JPH11345670A - Crimping device and its method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crimping device capable of efficiently, reliably and inexpensively detecting operating condition at the tip of an insulated part of a tool driven by a hydraulic driving machine, as insulating properties of the tool are secured. SOLUTION: In a crimping device equipped with a crimping tool 1 driven by a hydraulic pressure, a hydraulic pressure generating source 7 consisting of a hydraulic pump to generate the hydraulic pressure and a tank, a pressure booster 8 to boost the pressure by the revolution of the hydraulic pump and drive the crimping tool 1, and an electromagnetic valve 5 provided on the way of a return side duct line 62 connecting a hydraulic motor 3 to the hydraulic pressure generating source 7 to switch the direction of the hydraulic pressure, a duct line 6 between the electromagnetic valve 5 and the hydraulic motor 3 is formed into an insulated duct line having insulation properties. The outside of the insulated duct line 6 is covered by an insulating material 2, and a pressure sensor 4 to sense the hydraulic pressure is provided on the return side duct line 62 of the insulated duct line 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crimping apparatus and a crimping apparatus for performing a crimping operation using a tool placed in front of an insulating part and driven by an insulating fluid such as hydraulic oil, such as a distribution line construction robot. About the method.

[0002]

2. Description of the Related Art In wiring work using a distribution line construction robot, a crimping tool is attached to the tip of a robot wrist, the end of the wire to be connected is peeled off, and wires are inserted from both sides of a sleeve. Then, the electric wires are connected by crimping the sleeve with a crimping tool. A hydraulic drive system using hydraulic oil, which is an insulating fluid, is used to drive the crimping tool in order to ensure the insulation of the tool during hot-line work. In such a hydraulic drive type crimping tool, it is originally necessary to detect the hydraulic pressure in order to monitor the operation state of the crimping tool, but conventionally, in order to secure insulation of the crimping tool, However, the pressure sensor could not be installed on the crimping tool side. For this reason,
The work was performed while visually monitoring the operation state of the crimping tool, or working assuming the operation state of the tool by time management. Also, in order to determine the operating state of the crimping tool, a method of providing a sensor at two points, an inlet and an outlet of the hydraulic circuit, for detecting the pressure difference of the hydraulic circuit of the tool driving machine, or using a cylinder. A method of detecting the pressure of the circuit with a switch and grasping the operating state of the crimping tool (Japanese Utility Model 2-152)
No. 75).

[0003]

However, in the prior art in which a pressure sensor is directly installed on a crimping tool, it is difficult to secure insulation, and the state is indirectly determined by visual observation or time management. However, in the case of visual observation, quantitative judgment cannot be made,
In the case of time management, since there is enough time so that there is no problem even if the next work is done, it is inefficient,
There were problems such as the inability to secure safety. Further, in the conventional example in which the operation of the crimping tool is detected by the differential pressure between the inlet and the outlet of the hydraulic circuit of the hydraulic drive, two sensors for detecting the hydraulic pressure are required, and there is a problem that the cost increases. Further, the switch disclosed in Japanese Utility Model Publication No. 2-15275 has a problem that the detection range is narrow, and the switch is susceptible to variations in hydraulic pressure and torque of the hydraulic motor, circuit differences, and the like. In view of the above, the present invention provides a crimping apparatus and a crimping method capable of efficiently, reliably, and inexpensively detecting an operation state at the tip of an insulating portion of a tool driven by a hydraulic drive while ensuring the insulation of the tool. With the goal.

[0004]

In order to achieve the above object, a crimping apparatus according to the present invention comprises a crimping tool driven by a hydraulic pressure, a hydraulic pressure source comprising a hydraulic pump and a tank for generating the hydraulic pressure, and a hydraulic motor. A pressure intensifier that drives the crimping tool by increasing the pressure of the pressure, and a crimping device including a solenoid valve that is provided in the middle of a pipeline connecting the hydraulic pressure source and the hydraulic motor and that switches a direction of hydraulic pressure, A conduit between the solenoid valve and the hydraulic motor is an insulating conduit having insulation properties, the outside of the insulating conduit is covered with an insulator, and a hydraulic pressure is sensed on a return-side conduit of the insulating conduit. It has a pressure sensor. Further, in the crimping method of the crimping device according to the present invention, the crimping tool driven by a hydraulic pressure, a hydraulic pressure generating source including a hydraulic pump and a tank for generating the hydraulic pressure, and a pressure increase by rotating a hydraulic motor to drive the crimping tool. Intensifier, using a crimping device equipped with a solenoid valve that is provided in the middle of the pipeline connecting the hydraulic pressure source and the hydraulic motor and that switches the direction of the hydraulic pressure, the oil that has flowed out of the hydraulic pressure source, A crimping step of switching an electromagnetic valve to send to the hydraulic motor, increasing the pressure by the pressure intensifier, driving the crimping tool to perform crimping connection of an electric wire, and after the pressure of the pipeline is reduced, the pressure of the crimping tool is reduced. And a pressure reducing step of completing the work by releasing the pressure, wherein the pressure reducing step comprises a pressure sensor for detecting a hydraulic pressure of a return pipe provided between the solenoid valve and the hydraulic motor. Pressure The difference in which is a step to complete the crimping operation when it becomes the value of the predetermined range. In the method, when the pressure difference has a value within a certain range and a certain time has elapsed, the crimping operation can be completed.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing a crimping device of the present invention,
FIG. 2 is a hydraulic circuit diagram showing the hydraulic system of FIG. 1, and FIG. 3 is a hydraulic waveform diagram showing an output of the pressure sensor. In the figure, 1 is a crimping tool, 2 is an insulator, 3 is a hydraulic motor, 4 is a pressure sensor, 5
Is a solenoid valve for switching the direction of hydraulic pressure, 6 is a hydraulic hose that is an insulating conduit, 61 is a supply hose that is an oil supply conduit,
62 is a return hose which is a return pipe, 7 is a hydraulic pressure generating source, 71 is a hydraulic pump, and 72 is a tank. As shown in FIG. 1, the distal end of the crimping tool 1 is isolated from the rear solenoid valve 5 and thereafter by an insulating hose 6 and an insulator 2. The crimping tool 1 is driven by a hydraulic motor 3 via an insulating fluid. If an instrument such as a pressure sensor for handling an electric signal is provided in the portion of the crimping tool 1 in front of the insulator 2, the insulation of the crimping tool 1 cannot be ensured, so the hydraulic hose 6 for driving the hydraulic motor 3 (the hydraulic motor 3 The pressure sensor 4 is inserted in the return hose 62) of the hydraulic motor of the hydraulic circuit, and the output waveform is monitored.

Next, the operation will be described. Now, FIG.
As shown in (5), the solenoid valve 5 is switched to the position a to send oil to the hydraulic motor 3. At this time, the oil flows through the oil supply side pipe 61 in the direction of the arrow, drives the hydraulic motor 3 and returns the oil to the return pipe 6.
Return to 2. When the hydraulic motor 3 rotates, the crimping tool 1 starts operating. At this time, an output waveform as shown in FIG. 3 is obtained from the pressure sensor 4. In the figure, A is a waveform obtained when the electromagnetic valve 5 is switched to the position a, and B is a waveform obtained when the electromagnetic valve 5 is switched to the position b. B is not used in the present invention, but in this case, the oil flow is reversed from A. That is, this is a case where the pressure sensor 4 is provided in the oil supply side pipe line 61. In part A1 of A, a certain load acts on the hydraulic motor 3, and the load gradually increases. At the portion A2, the rotation of the hydraulic motor 3 stops or the number of rotations further decreases. Thereafter, when the load is reduced, the hydraulic motor 3 is driven while the load is reduced. On the other hand, in the case of B, since the pressure sensor 4 is on the inlet side, the original pressure does not change and the hydraulic motor 3
Cannot be detected.

[0007] If the output is within a certain threshold range CC with such a waveform, it is determined that the work is completed. Since the criterion C-C has a range, variations in hydraulic characteristics due to oil temperature, hydraulic motor characteristics, circuit differences, etc. can be absorbed. Furthermore, even if the signal level rises and falls in the state of the hydraulic pressure, there is no large difference in the value of the signal generated before and after the end of the work. If the difference between the signals before and after the end of the operation exceeds a predetermined value, it is determined that the operation has been completed. Conventionally, the crimping operation was not completed unless a certain long time had elapsed since the pressure was reduced, and it took time to complete the operation.However, in the present invention, the work is completed when the pressure is reduced, so , Work time can be greatly reduced.

[0008]

As described above, according to the present invention, the conduit to the hydraulic motor is made of an insulating material, and the pressure sensor is provided on the return side of the hydraulic circuit. In addition, there is an effect of obtaining a crimping device capable of efficiently, reliably, and inexpensively detecting the operating state of the crimping tool using the output waveform of the pressure sensor.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a crimping device of the present invention.

FIG. 2 is a hydraulic circuit diagram showing a hydraulic system of the crimping device of FIG.

FIG. 3 is a pressure waveform diagram showing an output of a sensor.

[Explanation of symbols]

Reference Signs List 1 crimping tool, 2 insulator, 3 hydraulic motor, 4 pressure sensor, 5 solenoid valve, 6 hydraulic hose (insulated conduit), 61
Supply side hose (supply side line), 62 return side hose (return side line), 7 hydraulic pressure source, 71 hydraulic pump,
72 tanks, 8 intensifiers

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinji Harada 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu City, Fukuoka Prefecture Inside Yaskawa Electric Co., Ltd. (72) Inventor Shinji Murai 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu City, Fukuoka Prefecture No. Yaskawa Electric Co., Ltd. (72) Inventor Koji Yano 2-82 Watanabe-dori, Chuo-ku, Fukuoka City, Fukuoka Prefecture Inside Kyushu Electric Power Co., Inc. (72) Inventor Moriyuki Nakajima Watanabe, Fukuoka City, Fukuoka Prefecture 1-82, Kyushu Electric Power Company

Claims (3)

[Claims] 1. A crimping tool driven by a hydraulic pressure, a hydraulic pressure source comprising a hydraulic pump and a tank for generating the hydraulic pressure, a pressure intensifier for increasing the pressure by rotating a hydraulic motor to drive the crimping tool, and the hydraulic pressure generation A crimping device provided with a solenoid valve for switching the direction of hydraulic pressure provided in the middle of a pipeline connecting a source and the hydraulic motor, wherein an insulating line having insulation between the solenoid valve and the hydraulic motor is provided. A crimping apparatus comprising: a pressure line; a pressure sensor configured to cover an outside of the insulation line with an insulator, and to detect a hydraulic pressure on a return line of the insulation line. 2. A crimping tool driven by a hydraulic pressure, a hydraulic pressure source including a hydraulic pump and a tank for generating the hydraulic pressure, a pressure intensifier for increasing the pressure by rotating a hydraulic motor to drive the crimping tool, and the hydraulic pressure generation Using a crimping device that is provided in the middle of a pipe connecting the oil pressure source and the hydraulic motor and that is provided with an electromagnetic valve that switches the direction of oil pressure, and that switches oil pressure from the oil pressure source by switching the electromagnetic valve to change the oil pressure. A crimping step of feeding to a motor, increasing the pressure by the pressure intensifier, driving the crimping tool to perform crimping connection of the electric wire, and after the pressure of the pipeline is reduced, releasing the pressure of the crimping tool and completing the work. The pressure difference of the pressure sensor for detecting the oil pressure of the return-side pipe provided between the solenoid valve and the hydraulic motor is within a certain range. To the value Crimping method of crimping device, characterized in that the crimping operation was completed step at the time of Tsu. 3. The crimping method for a crimping device according to claim 2, wherein the crimping operation is completed when the pressure difference has a value within a certain range and a certain time has elapsed.