

The A and B ends of the electric wire P clamped by the robot hands R1 and R2 are applied to the peeling device 30 while being clamped by the robot hands R1 and R2, respectively, and the coating of the electric wire ends is peeled off. The terminal is crimped to the terminal crimping device 40 to crimp the terminal to the wire end. Then, wiring is arranged on the assembly drawing board 5. In this way, with the robot hands R1 and R2 clamped at the A and B ends of the electric wire P, the electric wire end is stripped and the terminal is crimped to the electric wire end without holding the electric wire P.
Wiring on top is a major feature of this embodiment.

The terminal crimping device 40 is provided with a press ram 41 and a plurality of applicators 42 selectively attached to the press ram 41. Each applicator 42 can be moved back and forth toward the press ram 41 side by a guide rail 44 provided on a frame 43. Also, the mount 43
Is slidably supported by a guide rail 45 extending in a direction orthogonal to the guide rail 44 in order to move the applicator 42 to be advanced to a predetermined position. Further, a required terminal strip T is supplied to each applicator 42.

FIG. 3 is a perspective view for explaining the overall structure of the robot hand R1 which constitutes the first clamp means. Referring to FIG. 3, the robot hand R1 is provided with a main body portion 10 fixed on a pedestal 7 which is slidable on a guide rail 9, and a base end portion of the main body portion 10 which is rotatable about a vertical axis. The rotating upper arm portion 11, a rotating forearm portion 12 whose base end portion is rotatably provided about the vertical axis of the rotating upper arm portion 11, and a servo motor 13 provided at the distal end portion of the rotating upper arm portion 12. Have and. A clamp mechanism 15 is provided at the lower end of the rod 14 that is vertically moved by the servomotor 13.

The robot hand R2 forming the second clamp means has the same structure. FIG. 4 is a partial perspective view showing a detailed configuration of the clamp mechanism 15 portion of the robot hand R1. Next, referring to FIGS. 3 and 4, in the clamp mechanism 15, the pair of main clamp claws C1, the pair of sub clamp claws C2, and the rods 16 and 17 are moved back and forth to move each clamp claw C1. , C2 for expanding and contracting C2, C2, respectively.

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

The clamp mechanism of the robot hand R2 has the same structure as the clamp mechanism 15 shown in FIG. 4 except that the stopper plate C3 is not provided. Next, referring to FIGS. 5 to 8, the robot hand R1,
The length cutting, stripping and terminal crimping process of the electric wire P by R2 will be described. First, as shown in FIG. 5A, the robot hand R1 is moved to a predetermined position on the wire transfer mechanism 23 of the wire selection table 20. In accordance with this, the electric wire selection table 20 is slid in the X1 direction or the X2 direction (see FIG. 2), and the electric wire P to be selected is positioned under the clamp mechanism 15 of the robot hand R1.

Then, as shown in FIG. 5B, the electric wire P is clamped by the main clamp claw C1 and the sub clamp claw C2 of the clamp mechanism 15. And robot hand R
1 is the wire feeding direction Y with the A end of the wire P clamped
A predetermined amount is moved to and the electric wire P is pulled out by a predetermined length to perform a scaling process (FIG. 5C).

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

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

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

As described above, the pair of robot hands R
The ends A and B of the electric wire P are clamped by 1 and R2 respectively, and the end A of the electric wire is peeled off while being clamped.
To the terminal crimping device 40 to crimp the terminal T to the terminal A. Further, the B end is fed to the peeling device 30 to peel the B end, and is fed to the terminal crimping device 40 to crimp the terminal T to the B end. Then, the electric wire P is laid on the assembly drawing board 5 to release the clamp. Therefore, there is no so-called holding operation for re-clamping the electric wire P for each process, and the A end and the B end of the electric wire P can be correctly stripped and the terminal crimping process can be performed.

A pair of robot hands R1 and R2 supply the respective ends of the electric wire P to the peeling device 30 and the terminal crimping device 40 provided in the first station 1, and the peeling device 30 and the terminal crimping device 40 are attached. The device 40 is subjected to a peeling process and a terminal crimping process, respectively. In this way, the processing devices 30 and 40 are fixed, and a pair of robot hands R
Since the electric wire P is moved for each process by 1 and R2, the entire apparatus can be constructed at low cost and compactly.

FIG. 9 is a perspective view showing a structural example of the assembly drawing board 5. The feature of the assembly drawing board 5 is that the robot hands R1 and R2, which are mechanical devices, can perform the wiring work, and the people M1 and M2 can perform the wiring work and other work. That is. That is, the assembling drawing board 5 is a drawing board that can be shared by a machine and a person.

Referring to FIG. 9, the assembling drawing board 5 includes a board 50 having a flat rectangular shape and various kinds of wiring jigs 51, 52, 53, 54, 55 arranged on the board 50. Have Among these, the wiring jig 51 having a U-shaped electric wire receiving portion on the upper portion and supported by the support is a wiring jig used when a person lays an electric wire. The wiring jig 51 is fixed and erected on the board 50 and cannot be fallen down. In FIG. 9, the wire laying jig 51 for humans is shown in a configuration in which all of the wire laying jigs 51 do not fall, but the robot hands R1 and R2.
If there is something that is in the position of hindering the wiring by, it may be tiltable.

The wiring jigs 52 and 53 are used by the robot hand R.
It is a wiring jig for 1 and R2. These wire jigs 52, 53 for robot hands make it easy to receive the electric wires clamped by the robot hands R1, R2, and
The following structure is adopted to ensure reception. Referring to FIG. 10, a wire handing jig 5 for a robot hand
2, 53, a fixed rod member 57 having a lower end fixed to a mounting base 56, and a movable rod member 58 arranged so as to face the fixed rod member 57 and having its lower end not fixed to the mounting base 56. It is included. Two connecting pins 59 and 60 are attached to the upper and lower portions of the fixed rod member 57. The connecting pins 59 and 60 project horizontally from the fixed rod 57 toward the movable rod 58.

On the other hand, in the lower part of the movable rod member 58, connecting holes 61 and 62 are formed in the upper and lower portions, respectively, penetrating in the horizontal direction. The movable rod member 58 is attached to the fixed rod member 57 by inserting the connecting pin 59 into the connecting hole 61 and the connecting pin 60 into the connecting hole 62. Each connecting hole 61, 62 formed in the movable rod 58
Are holes having an inner diameter sufficiently larger than the outer diameters of the connecting pins 59 and 60. Further, the amount of protrusion of the connecting pins 59, 60 protruding laterally from the fixed rod 57 is determined by the connecting hole 6
It is made sufficiently longer than the length of 1, 62, and the surplus portion projects from the outer side surface of the movable rod member 58. In particular, the upper connecting pin 59 penetrates the connecting hole 61 and largely projects from the outer surface of the movable rod 58. A spring 63 is fitted so as to surround the periphery of the protruding portion. The spring 63 applies an elastic extension force between the flange 64 at the tip of the connecting pin 59 and the outer surface of the movable rod 58. Therefore, in the natural state, the movable rod member 58 abuts the fixed rod member 57 and stands parallel to the fixed rod member 57 as shown. When a force in the direction of arrow A1 is applied to the upper part of the movable rod 58, the movable rod 58 is displaced upward in the direction of arrow A1 with the engaging portion between the connecting hole 62 and the connecting pin 60 as a fulcrum, and is expanded and expanded. To do.
Further, when the force in the direction of arrow A1 is removed, the movable bar member 58 returns to the position shown in the figure by the action of the spring 63.

At the upper portions of the fixed rod member 57 and the movable rod member 58, switching recesses 6 extending vertically are formed on the opposite side surfaces.
5, 66 are formed. The vertically long facing space surrounded by the switching recesses 65 and 66 is a space capable of holding a plurality of electric wires P. In addition, rounded convex portions 67 and 68 that project toward the opposite side are formed at the upper ends of the fixed rod member 57 and the movable rod member 58, respectively. The convex portions 67 and 68 close the inlet of the electric wire holding space so that the held electric wire P does not come out upward in a natural state.

In the structure for holding the electric wire P, the fixed rod member 57 and the movable rod member 58 are opposed to each other as described above, and the lower portions of both are connected by the connecting pins 59 and 60.
Since the upper part can be expanded with the lower part as a fulcrum between the movable rods 58, the wire jig can easily receive and hold the electric wire P clamped by the robot hands R1 and R2. Moreover, it is easy for a person to take out the held electric wire. Moreover, with such a configuration, it is possible to hold a large number of electric wires P having different thicknesses in the vertical direction, and to make the wire structurally durable.

The wire holding jig 52 for robot hands is provided with one wire holding structure and the wire holding jig 53 is provided with two wire holding structures described with reference to FIG. Figure 1
FIG. 1 is a diagram showing a state in which the A end of the electric wire P is held by the wiring jig 52 by the robot hand R1. As shown in the drawing, in the clamp mechanism 15 of the robot hand R1, the portion of the electric wire P held between the main clamp claw C1 and the sub clamp claw C2 is inserted into the wiring jig 52. After inserting the electric wire P into the wiring jig 52, the clamp mechanism 15 is released from the clamp and moves upward. As a result, the electric wire P
Is held by the wiring jig 52.

Referring again to FIG. 9, the wiring jigs 54, 55
Are provided so that they can stand and tilt. These wiring jigs 54 and 55 are, for example, the second station 2 or the third station.
At the station 3, the position where the person M1 or M2 winds the tape and the position where the corrugated tube is attached are displayed. These wiring jigs 54 and 55 are unnecessary when the wiring work is performed by the robot hands R1 and R2, and are wiring jigs that hinder the standing. Therefore, it can be erected / tilted so that it can be erected only when necessary.

The wiring jigs 54 and 55 are erected in the second station 2 or the third station 3 before the person M1 or M2 works. The present invention is not limited to the above embodiments, and various design changes can be made without changing the gist of the present invention. In the above-mentioned embodiment, the electric wire P is laid on the assembly drawing board 5, but a connector housing is set in advance on the assembly drawing board 5, and the connector housing is clamped by the robot hands R1 and R2. You may make it insert the terminal of the wire end which is doing.

[0042]

According to the wire harness manufacturing method and manufacturing apparatus of the present invention, the first clamp means and the second clamp means clamp the wire near one end and near the other end, respectively. Without fixing the electric wire again, with the electric wire clamped, the end of the electric wire is stripped and the end of the electric wire is crimped, and the electric wire is laid in a predetermined position on the assembly drawing board. Then, after wiring, the clamp is released for the first time.
As described above, according to the manufacturing method and the manufacturing apparatus of the present invention, it is not necessary to carry out so-called re-holding of the electric wire for clamping the electric wire by the clamp means provided in each processing device every time the electric wire is subjected to each processing. Therefore, each process for the electric wire can be accurately performed, and the wire harness manufacturing method and manufacturing apparatus with good yield can be obtained. Further, since a plurality of processes are performed by the pair of clamping means, the control is easy and the device is easy.

Further, according to the manufacturing method and the manufacturing apparatus of the wire harness according to the present invention, the peeling treatment of both ends of the electric wire and the crimping treatment of the terminals to both ends of the electric wire are performed in a single station while clamping the vicinity of both ends of the electric wire. In addition, the electric wires are laid. Therefore, unlike the conventional wire harness manufacturing apparatus, it is not necessary to provide a dedicated processing device for each station that constitutes the manufacturing line, so that the device can be downsized and the equipment cost can be kept low. it can.

Further, according to the wire harness manufacturing apparatus of the present invention, it is possible to construct the manufacturing apparatus using a relatively inexpensive general-purpose robot without developing a dedicated robot capable of controlling two axes as in the prior art. The manufacturing equipment can be manufactured at low cost. Further, in the invention according to claim 3, since the first clamp means also performs the size adjustment process, the required length of the electric wire is controlled by the movement control of the first clamp means without relying on the size of the electric wire for the assembly drawing board as in the conventional case. Therefore, there is an advantage that the control is easy and the design change of the wire harness can be flexibly dealt with.

[Brief description of drawings]

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

FIG. 2 is a plan view showing a schematic configuration of a first station 1 and respective devices arranged adjacent to the first station 1. FIG.

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

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

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

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

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

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

FIG. 9 is an assembly drawing board 5 applicable to one embodiment of the present invention.
It is a perspective view showing an example of composition.

FIG. 10 is a diagram showing a configuration of main parts of a wiring jig for a robot hand.

FIG. 11 is a diagram showing a state in which an electric wire is held by a wiring jig by a robot hand R1.

[Explanation of symbols]

 1 1st station 2 2nd station 3 3rd station 4 4th station 5 Assembly drawing board 15 Clamping mechanism 20 Electric wire selection table 30 Stripping device 40 Terminal crimping device 51, 52, 53, 55, 55 Wiring jig

Claims (4)

[Claims] 1. A rear end of the scaled wire is clamped in the vicinity of the tip of the wire fed from the wire supply portion, and the clamped wire is pulled out by a predetermined length to obtain a wire of a required length. After clamping the vicinity of the wire, cut the rear end of the wire, and while clamping the vicinity of the end of the wire, remove the insulation coating from the end of the wire to remove the skin, and crimp the terminal to the end of the wire exposed by peeling. In addition, with the vicinity of the rear end of the wire clamped, the insulation coating on the rear end of the wire is stripped, and the terminal crimping process is performed by crimping the terminal to the rear end of the wire exposed by stripping. Wire the tip of the wire to the specified position on the assembly drawing plate to release the clamp, and wire the rear end of the wire to the specified position on the assembly drawing plate to release the clamp. At the manufacturing station And a method for manufacturing a wire harness. 2. An electric wire forming a wire harness, which is arranged in a predetermined single manufacturing station, for stripping an insulating coating on an end portion of an electric wire, terminal crimping means for crimping a terminal to the end portion of the electric wire, and electric wire constituting a wire harness. An assembly drawing board to be wired, which is provided in the manufacturing station, clamps near one end of the electric wire, and applies the peeling means to the peeling means while clamping the vicinity of one end of the electric wire, and ,
After one end of the electric wire whose end core wire is exposed by the peeling process is applied to the terminal crimping means to crimp the terminal to the one end of the electric wire, the terminal crimping process is performed, and then the peeling is performed to a predetermined position on the assembly drawing board. First clamping means for laying one end of the electric wire after processing and crimping the terminal to release the clamp, and provided in the manufacturing station, near the other end of the electric wire, and near the other end of the electric wire A terminal for crimping the other end of the electric wire to the other end of the electric wire, and then applying the other end of the electric wire with the exposed end core wire to the terminal crimping means to crimp the terminal to the other end of the electric wire. A wire harness manufacturing device including a second clamp means for releasing the clamp by laying the other end of the stripped wire and the terminal crimped wire to a predetermined position of the assembly drawing board after crimping the wire. . 3. The wire harness manufacturing apparatus according to claim 2, wherein the first clamp means further clamps the vicinity of one end of the electric wire and then moves the electric wire by a predetermined amount in a predetermined direction so that the electric wire has a required length. It is characterized by performing a scale process for extracting only a certain amount. 4. The wire harness manufacturing apparatus according to claim 2 or 3, wherein the first clamping means and the second clamping means are provided on a robot hand capable of uniaxial control and a tip of the robot hand, respectively. It is characterized by including a clamp mechanism.