JPH0963739A - Manufacture of terminal-crimped wire and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make available a crimp terminal to be used, if its shape is somewhat varied, by photographing the crimp terminal, recognizing a placement condition of the crimp terminal, including the direction, the face and back, and the position in accordance with photographed information and feeding the crimp terminal being always held in a preset condition to the end of a cable. SOLUTION: A cutting and skinning means is used to cut a continuously fed cable K at a preset length and partially skin sheathes at both ends. The cable K is carried to the first operation area, where skinned debris at one side of the cable K is removed by a debris removing mechanism. It is carried to the second operation area, where a crimped terminal T is crimped to one end of the cable K, to the third operation area, where a crimping height is measured, to the fourth operation area and the fifth operation area as it is. The cable K is reversed to remove skinned debris at the other end in the sixth operation area and to crimpingly attach a different crimp terminal to the other end in the seventh operation area, and formed into a complete a terminal crimped cable. It is measured as predetermined in the eighth operation area and discharged in the ninth operation area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for manufacturing a terminal crimped wire in which a crimp terminal is attached to an end of a cable.

[0002]

2. Description of the Related Art Conventionally, as an electric wire end processing device for processing an electric wire end portion, a cutting device for cutting a supplied cable into a predetermined length and a cable cut into a predetermined length by the cutting device in a predetermined length. Connect the cable carrier that conveys to the crimping position, the terminal supply device that supplies the crimp terminal to the end of the cable that is conveyed to the crimping position by this cable carrier, and the crimp terminal that is supplied to the cable end Some terminals are provided with a terminal crimping device, and the crimping terminal can be automatically connected to the end of the cable cut into a predetermined length.

By the way, as shown in FIG. 20 and FIG. 21, a terminal feeder 100 for sequentially feeding crimp terminals connected to the ends of electric wires in an aligned manner is a spiral feeder section 101.
And a linear feeder 105. The spiral feeder 101 has a bowl-shaped vibrating ball body 102 in which a spiral alignment stepped portion 103 is formed on the inner surface side, and a predetermined vibration is applied to the vibrating ball body 102. Vibration imparting mechanism 10
And 4.

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

Further, in FIG. 20, 109 and 110
Is a controller for controlling the vibration applying mechanisms 104 and 108, and these controllers 109, 110, the spiral feeder section 101, and the linear feeder section 105 are installed on a substrate 111.

The linear guide rod 106 of the linear feeder section 105 is arranged on the alignment step section 10 of the vibrating bowl body 102.
3 are arranged so that the alignment groove portions 107 are aligned with each other, and a large number of crimp terminals are accommodated in the vibrating ball body 102, as shown by the arrows in FIG.
Is sequentially guided in an alignment shape along the alignment step portion 103 by the vibration of, and then is passed to one end side of the alignment groove portion 107 of the straight guide rod 106, and the other end is aligned along the alignment groove portion 107 by the vibration of the straight guide rod 106. It is configured to be sequentially guided to the side.

Further, the alignment groove 107 is open at the other end of the straight guide rod 106, and a small gap S is formed between the other end of the straight guide rod 106 and the other end of the straight guide rod 106 in the guide direction. The block 112 is attached to the fixed unit 113 side of the electric wire end processing device. Further, the extraction block 112 is formed with an extraction standby groove portion 114 as a crimp terminal extraction portion that faces the alignment groove portion 107 of the linear guide rod 106, and the vibration of the linear guide rod 106 causes other portions along the alignment groove portion 107. The crimp terminals that are sequentially guided to the end side are transferred to the take-out standby groove portion 114 of the take-out block 112. Then, the take-out standby groove portion 1
The crimp terminal delivered to 14 is set at a predetermined position on the crimping die by an air cylinder (not shown).

When the crimp terminals are sequentially fed in an array, if the posture of the crimp terminals is not a predetermined posture in the feeding path, the vibrating ball body 102 is selected and eliminated by a posture regulating unit (not shown). It is configured to be returned inside.

[0009]

By the way, since the terminal supply device 100 as described above is specialized according to the shape of the crimp terminal used, it is not versatile and manufactures a small lot and a wide variety of products. Very disadvantageous in case.

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

Therefore, an object of the present invention is to provide a crimp terminal which can be supplied even if the shape of the crimp terminal to be used is changed a little, and is versatile. An object of the present invention is to provide a method and an apparatus for manufacturing a terminal crimped electric wire, which does not take time and effort for adjustment and setup.

[0012]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention cuts a supplied cable into a predetermined length and cuts off the coating of the end portion of the cable.
Peeling step, cable conveying step of conveying the cut and peeled cable to the crimping work area, terminal supplying step of supplying crimp terminals to the crimping work area, and crimping supplied in the crimping work area A crimping step of crimping the terminal to the end of the cable, the terminal supplying step, imaging the crimping terminal randomly placed on the mounting surface, the direction of the crimping terminal based on this imaging information, front and back, Terminal crimping wire that recognizes the terminal mounting state such as position and always grips the crimping terminal in a predetermined state based on the obtained mounting state of the crimping terminal and feeds it to the cable end in a predetermined state The present invention provides a method for manufacturing the same.

In addition, a cutting / stripping step of cutting the supplied cable into a predetermined length and stripping the coating of the end portion of the cable, and the cut and stripped cable are
A cable conveying step of sequentially conveying the crimping work area, the reversing work area, and the second crimping work area; a first terminal supplying step of supplying a crimping terminal into the first crimping work area; A first crimping step of crimping the supplied crimp terminal to one end of the cable in the working area, and a reversing step of reversing the cable having the crimp terminal crimped to one end of the reversing working area. And a second terminal supplying step of supplying a crimping terminal into the second crimping work area, and crimping the supplied crimping terminal to the other end of the inverted cable in the second crimping work area. Second
A crimping step, and in the first terminal supplying step and the second terminal supplying step, the crimping terminal randomly placed on the mounting surface is imaged, and the direction, front and back, and position of the crimping terminal are based on the imaging information. Such that the crimping terminal is always grasped in a predetermined state based on the obtained crimping terminal mounting state and conveyed to the first and second crimping work areas in a predetermined state. It is also possible to provide a method for manufacturing the terminal crimped electric wire.

Further, as a manufacturing apparatus for realizing the above-mentioned method for manufacturing a crimped terminal wire, a cutting / stripping means for cutting a supplied cable into a predetermined length and stripping a coating of a terminal portion of the cable, and a predetermined length. A cable conveying means for conveying the cable cut to the crimping terminal to the crimping work area,
The crimping work area is provided with a terminal supplying means for supplying a crimping terminal and a crimping means for crimping the supplied crimping terminal to a cable end portion in the crimping work area. Image pickup means for picking up an image of the crimp terminal placed on the image pickup means, and image recognition means for recognizing the placed state of the crimp terminal such as the direction, front and back, and position of the crimp terminal based on the image pickup information picked up by the image pickup means. It is conceivable that the crimp terminal is always held in a predetermined state based on the placement state of the crimp terminal obtained by the image recognition means and is conveyed to the crimping work area in the predetermined state.

Further, first, the cutting / peeling means for cutting the supplied cable to a predetermined length and for stripping the coating of the terminal portion of the cable, and the cable cut / peeled by the cutting / peeling means are first. Cable conveying means for sequentially conveying the crimping work area, the reversing work area, and the second crimping work area, and terminal supplying means for supplying crimping terminals to the first crimping work area and the second crimping work area. A first crimping means for crimping the supplied crimping terminal to one end of the cable in the first crimping work area, and a cable having the crimping terminal crimped to one end in the reversing work area. And a second crimping means for crimping the supplied crimp terminal to the other end of the inverted cable in the second crimping work area.
An image pickup means for picking up an image of a crimp terminal randomly placed on a placement surface of the terminal supply means, and a mounting of the crimp terminal such as a direction, front and back, and a position of the crimp terminal based on image pickup information picked up by the image pickup means. An image recognition means for recognizing the placement state, and a terminal carrying means for always gripping the crimp terminal in a given state based on the placement state of the crimp terminal obtained by the image recognition means and delivering the crimp terminal in the crimp work area in a given state. It can also be configured by.

Further, it is desirable that a holding mechanism for holding the cable conveyed by the cable conveying means is provided in each of the crimping work area and the reversing work area, and the holding mechanism of the first and second crimping means is provided. If both of them are arranged on the same side of the transportation line with the transportation line of the cable transported by the cable transportation means interposed therebetween, the first
Alternatively, all or part of the terminal supply means for supplying the crimp terminal to the second crimping work area can be shared.

Further, by moving the entire holding mechanism of the cable carried to the crimping work area and held by the holding mechanism, the terminal supplying means crimps the cable in the crimping work area. A cable setting mechanism for setting the crimp terminals supplied to the position is provided, and with this cable setting mechanism,
By moving the entire holding mechanism to a position where the core wire portion of the stripped cable exceeds the wire barrel of the crimp terminal, once setting the covered portion of the cable in the wire barrel, and pulling back the entire holding mechanism, If you set the core part inside the wire barrel,
Even if the core part is loose, it can be set securely in the wire barrel.

Further, in the reversing work area, a deviation amount of a holding position when the reversed cable is held by the holding mechanism is measured, and the second amount is measured based on the measured deviation amount. A position deviation amount measuring work area provided with position deviation amount measuring means for adjusting the movement amount of the holding mechanism by the cable setting mechanism in the crimping work area is provided between the reversing work area and the second crimping work area. When the cable is provided and the cable is transported from the reversing work area to the second crimping work area through the position shift amount measuring work area, the crimp terminal can be securely crimped to a predetermined position of the cable.

Further, a terminal stock portion for temporarily placing the crimp terminal, and a terminal take-out robot for holding the crimp terminal placed on the placing surface and temporarily placing the terminal transport means on the terminal stock portion. It can also be configured by a terminal setting robot that grips a crimp terminal that is temporarily placed in the terminal stock section and sets it at the end of the cable at the crimping position. When the chuck is inserted into the wire barrel of the crimp terminal in this state and the chuck is opened to press the chuck against the inner surface of the wire barrel to grasp the crimp terminal, the vicinity of the terminal to be grasped The other terminals at are not disturbed.

[0020]

Embodiments will be described below with reference to the drawings. As shown in FIG. 1 and FIG. 2, this terminal crimping wire manufacturing apparatus 1 includes 15 to 30 sq EB and AV both ends for connecting an on-vehicle battery to a starter motor, a relay box, a mission and the like. A crimp terminal is connected to the cable feeding means 1
0, a cable cutting / stripping means 20, a cable conveying means 30, a crimping means 40, a terminal supplying means 50, a cable inverting means 60, a terminal crimping wire discharging means 70 (see FIG. 4) and the like.

The cable feeding means 10 comprises a cable K.
And a cable feeder 12 for feeding the cable K drawn out from the cable drum 11 to the cutting / stripping means 20, and the cable feeder 12 includes: Cable drum 11
It has a plurality of guide rollers for sandwiching the cable K pulled out from and a drive roller for feeding out the cable K by rotating the cable K while sandwiching the cable K.

As shown in FIG. 6, the cutting / peeling means 20 comprises a cutting blade 22 and a pair of peeling blades 23 arranged at regular intervals in front of and behind the cutting blade 22. The portion 21, the pair of fixed chucks 24 and 25 arranged before and after the cutting / stripping portion 21, and the cable K sent from the cable feeding means 10 are gripped to hold the cutting / stripping portion 21. 21 pull-in chuck 26
And a transport chuck 27 (see FIG. 8) for delivering the cable K cut and stripped by the cutting / stripping unit 21 to the cable transporting means 30. K is cut and peeled.

First, as shown in FIG. 6 (a), the pull-in chuck 26 holds the end of the cable K that has been cut and peeled in the previous step, and the next cutting position of the cable K is the cutting blade 22. The cable K is drawn into the cutting / stripping portion 21 so as to coincide with (indicated by a dashed line in the figure).

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

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

Thereafter, as shown in FIG. 3C, the cutting blade 22 and the stripping blade 23 are separated from the cable K, and the fixed chuck 25 is further moved in the direction of the arrow in FIG. Cable K on the downstream side of the cut portion, which has been cut into pieces and the coating on both ends thereof has been partially stripped off.
However, as shown in FIG. 8, after being transported to the transport chuck 27 and gripped by the transport chuck 27, the transport chuck 27 delivers it to the cable transport means 30.

As described above, the cable conveying means 30 conveys the cable K whose both ends are partially stripped to the nine work areas via the delivery area in sequence.
As shown in FIG. 5, a movable chuck 31 for transferring the cable K between the transfer area and the fixed chuck 81 installed in each of the work areas is provided.

Of the delivery area and the eight work areas, one fixed chuck 81 is installed in each of the delivery area and the first work area to the fourth work area on the upstream side. From the 5th work area to the final 9th work area, left and right 1 in each work area.
The individual fixed chucks 81 (81a, 81b) are installed at regular intervals. In addition, the delivery area, each fixed chuck 81 installed in each area from the first work area to the fourth work area, and the downstream side (left side) of the final work area from the fourth work area. The installed fixed chucks 81b have a fixed installation interval. Therefore, the fixed chucks 81a installed on the upstream side (right side) of the fifth work area to the final work area also have the same installation interval.

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

A guide rail 34a extending in the left-right direction over substantially the entire length of the first support plate 34 is attached to the first support plate 34. The guide rail 34a is slidably fitted in the guide rail 34a so that the guide rail 34a moves in the left-right direction. An extending second support plate 36 is supported by the first support plate 34 so as to be movable in the left-right direction. And this second support plate 3
6 is the first support plate 34 by a driving means (not shown).
It is designed to move to the left and right.

The movable chuck 31 is fixed in each of the delivery area and the first to eighth work areas with the second support plate 36 moved to the upstream side (right side). Corresponding to the chuck 81, they are respectively supported on the upper end of the second support plate 36 at the same installation intervals as the fixed chuck 81, and the cable K is sequentially transferred to the fixed chuck 81 on the downstream side in the following manner. It is designed to be handed over.

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

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

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

Next, while the movable chuck 31 maintains this height level, the second means is driven by the driving means.
When the support plate 36 is moved to the downstream side by the installation interval of the fixed chuck 81, the movable chucks 31 are moved above the fixed chuck 81 in the adjacent work areas on the respective downstream sides, as shown in FIG. Move to.

After that, by lowering the first support plate 34 by the drive means, the movable chuck 31 is moved to the same height level as the fixed chuck 81 as shown in FIG. Here, the movable chuck 31
Releases the grip of the cable K, and the fixed chuck 8
1 grips the cable K so that each cable K
Have been transported to the work areas adjacent to the respective downstream sides, and the respective work is performed in each work area.

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

Although not shown in the drawing, while the second support plate 36 is moving to the downstream side, the transfer chuck 27 that holds the cable K immediately after cutting and peeling is the transfer area. Of the cable K that has been cut and peeled off.
After handing over to 1, it is set back to the initial position. Therefore, by repeating the above-mentioned operation of the movable chuck 31, the cables K are successively transported to the adjacent work area on the downstream side.

The contents of work in each work area will be sequentially described below from the work area on the upstream side. First, FIG.
As shown in FIG. 3, the first work area is a scrap remover for completely removing the remaining stripping scraps of the cable K that has been cut to a predetermined length by the cutting / stripping means 20 and has both ends partially stripped. A mechanism 82 is installed, and this scrap removal mechanism 8
By 2, the peeling debris on one end side of the cable K transported from the delivery area is removed.

In the second work area, the crimp terminal is crimped to one end side of the cable K which has been conveyed from the first work area and in which the stripping debris has been removed and the core wire portion has been completely exposed. And the crimping means 40 is installed.

The crimping means 40 comprises a crimping upper die and a crimping lower die 41 which are vertically opposed to each other, and an elevating mechanism such as an air cylinder for vertically raising and lowering the crimping upper die with respect to the crimping lower die 41. A general terminal crimping machine provided with the wire barrel portion of the crimping terminal supplied by the terminal feeding means 50 is placed on the crimping lower mold 41, and the core wire portion of the cable K stripped in the wire barrel. After setting, the crimping upper die is lowered by the elevating mechanism, the wire barrel portion is sandwiched between the crimping lower die 41 and pressed, and the crimp terminal is crimped to the core wire portion of the cable K. There is.

As shown in FIGS. 1 and 2, the terminal supplying means 50 conveys the terminal feeder section 51 for sequentially feeding a large number of crimp terminals and the crimp terminals fed by the terminal feeder section 51 for crimping. The terminal feeder unit 51 is configured to be set in the lower crimping die 41 of the means 40, and the terminal feeder unit 51 includes a feeder main body 52 and a control device 53 for controlling the feeder main body 52, as shown in FIG. It has and. In this embodiment, the product name “intelligent feeder” manufactured by Daikin Industries, Ltd. is used as the terminal feeder unit 51.

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

The bowl feeder 52b is composed of a bowl-shaped vibrating ball body having a spiral conveying path formed on the inner surface side thereof, and a vibration imparting mechanism for imparting a predetermined vibration to the vibrating ball body. A large number of crimp terminals T accommodated in the vibrating ball body are sequentially guided by the vibration of the vibrating ball body along the conveying path, and a predetermined mounting surface S formed by a transparent acrylic plate on the extension of the conveying path. It is designed to be transported up. In addition, in the bowl feeder 52b, a plurality of crimp terminals T are conveyed onto the mounting surface S, but the respective crimp terminals T have different positions, postures, and the like.

The light source 5 is attached to the crimping terminal T thus conveyed on the mounting surface S via the half mirror 52e.
The light from 2d is radiated, and the crimp terminal T on the mounting surface S is imaged by the CCD camera 52c.

The controller 53 controls the CCD camera 5
Based on the imaging information captured by 2c, the mounting state such as the direction, front and back, and position of the crimp terminal T on the mounting surface S is recognized, the crimp terminal T that can be taken out is selected, and the direction of the crimp terminal T is selected. In addition to transmitting information such as position and orientation to the terminal transport unit 54, it also controls opening / closing operations of the outlets of the bowl feeder 52b and the housing 52a.

The terminal transport section 54 is a crimpable terminal T that is transportable and is placed on the mounting surface S of the feeder main body 52.
A terminal take-out robot 55 that grips and takes out from the feeder main body 52, a terminal stock portion 56 that temporarily puts the crimp terminal T taken out by the terminal take-out robot 55, and a crimp that is temporarily placed on the terminal stock portion 56. It comprises a terminal setting robot 57 for gripping the terminal T and setting it on the lower crimping die 41 of the crimping means 40.

The terminal take-out robot 55 has terminal information (direction, position, attitude data, etc.) from the controller 53.
Is received by the robot controller 55b shown in FIG. 11, and one of the crimp terminals T that can be taken out of the crimp terminals T on the mounting surface S is grasped based on an instruction from the robot controller 55b. Further, as shown in FIG. 13A, the terminal take-out robot 55 has a chuck 55a for gripping a terminal that opens and closes at the tip, and as shown in FIG. 13B, the chuck 55a is held. After inserting the wire into the wire barrel of the crimp terminal T in the closed state, as shown in FIG. 6C, the chuck 55a is opened to press the chuck 55a against the inner surface of the wire barrel to grip the crimp terminal T. It has become. When the crimp terminal T is gripped in this way, even if another crimp terminal T is placed in the vicinity of the crimp terminal T to be gripped, the crimp terminal T does not interfere with the predetermined crimp terminal T The terminal T can be reliably gripped.

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

As shown in FIG. 14, the terminal stock portion 56 receives and positions the metal disk 56a and the crimp terminals T provided at equal intervals on the peripheral edge of the upper surface of the disk 56a in a predetermined posture. A plurality of temporary holders 56b, a motor 56c for rotating the disk 56a, and the disk 5
When 6a rotates to bring the temporary placement section 56b to the temporary placement position by the terminal take-out robot 55, the temporary placement section 5
An optical sensor 56d including a light receiving element and a light emitting element for detecting whether or not the crimp terminal T is already temporarily placed on the 6b, that is, whether or not the crimp terminal T can be temporarily placed on the temporary placing portion 56b, and the temporary placement. To detect whether the crimp terminal T is temporarily placed in the temporary placing portion 56b, that is, whether the crimp terminal T can be taken out from the temporary placing portion 56b when the portion 56b reaches the gripping position by the terminal setting robot 57. And a light sensor 56e including a light receiving element and a light emitting element.

Therefore, the crimp terminal T gripped by the terminal take-out robot 55 is temporarily placed in the temporary placing portion 56b of the terminal stock portion 56 so that the crimp terminal T is always kept in a fixed posture by the terminal setting robot 57. After being sent to the gripping position, the crimp terminal T can be reliably taken out by the terminal setting robot 57.

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

In the terminal supply means 50 thus constructed, first, one removable crimp terminal T is selected from the plurality of crimp terminals T on the mounting surface S by the terminal feeder portion 51, and Connect the crimp terminal T to the terminal transport unit 5
The terminal take-out robot 55 of No. 4 holds and temporarily puts it on the temporary placing section 56b at the temporary placing position of the terminal stock section 56. Then, the crimp terminal T conveyed to the take-out position of the terminal stock portion 56 by the rotation of the disk 56 a is gripped by the terminal setting robot 57 and set on the crimping lower die 41 of the crimping means 40.

As described above, the terminal supply means 50 is
Since we do not use the conventional linear feeder,
It is possible to stably supply the crimp terminal T to the terminal crimping means 40 without the supply of the crimp terminal T being stopped by the crimp terminal T being clogged or caught. When supplying crimp terminals T having different shapes and sizes, the image recognition program of the control device 53 is changed and the terminal stock portion 56 is changed to the crimp terminals T.
There is an advantage that it is possible to supply various types of crimp terminals T just by exchanging with a disc 56a equipped with a temporary placing portion 56b conforming to the above, which is very advantageous when manufacturing a small lot and a wide variety of products. is there.

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

As shown in FIG. 15 (a), the cable K gripped by the fixed chuck 81 has a covering portion beyond the wire barrel of the crimp terminal T having the core wire portion of the tip set by the cable setting mechanism. After being conveyed to a position above the wire barrel, the fixed chuck 81 is lowered by the cable setting mechanism to temporarily set the covered portion in the wire barrel as shown in FIG. As shown in c), the fixed chuck 81 is fixed by the cable setting mechanism.
The core of the cable K is set in the wire barrel by slightly pulling back. The core portion of the cable K is set in the wire barrel by such a method. The cable K is simply conveyed until the core portion is located above the wire barrel, and the core portion is set in the wire barrel. By doing so, when the core wire portion is separated, a part of the core wire may protrude to the outside of the wire barrel, and it is not possible to reliably crimp the wire barrel to all the core wires.

In the third work area, as shown in FIG.
A crimping height measuring device 83 is installed to measure whether or not the crimping height of the crimp terminal T crimped to one end of the cable K in the second work area is appropriate.

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

In the fifth work area, a reversing means 60 constituted by a robot hand for exchanging the ends of the cables K gripped by the fixed chuck 81 is installed.
The inversion work is performed as follows. First, since the cable K conveyed from the fourth work area is delivered to the left fixed chuck 81b, as shown in FIG. 16, the crimp terminal T is not attached by the chuck 61 of the reversing means 60. At the same time that the end portion of the cable K is gripped, the fixed chuck 81b releases the grip of the cable K. Then, as indicated by the alternate long and short dash line in the figure, while the chuck 61 of the reversing means 60 rotates while holding the cable K, the end portion side of the cable K to which the crimp terminal T is not attached is adjacent. Fixed chuck 81a
After the fixed chuck 81a grips the cable K and the chuck 61 releases the grip of the cable K at the same time, the reversing means 60 returns to the initial position. As a result, the ends of the cable K are swapped, and the cable K is gripped by the right fixed chuck 81a in the subsequent work area.

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

As described above, the left and right two fixed chucks 81 are installed in the sixth work area. The sixth work area faces the right-side fixed chuck 81a and is placed on the other end side as in the first work area. A scrap removing mechanism 82 that completely removes the remaining scraps of the cable K whose left end is partially peeled is installed, and the scraps on the other end side are removed by the scrap removing mechanism 82. Fixed chuck 8 for removed cable K
Position shift amount measuring means 85 for measuring the shift of the grip position by 1a is provided. This positional deviation amount measuring means 85
18 (a), the contact body 85a at a predetermined position is brought into contact with the tip of the core wire portion on the other end side of the cable K and the amount of movement thereof is measured. ), A deviation amount dL from an appropriate distance L from a preset fixed chuck 81a to the tip of the core wire portion on the other end side of the cable K gripped by the fixed chuck 81a is measured. The amount of movement of the fixed chuck 81a by the cable setting mechanism in the seventh working area described later is adjusted.

In the seventh work area, a crimping means 40 and a cable setting mechanism similar to those in the second work area are installed, and by the same steps as in the second work area,
Cable K from which descaling has been removed in the sixth work area
The crimp terminal T is crimped to the other end of the. As described above, the horizontal movement amount of the fixed chuck 81a by the cable setting mechanism in this work area is corrected so as to take into consideration the shift amount dL of the holding position of the cable K by the fixed chuck 81a, and the reversing means 6 is used.
Even when the gripping position of the cable K of the fixed chuck 81a is deviated from the proper position due to the inversion operation by 0, the core wire portion of the cable K can be properly set in the wire barrel of the crimp terminal T.

Since the shape of the crimp terminal T to be crimped to the cable K is different between the above-mentioned second work area and this work area, as in the case of the second work area, the terminal feeder section 51 and the terminal conveying section are provided. Terminal supply means 5 consisting of the portion 54
0 is also installed separately. However, in this embodiment, as shown in FIG. 1, both of the two crimping work areas (second and sixth work areas) each provided with the crimping means 40 are carried by the cable carrying means 30. K
Since a configuration is adopted in which the transfer lines are placed on the same side of the transfer line, it is possible to share a part of the terminal supply means 50. That is, the terminal take-out robot 55 in the terminal transfer section 54 is shared by both terminal transfer sections 54, and one terminal take-out robot 55 allows each terminal feeder section 51 to move to each terminal stock section 56. The respective crimp terminals T are temporarily placed in order. Also,
When crimping the same crimp terminal T to both ends of the cable K, it is possible to share all of the terminal supply means 50.

In the eighth work area, as shown in FIG.
Crimping height measuring device 8 similar to the third work area
3 is installed to measure whether or not the crimping height of the crimp terminal T crimped to the other end of the cable K in the seventh work area is appropriate.

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

In the terminal crimping wire manufacturing apparatus 1 configured as described above, the terminal crimping wire is manufactured as follows. First, as shown in FIG. 19 (a), the continuous cable K fed by the cable feeding means 10 is cut to a predetermined length by the cutting / stripping means 20, and the both ends are covered with a uniform coating. The skin is stripped. And
The cable K is transported to the first work area by the cable transport means 30 via the delivery area,
The scrap removing mechanism 82 completely removes the scraps from the one end of the cable K, as shown in FIG.

In this way, the cable K whose core wire portion is exposed on one end side is conveyed to the second work area by the cable conveying means 30 and then by the crimping means 40.
As shown in FIG. 7C, the crimp terminal T is crimped to one end of the cable K. The cable K having the crimp terminal T crimped on one end side in this way is conveyed to the third work area by the cable conveying means 30 and the crimping height is measured by the crimping height measuring device 83, and then the cable is conveyed. The means 30 conveys the cable to the fourth work area. However, in this embodiment, since the crimp terminals T on both ends have the same orientation, no work is performed in the fourth work area, and the cable is left as it is. It is transported to the fifth work area by the transport means 30.

In the fifth work area, the cable K is inverted by the inverting means 60 as shown in FIG. 7D, and in this state the cable K is conveyed by the cable conveying means 30.
Is transported to the sixth work area. In the sixth work area, the debris removing mechanism 82 completely removes the stripping debris on the other end side of the cable K as shown in FIG. It is transported to the seventh work area.

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

In this embodiment, the manufacturing apparatus and the manufacturing method of the terminal crimping wire in which the crimping terminals T are connected to both ends of the cable K have been described, but the crimping terminal T is connected only to one end of the cable K. In this case, it is not necessary to provide the fourth work area to the eighth work area.

Further, in this embodiment, the cutting / stripping means 20 partially strips the coating on both ends of the cable K, and then the scrap removal mechanism 82 completely removes the scraps from the cable K. However, the present invention is not limited to this, and it is also possible to completely strip the coating on both ends of the cable K by the cutting / stripping means 20, for example.

Further, in this embodiment, after connecting the crimp terminal T to one end of the cable K, the cable K is immediately inverted by the reversing means 60 to connect the crimp terminal T on the other end. However, for example, the cable K whose one end is connected to the crimp terminal T is temporarily discharged from the manufacturing line by the inverting means 60, and the cable K is
It is also possible to insert the protective tube into and to return it to the production line by the inverting means 60 again.

[0073]

As described above, the method and apparatus for manufacturing a crimp terminal according to the present invention picks up an image of the crimp terminal randomly placed on the placing surface, and the direction of the crimp terminal is detected based on this image pickup information. Recognize the mounting state of terminals such as front, back, position,
Since the crimp terminal is always grasped in a predetermined state and fed to the cable end portion in a predetermined state based on the mounting state of the obtained crimp terminal, even if the shape of the crimp terminal used is slightly changed. Since it is possible to sufficiently deal with the situation and increase versatility, it becomes very advantageous when manufacturing a small lot and a wide variety of products.

Further, unlike the conventional case, since a linear feeder or the like for supplying the crimping terminals along the alignment groove portions due to the vibration of the straight guide rod is not used, the crimping terminals may be clogged or caught in the alignment groove portions during the supply. Without
Since the crimp terminals can be stably supplied, the adjustment work of the device does not become complicated.

[Brief description of drawings]

FIG. 1 is a schematic plan view showing an embodiment of an apparatus for manufacturing a crimped terminal electric wire according to the present invention.

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

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

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

FIG. 5 is a right side view showing details of the above portion.

FIG. 6 is a process drawing showing a cutting / stripping process of the same.

FIG. 7 is a process drawing showing the above cutting / stripping process.

FIG. 8 is a process drawing showing the above cutting / stripping process.

FIG. 9 is an operation view showing the operation of the above cable carrying means.

FIG. 10 is an operation view showing the operation of the above cable carrying means.

FIG. 11 is a perspective view showing a part of the above-mentioned terminal supply means.

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

FIG. 13 is an operation diagram showing the taking out of a terminal by the above terminal taking out robot.

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

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

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

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

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

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

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

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

[Explanation of symbols]

 1 Terminal crimping wire manufacturing device 10 Cable feeding means 11 Cable drum 12 Cable feeding machine 20 Cutting / stripping means 21 Cutting / stripping part 22 Cutting blade 23 Stripping blade 24, 25 Fixed chuck 26 Pulling chuck 27 Transporting Chuck 30 Cable conveying means 31 Movable chuck 32 Support column 32a Guide rail 33, 35 Slide guide 34 First support plate 34a Guide rail 36 Second support plate 40 Crimping means 41 Crimp lower mold 50 Terminal supply means 51 Terminal feeder section 52 Feeder body 52a Housing 52b Bowl feeder 52c CCD camera 52d Light source 52e Half mirror 53 Control device 54 Terminal transport section 55 Terminal extraction robot 55a Chuck 56 Terminal stock section 56a Disk 56b Temporary storage section 56c Motors 56d, 56 Optical sensor 57 Terminal setting robot 60 Inversion means 61 Chuck 70 Ejection means 81 Fixed chuck 82 Dust removal mechanism 83 Crimping height measuring device 84 Cable rotating device 85 Position deviation amount measuring means 85a Contact body 86 Ejection mechanism T Crimping terminal K cable S Placement surface

Claims (10)

[Claims] 1. A cutting / stripping step of cutting a supplied cable into a predetermined length and stripping a coating of a terminal portion of the cable, and a cable transport for transporting the cut / striped cable to a crimping work area. A step of supplying a crimp terminal to the crimping work area, and a crimping step of crimping the supplied crimping terminal to the end of the cable in the crimping work area. An image of the crimp terminal that is randomly placed on the placement surface is imaged, and based on this imaging information, the terminal placement state such as the direction, front and back, and position of the crimp terminal is recognized, and based on the obtained placement state of the crimp terminal. A method for manufacturing a terminal crimping wire, wherein a crimping terminal is always gripped in a predetermined state and fed to the cable end portion in a predetermined state. 2. A cutting / stripping step of cutting a supplied cable into a predetermined length and stripping a coating of a terminal portion of the cable, and cutting and stripping the cable into a first crimping work area,
A cable conveying step of sequentially conveying to a reversing work area and a second crimping work area, a first terminal supplying step of supplying a crimp terminal into the first crimping work area, and a first crimping work area, A first crimping step of crimping the supplied crimp terminal to one end of the cable; a reversing step of reversing the cable in which the crimp terminal is crimped to one end in the reversing work area; And a second crimping step of crimping the supplied crimp terminal to the other end portion of the inverted cable in the second crimping work area. In the first terminal supply step and the second terminal supply step, the crimp terminal randomly placed on the mounting surface is imaged, and the direction, front and back, and position of the crimp terminal are determined based on the imaging information. Placement state A method for manufacturing a crimped terminal wire, in which the crimped terminal is always gripped in a predetermined state and conveyed to the first and second crimping work areas in a predetermined state based on the obtained mounting state of the crimped terminal . 3. A cutting / stripping means for cutting a supplied cable into a predetermined length and stripping a coating of a terminal portion of the cable, and the cable cut into the predetermined length is conveyed to a crimping work area of a crimp terminal. A cable feeding means, a terminal supplying means for supplying a crimping terminal to the crimping work area, and a crimping means for crimping the supplied crimping terminal to a cable end portion in the crimping work area, the terminal supplying means: An image pickup means for picking up an image of the crimp terminal randomly placed on the placing surface, and an image for recognizing the placement state of the crimp terminal such as the direction, front and back, and position of the crimp terminal based on the image pickup information picked up by the image pickup means. Recognition means and a terminal for always gripping the crimping terminal in a predetermined state based on the placement state of the crimping terminal obtained by the image recognizing means and conveying the crimping terminal in the crimping work area in the predetermined state. Apparatus for manufacturing a terminal crimping electric wires constituted by the feeding means. 4. A cutting / stripping means for cutting a supplied cable into a predetermined length and stripping a coating of a terminal portion of the cable, and a cable cut and stripped by the cutting / stripping means as a first Cable conveying means for sequentially conveying the crimping work area, the reversing work area, and the second crimping work area, and terminal supplying means for supplying crimping terminals to the first crimping work area and the second crimping work area, A first crimping means for crimping the supplied crimping terminal to one end of the cable in the first crimping work area; and a cable having a crimping terminal crimped to one end in the reversing work area. And a second crimping means for crimping the supplied crimp terminal to the other end of the inverted cable in the second crimping work area. Image pickup means for picking up an image of the crimp terminal randomly placed on the placing surface, and image recognition for recognizing the placement state of the crimp terminal such as the direction, front and back, and position of the crimp terminal based on the image pickup information picked up by the image pickup means. Terminal crimping wire composed of means and terminal conveying means for always gripping the crimping terminal in a predetermined state based on the mounting state of the crimping terminal obtained by the image recognition means and conveying the crimping terminal in the predetermined state to the crimping work area. Manufacturing equipment. 5. The terminal crimping electric wire manufacturing apparatus according to claim 3, wherein a holding mechanism for holding the cable conveyed by the cable conveying means is provided in the crimping work area. 6. The crimping means conveys the cable conveyed to the crimping work area and held by the holding mechanism,
By moving the holding mechanism as a whole, there is provided a cable setting mechanism for setting the crimp terminal supplied to the crimping position in the crimping work area by the terminal supply means, and the cable setting mechanism is a stripped cable. The whole holding mechanism is moved to a position where the core wire portion of the wire barrel exceeds the wire barrel of the crimp terminal, the coating portion of the cable is once set in the wire barrel, and the whole holding mechanism is pulled back to move the core wire portion to the wire barrel. The apparatus for manufacturing a crimped terminal electric wire according to claim 5, which is set inside. 7. Both of the first and second crimping means,
The terminal crimping electric wire manufacturing apparatus according to claim 4, wherein the cable is conveyed by the cable conveying means and is arranged on the same side of the conveying line with the conveying line interposed therebetween. 8. A holding mechanism for holding a cable conveyed by the cable conveying means is provided in each of the crimping work area and the reversing work area, and the crimping means is conveyed to the crimping work area. A cable setting mechanism for setting the cable held by the holding mechanism to the crimp terminal supplied to the crimping position in the crimping work area by the terminal supply means by moving the entire holding mechanism, In the cable setting mechanism, the entire holding mechanism is moved to a position where the core wire portion of the stripped cable exceeds the wire barrel of the crimp terminal, and the coating portion of the cable is temporarily set in the wire barrel, and the holding mechanism is used. By pulling back the whole, the core part is set in the wire barrel. Between the rolling work area and the second crimping work area,
In the reversing work area, the amount of deviation of the holding position when the reversed cable is held by the holding mechanism is measured, and the amount of deviation in the second crimping work area is measured based on the measured deviation. A position deviation amount measuring work area provided with a position deviation amount measuring means for adjusting the movement amount of the holding mechanism by the cable setting mechanism is provided, and the second position from the reversing work area is provided through the position deviation amount measuring work area. The apparatus for manufacturing a crimped terminal wire according to claim 4 or 7, wherein the cable is conveyed to a crimping work area. 9. A terminal stock unit for temporarily placing a crimp terminal, and a terminal take-out robot for holding the crimp terminal placed on the placing surface and temporarily placing the terminal transport unit on the terminal stock unit. The terminal crimping device according to claim 3, 4, 5, 6, 7, or 8, which is configured by a terminal setting robot that grips a crimping terminal temporarily placed in the terminal stock portion and sets the crimping terminal at the end of the cable at the crimping position. Electric wire manufacturing equipment. 10. The terminal take-out robot has a chuck that opens and closes at a tip thereof, inserts the chuck into a wire barrel of the crimp terminal in a closed state, and opens the chuck to move the chuck of the wire barrel. The terminal crimping wire manufacturing apparatus according to claim 9, wherein the crimping terminal is held by being pressed against the inner surface.