KR102575646B1 - Middle strip method using middle strip apparatus for irregularly bunch wire - Google Patents

Abstract

According to the present invention, a plurality of wires 10 to peel the circumference of the middle portion in the wire storage unit 110 is loaded in a bundle; The gripper 130 mounted on the movable frame 121 descends from the upper position of the wire storage 110 according to the operation of the movable frame 120, and the plurality of wires loaded in the wire storage 110. holding one of the wires 10; and moving the wire 10 held by the gripper 130 to an upper position of the stripping skin 160 according to the movement of the moving frame 120; And in accordance with the operation of the moving frame 120, the gripper 130 grips the wire 10 at the upper position of the peeling skin 160, and releases the wire to the peeling skin 160 individually An intermediate stripping method using an intermediate stripping device for irregular bundle wire, including the step of supplying, is disclosed.

Description

Intermediate stripping method using intermediate stripping device for irregular bundle wire {MIDDLE STRIP METHOD USING MIDDLE STRIP APPARATUS FOR IRREGULARLY BUNCH WIRE}

The present invention relates to an intermediate stripping device and method for an irregular bundle wire for shearing around the middle portion of an irregular bundle wire used to manufacture a wire harness, and more particularly, to gripping the wires individually and supplying them to the stripping skin It relates to an intermediate stripping device and method for an irregular bundle wire with an automated process.

As shown in FIG. 1 , a wire harness 20 is generally a component that binds a plurality of wires 10 connected to various electric devices of a vehicle to transmit electrical signals and power to each system. Some of the wires 10 included in the wire harness 20 are covered in the middle portion (C) to connect other wires, as shown in FIGS. 1 (parts indicated by red ovals) and 2 For this purpose, conventionally, since the process was carried out manually in which the operator picks up the wires to be peeled in the middle one by one and fixes them to the peeler, there is a problem in that the working time and labor cost required for the peeling process are excessive. .

Publication No. 10-2021-0093133 (2021.07.27), wire structure for wire harness. Publication No. 10-2021-0067017 (2021.06.08), cable stripping (160).

The present invention was created to solve the above-mentioned problems, and the object of the present invention is to automate the process of gripping the wires individually and supplying them to the stripping process, which can significantly reduce the working time and labor costs of the stripping process It is to provide an intermediate stripping device and method for irregular bundle wire.

Intermediate stripping device for irregular bundle wire according to an embodiment of the present invention for achieving the above object is a wire storage unit 110 in which a plurality of wires 10 to be peeled around the middle portion are loaded in a bundle; A gripper moving unit 120 equipped with a moving frame 121 that reciprocates between an upper position of the stripping skin 160 that peels around the wire 10 and an upper position of the wire storage unit 110; And one of a plurality of wires 10 mounted on the moving frame 121 and reciprocally moving between the stripping skin 160 and the wire storage unit 110 and descending from the upper position of the wire storage unit 110 and loaded thereon. A gripper 130 that supplies the wire 10 to the stripping skin 160 individually while gripping the wire 10 of and releasing the gripped wire 10 at the upper position of the stripping skin 160; include

Here, the gripper moving unit 120 is supported by a horizontal rail 122 extending between the wire storage unit 110 and the peeling skin 160, and is supported by the horizontal rail 122 to reciprocate in the horizontal direction. It includes a horizontal slider 123, a moving frame 121 mounted on the horizontal slider 123, and a reciprocating drive unit 124 that provides driving force necessary for the horizontal slider 123 to reciprocate according to a control signal, The gripper 130 includes a vertical rail 131 mounted on the moving frame 121 and extending in the vertical direction, and a vertical slider 132 supported by the vertical rail 131 and moving up and down, , the vertical slider 132 according to the control signal to provide the driving force required to move up and down, the lift driver 133, the gripper body 134 mounted on the vertical slider 132, and the gripper body 134 It includes a finger part 135 disposed at the bottom and gripping the wire 10, and the moving frame 121 moves horizontally to a set position according to programming or user's operation, and the finger part 135 is set A control module 170 for driving and controlling the reciprocating driving unit 124 and the lifting driving unit 133 to move up and down to the position may be further included.

In addition, the finger portion 135 includes a first finger 135a extending downward from the lower portion of the gripper body 134, and a side of the gripper body 134 so as to face the first finger 135a laterally. It may include a second finger 135b extending downwardly at the bottom and forming a gripping groove 136 into which one wire 10 may be inserted between the first finger 135a and the second finger 135b.

In addition, the gripper 130 is disposed between the vertical slider 132 and the gripper body 134 to move the first finger 135a and the second finger 135b according to the downward movement of the finger portion 135. A buffer cylinder 139 that absorbs a pressing force equal to or greater than the set pressure applied to the first finger 135a and the second finger 135b when the lower end contacts the surface of the wire 10 or the bottom surface of the wire storage unit 110 may further include.

In addition, one or more fingers of the first finger 135a and the second finger 135b are mounted on the gripper body 134 so as to be able to move resiliently to the side, thereby reducing the width of the gripping groove 136 by a lateral pressing force. (D1) is operated to spread, and the first finger (135a) and the second finger (135b) have a width interval (D1) of the gripping groove 136 in a state where the lateral pressing force is not applied to the wire 10 ) is provided to be relatively smaller than the diameter D2 of the gripper 130, and is pressed laterally by the wire 10 upwardly inserted into the gripping groove 136 according to the downward movement of the gripper 130 so as to be as wide as the diameter D2. As the gap D1 widens, the inserted wire 10 can be gripped.

In addition, the gripper 130 further includes a gripping detection unit 138 that detects that one wire 10 is inserted into the gripping groove 136, and the control module 170 detects the insertion of the one wire 10 into the gripping groove 136. When the detection signal is received, the vertical slider 132 may be driven and controlled so that the vertical slider 132 does not move downward any more.

In addition, the gripping detection unit 138 measures the width interval ( When D1) is widened by the diameter D2, it is possible to sense that one wire 10 is inserted into the gripping groove 136 by outputting a detection signal.

In addition, at least one of the first finger 135a and the second finger 135b is mounted on the gripper body 134 so as to be movable, and the gripper 130 moves the finger laterally according to a control signal. It further includes a lateral movement driving unit 137 that provides a necessary driving force, and the control module 170 moves the moving frame 121 horizontally so that the finger unit 135 is disposed at the upper position of the skin 160 The wire 10 gripped between the two fingers 135a and 135b is gripped by its own weight by driving and controlling the lateral movement driver 137 so that the width gap D1 is relatively wider than the diameter D2 in It can be.

In addition, the gripper 130 protrudes laterally from the lower end of the gripping part 135 on the inner surface of the gripping groove 136 to a height corresponding to the diameter D2 of the wire 10, and the gripping groove ( 136 may further include a stopper 135c limiting insertion of only one wire 10 .

In addition, the gripper 130 is disposed below the stopper 135c and outputs a detection signal when in contact with the upper end of the wire 10 inserted into the gripping groove 136, and one wire ( 10) further includes a grip detecting unit 138 that detects the insertion, and the control module 170 prevents the vertical slider 132 from moving downward any further when a detection signal is received from the grip detecting unit 138. It is possible to drive and control the elevation driving unit 133 .

Meanwhile. A loading groove 111 concave downward in a V shape is formed, and a plurality of wires 10 may be loaded in a bundle in the loading groove 111 .

On the other hand, according to another embodiment of the present invention, in the intermediate stripping method using the intermediate stripping device for irregular bundle wire, a plurality of wires 10 to be stripped around the middle portion are loaded in a bundle in the wire storage unit 110 step of becoming; The gripper 130 mounted on the movable frame 121 descends from the upper position of the wire storage 110 according to the operation of the movable frame 120, and the plurality of wires loaded in the wire storage 110. holding one of the wires 10; moving the wire 10 held by the gripper 130 to an upper position of the stripping skin 160 according to the operation of the moving frame 120; And in accordance with the operation of the moving frame 120, the gripper 130 grips the wire 10 at the upper position of the peeling skin 160, and releases the wire to the peeling skin 160 individually It includes; the step of supplying.

Here, the intermediate stripping device for the atypical bundle wire includes a wire storage unit 110 in which a plurality of wires 10 to be peeled around the middle portion are stacked in bundles; A gripper moving unit 120 equipped with a moving frame 121 that reciprocates between an upper position of the stripping skin 160 that peels around the wire 10 and an upper position of the wire storage unit 110; And one of a plurality of wires 10 mounted on the moving frame 121 and reciprocally moving between the stripping skin 160 and the wire storage unit 110 and descending from the upper position of the wire storage unit 110 and loaded thereon. A gripper 130 that supplies the wire 10 to the stripping skin 160 individually while gripping the wire 10 of and releasing the gripped wire 10 at the upper position of the stripping skin 160; The gripper moving unit 120 is supported by a horizontal rail 122 extending between the wire storage unit 110 and the peeling skin 160, and is supported by the horizontal rail 122 to reciprocate in the horizontal direction. A horizontal slider 123 for moving, a moving frame 121 mounted on the horizontal slider 123, and a reciprocating driver 124 providing driving force necessary for the horizontal slider 123 to reciprocate according to a control signal. The gripper 130 includes a vertical rail 131 mounted on the moving frame 121 and extended in the vertical direction, and a vertical slider 132 supported by the vertical rail 131 and moved up and down. And, the vertical slider 132 according to the control signal to provide a driving force necessary for the vertical slider 132 to move up and down, a lift drive unit 133, the gripper body 134 mounted on the vertical slider 132, and the gripper body 134 It includes a finger portion 135 disposed below and gripping the wire 10, and the moving frame 121 moves horizontally to a set position according to programming or a user's operation, and the finger portion 135 A control module 170 for driving and controlling the reciprocating driving unit 124 and the lifting driving unit 133 so as to move up and down to the set position, and the finger unit 135 is located at the bottom of the gripper body 134 One wire ( 10) includes a second finger 135b forming a gripping groove 136 into which the finger can be inserted.

According to the intermediate stripping device and method for irregular bundle wire according to the present invention,

First, in the wire storage unit 110, a plurality of wires 10 to be shed around the middle portion are loaded in a bundle, and the gripper moving unit 120 is the part of the stripping skin 160 that sheds the circumference of the wire 10. A moving frame 121 that reciprocates between the upper position and the upper position of the wire storage unit 110 is provided, and the gripper 130 is mounted on the moving frame 121 to keep the peeling skin 160 and the wire storage unit While reciprocating between (110), it descends from the upper position of the wire storage part (110) to hold one wire (10) among a plurality of wires (10), and the gripped wire (10) to the stripping skin (160) It is possible to automate the process of gripping the wires 10 individually and supplying them to the stripping skin 160, such as supplying the wires 10 individually to the stripping skin 160 while releasing the gripping at the upper position of the It can greatly reduce the working time and labor cost of the peeling process.

Second, the gripper moving unit 120 is supported by a horizontal rail 122 extending between the wire storage unit 110 and the peeling skin 160, and is supported by the horizontal rail 122 to reciprocate in the horizontal direction. It includes a horizontal slider 123, a moving frame 121 mounted on the horizontal slider 123, and a reciprocating drive unit 124 that provides driving force necessary for the horizontal slider 123 to reciprocate according to a control signal, The gripper 130 includes a vertical rail 131 mounted on the moving frame 121 and extending in the vertical direction, and a vertical slider 132 supported by the vertical rail 131 and moving up and down, , the vertical slider 132 according to the control signal to provide the driving force required to move up and down, the lift driver 133, the gripper body 134 mounted on the vertical slider 132, and the gripper body 134 It includes a finger part 135 disposed at the bottom and gripping the wire 10, and the control module 170 moves horizontally to the position where the moving frame 121 is set according to programming or user's manipulation, and the ping In order to supply the wire 10 stored in the wire storage unit 110 to the peeling skin 160 by driving and controlling the reciprocating driving unit 124 and the lifting driving unit 133 so that the rejection 135 moves up and down to the set position. Compared to the case of using an articulated robot arm structure, the structure is simplified, maintenance is easy, and the installation space of the device can be greatly reduced.

Thirdly, the finger portion 135 includes a first finger 135a extending downwardly under the gripper body 134 and the gripper body 134 so as to face the first finger 135a laterally. By including the second finger 135b extending downward and forming a gripping groove 136 into which one wire 10 can be inserted between the first finger 135a and the second finger 135b, the wire can be installed in a simple structure. (10) can be gripped individually.

Fourth, the gripper 130 is disposed between the vertical slider 132 and the gripper body 134 to move the first finger 135a and the second finger 135b according to the downward movement of the finger portion 135. A buffer cylinder 139 that absorbs a pressing force equal to or greater than the set pressure applied to the first finger 135a and the second finger 135b when the lower end contacts the surface of the wire 10 or the bottom surface of the wire storage unit 110 By further including, it is possible to prevent deformation or breakage of the ends of each of the fingers 135a and 135b due to excessive pressure when the finger unit 135 moves downward.

Fifth, at least one of the first finger 135a and the second finger 135b is mounted on the gripper body 134 so as to be resiliently laterally movable, thereby reducing the width of the gripping groove 136 by a lateral pressing force. (D1) is operated to spread, and the first finger (135a) and the second finger (135b) have a width interval (D1) of the gripping groove 136 in a state where the lateral pressing force is not applied to the wire 10 ) is provided to be relatively smaller than the diameter D2 of the gripper 130, and is pressed laterally by the wire 10 upwardly inserted into the gripping groove 136 according to the downward movement of the gripper 130 so as to be as wide as the diameter D2. By gripping the inserted wire 10 while widening the gap D1, the gripping structure can be simplified to reduce manufacturing costs and facilitate maintenance.

Sixth, the gripper 130 further includes a gripping detection unit 138 that detects that one wire 10 is inserted into the gripping groove 136, and the control module 170 detects the insertion of the one wire 10 into the gripping groove 136. When the detection signal is received, the vertical slider 132 is driven and controlled so that the vertical slider 132 no longer moves downward, thereby preventing the plurality of wires 10 from being inserted into the gripping groove 136 at the same time, thereby preventing the wire ( 10) may be supplied to the stripping skin 160 individually.

Seventh, the gripping detection unit 138 measures the width interval ( When D1) is widened by the diameter D2, a detection signal is output and one wire 10 is inserted into the gripping groove 136 by detecting that one wire 10 is inserted into the gripping groove 136. and the gripped state can be precisely sensed.

Eighth, at least one of the first finger 135a and the second finger 135b is mounted on the gripper body 134 so as to be able to move laterally, and the gripper 130 moves the finger laterally according to a control signal. It further includes a lateral movement driving unit 137 that provides a necessary driving force, and the control module 170 moves the moving frame 121 horizontally so that the finger unit 135 is disposed at the upper position of the skin 160 The wire 10 gripped between the two fingers 135a and 135b is gripped by its own weight by driving and controlling the lateral movement driver 137 so that the width gap D1 is relatively wider than the diameter D2 in By doing so, it is possible to easily separate the wire 10 held between the two fingers 135a and 135b.

Ninth, the gripper 130 protrudes laterally from the lower end of the gripping part 135 on the inner surface of the gripping groove 136 to a height corresponding to the diameter D2 of the wire 10, and the gripping groove ( 136), by further including a stopper 135c for restricting insertion of only one wire 10, it is possible to fundamentally block the simultaneous insertion of a plurality of wires 10 into the gripping groove 136.

1 is a photograph of the configuration of a general wire harness;
Figure 2 is a photograph taken of a state in which the middle part of the wire of a general wire harness is peeled off;
3 is a perspective view showing the configuration of an intermediate stripping device for irregular bundle wire according to a preferred embodiment of the present invention;
Figure 4 is a side view showing the main configuration of the intermediate stripping device for irregular bundle wire according to a preferred embodiment of the present invention;
5 is a side view showing a state in which a gripper according to a preferred embodiment of the present invention faces an arbitrary wire vertically while descending;
6 is a photograph of a state in which a plurality of wires are loaded in a bundle in a loading groove of a wire storage unit according to a preferred embodiment of the present invention;
Figure 7 is a side view showing the width interval and the diameter of the wire of the gripping groove formed in the finger portion according to a preferred embodiment of the present invention;
Figure 8 is a side view showing a state in which the lower end of each finger is in contact with the surface of the wire according to the downward movement of the finger portion according to a preferred embodiment of the present invention;
9 and 10 are side views showing a state in which each finger grips the wire while spreading according to the downward movement of the finger portion according to a preferred embodiment of the present invention;
11 is a side view showing a state in which a gripper moves upward while gripping a wire according to a preferred embodiment of the present invention;
12 is a side view showing the configuration of a stopper according to a preferred embodiment of the present invention;
Figure 13 is a photograph taken of the configuration of the peeling skin according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and claims should not be construed as being limited to the usual or dictionary meaning, and the inventor appropriately uses the concept of terms in order to explain his/her invention in the best way. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical spirit of the present invention.

Therefore, since the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, various alternatives may be used at the time of this application. It should be understood that there may be equivalents and variations.

(Intermediate stripping device and method for irregular bundle wire)

The intermediate stripping device for atypical bundle wire according to a preferred embodiment of the present invention is a device that automates the process of peeling around the middle portion of the atypical bundle wire but gripping the wires individually and supplying them to the stripping skin 160, FIG. 1 As shown in, it includes a wire storage unit 110, a gripper moving unit 120 and a gripper 130.

First, the wire storage unit 110 is configured to store the irregular bundled wires 10 to be worked so that the gripper 130 can grip them, and a plurality of wires 10 to be peeled from the circumference of the middle portion are loaded.

Here, according to the loading process, the wire storage unit 110 may be loaded in an irregular form, that is, a plurality of wires 10 may be loaded in an aligned state or a non-aligned state, and a plurality of wires 10 may be loaded in a bundle. .

In addition, as shown in FIGS. 3 to 6, the wire storage unit 110 has a loading groove 111 formed concave downward in a V shape, and a plurality of wires 10 inside the loading groove 111. ) is loaded, even if the number of wires 10 loaded in the wire storage unit 110 is reduced, since the wire 10 is always disposed in the center of the loading groove 111, the gripper 130 is loaded with the wire 10 It is possible to increase work efficiency by reducing the need to move to an arranged position.

In addition, as shown in the drawing, the wire storage unit 110 is provided with a plurality of loading grooves 111, and one loading groove 111 is used for storing the wire 10 to be transferred to the stripping skin 160. And the other loading groove 111 can be used as a space for temporarily mounting the wire 10 before or after the peeling process.

The gripper moving unit 120 is a component for moving the gripper 130 and reciprocates between the upper position of the stripping skin 160 for peeling the circumference of the wire 10 and the upper position of the wire storage unit 110. A moving frame 121 is provided.

Here, as shown in FIGS. 3 and 4 , the gripper moving unit 120 extends horizontally between the wire storage unit 110 and the peeling skin 160 so as to reciprocate the moving frame 121 . A rail 122, a horizontal slider 123 supported by the horizontal rail 122 and reciprocating in the horizontal direction, a moving frame 121 mounted on the horizontal slider 123, and the horizontal slider 121 according to a control signal. The slider 123 includes a reciprocating drive unit 124 that provides driving force required for reciprocating movement.

Here, the reciprocating drive unit 124 is composed of a drive motor disposed inside the horizontal rail 122 and a belt (chain) connected to a drive shaft of the drive motor, and the horizontal slider 123 is on one side of the belt. It is provided in the structure of a connected rail slide actuator and can provide driving force necessary for horizontal movement. In addition, instead of the driving motor and the belt, a driving cylinder using hydraulic pressure or supply may be used, and a horizontal slider 123 may be connected to a driving part of the driving cylinder to provide driving force.

In addition, as shown in the drawing, the gripper 130 is supported by vertical rails 131 mounted on the moving frame 121 and extended in the vertical direction, and moved up and down by being supported by the vertical rails 131. A moving vertical slider 132, a lifting driver 133 providing driving force necessary for the vertical slider 132 to move up and down according to a control signal, a gripper body 134 mounted on the vertical slider 132, and , It includes a finger portion 135 disposed below the gripper body 134 to grip the wire 10.

Here, the lift drive unit 133 is composed of a drive motor disposed inside the vertical rail 131 and a belt (chain) contracted to a drive shaft of the drive motor, like the reciprocating drive unit 124 described above. It is provided with a rail slide actuator structure in which the vertical slider 132 is connected to one side of the side to provide driving force necessary for horizontal movement. In addition, instead of the driving motor and the belt, a driving cylinder using hydraulic pressure or supply may be used, and a vertical slider 132 may be connected to a driving part of the driving cylinder to provide driving force.

In addition, the reciprocating drive unit 124 and the lift drive unit 133 are operated so that the moving frame 121 moves horizontally to a set position and the finger unit 135 moves up and down to a set position according to programming or user manipulation. A control module 170 for driving control is provided. Therefore, compared to the case of using an articulated robot arm structure to supply the wire 10 stored in the wire storage unit 110 to the peeling skin 160, the structure is simplified, maintenance is easy, and the installation space of the device is significantly reduced. can be reduced

The gripper 130 is mounted on the moving frame 121 and moves back and forth between the peeling skin 160 and the wire storage unit 110, but descends from the upper position of the wire storage unit 110 to form a plurality of wires 10. The wire 10 is supplied to the stripping skin 160 individually while gripping one of the wires 10 and releasing the gripped wire 10 at the upper position of the stripping skin 160.

To this end, as shown in FIGS. 4 and 5, the finger portion 135 includes a first finger 135a extending downward from the bottom of the gripper body 134, and the first finger 135a. The second finger 135b extends downward from the bottom of the gripper body 134 to face sideways and forms a gripping groove 136 between the first finger 135a and the wire 10 can be inserted. ) may be included. Through this, it is possible to hold the wires 10 individually even with a simple structure.

In addition, the gripper 130 is disposed between the vertical slider 132 and the gripper body 134 to move the first finger 135a and the second finger 135b according to the downward movement of the finger portion 135. A buffer cylinder 139 that absorbs a pressing force equal to or greater than the set pressure applied to the first finger 135a and the second finger 135b when the lower end contacts the surface of the wire 10 or the bottom surface of the wire storage unit 110 may further include.

Here, in the drawing, the cylinder body 139a of the buffer cylinder 139 is mounted on the vertical slider 132, and the gripper 130 is mounted on the cylinder rod 139b that moves up and down, but is limited to this. However, the shock absorbing function can be implemented even with a structure in which the cylinder rod 139b side is mounted on the vertical slider 132 and the cylinder bar 139a side is mounted on the gripper 130. Through the configuration of the buffer cylinder 139, it is possible to prevent deformation or breakage of the ends of the fingers 135a and 135b due to excessive pressure when the finger unit 135 moves downward.

In addition, as shown in FIG. 7, at least one of the first finger 135a and the second finger 135b is mounted on the gripper body 134 so as to be able to move resiliently laterally, and the gripper is gripped by a lateral pressing force. It operates so that the width gap D1 of the groove 136 widens, and the first finger 135a and the second finger 135b have a width gap ( D1) is provided to be relatively smaller than the diameter D2 of the wire 10.

Therefore, as shown in FIGS. 8 and 9, as the gripper 130 moves downward, the wire 10 upwardly inserted into the gripping groove 136 is pressed laterally by the wire 10, and the width interval ( D1) grips the inserted wire 10 while being widened. Through this, the gripping structure can be simplified to reduce manufacturing costs and facilitate maintenance.

In addition, as shown in FIG. 7, on the outer surfaces of the first finger 135a and the second finger 135b, an inclined surface 135d having a width widening toward the top is formed, so that the wire 10 loaded in a bundle is formed. Each finger (135a, 135b) can enter between them and guide them to grip an arbitrary wire (10).

And, as shown in FIG. 10, the gripper 130 further includes a gripping detection unit 138 that detects that one wire 10 is inserted into the gripping groove 136, and the control module 170 When a detection signal is received from the gripping detecting unit 138, the vertical slider 132 is driven and controlled so that the vertical slider 132 does not move downward, so that a plurality of wires 10 are simultaneously installed in the gripping groove 136. By preventing insertion, the wire 10 can be supplied to the stripping skin 160 individually.

In addition, the gripping detection unit 138 measures the width interval ( When D1) is widened by the diameter D2, a detection signal is output and one wire 10 is inserted into the gripping groove 136 by detecting that one wire 10 is inserted into the gripping groove 136. and the gripped state can be precisely sensed.

In addition, at least one of the first finger 135a and the second finger 135b is mounted on the gripper body 134 so as to be movable, and the gripper 130 moves the finger laterally according to a control signal. It further includes a lateral movement driving unit 137 that provides a necessary driving force, and the control module 170 moves the moving frame 121 horizontally so that the finger unit 135 is disposed at the upper position of the skin 160 The wire 10 gripped between the two fingers 135a and 135b is gripped by its own weight by driving and controlling the lateral movement driver 137 so that the width gap D1 is relatively wider than the diameter D2 in By doing so, it is possible to easily separate the wire 10 held between the two fingers 135a and 135b.

Here, at the bottom of the gripper body 134, a rail is disposed extending laterally and supported by the rail so that one or more fingers of the first finger 135a and the second finger 135b are slidably movable laterally, The lateral movement driving unit 137 is composed of a driving motor or an actuator and operates according to a control signal from the control module 170 to provide driving force necessary for the finger to move laterally. In addition, an elastic member such as an elastic spring (not shown) is provided between the first finger 135a and the second finger 135b and the rail to elastically press the finger toward the gripping groove 136, and the gripping groove ( 136), the elastic member is compressed by the lateral pressing force caused by the repulsive force of the wire 10 inserted into the finger, and the finger can move elastically laterally. At this time, it is preferable that the distance of the elastic lateral movement is the same as the diameter D2 of the wire 10 .

In addition, the control module 170 determines that one wire 10 is gripped in the gripping groove 136 when a detection signal is received from the gripping detecting unit 138, and as shown in FIG. 10, the finger unit 135 The lift drive unit 133 is driven and controlled to rise, and the reciprocating drive unit 124 is driven and controlled so that the moving frame 121 moves to the upper position of the peeling skin 160. In addition, the lateral movement driver 137 is driven and controlled so that the gripping groove 136 widens relatively larger than the diameter D2 at the upper position of the stripping skin 160 so that the gripped wire 10 is released and the stripped skin (160) so that it can be seated. Through this, a series of processes of gripping and transporting one wire 10 loaded in the wire storage unit 110 and supplying it to the peeling skin 160 may be completed.

In addition, the gripping grooves 136 have a diameter (D2) while being inserted into the bundle of wires 10 loaded in the loading groove 111, the gap D1 between the gripping grooves 136 is in a state where the wire 10 is inserted into the loading groove 111. It can operate so as to be closed by the diameter D2. Accordingly, the timing of gripping and releasing the wire 10 can be controlled by driving the lateral movement driver 137 .

On the other hand, as shown in FIG. 12, the gripper 130 is lateral to a height corresponding to the diameter D2 of the wire 10 from the lower end of the gripping part 135 on the inner surface of the gripping groove 136. By further including a stopper 135c that protrudes out and restricts insertion of only one wire 10 into the gripping groove 136, a plurality of wires 10 are inserted into the gripping groove 136 at the same time. can block

Here, the drawing illustrates that the stopper 135c is mounted on the first finger 135a and extends laterally toward the second finger 135b, but is not limited thereto, and the first finger 135a and the second finger ( 135b) may also be provided with a structure that is attached to each side and extends laterally.

In addition, the gripper 130 is disposed below the stopper 135c and outputs a detection signal when in contact with the upper end of the wire 10 inserted into the gripping groove 136, and one wire ( 10) is provided with a grip detecting unit 138 that senses insertion, and the control module 170 prevents the vertical slider 132 from moving downward any further when a detection signal is received from the grip detecting unit 138. The driving control of the east part 133 can also be performed.

In addition, as shown in FIG. 3, a wire aligning unit 150 for aligning the wire 10 that is gripped and transported by the gripper 130 to be disposed at a certain position will be provided at a position close to the peeling skin 160. can The wire alignment unit 150 is provided with a pressing frame 151 that slides laterally at a side position of the seating groove where the transferred wire 10 is seated, and the pressing frame 151 slides laterally. The position where the wire 10 transported along is seated can be adjusted.

The wire aligning unit 150 is configured to mechanically set a constant position in the longitudinal direction of the wire 10 as a mechanical stopper, and the position alignment of the stopper can be set differently depending on the type of product by operating a servo motor, and the wire length direction The position of the intermediate stripping in the wire length direction is determined only when the position of the is aligned.

And, as shown in FIG. 3, a loading unit 190 for storing the wire 10 before the peeling process or the wire 10 after the peeling process may be provided at a position close to the stripping skin 160, , Like the loading groove 111 of the wire storage unit 110, a downward concave storage groove is formed in the loading part 190 in the form of a V groove so that the operator can more easily pick up the wire 10 seated in the storage groove. can make it

In addition, the peeling skin 160 is a configuration for peeling around the middle portion of the wire 10 transported by the gripper 130, and as shown in FIG. 13, one side of the wire 10 is gripped. A first clamp 171 is disposed, and a second clamp 172 holding the other end of the wire 10 is disposed on the other side so that the wire 10 is fixed during the peeling process, and between the two clamps 171 and 172 A first cutting part 173 for cutting around one end of the peeled part, a second cutting part 174 for cutting around the other end of the peeled part, and a third cutting part for cutting the peeled part in the longitudinal direction. (175) is placed.

In addition, one or more clamps 171 and 172 of the two clamps 171 and 172 are capable of sliding movement in the longitudinal direction of the transferred wire 10 to cut the wire 10 at the cutting position of the fixed cutting parts 173 , 174 and 175 . It can be adjusted to fit the location.

Through the combination of the wire storage unit 110, the gripper moving unit 120, and the gripper 130 as described above, the process of gripping the wires 10 individually and supplying them to the stripping skin 160 can be automated It can greatly reduce the working time and labor cost of the peeling process.

As described above, although the present invention has been described by the limited embodiments and drawings, the present invention is not limited thereto, and the technical spirit of the present invention and the following by those skilled in the art to which the present invention belongs Of course, various modifications and variations are possible within the scope of equivalents of the claims to be set forth.

110 ... wire storage unit 120 ... gripper moving unit
121 ... moving frame 122 ... horizontal rail
123... horizontal slider 124... reciprocating drive
130 ... gripper 131 ... vertical rail
132... vertical slider 133... lifting drive
134 ... gripper body 135 ... finger part
135a ... first finger 135b ... second finger
135c ... stopper 138 ... grip detection unit
139 ... buffer cylinder

Claims (2)

Loading a plurality of wires 10 to be stripped around the circumference of the middle portion in a bundle in the wire storage unit 110;
The gripper 130 mounted on the movable frame 121 descends from the upper position of the wire storage 110 according to the operation of the movable frame 121, and the plurality of wires loaded in the wire storage 110 holding one of the wires 10;
moving the wire 10 held by the gripper 130 to an upper position of the stripping skin 160 according to the operation of the moving frame 121; and
According to the operation of the moving frame 121, the gripper 130 grips the wire 10 at the upper position of the peeling skin 160, and supplies the wire to the peeling skin 160 individually. Including;
Intermediate stripping device for irregular bundle wire,
A wire storage unit 110 in which a plurality of wires 10 to be stripped around the middle portion are stacked in bundles; A gripper moving unit 120 equipped with a moving frame 121 that reciprocates between an upper position of the stripping skin 160 that peels around the wire 10 and an upper position of the wire storage unit 110; And one of a plurality of wires 10 mounted on the moving frame 121 and reciprocally moving between the stripping skin 160 and the wire storage unit 110 and descending from the upper position of the wire storage unit 110 and loaded thereon. A gripper 130 that supplies the wire 10 to the stripping skin 160 individually while gripping the wire 10 of and releasing the gripped wire 10 at the upper position of the stripping skin 160; include,
The gripper moving unit 120 includes a horizontal rail 122 extending between the wire storage unit 110 and the peeling skin 160, and a horizontal slider supported by the horizontal rail 122 and reciprocating in the horizontal direction. 123, a moving frame 121 mounted on the horizontal slider 123, and a reciprocating drive unit 124 providing driving force necessary for the horizontal slider 123 to reciprocate according to a control signal,
The gripper 130 includes a vertical rail 131 mounted on the moving frame 121 and extended in the vertical direction, a vertical slider 132 supported by the vertical rail 131 and moved up and down, A lift driver 133 providing a driving force necessary for the vertical slider 132 to move up and down according to a control signal, a gripper body 134 mounted on the vertical slider 132, and a lower portion of the gripper body 134. It includes a finger portion 135 disposed on and gripping the wire 10,
Drive control of the reciprocating drive unit 124 and the lift drive unit 133 so that the moving frame 121 moves horizontally to a set position and the finger unit 135 moves up and down to a set position according to programming or user manipulation A control module 170 to do; further comprising,
The finger portion 135,
A first finger 135a extending downward from the lower portion of the gripper body 134, and a first finger extending downward from the lower portion of the gripper body 134 so as to face the first finger 135a laterally ( It includes a second finger 135b forming a gripping groove 136 into which one wire 10 can be inserted between 135a,
The gripper 130,
It is disposed between the vertical slider 132 and the gripper body 134, and the lower ends of the first finger 135a and the second finger 135b move along the surface of the wire 10 or Atypical characterized in that it further comprises a buffer cylinder 139 that absorbs a pressing force greater than the set pressure applied to the first finger 135a and the second finger 135b when in contact with the bottom surface of the wire storage unit 110 Intermediate stripping method using intermediate stripping device for bundle wire. delete