WO2017104536A1 - Terminal insertion device and terminal insertion method - Google Patents

Terminal insertion device and terminal insertion method Download PDF

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Publication number
WO2017104536A1
WO2017104536A1 PCT/JP2016/086559 JP2016086559W WO2017104536A1 WO 2017104536 A1 WO2017104536 A1 WO 2017104536A1 JP 2016086559 W JP2016086559 W JP 2016086559W WO 2017104536 A1 WO2017104536 A1 WO 2017104536A1
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WIPO (PCT)
Prior art keywords
terminal
electric wire
cavity
terminal insertion
unit
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PCT/JP2016/086559
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French (fr)
Japanese (ja)
Inventor
淳能 北寺
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住友電装株式会社
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Publication of WO2017104536A1 publication Critical patent/WO2017104536A1/en

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve

Definitions

  • This invention relates to a technique for inserting a terminal connected to an end of an electric wire into a cavity of a terminal insertion housing.
  • Patent Document 1 discloses a technique for inserting a terminal into a cavity.
  • Patent Document 1 after inserting a terminal with a wire into the terminal accommodating chamber of the connector housing, the wire holding portion is retracted, a pulling force is applied to the terminal with a wire, and the pulling force is detected by a sensor. A technique for confirming the quality of the insertion state is disclosed.
  • an object of the present invention is to provide a technique for appropriately determining the quality of terminal insertion.
  • the first aspect is a terminal insertion device that inserts a terminal of a terminal-attached electric wire into a cavity formed in a terminal insertion housing, and a gripping portion that holds the terminal-attached electric wire;
  • An advancing / retreating drive unit that drives the gripping part to move forward and backward, a position information acquisition unit that acquires position information of the gripping part, a resistance force detection part that detects a resistance force received by the gripping part, and the position
  • a determination unit that determines whether or not the terminal is inserted based on the information and the resistance force.
  • a 2nd aspect is a terminal insertion apparatus which concerns on a 1st aspect, Comprising: When the said determination part advances the said holding part which hold
  • a 3rd aspect is a terminal insertion apparatus which concerns on a 2nd aspect, Comprising: The said determination part contacts the terminal latching
  • a 4th aspect is a terminal insertion apparatus which concerns on a 3rd aspect, Comprising: The control part which controls the said advancing / retreating drive part based on determination of the said determination part is further provided, The said control part is the said determination When it is determined by the part that the resistance force has exceeded the threshold value, the movement of the gripping part that grips the terminal-attached electric wire is stopped.
  • a fifth aspect is a terminal insertion method for inserting a terminal of a terminal-attached electric wire into a cavity formed in a terminal insertion housing, wherein the holding step holds the electric wire with terminal by a holding portion; and the holding step An advancing / retreating step for moving the grasping portion grasping the terminal-attached electric wire with respect to the cavity, a position information obtaining step for obtaining position information of the grasping portion moving forward / backward in the advancing / retreating step, A resistance force detection step of detecting a resistance force received by the gripper in the advance / retreat movement step, and a determination step of determining whether the terminal is inserted or not based on the position information and the resistance force.
  • the terminal insertion device it is possible to determine the position where the resistance force fluctuates. This makes it possible to determine at which position an insertion failure has occurred, and to properly determine whether or not the terminal is inserted.
  • the terminal insertion device According to the terminal insertion device according to the second aspect, it is possible to appropriately determine the insertion failure that occurs when the terminal is inserted by acquiring the resistance force and position information when the electric wire with terminal proceeds to the cavity.
  • the terminal-attached electric wire can be caught in the terminal locking portion. This makes it possible to accurately determine whether or not the terminal locking portion has been normally inserted into the terminal locking hole.
  • the movement of the gripping part can be stopped when the resistance exceeds the threshold value due to the terminal being caught by the terminal locking part. For this reason, it can suppress that a terminal latching
  • the position where the resistance force fluctuates can be determined. This makes it possible to determine at which position an insertion failure has occurred, and to properly determine whether or not the terminal is inserted.
  • FIG. 4 is a schematic side view showing how the terminal insertion device inserts one terminal-attached electric wire into the cavity. It is a schematic side view which shows a mode that the tension
  • Drawing 1 is a perspective view showing terminal insertion housing 10 and electric wire 20 with a terminal concerning an embodiment.
  • Drawing 2 is a schematic diagram showing terminal insertion device 40 which inserts electric wire 20 with a terminal in terminal insertion housing 10 concerning an embodiment.
  • a component part of one cavity 12 in the terminal insertion housing 10 is shown in a sectional view.
  • the terminal insertion housing 10 is made of an insulating material such as resin, and is formed in a substantially rectangular parallelepiped shape as a whole. At least one cavity 12 is formed in the terminal insertion housing 10. Here, a plurality of cavities 12 are formed on one surface of the terminal insertion housing 10 so as to be arranged in a predetermined arrangement. A peripheral wall portion 11 surrounding the plurality of cavities 12 is formed on one surface side of the terminal insertion housing 10.
  • Each cavity 12 is opened on one side of the terminal insertion housing 10.
  • the electric wire with terminal 20 is configured such that the terminal 24 is connected to the end of the electric wire 22.
  • the terminal 24 is formed to have a diameter (or width and height) corresponding to the cavity 12 to be inserted.
  • the electric wire 22 is a general covered electric wire configured by covering a core wire such as a single wire or a twisted strand with an insulator such as a resin.
  • the terminal 24 is a member formed by pressing a metal plate such as a body plate, and includes a connection portion 26 and a wire connection portion 28.
  • the connecting portion 26 is formed in a rectangular tube shape.
  • a locking hole 261 is formed in the intermediate portion of the connecting portion 26.
  • the electric wire connection portion 28 is connected to one end portion of the connection portion 26.
  • the wire connection part 28 and the connection part 26 are connected in a straight line.
  • the wire connection portion 28 is connected to a core wire portion 29 exposed at a different end portion of the wire 22.
  • the wire connecting portion 28 is mechanically and electrically connected to the core wire portion 29 by being crimped to the core wire portion 29.
  • the connection between the electric wire connecting portion and the core wire portion may be realized by ultrasonic welding, resistance welding, soldering, or the like.
  • the terminal insertion housing 10 is a resin molded product formed in a rectangular tube shape. When the terminal insertion housing 10 is viewed from the front side, it has an elongated rectangular shape. In the following description, in the terminal-attached electric wire 20, the terminal 24 side is the front side, and the electric wire 22 side is the rear side. A cavity 12 that holds the terminal 24 is formed inside the terminal insertion housing 10. That is, the space in the terminal insertion housing 10 is divided into a plurality of partitions by the partition wall, and each partitioned space accommodates the electric wire connecting portion 28 of the terminal 24 and a part of the electric wire 22 extending therefrom. A possible cavity 12 is formed. Here, the cavity 12 may be a long and narrow prismatic space, or may have a cylindrical shape or the like.
  • the rear side of the cavity 12 is open so that the terminal 24 can be inserted.
  • the electric wire connection portion 28 of the terminal 24 is accommodated in the cavity 12, the electric wire 22 connected to the electric wire connection portion 28 extends outward from the rear side of the cavity 12.
  • the terminal locking portion 14 is an elongated portion that extends while inclining from the inner surface of the cavity 12 toward the front of the terminal insertion housing 10, and is also a portion called a lance (resin lance).
  • the terminal 24 When the terminal 24 is inserted from the back side of the cavity 12, the terminal 24 comes into contact with the terminal locking portion 14 and is elastically deformed so that the terminal locking portion 14 approaches the inner surface side of the cavity 12.
  • the terminal locking portion 14 reaches the locking hole 261 of the connection portion 26, the terminal locking portion 14 returns to its original shape, and the tip end portion enters the locking hole 261. As a result, the terminal 24 is retained in the cavity 12.
  • a rubber plug 18 is attached to the front side of the cavity 12 inside the peripheral wall portion 11 (see FIGS. 1 and 2).
  • the rubber plug 18 is shown by a two-dot chain line. ing).
  • the rubber plugs 18 are opened at positions corresponding to the cavities 12, and the terminals 24 of the electric wires 20 with terminals are inserted into the cavities 12 through the openings.
  • the rubber plug 18 can be elastically deformed according to the outer shape of the terminal-attached electric wire 20 and waterproofs the cavity 12 by contacting the outer peripheral surface of the terminal-attached electric wire 20.
  • the inside of the cavity 12 may be waterproofed by providing a rubber plug on the inner peripheral surface of each cavity 12 and bringing the rubber plug into contact with the outer peripheral portion of the terminal 24 inserted into the cavity 12.
  • the inside of the cavity 12 may be waterproofed by attaching a rubber plug directly to the outer peripheral portion of the terminal 24 in each terminal-equipped electric wire 20 and bringing the rubber plug portion into contact with the inner peripheral surface of the cavity 12.
  • the terminal insertion device 40 includes a control unit 41, an advance / retreat drive unit 43, a resistance force detection unit 45, an input unit 47, and a display unit 49.
  • the control unit 41 can be configured by a general computer including a CPU, a ROM, a RAM, and the like.
  • the computer controls the operation of the terminal insertion device 40 by reading the program recorded on the recording medium and operating according to the program.
  • the terminal insertion device 40 includes a terminal chuck portion 51 and an electric wire chuck portion 53.
  • the terminal chuck portion 51 is configured to grip the terminal 24.
  • the terminal chuck portion 51 holds the connection portion 26 of the terminal 24.
  • the wire chuck portion 53 is configured to grip the wire 22 of the terminal-attached wire 20.
  • the terminal chuck portion 51 and the wire chuck portion 53 are an example of a grip portion that grips the terminal-attached electric wire 20.
  • the advance / retreat drive unit 43 moves the terminal chuck portion 51 and the wire chuck portion 53 forward and backward with respect to the cavity 12.
  • the terminal chuck portion 51 and the wire chuck portion 53 are moved forward and backward to push the terminal 24 of the gripped electric wire 20 with a terminal and insert it into the cavity 12 or pull the inserted electric wire 20 with a terminal. Is possible.
  • the advancing / retreating drive unit 43 is configured by an electric slider mechanism that rotationally drives a screw shaft to which a nut member on the slider side is screwed by driving a servo motor. It is also conceivable to use a linear motor or the like as the advance / retreat drive unit 43.
  • a resistance force detection unit 45 is connected to the advance / retreat drive unit 43.
  • the resistance force detection unit 45 detects a pressing force necessary for the advance / retreat drive unit 43 to move the wire chuck portion 53, thereby detecting a resistance force acting in a direction that hinders the movement of the wire chuck portion 53.
  • the resistance detection unit 45 uses the force (torque) for rotating the screw shaft as the resistance force. To detect.
  • the input unit 47 is configured by a plurality of switches, touch panels, or the like, and is configured to be able to accept inputs of various instructions and settings related to the insertion operation or extraction operation of the terminal 24 to the control unit 41.
  • the control unit 41 functions as a drive control unit 411, a position information acquisition unit 413, and a determination unit 415.
  • the drive control unit 411, the position information acquisition unit 413, and the determination unit 415 are operated by the CPU of the control unit 41 according to a program recorded in a storage unit (including one that temporarily stores information such as a RAM). This is a function realized by software. Note that some or all of these functions may be realized in hardware by a dedicated circuit.
  • the drive control unit 411 controls the operation of the advance / retreat drive unit 43. As will be described later, the drive control unit 411 controls the advance / retreat drive unit 43 based on the determination result of the determination unit 415.
  • the terminal insertion operation means that the drive control unit 411 advances the terminal chuck portion 51 and the wire chuck portion 53 holding the terminal-attached electric wire 20 toward the cavity 12, thereby causing the terminal 24 of the electric wire 20 with the terminal 20 to move. Is inserted into the cavity 12.
  • the terminal pulling-out operation means that the drive control unit 411 pulls out the electric wire with terminal 20 inserted into the cavity 12 by retracting the electric wire chuck unit 53 in a direction away from the inside of the cavity 12.
  • the position information acquisition unit 413 acquires the position information of the electric wire chuck unit 53 (gripping unit).
  • the position information acquisition unit 413 detects the movement amount when the advance / retreat driving unit 43 moves the wire chuck unit 53, and acquires the position information from the movement amount.
  • the position information acquisition unit 413 detects the amount of movement of the wire chuck unit 53 by detecting the amount of rotation of the screw shaft. Can do. Based on this, the position of the wire chuck portion 53 can be detected.
  • the determination unit 415 determines whether the terminal 24 is inserted based on the resistance force applied to the wire chuck unit 53 detected by the resistance force detection unit 45 and the position information of the wire chuck unit 53 acquired by the position information acquisition unit 413. judge.
  • the determination unit 415 performs the terminal insertion operation (that is, when the wire chuck portion 53 holding the terminal-attached electric wire 20 is advanced toward the cavity 12 and the terminal 24 of the terminal-attached electric wire 20 is inserted into the cavity 12). From the time when the terminal 24 comes into contact with the terminal locking part 14 provided in the cavity 12 to the time when the terminal locking part 14 enters the locking hole 261 provided in the terminal 24, the determination part 415 Compares the resistance to a predetermined threshold. When the determination unit 415 determines that the resistance force exceeds a predetermined threshold value, the drive control unit 411 controls the advance / retreat drive unit 43 to stop the terminal insertion operation.
  • FIG. 3 is a diagram showing the flow of terminal insertion processing in which the terminal insertion device 40 inserts one terminal-attached electric wire 20 into the cavity 12.
  • FIG. 4 is a schematic side view showing how the terminal insertion device 40 inserts one terminal-attached electric wire 20 into the cavity 12.
  • FIG. 5 is a schematic side view showing a state in which the tension of the terminal-attached electric wire 20 is confirmed.
  • ⁇ Gripping step S1> As shown in FIGS. 2 and 3, when the insertion process of the terminal 24 is started, first, the electric wire with terminal 20 inserted into the cavity 12 is grasped by the terminal chuck portion 51 and the electric wire chuck portion 53 (gripping). Step S1). In the gripping step S ⁇ b> 1, the terminal chuck portion 51 grips the terminal 24 and the wire chuck portion 53 grips the wire 22. And the terminal insertion apparatus 40 moves the electric wire 20 with a terminal so that the front-end
  • the height of the movement start position L1 is set to a height that allows the terminal-attached electric wire 20 to enter the target cavity 12 by moving the tip portion 201 linearly toward the terminal insertion housing 10 thereafter. Yes. In addition, you may move the terminal insertion housing 10 instead of moving the electric wire 20 with a terminal.
  • Pre-insertion step S2> Subsequently, the terminal insertion device 40 linearly moves the terminal-attached electric wire 20 toward the cavity 12, thereby moving the distal end portion 201 (the distal end portion of the terminal 24) from the movement start position L ⁇ b> 1 before the opening of the cavity 12.
  • This pre-insertion step S2 is a step before the tip portion 201 is inserted into the cavity 12.
  • the first insertion start position L2 is, for example, a position slightly inside (for example, about 2 mm) inside the end portion of the terminal insertion housing 10 (peripheral portion of the peripheral wall portion 11), and is a position before the rubber plug 18. .
  • the movement from the movement start position L1 to the first insertion start position L2 corresponds to the pre-insertion stroke St1.
  • Terminal chuck portion 51 of the terminal insertion device 40 releases the terminal 24 and retracts in a predetermined direction (here, the upper side in the height direction) (terminal chuck portion retracting step S3). As a result, the tip 201 can be inserted into the cavity 12.
  • first insertion step S4 Subsequently, the wire chuck portion 53 inserts the terminal-attached electric wire 20 into the target cavity 12 (first insertion step S4).
  • first insertion step S4 at the second insertion start position L3 in which the tip 201 is moved from the first insertion start position L2 to the second insertion start position L3, the tip 201 contacts the terminal locking part 14. The position (or a position slightly before that position). The movement of the distal end portion 201 from the first insertion start position L2 to the second insertion start position L3 corresponds to the first insertion stroke St2.
  • the force (pressing force) by which the wire chuck portion 53 pushes the terminal-attached electric wire 20 into the cavity 12 is not particularly limited.
  • ⁇ Second insertion step S5> Subsequently, the terminal insertion device 40 moves the distal end portion 201 from the second insertion start position L3 toward the movement end position L4 (second insertion step S5). In the second insertion step S ⁇ b> 5, the terminal-attached electric wire 20 is inserted into the cavity 12. The movement of the distal end portion 201 from the second insertion start position L3 to the movement end position L4 corresponds to the second insertion stroke St3.
  • the terminal insertion device 40 inserts the terminal-attached electric wire 20 by limiting the pressing force applied to the terminal-attached electric wire 20 to a predetermined value or less.
  • the insertion force corresponds to a force (torque) for rotating the screw shaft. That is, in this case, the pressing force is limited by limiting the torque.
  • the movement end position L4 is a target position for the terminal insertion device 40 to reach the distal end portion 201, and is the position at the innermost end of the cavity 12 here.
  • the movement end position L4 Touch the end. For this reason, if the electric wire chuck part 53 tries to move the front-end
  • ⁇ Tension confirmation process S6> When the second insertion step S5 is completed, a tension confirmation step S6 shown in FIG. 5 is subsequently performed.
  • the tension confirmation step S ⁇ b> 6 it is confirmed whether or not the terminal 24 is properly locked to the terminal locking portion 14 by the drive control unit 411 performing a terminal pulling-out operation.
  • the wire chuck portion 53 is moved in a direction to pull out the terminal-attached electric wire 20 from the cavity 12 by a predetermined length (here, 6 mm).
  • a predetermined length here, 6 mm
  • the resistance force applied to the wire chuck unit 53 is detected by the resistance force detection unit 45, and the position information of the wire chuck unit 53 is acquired by the position information acquisition unit 413. Thereby, the resistance force applied to the wire chuck portion 53 can be detected for each position. And the determination part 415 determines whether the insertion defect has generate
  • the second insertion step S5 that is, after the distal end portion 201 of the terminal-attached electric wire 20 is brought into contact with the terminal locking portion 14, the terminal locking portion 14 enters the locking hole 261, Thereafter, the terminal insertion failure is determined during the movement to the movement end position L4.
  • FIG. 6 is a diagram showing an operation flow of the terminal insertion device 40 in the second insertion step S5.
  • the determination unit 415 monitors the resistance force applied to the wire chuck unit 53. Then, the determination unit 415 determines whether or not the resistance force exceeds a predetermined threshold value Th1 (step S51).
  • determination unit 415 determines whether or not tip portion 201 has reached insertion completion allowable position L6. (Step S52). Specifically, this determination is made based on whether or not the wire chuck portion 53 has moved by the amount that the tip portion 201 can reach the insertion completion allowable position L6.
  • the insertion completion allowable position L6 is a position of the tip portion 201 that may be determined that the insertion operation of the terminal 24 is completed, and is a parameter arbitrarily set by the operator. Specifically, as shown in FIG.
  • the insertion completion allowable position L6 is set to a position before the movement end position L4 (for example, 2 mm before) from the movement end position L4.
  • the above-described insertion completion position L5 is a position between the movement end position L4 and the insertion completion allowable position L6.
  • determination unit 415 determines whether tip 201 has reached movement completion position L4. Is determined (step S53). Specifically, this determination is made based on whether or not the wire chuck portion 53 has moved by the amount that the tip portion 201 can reach the movement completion position L4. In step S53, the determination unit 415 determines whether or not the distal end portion 201 has reached the insertion completion allowable position L6 instead of determining whether or not the distal end portion 201 has reached the movement completion position L4. May be.
  • step S53 determines in step S53 that the distal end portion 201 has not reached the movement completion position L4 (No in step S53)
  • the process returns to step S51 to determine whether the resistance exceeds the threshold Th1.
  • the determination unit 415 determines whether or not.
  • the control part 41 repeats step S51 and step S53, and until the front-end
  • step S53 when the determination unit 415 determines that the tip 201 has reached the movement completion position L4 (Yes in step S53), the drive control unit 411 temporarily stops the terminal insertion operation (step S54).
  • Step S52 when the determination unit 415 determines in step S52 that the distal end portion 201 has reached the movement completion allowable position L6 (No in step S52), the drive control unit 411 temporarily stops the terminal insertion operation. (Step S54). In this case, although the insertion of the terminal-attached electric wire 20 is insufficient, a resistance exceeding the predetermined threshold value Th1 is detected, so that a terminal insertion failure may have occurred. For this reason, by stopping the terminal insertion operation, it becomes possible for the operator to appropriately check the insertion failure.
  • the terminal insertion device 40 may restart the terminal insertion operation.
  • step S52 when the determination unit 415 determines that the distal end portion 201 has reached the insertion completion allowable position L6 (Yes in step S52), the drive control unit 411 ends the terminal insertion operation. Thereby, the second insertion step S5 is completed.
  • step S54 the operator may be notified of the terminal insertion failure on the display unit 49 or by turning on a stop lamp or the like. By temporarily stopping the terminal insertion operation, the operator can check the terminal insertion status.
  • FIG. 7 is a diagram showing a change in the resistance force applied to the wire chuck portion 53 when the terminal insertion process is normally performed.
  • the horizontal axis indicates the position of the electric wire chuck portion 53
  • the vertical axis indicates the resistance force.
  • the resistance force applied to the wire chuck portion 53 varies depending on the position.
  • a position L11 shown in FIG. 7 indicates the position of the wire chuck portion 53 when the tip portion 201 of the terminal-attached electric wire 20 comes into contact with the terminal locking portion.
  • the wire chuck portion 53 reaches the position L11, the distal end portion 201 tries to get over the terminal locking portion 14, so that the resistance force increases.
  • the electric wire 20 with a terminal advances further back and the electric wire chuck
  • the position L13 is the position of the electric wire chuck portion 53 when the distal end portion 201 described in step S52 reaches the insertion completion allowable position L6.
  • the position L14 is the position of the electric wire chuck portion 53 when the distal end portion 201 reaches the insertion completion position L5.
  • the position L15 is a position of the electric wire chuck portion 53 when the tip portion 201 reaches the movement end position L4.
  • FIG. 8 is a schematic side view of the terminal-attached electric wire 20 according to a case of terminal insertion failure.
  • the example shown in FIG. 8 shows a state in which the distal end portion 201 of the terminal-attached electric wire 20 is caught by the terminal locking portion 14 in the cavity 12 in the second insertion step S5.
  • FIG. 9 is a figure which shows the change of the resistance force at the time of the terminal insertion defect shown in FIG.
  • the resistance force received by the wire chuck portion 53 after the second insertion step S ⁇ b> 5 is started. Is monitored to determine whether the threshold value Th1 has been reached (step S51). When the resistance force exceeds the threshold Th1 until the tip 201 reaches the terminal completion allowable position L6 (that is, until the wire chuck 53 reaches the position L16), the wire chuck 53 Is stopped (step S54). Thereby, the damage of the terminal latching
  • the change in resistance force is monitored (resistance force detection step), and the position of the wire chuck portion 53 when the resistance force increases or decreases is determined (position information acquisition step). For this reason, at the time of terminal insertion, it is possible to appropriately determine whether the terminal 24 is caught on the terminal locking portion 14 or insufficient terminal insertion.
  • the terminal locking portion 14 contacts the front end of the locking hole 261 before exceeding the maximum movement amount, so that the resistance force increases beyond a predetermined threshold value. It can be detected by the resistance detection unit 45. On the other hand, if the resistance exceeding the predetermined threshold is not detected even if the movement amount reaches the maximum movement amount, it is estimated that the terminal-attached electric wire 20 is not locked. 40 stops operation. As a result, the operator can confirm the state of terminal insertion failure (locking failure of the terminal 24). Moreover, it can suppress that the electric wire 20 with a new terminal continues being performed with the terminal insertion defect having generate
  • the position information of the wire chuck portion 53 and the resistance force applied to the wire chuck portion 53 are measured, so that the position of the terminal-attached wire 20 when the resistance force fluctuates can be easily grasped. . As a result, it is possible to determine at which position the terminal insertion failure occurs, so that it is possible to appropriately determine whether the terminal 24 is inserted or not.
  • movement is acquired by acquiring the resistance force and position information at the time of inserting the terminal 24 of the electric wire 20 with a terminal in the cavity 12. Defects can be properly identified.
  • FIG. 10 is a schematic side view of the terminal-attached electric wire 20 showing a case where the tensile confirmation is performed in a state where the terminal is not properly inserted.
  • FIG. 10 shows the terminal-attached electric wire 20 in a state where the terminal 24 is not locked and the electric wire 22 is buckled because the distal end 201 is hooked on the terminal locking portion 14 when the terminal is inserted.
  • the resistance is not detected because the terminal 24 is not locked to the terminal locking portion 14.
  • the terminal-attached electric wire 20 may be caught on a portion (for example, a rubber plug 18) other than the terminal locking portion 14 of the terminal insertion housing 10.
  • the resistance force may exceed a predetermined threshold before reaching the maximum movement amount. That is, if only the tension check is performed, it may be erroneously determined that the terminal 24 is locked although the terminal 24 is not locked.

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  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)

Abstract

Provided is a technique for appropriately determining whether a terminal is properly or improperly inserted. A terminal insertion device 40 inserts a terminal 24, which is attached to the end of a cable 20, into a cavity 12 formed in a terminal insertion housing 10. The terminal insertion device 40 is provided with a cable chuck 53 (gripping part) that grips the cable 20, an advance/retreat drive unit 43 that drives the cable chuck 53 forward into the cavity, a position data acquisition unit 413 that acquires position data for the cable chuck 53, a resistance force detection unit 45 that detects resistance force experienced by the cable chuck 53, and a determination unit 415 that determines whether the terminal 24 is properly or improperly inserted on the basis of the position data and the resistance force.

Description

端子挿入装置及び端子挿入方法Terminal insertion device and terminal insertion method
　この発明は、電線端部に接続された端子を端子挿入ハウジングのキャビティ内に挿入する技術に関する。 This invention relates to a technique for inserting a terminal connected to an end of an electric wire into a cavity of a terminal insertion housing.
　従来、端子をキャビティ内に挿入する技術として、特許文献１に開示のものがある。 Conventionally, Patent Document 1 discloses a technique for inserting a terminal into a cavity.
　特許文献１では、コネクタハウジングの端子収容室に電線付端子を挿入した後、電線挟持部を後退させて、電線付端子に引抜き力を作用させ、引抜き力をセンサで検出して、電線付端子の挿入状態の良否を確認する技術が開示されている。 In Patent Document 1, after inserting a terminal with a wire into the terminal accommodating chamber of the connector housing, the wire holding portion is retracted, a pulling force is applied to the terminal with a wire, and the pulling force is detected by a sensor. A technique for confirming the quality of the insertion state is disclosed.
特開２００５－１４２０３１号公報JP 2005-142031 A
　しかしながら、上記従来技術の場合、引抜き力を検出するだけであったため、その引抜き力が、端子係止機構により発生したものなのか、あるいは、挿入不良（引っ掛かり等）によって発生したものかを正確に特定することは困難であった。このため、端子挿入の良否判定で誤判定が発生するおそれがあった。 However, in the case of the above prior art, since only the pulling force is detected, it is possible to accurately determine whether the pulling force is generated by the terminal locking mechanism or due to poor insertion (such as a catch). It was difficult to identify. For this reason, there is a possibility that an erroneous determination may occur in determining whether or not the terminal is inserted.
　そこで、本発明は、端子挿入の良否を適切に判別する技術を提供することを目的とする。 Therefore, an object of the present invention is to provide a technique for appropriately determining the quality of terminal insertion.
　上記の課題を解決するため、第１の態様は、端子付電線の端子を、端子挿入ハウジングに形成されたキャビティに挿入する端子挿入装置であって、前記端子付電線を把持する把持部と、前記把持部を前記キャビティに対して進退駆動する進退駆動部と、前記把持部の位置情報を取得する位置情報取得部と、前記把持部が受ける抵抗力を検出する抵抗力検出部と、前記位置情報及び前記抵抗力に基づいて、前記端子の挿入の良否を判定する判定部とを備える。 In order to solve the above-described problem, the first aspect is a terminal insertion device that inserts a terminal of a terminal-attached electric wire into a cavity formed in a terminal insertion housing, and a gripping portion that holds the terminal-attached electric wire; An advancing / retreating drive unit that drives the gripping part to move forward and backward, a position information acquisition unit that acquires position information of the gripping part, a resistance force detection part that detects a resistance force received by the gripping part, and the position And a determination unit that determines whether or not the terminal is inserted based on the information and the resistance force.
　また、第２の態様は、第１の態様に係る端子挿入装置であって、前記判定部は、前記端子付電線を把持した前記把持部を前記キャビティに向けて進めた際に、前記位置情報及び前記抵抗力に基づき、前記端子の挿入良否を判定する。 Moreover, a 2nd aspect is a terminal insertion apparatus which concerns on a 1st aspect, Comprising: When the said determination part advances the said holding part which hold | gripped the said electric wire with a terminal toward the said cavity, the said positional information And whether the terminal is inserted or not is determined based on the resistance.
　また、第３の態様は、第２の態様に係る端子挿入装置であって、前記判定部は、前記端子付電線の前記端子が、前記キャビティ内に設けられた端子係止部に接触してから、当該端子係止部が前記端子に設けられた係止孔に進入するまでの間、前記抵抗力と既定のしきい値とを比較することによって、前記端子の挿入良否を判定する。 Moreover, a 3rd aspect is a terminal insertion apparatus which concerns on a 2nd aspect, Comprising: The said determination part contacts the terminal latching | locking part provided in the said cavity in the said terminal of the said electric wire with a terminal. Until the terminal locking part enters the locking hole provided in the terminal, the insertion / rejection of the terminal is determined by comparing the resistance force with a predetermined threshold value.
　また、第４の態様は、第３の態様に係る端子挿入装置であって、前記判定部の判定に基づき、前記進退駆動部を制御する制御部、をさらに備え、前記制御部は、前記判定部によって前記抵抗力が前記しきい値を超えたと判定された場合に、前記端子付電線を把持した前記把持部の移動を停止させる。 Moreover, a 4th aspect is a terminal insertion apparatus which concerns on a 3rd aspect, Comprising: The control part which controls the said advancing / retreating drive part based on determination of the said determination part is further provided, The said control part is the said determination When it is determined by the part that the resistance force has exceeded the threshold value, the movement of the gripping part that grips the terminal-attached electric wire is stopped.
　また、第５の態様は、端子付電線の端子を、端子挿入ハウジングに形成されたキャビティに挿入する端子挿入方法であって、前記端子付電線を把持部によって把持する把持工程と、前記把持工程にて前記端子付電線を把持した前記把持部を前記キャビティに対して進退移動させる進退移動工程と、前記進退移動工程にて進退移動する前記把持部の位置情報を取得する位置情報取得工程と、前記進退移動工程にて前記把持部が受ける抵抗力を検出する抵抗力検出工程と、前記位置情報及び前記抵抗力に基づいて、前記端子の挿入良否を判定する判定工程とを含む。 A fifth aspect is a terminal insertion method for inserting a terminal of a terminal-attached electric wire into a cavity formed in a terminal insertion housing, wherein the holding step holds the electric wire with terminal by a holding portion; and the holding step An advancing / retreating step for moving the grasping portion grasping the terminal-attached electric wire with respect to the cavity, a position information obtaining step for obtaining position information of the grasping portion moving forward / backward in the advancing / retreating step, A resistance force detection step of detecting a resistance force received by the gripper in the advance / retreat movement step, and a determination step of determining whether the terminal is inserted or not based on the position information and the resistance force.
　第１から第５の態様に係る端子挿入装置によると、抵抗力が変動する位置を判別できる。これによって、どの位置で挿入不良が発生したかを判別できるようになり、端子の挿入良否を適切に判別できる。 According to the terminal insertion device according to the first to fifth aspects, it is possible to determine the position where the resistance force fluctuates. This makes it possible to determine at which position an insertion failure has occurred, and to properly determine whether or not the terminal is inserted.
　第２の態様に係る端子挿入装置によると、端子付電線がキャビティに進む際の抵抗力及び位置情報を取得することで、端子挿入時に発生する挿入不良を適切に判別できる。 According to the terminal insertion device according to the second aspect, it is possible to appropriately determine the insertion failure that occurs when the terminal is inserted by acquiring the resistance force and position information when the electric wire with terminal proceeds to the cavity.
　第３の態様に係る端子挿入装置によると、端子付電線が端子係止部に引っ掛かりを検出できる。これによって、端子係止部が正常に端子の係止孔に挿入されたかどうかを正確に判別できる。 According to the terminal insertion device according to the third aspect, the terminal-attached electric wire can be caught in the terminal locking portion. This makes it possible to accurately determine whether or not the terminal locking portion has been normally inserted into the terminal locking hole.
　第４の態様に係る端子挿入装置によると、端子が端子係止部に引っ掛かることで抵抗力がしきい値を超えた場合に、把持部の移動を停止できる。このため、端子がキャビティに無理に挿入されることで端子係止部が破損することを抑制できる。 According to the terminal insertion device according to the fourth aspect, the movement of the gripping part can be stopped when the resistance exceeds the threshold value due to the terminal being caught by the terminal locking part. For this reason, it can suppress that a terminal latching | locking part is damaged by inserting a terminal into a cavity forcibly.
　第５の態様に係る端子挿入方法によると、抵抗力が変動する位置を判別できる。これによって、どの位置で挿入不良が発生したかを判別できるようになり、端子の挿入良否を適切に判別できる。 According to the terminal insertion method according to the fifth aspect, the position where the resistance force fluctuates can be determined. This makes it possible to determine at which position an insertion failure has occurred, and to properly determine whether or not the terminal is inserted.
実施形態に係る端子挿入ハウジング及び端子付電線を示す斜視図である。It is a perspective view showing a terminal insertion housing and an electric wire with a terminal concerning an embodiment. 実施形態に係る端子挿入ハウジングに端子付電線を挿入する端子挿入装置を示す概略図である。It is the schematic which shows the terminal insertion apparatus which inserts the electric wire with a terminal in the terminal insertion housing which concerns on embodiment. 端子挿入装置が１つの端子付電線をキャビティに挿入する端子挿入処理の流れを示す図である。It is a figure which shows the flow of the terminal insertion process which a terminal insertion apparatus inserts one electric wire with a terminal in a cavity. 図４は、端子挿入装置が１つの端子付電線をキャビティに挿入する様子を示す概略側面図である。FIG. 4 is a schematic side view showing how the terminal insertion device inserts one terminal-attached electric wire into the cavity. 端子付電線２０の引張確認を行う様子を示す概略側面図である。It is a schematic side view which shows a mode that the tension | pulling confirmation of the electric wire 20 with a terminal is performed. 第２挿入工程における端子挿入装置の動作の流れを示す図である。It is a figure which shows the flow of operation | movement of the terminal insertion apparatus in a 2nd insertion process. 端子挿入処理が正常に行われた場合の、電線チャック部にかかる抵抗力の変化を示す図である。It is a figure which shows the change of the resistive force concerning an electric wire chuck | zipper part when a terminal insertion process is performed normally. 端子挿入不良の事例に係る端子付電線の概略側面図である。It is a schematic side view of the electric wire with a terminal concerning the example of terminal insertion failure. 図８に示す端子挿入不良時の抵抗力の変化を示す図である。It is a figure which shows the change of the resistance force at the time of the terminal insertion defect shown in FIG. 端子挿入不良の状態で引張確認が行われた場合を示す端子付電線の概略側面図である。It is a schematic side view of the electric wire with a terminal which shows the case where tension check is performed in the state of terminal insertion failure.
　以下、添付の図面を参照しながら、本発明の実施形態について説明する。なお、この実施形態に記載されている構成要素はあくまでも例示であり、本発明の範囲をそれらのみに限定する趣旨のものではない。また、図面においては、理解容易のため、必要に応じて各部の寸法や数が誇張または簡略化して図示されている場合がある。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the component described in this embodiment is an illustration to the last, and is not a thing of the meaning which limits the scope of the present invention only to them. In the drawings, the size and number of each part may be exaggerated or simplified as necessary for easy understanding.
　＜１．　実施形態＞
　図１は、実施形態に係る端子挿入ハウジング１０及び端子付電線２０を示す斜視図である。図２は、実施形態に係る端子挿入ハウジング１０に端子付電線２０を挿入する端子挿入装置４０を示す概略図である。なお、図２では、端子挿入ハウジング１０における１つのキャビティ１２の構成部分を断面図で示している。 <1. Embodiment>
Drawing 1 is a perspective view showing terminal insertion housing 10 and electric wire 20 with a terminal concerning an embodiment. Drawing 2 is a schematic diagram showing terminal insertion device 40 which inserts electric wire 20 with a terminal in terminal insertion housing 10 concerning an embodiment. In FIG. 2, a component part of one cavity 12 in the terminal insertion housing 10 is shown in a sectional view.
　端子挿入ハウジング１０は、樹脂等の絶縁材料によって構成されており、全体として略直方体状に形成されている。端子挿入ハウジング１０には、少なくとも１つのキャビティ１２が形成されている。ここでは、端子挿入ハウジング１０の一面に所定の配列で並ぶように複数のキャビティ１２が形成されている。なお、端子挿入ハウジング１０の一面側には、複数のキャビティ１２を囲む周壁部１１が形成されている。 The terminal insertion housing 10 is made of an insulating material such as resin, and is formed in a substantially rectangular parallelepiped shape as a whole. At least one cavity 12 is formed in the terminal insertion housing 10. Here, a plurality of cavities 12 are formed on one surface of the terminal insertion housing 10 so as to be arranged in a predetermined arrangement. A peripheral wall portion 11 surrounding the plurality of cavities 12 is formed on one surface side of the terminal insertion housing 10.
　各キャビティ１２は、端子挿入ハウジング１０の一方面側に開口している。 Each cavity 12 is opened on one side of the terminal insertion housing 10.
　端子付電線２０は、電線２２の端部に端子２４が接続された構成とされている。端子２４は、挿入先となるキャビティ１２に対応する径（または幅及び高さ）に形成されている。 The electric wire with terminal 20 is configured such that the terminal 24 is connected to the end of the electric wire 22. The terminal 24 is formed to have a diameter (or width and height) corresponding to the cavity 12 to be inserted.
　電線２２は、単線または撚り合わせ素線等の芯線の周囲を、樹脂等の絶縁体で被覆して構成された一般的な被覆電線とされている。 The electric wire 22 is a general covered electric wire configured by covering a core wire such as a single wire or a twisted strand with an insulator such as a resin.
　端子２４は、胴板等の金属板をプレス加工等することによって形成された部材であり、接続部２６と電線接続部２８とを備える。 The terminal 24 is a member formed by pressing a metal plate such as a body plate, and includes a connection portion 26 and a wire connection portion 28.
　接続部２６は、ここでは角筒状に形成されている。接続部２６の中間部には、係止孔２６１形成されている。 Here, the connecting portion 26 is formed in a rectangular tube shape. A locking hole 261 is formed in the intermediate portion of the connecting portion 26.
　電線接続部２８は、接続部２６の一端部に連設されている。ここでは、電線接続部２８と接続部２６とは直線状に連なっている。電線接続部２８は、電線２２の異端部に露出する芯線部２９に接続されている。ここでは、電線接続部２８は、芯線部２９に圧着されることで、当該芯線部２９に機械的及び電気的に接続されている。なお、電線接続部と芯線部との接続は、超音波溶接、抵抗溶接、または、半田付け等によって実現されていてもよい。 The electric wire connection portion 28 is connected to one end portion of the connection portion 26. Here, the wire connection part 28 and the connection part 26 are connected in a straight line. The wire connection portion 28 is connected to a core wire portion 29 exposed at a different end portion of the wire 22. Here, the wire connecting portion 28 is mechanically and electrically connected to the core wire portion 29 by being crimped to the core wire portion 29. Note that the connection between the electric wire connecting portion and the core wire portion may be realized by ultrasonic welding, resistance welding, soldering, or the like.
　端子挿入ハウジング１０は、角筒形状に形成された樹脂成形品である。端子挿入ハウジング１０を前側から見ると、細長い四角形状を成している。なお、以下の説明においては、端子付電線２０のうち、端子２４側を前側とし、電線２２側を後側とする。端子挿入ハウジング１０の内側には、端子２４を保持するキャビティ１２が形成されている。すなわち、端子挿入ハウジング１０内の空間は、仕切壁によって複数に仕切られており、当該各仕切られた空間が、端子２４のうち電線接続部２８及びそこから延出する電線２２の一部を収容可能なキャビティ１２を形成している。ここでは、キャビティ１２は、細長い角柱状の空間とされているか、円柱状等の形状を有していてもよい。 The terminal insertion housing 10 is a resin molded product formed in a rectangular tube shape. When the terminal insertion housing 10 is viewed from the front side, it has an elongated rectangular shape. In the following description, in the terminal-attached electric wire 20, the terminal 24 side is the front side, and the electric wire 22 side is the rear side. A cavity 12 that holds the terminal 24 is formed inside the terminal insertion housing 10. That is, the space in the terminal insertion housing 10 is divided into a plurality of partitions by the partition wall, and each partitioned space accommodates the electric wire connecting portion 28 of the terminal 24 and a part of the electric wire 22 extending therefrom. A possible cavity 12 is formed. Here, the cavity 12 may be a long and narrow prismatic space, or may have a cylindrical shape or the like.
　上記キャビティ１２の後側は、端子２４を挿入できるように開口している。キャビティ１２内に端子２４の電線接続部２８を収容した状態では、電線接続部２８に接続された電線２２は、キャビティ１２の後側から外方に延出することとなる。 The rear side of the cavity 12 is open so that the terminal 24 can be inserted. In a state where the electric wire connection portion 28 of the terminal 24 is accommodated in the cavity 12, the electric wire 22 connected to the electric wire connection portion 28 extends outward from the rear side of the cavity 12.
　キャビティ１２の内部には、端子２４を抜止め保持する端子係止部１４が形成されている。端子係止部１４は、キャビティ１２の内面から端子挿入ハウジング１０の前方に向けて傾斜しつつ延出する細長状部分であり、ランス（樹脂ランス）とも呼ばれる部分である。 Inside the cavity 12, a terminal locking portion 14 that holds and holds the terminal 24 is formed. The terminal locking portion 14 is an elongated portion that extends while inclining from the inner surface of the cavity 12 toward the front of the terminal insertion housing 10, and is also a portion called a lance (resin lance).
　端子２４をキャビティ１２の後ろ側から挿入すると、端子２４が端子係止部１４に接触し、端子係止部１４がキャビティ１２の内面側に近づくように弾性変形する。そして、端子係止部１４が接続部２６の係止孔２６１に到達すると、端子係止部１４が元の形状に戻り、その先端部が係止孔２６１に入り込む。これによって、端子２４がキャビティ１２内で抜止め保持される。 When the terminal 24 is inserted from the back side of the cavity 12, the terminal 24 comes into contact with the terminal locking portion 14 and is elastically deformed so that the terminal locking portion 14 approaches the inner surface side of the cavity 12. When the terminal locking portion 14 reaches the locking hole 261 of the connection portion 26, the terminal locking portion 14 returns to its original shape, and the tip end portion enters the locking hole 261. As a result, the terminal 24 is retained in the cavity 12.
　また、周壁部１１の内側におけるキャビティ１２の手前側には、ゴム栓１８が取付けられている（図１及び図２参照。なお、図１においては、ゴム栓１８の図示を二点鎖線で示している）。ゴム栓１８は、各キャビティ１２に対応する位置に合わせて開口しており、当該開口を通して、各端子付電線２０の端子２４がキャビティ１２内に挿入される。ゴム栓１８は、端子付電線２０の外形に合わせて弾性変形可能であり、端子付電線２０の外周面に接触することによって、キャビティ１２内を防水する。なお、各キャビティ１２の内周面にゴム栓を設け、当該ゴム栓をキャビティ１２内に挿入された端子２４の外周部に接触させることによって、キャビティ１２内を防水してもよい。あるいは、各端子付電線２０における端子２４の外周部にゴム栓を予め直接取り付け、当該ゴム栓部分をキャビティ１２の内周面に接触させることによって、キャビティ１２内を防水してもよい。 Further, a rubber plug 18 is attached to the front side of the cavity 12 inside the peripheral wall portion 11 (see FIGS. 1 and 2). In FIG. 1, the rubber plug 18 is shown by a two-dot chain line. ing). The rubber plugs 18 are opened at positions corresponding to the cavities 12, and the terminals 24 of the electric wires 20 with terminals are inserted into the cavities 12 through the openings. The rubber plug 18 can be elastically deformed according to the outer shape of the terminal-attached electric wire 20 and waterproofs the cavity 12 by contacting the outer peripheral surface of the terminal-attached electric wire 20. In addition, the inside of the cavity 12 may be waterproofed by providing a rubber plug on the inner peripheral surface of each cavity 12 and bringing the rubber plug into contact with the outer peripheral portion of the terminal 24 inserted into the cavity 12. Alternatively, the inside of the cavity 12 may be waterproofed by attaching a rubber plug directly to the outer peripheral portion of the terminal 24 in each terminal-equipped electric wire 20 and bringing the rubber plug portion into contact with the inner peripheral surface of the cavity 12.
　端子挿入装置４０は、制御部４１、進退駆動部４３、抵抗力検出部４５、入力部４７及び表示部４９を備えている。 The terminal insertion device 40 includes a control unit 41, an advance / retreat drive unit 43, a resistance force detection unit 45, an input unit 47, and a display unit 49.
　制御部４１は、ＣＰＵ、ＲＯＭ、ＲＡＭ等を備えた一般的なコンピュータで構成することができる。当該コンピュータは、記録媒体に記録されたプログラムを読み取り、当該プログラムに従って動作することで、端子挿入装置４０の動作を制御する。 The control unit 41 can be configured by a general computer including a CPU, a ROM, a RAM, and the like. The computer controls the operation of the terminal insertion device 40 by reading the program recorded on the recording medium and operating according to the program.
　また、端子挿入装置４０は、端子チャック部５１及び電線チャック部５３を備えている。端子チャック部５１は、端子２４を把持するように構成されている。ここでは、端子チャック部５１は、端子２４の接続部２６を把持する。電線チャック部５３は、端子付電線２０の電線２２を把持するように構成されている。端子チャック部５１及び電線チャック部５３は、端子付電線２０を把持する把持部の一例である。 The terminal insertion device 40 includes a terminal chuck portion 51 and an electric wire chuck portion 53. The terminal chuck portion 51 is configured to grip the terminal 24. Here, the terminal chuck portion 51 holds the connection portion 26 of the terminal 24. The wire chuck portion 53 is configured to grip the wire 22 of the terminal-attached wire 20. The terminal chuck portion 51 and the wire chuck portion 53 are an example of a grip portion that grips the terminal-attached electric wire 20.
　進退駆動部４３は、端子チャック部５１及び電線チャック部５３をキャビティ１２に対して進退移動させる。端子チャック部５１及び電線チャック部５３は、進退移動することによって、把持した端子付電線２０の端子２４を押してキャビティ１２に挿入したり、あるいは、挿入させた端子付電線２０を引張したりすることが可能とされている。 The advance / retreat drive unit 43 moves the terminal chuck portion 51 and the wire chuck portion 53 forward and backward with respect to the cavity 12. The terminal chuck portion 51 and the wire chuck portion 53 are moved forward and backward to push the terminal 24 of the gripped electric wire 20 with a terminal and insert it into the cavity 12 or pull the inserted electric wire 20 with a terminal. Is possible.
　進退駆動部４３は、スライダ側のナット部材が螺合するネジ軸をサーボモータの駆動により回転駆動する電動スライダ機構で構成されている。なお、進退駆動部４３として、リニアモータ等を利用することも考えられる。 The advancing / retreating drive unit 43 is configured by an electric slider mechanism that rotationally drives a screw shaft to which a nut member on the slider side is screwed by driving a servo motor. It is also conceivable to use a linear motor or the like as the advance / retreat drive unit 43.
　進退駆動部４３には、抵抗力検出部４５が接続されている。抵抗力検出部４５は、進退駆動部４３が電線チャック部５３を移動させるために必要な押圧力を検出することで、電線チャック部５３の移動を妨げる方向に働く抵抗力を検出する。 A resistance force detection unit 45 is connected to the advance / retreat drive unit 43. The resistance force detection unit 45 detects a pressing force necessary for the advance / retreat drive unit 43 to move the wire chuck portion 53, thereby detecting a resistance force acting in a direction that hinders the movement of the wire chuck portion 53.
　具体的に、進退駆動部４３としてネジ軸を回転駆動する電動スライダ機構を採用した場合、抵抗力検出部４５は、進退駆動部４３がネジ軸を回転させるための力（トルク）を抵抗力として検出する。 Specifically, when an electric slider mechanism that rotationally drives the screw shaft as the advance / retreat drive unit 43 is employed, the resistance detection unit 45 uses the force (torque) for rotating the screw shaft as the resistance force. To detect.
　入力部４７は、複数のスイッチ或はタッチパネル等により構成され、制御部４１に対して端子２４の挿入動作又は引抜き動作に係る諸指示、諸設定の入力を受付け可能に構成されている。 The input unit 47 is configured by a plurality of switches, touch panels, or the like, and is configured to be able to accept inputs of various instructions and settings related to the insertion operation or extraction operation of the terminal 24 to the control unit 41.
　制御部４１は、駆動制御部４１１、位置情報取得部４１３及び判定部４１５として機能する。駆動制御部４１１、位置情報取得部４１３及び判定部４１５は、制御部４１のＣＰＵが記憶部（ＲＡＭなどの一時的に情報を記憶するものも含む。）に記録されたプログラムに従って動作することによってソフトウェア的に実現される機能である。なお、これらの機能の一部又は全部は、専用回路によってハードウェア的に実現されてもよい。 The control unit 41 functions as a drive control unit 411, a position information acquisition unit 413, and a determination unit 415. The drive control unit 411, the position information acquisition unit 413, and the determination unit 415 are operated by the CPU of the control unit 41 according to a program recorded in a storage unit (including one that temporarily stores information such as a RAM). This is a function realized by software. Note that some or all of these functions may be realized in hardware by a dedicated circuit.
　駆動制御部４１１は、進退駆動部４３の動作を制御する。また、後述するように、駆動制御部４１１は、判定部４１５の判定結果に基づいて、進退駆動部４３を制御する。 The drive control unit 411 controls the operation of the advance / retreat drive unit 43. As will be described later, the drive control unit 411 controls the advance / retreat drive unit 43 based on the determination result of the determination unit 415.
　以下の説明において、端子挿入動作とは、駆動制御部４１１が、端子付電線２０を把持した端子チャック部５１及び電線チャック部５３をキャビティ１２に向けて進めることで、端子付電線２０の端子２４をキャビティ１２へ挿入させることをいう。また、端子引抜き動作とは、駆動制御部４１１が、電線チャック部５３をキャビティ１２内から離れる方向に後退させることで、キャビティ１２内に挿入された端子付電線２０を引抜くことをいう。 In the following description, the terminal insertion operation means that the drive control unit 411 advances the terminal chuck portion 51 and the wire chuck portion 53 holding the terminal-attached electric wire 20 toward the cavity 12, thereby causing the terminal 24 of the electric wire 20 with the terminal 20 to move. Is inserted into the cavity 12. The terminal pulling-out operation means that the drive control unit 411 pulls out the electric wire with terminal 20 inserted into the cavity 12 by retracting the electric wire chuck unit 53 in a direction away from the inside of the cavity 12.
　位置情報取得部４１３は、電線チャック部５３（把持部）の位置情報を取得する。ここでは、位置情報取得部４１３は、進退駆動部４３が電線チャック部５３を移動させたときの移動量を検出し、その移動量から位置情報を取得する。例えば、進退駆動部４３としてネジ軸を回転駆動する電動スライダ機構を採用した場合、位置情報取得部４１３は、ネジ軸の回転量を検出することによって、電線チャック部５３の移動量を検出することができる。これに基づいて、電線チャック部５３の位置を検出することができる。 The position information acquisition unit 413 acquires the position information of the electric wire chuck unit 53 (gripping unit). Here, the position information acquisition unit 413 detects the movement amount when the advance / retreat driving unit 43 moves the wire chuck unit 53, and acquires the position information from the movement amount. For example, when an electric slider mechanism that rotationally drives the screw shaft as the advance / retreat drive unit 43 is employed, the position information acquisition unit 413 detects the amount of movement of the wire chuck unit 53 by detecting the amount of rotation of the screw shaft. Can do. Based on this, the position of the wire chuck portion 53 can be detected.
　判定部４１５は、抵抗力検出部４５によって検出される電線チャック部５３にかかる抵抗力と、位置情報取得部４１３によって取得される電線チャック部５３の位置情報とに基づき、端子２４の挿入良否を判定する。 The determination unit 415 determines whether the terminal 24 is inserted based on the resistance force applied to the wire chuck unit 53 detected by the resistance force detection unit 45 and the position information of the wire chuck unit 53 acquired by the position information acquisition unit 413. judge.
　例えば、判定部４１５は、端子挿入動作の際（つまり、端子付電線２０を把持した電線チャック部５３をキャビティ１２に向けて進めて、端子付電線２０の端子２４をキャビティ１２に挿入する際）、端子２４が、キャビティ１２内に設けられた端子係止部１４に接触してから、当該端子係止部１４が端子２４に設けられた係止孔２６１に進入するまでの間、判定部４１５が抵抗力と既定のしきい値とを比較する。そして、抵抗力が既定のしきい値を超えたと判定部４１５が判定した場合、駆動制御部４１１は、進退駆動部４３を制御して、端子挿入動作を停止させる。 For example, the determination unit 415 performs the terminal insertion operation (that is, when the wire chuck portion 53 holding the terminal-attached electric wire 20 is advanced toward the cavity 12 and the terminal 24 of the terminal-attached electric wire 20 is inserted into the cavity 12). From the time when the terminal 24 comes into contact with the terminal locking part 14 provided in the cavity 12 to the time when the terminal locking part 14 enters the locking hole 261 provided in the terminal 24, the determination part 415 Compares the resistance to a predetermined threshold. When the determination unit 415 determines that the resistance force exceeds a predetermined threshold value, the drive control unit 411 controls the advance / retreat drive unit 43 to stop the terminal insertion operation.
　次に、端子挿入装置４０が実行する端子挿入処理について説明する。図３は、端子挿入装置４０が１つの端子付電線２０をキャビティ１２に挿入する端子挿入処理の流れを示す図である。図４は、端子挿入装置４０が１つの端子付電線２０をキャビティ１２に挿入する様子を示す概略側面図である。また、図５は、端子付電線２０の引張確認を行う様子を示す概略側面図である。 Next, a terminal insertion process executed by the terminal insertion device 40 will be described. FIG. 3 is a diagram showing the flow of terminal insertion processing in which the terminal insertion device 40 inserts one terminal-attached electric wire 20 into the cavity 12. FIG. 4 is a schematic side view showing how the terminal insertion device 40 inserts one terminal-attached electric wire 20 into the cavity 12. FIG. 5 is a schematic side view showing a state in which the tension of the terminal-attached electric wire 20 is confirmed.
　＜把持工程Ｓ１＞
　図２及び図３に示すように、端子２４の挿入処理が開始されると、まず、キャビティ１２に挿入される端子付電線２０が、端子チャック部５１及び電線チャック部５３によって把持される（把持工程Ｓ１）。把持工程Ｓ１では、端子チャック部５１が端子２４を把持し、電線チャック部５３が電線２２を把持する。そして、端子挿入装置４０は、先端部２０１（端子２４の先端部）が、端子挿入ハウジング１０の手前の移動開始位置Ｌ１に配されるように、端子付電線２０を移動させる。この移動開始位置Ｌ１の高さは、その後、先端部２０１を端子挿入ハウジング１０に向けて直線移動させることによって、端子付電線２０を目的のキャビティ１２内に進入させることが可能な高さとされている。なお、端子付電線２０を移動させる代わりに、端子挿入ハウジング１０を移動させてもよい。 <Gripping step S1>
As shown in FIGS. 2 and 3, when the insertion process of the terminal 24 is started, first, the electric wire with terminal 20 inserted into the cavity 12 is grasped by the terminal chuck portion 51 and the electric wire chuck portion 53 (gripping). Step S1). In the gripping step S <b> 1, the terminal chuck portion 51 grips the terminal 24 and the wire chuck portion 53 grips the wire 22. And the terminal insertion apparatus 40 moves the electric wire 20 with a terminal so that the front-end | tip part 201 (front-end | tip part of the terminal 24) may be distribute | arranged to the movement start position L1 in front of the terminal insertion housing 10. FIG. The height of the movement start position L1 is set to a height that allows the terminal-attached electric wire 20 to enter the target cavity 12 by moving the tip portion 201 linearly toward the terminal insertion housing 10 thereafter. Yes. In addition, you may move the terminal insertion housing 10 instead of moving the electric wire 20 with a terminal.
　＜プレ挿入工程Ｓ２＞
　続いて、端子挿入装置４０は、キャビティ１２に向けて端子付電線２０を直線移動させることで、先端部２０１（端子２４の先端部）を、上記移動開始位置Ｌ１から、キャビティ１２の開口の手前の第１挿入開始位置Ｌ２に移動させる（プレ挿入工程Ｓ２）。このプレ挿入工程Ｓ２は、先端部２０１をキャビティ１２に挿入する前の工程である。第１挿入開始位置Ｌ２は、例えば、端子挿入ハウジング１０の端部（周壁部１１の周縁部）よりも若干（例えば、約２ｍｍ）内側の位置であって、ゴム栓１８の手前の位置である。この移動開始位置Ｌ１から第１挿入開始位置Ｌ２までの移動は、プレ挿入ストロークＳｔ１に相当する。 <Pre-insertion step S2>
Subsequently, the terminal insertion device 40 linearly moves the terminal-attached electric wire 20 toward the cavity 12, thereby moving the distal end portion 201 (the distal end portion of the terminal 24) from the movement start position L <b> 1 before the opening of the cavity 12. To the first insertion start position L2 (pre-insertion step S2). This pre-insertion step S2 is a step before the tip portion 201 is inserted into the cavity 12. The first insertion start position L2 is, for example, a position slightly inside (for example, about 2 mm) inside the end portion of the terminal insertion housing 10 (peripheral portion of the peripheral wall portion 11), and is a position before the rubber plug 18. . The movement from the movement start position L1 to the first insertion start position L2 corresponds to the pre-insertion stroke St1.
　＜端子チャック部退避工程Ｓ３＞
　続いて、端子挿入装置４０の端子チャック部５１が、端子２４の把持を解除して、所定の方向（ここでは、高さ方向上側）へ退避する（端子チャック部退避工程Ｓ３）。これによって、先端部２０１をキャビティ１２内に挿入することが可能な状態となる。 <Terminal chuck part retracting step S3>
Subsequently, the terminal chuck portion 51 of the terminal insertion device 40 releases the terminal 24 and retracts in a predetermined direction (here, the upper side in the height direction) (terminal chuck portion retracting step S3). As a result, the tip 201 can be inserted into the cavity 12.
　＜第１挿入工程Ｓ４＞
　続いて、電線チャック部５３が、端子付電線２０を目的のキャビティ１２内へ挿入する（第１挿入工程Ｓ４）。この第１挿入工程Ｓ４では、先端部２０１を、第１挿入開始位置Ｌ２から、第２挿入開始位置Ｌ３まで移動させる第２挿入開始位置Ｌ３は、先端部２０１が端子係止部１４に接触する位置（あるいはその位置よりも若干手前の位置）である。先端部２０１の第１挿入開始位置Ｌ２から第２挿入開始位置Ｌ３までの移動は、第１挿入ストロークＳｔ２に相当する。第１挿入工程Ｓ４では、電線チャック部５３が端子付電線２０をキャビティ１２に押し込む力（押圧力）は、特段制限されない。 <First insertion step S4>
Subsequently, the wire chuck portion 53 inserts the terminal-attached electric wire 20 into the target cavity 12 (first insertion step S4). In the first insertion step S4, at the second insertion start position L3 in which the tip 201 is moved from the first insertion start position L2 to the second insertion start position L3, the tip 201 contacts the terminal locking part 14. The position (or a position slightly before that position). The movement of the distal end portion 201 from the first insertion start position L2 to the second insertion start position L3 corresponds to the first insertion stroke St2. In the first insertion step S4, the force (pressing force) by which the wire chuck portion 53 pushes the terminal-attached electric wire 20 into the cavity 12 is not particularly limited.
　＜第２挿入工程Ｓ５＞
　続いて、端子挿入装置４０が先端部２０１を、第２挿入開始位置Ｌ３から移動終了位置Ｌ４に向けて移動させる（第２挿入工程Ｓ５）。この第２挿入工程Ｓ５では、端子付電線２０がキャビティ１２の奥へと挿入される。先端部２０１の第２挿入開始位置Ｌ３から移動終了位置Ｌ４への移動は、第２挿入ストロークＳｔ３に相当する。 <Second insertion step S5>
Subsequently, the terminal insertion device 40 moves the distal end portion 201 from the second insertion start position L3 toward the movement end position L4 (second insertion step S5). In the second insertion step S <b> 5, the terminal-attached electric wire 20 is inserted into the cavity 12. The movement of the distal end portion 201 from the second insertion start position L3 to the movement end position L4 corresponds to the second insertion stroke St3.
　また、第２挿入工程Ｓ５では、端子挿入装置４０が端子付電線２０に負荷する押圧力を既定値以下に制限して、端子付電線２０の挿入が行われる。ここで、進退駆動部４３としてネジ軸を備えたスライダ機構が採用された場合、挿入力はネジ軸を回転させる力（トルク）に相当する。つまり、この場合は、トルクが制限されることによって、押圧力が制限される。 In the second insertion step S5, the terminal insertion device 40 inserts the terminal-attached electric wire 20 by limiting the pressing force applied to the terminal-attached electric wire 20 to a predetermined value or less. Here, when a slider mechanism including a screw shaft is employed as the advance / retreat drive unit 43, the insertion force corresponds to a force (torque) for rotating the screw shaft. That is, in this case, the pressing force is limited by limiting the torque.
　移動終了位置Ｌ４は、端子挿入装置４０が、先端部２０１を到達させる目標となる位置であって、ここでは、キャビティ１２の最奥端の位置とされている。なお、端子挿入ハウジング１０及び端子付電線２０の設計上は、先端部２０１が移動終了位置Ｌ４よりも手前（例えば、約１ｍｍ手前）の挿入完了位置Ｌ５に到達したとき、係止孔２６１の後端部に接触する。このため、電線チャック部５３が、端子付電線２０の先端部２０１を挿入完了位置Ｌ５よりも奥側に移動させようとすると、一定以上の抵抗力を受けることとなる。 The movement end position L4 is a target position for the terminal insertion device 40 to reach the distal end portion 201, and is the position at the innermost end of the cavity 12 here. In terms of the design of the terminal insertion housing 10 and the terminal-attached electric wire 20, when the distal end 201 reaches the insertion completion position L5 before (for example, about 1 mm before) the movement end position L4, Touch the end. For this reason, if the electric wire chuck part 53 tries to move the front-end | tip part 201 of the electric wire 20 with a terminal to the back | inner side rather than the insertion completion position L5, it will receive resistance more than fixed.
　＜引張確認工程Ｓ６＞
　第２挿入工程Ｓ５が完了すると、続いて、図５に示す引張確認工程Ｓ６が行われる。引張確認工程Ｓ６では、駆動制御部４１１が端子引抜き動作を行うことで、端子２４が端子係止部１４に適切に係止されるかどうかが確認される。本例では、所定の長さ分（ここでは、６ｍｍ）だけ、端子付電線２０をキャビティ１２から引き抜く方向に電線チャック部５３を移動させる。端子２４の挿入が正常に完了した場合には、端子２４が端子係止部１４によって係止されることから、引張確認工程Ｓ６によって、挿入の良否を判定することが可能となる。 <Tension confirmation process S6>
When the second insertion step S5 is completed, a tension confirmation step S6 shown in FIG. 5 is subsequently performed. In the tension confirmation step S <b> 6, it is confirmed whether or not the terminal 24 is properly locked to the terminal locking portion 14 by the drive control unit 411 performing a terminal pulling-out operation. In this example, the wire chuck portion 53 is moved in a direction to pull out the terminal-attached electric wire 20 from the cavity 12 by a predetermined length (here, 6 mm). When the insertion of the terminal 24 is normally completed, since the terminal 24 is locked by the terminal locking portion 14, it is possible to determine whether the insertion is good or not by the tension confirmation step S6.
　＜判定部４１５による端子挿入の良否判定について＞
　本実施形態では、抵抗力検出部４５によって電線チャック部５３にかかる抵抗力が検出され、かつ、位置情報取得部４１３によって電線チャック部５３の位置情報が取得される。これによって、各位置毎に電線チャック部５３にかかる抵抗力を検出できる。そして、各位置に応じて設定されたしきい値と、抵抗力を比較することによって、挿入不良が発生しているかどうかを判定部４１５が判定する。 <Regarding Pass / Fail Determination of Terminal Insertion by Determination Unit 415>
In the present embodiment, the resistance force applied to the wire chuck unit 53 is detected by the resistance force detection unit 45, and the position information of the wire chuck unit 53 is acquired by the position information acquisition unit 413. Thereby, the resistance force applied to the wire chuck portion 53 can be detected for each position. And the determination part 415 determines whether the insertion defect has generate | occur | produced by comparing the threshold value set according to each position, and resistance force.
　＜端子挿入時における判定処理について＞
　まず、本実施形態では、第２挿入工程Ｓ５、すなわち、端子付電線２０の先端部２０１を、端子係止部１４に接触させてから、端子係止部１４が係止孔２６１に進入し、その後、移動終了位置Ｌ４まで移動させる間における、端子挿入不良の判定が行われる。 <Determination processing when inserting a terminal>
First, in the present embodiment, the second insertion step S5, that is, after the distal end portion 201 of the terminal-attached electric wire 20 is brought into contact with the terminal locking portion 14, the terminal locking portion 14 enters the locking hole 261, Thereafter, the terminal insertion failure is determined during the movement to the movement end position L4.
　図６は、第２挿入工程Ｓ５における端子挿入装置４０の動作の流れを示す図である。図６に示すように、第２挿入工程Ｓ５では、判定部４１５は、電線チャック部５３にかかる抵抗力を監視する。そして、判定部４１５は、抵抗力が既定のしきい値Ｔｈ１を超えたかどうかを判定する（ステップＳ５１）。 FIG. 6 is a diagram showing an operation flow of the terminal insertion device 40 in the second insertion step S5. As shown in FIG. 6, in the second insertion step S <b> 5, the determination unit 415 monitors the resistance force applied to the wire chuck unit 53. Then, the determination unit 415 determines whether or not the resistance force exceeds a predetermined threshold value Th1 (step S51).
　ステップＳ５１にて、抵抗力がしきい値Ｔｈ１を超えたと判定部４１５が判定した場合（ステップＳ５１にてＹｅｓ）、先端部２０１が挿入完了許容位置Ｌ６に到達したかどうかを判定部４１５が判定する（ステップＳ５２）。この判定は、詳細には、先端部２０１が挿入完了許容位置Ｌ６に到達し得る分だけ、電線チャック部５３が移動したかどうかに基づいて行われる。挿入完了許容位置Ｌ６は、端子２４の挿入動作が完了したと判定してよい先端部２０１の位置であって、オペレータによって任意に設定されるパラメータである。具体的に、挿入完了許容位置Ｌ６は、図４に示すように、移動終了位置Ｌ４から、当該移動終了位置Ｌ４よりも手前（例えば、２ｍｍ手前）の位置とされる。なお、上述の挿入完了位置Ｌ５は、移動終了位置Ｌ４と挿入完了許容位置Ｌ６の間の位置とされる。 If determination unit 415 determines that the resistance force exceeds threshold value Th1 in step S51 (Yes in step S51), determination unit 415 determines whether or not tip portion 201 has reached insertion completion allowable position L6. (Step S52). Specifically, this determination is made based on whether or not the wire chuck portion 53 has moved by the amount that the tip portion 201 can reach the insertion completion allowable position L6. The insertion completion allowable position L6 is a position of the tip portion 201 that may be determined that the insertion operation of the terminal 24 is completed, and is a parameter arbitrarily set by the operator. Specifically, as shown in FIG. 4, the insertion completion allowable position L6 is set to a position before the movement end position L4 (for example, 2 mm before) from the movement end position L4. The above-described insertion completion position L5 is a position between the movement end position L4 and the insertion completion allowable position L6.
　ステップＳ５１にて、抵抗力がしきい値Ｔｈ１を超えていないと判定部４１５が判定した場合（ステップＳ５１にてＮｏ）、判定部４１５は、先端部２０１が移動完了位置Ｌ４に到達したかどうかを判定する（ステップＳ５３）。この判定は、詳細には、先端部２０１が移動完了位置Ｌ４に到達し得る分だけ、電線チャック部５３が移動したかどうかに基づいて行われる。なお、ステップＳ５３にて、判定部４１５は、先端部２０１が移動完了位置Ｌ４に到達したかどうかを判定する代わりに、先端部２０１が挿入完了許容位置Ｌ６に到達したかどうかを判定するようにしてもよい。 If determination unit 415 determines that the resistance force does not exceed threshold value Th1 in step S51 (No in step S51), determination unit 415 determines whether tip 201 has reached movement completion position L4. Is determined (step S53). Specifically, this determination is made based on whether or not the wire chuck portion 53 has moved by the amount that the tip portion 201 can reach the movement completion position L4. In step S53, the determination unit 415 determines whether or not the distal end portion 201 has reached the insertion completion allowable position L6 instead of determining whether or not the distal end portion 201 has reached the movement completion position L4. May be.
　ステップＳ５３にて、先端部２０１が移動完了位置Ｌ４に到達していないと判定部４１５が判定した場合（ステップＳ５３にてＮｏ）、ステップＳ５１に戻って、抵抗力がしきい値Ｔｈ１を超えたかどうかを判定部４１５が判定する。このように、制御部４１は、ステップＳ５１及びステップＳ５３を繰り返し行うことによって、先端部２０１が移動完了位置Ｌ４に到達するまで（すなわち、第２挿入工程Ｓ２が完了するまで）、電線チャック部５３にかかる抵抗力を監視する。 If the determination unit 415 determines in step S53 that the distal end portion 201 has not reached the movement completion position L4 (No in step S53), the process returns to step S51 to determine whether the resistance exceeds the threshold Th1. The determination unit 415 determines whether or not. Thus, the control part 41 repeats step S51 and step S53, and until the front-end | tip part 201 reaches the movement completion position L4 (namely, until 2nd insertion process S2 is completed), the electric wire chuck | zipper part 53 Monitor the resistance force.
　ステップＳ５３にて、先端部２０１が移動完了位置Ｌ４に到達したと判定部４１５が判定した場合（ステップＳ５３にてＹｅｓ）、駆動制御部４１１は、端子挿入動作を一時停止する（ステップＳ５４）。 In step S53, when the determination unit 415 determines that the tip 201 has reached the movement completion position L4 (Yes in step S53), the drive control unit 411 temporarily stops the terminal insertion operation (step S54).
　このように、抵抗力がしきい値Ｔｈ１を超えることなく、かつ、先端部２０１が移動完了位置Ｌ４に到達したと判定される場合（ステップＳ５１にてＮｏ、かつ、ステップＳ５３にてＹｅｓ）、端子挿入不良が発生している可能性が高い。このため、端子挿入動作を停止することによって、オペレータが挿入不良の確認を適宜行うことが可能となる。 As described above, when it is determined that the resistance force does not exceed the threshold value Th1 and the distal end portion 201 has reached the movement completion position L4 (No in Step S51 and Yes in Step S53), There is a high possibility that a terminal insertion failure has occurred. For this reason, by stopping the terminal insertion operation, it becomes possible for the operator to appropriately confirm insertion failure.
　また、ステップＳ５２にて、先端部２０１が移動完了許容位置Ｌ６に到達したと判定部４１５が判定した場合（ステップＳ５２にてＮｏ）にも、駆動制御部４１１は、端子挿入動作を一時停止する（ステップＳ５４）。この場合、端子付電線２０の挿入が不十分であるにも関わらず、所定のしきい値Ｔｈ１を超える抵抗力が検出されているため、端子挿入不良が発生している可能性がある。このため、端子挿入動作を停止させることで、オペレータが挿入不良の確認を適宜行うことが可能となる。 In addition, when the determination unit 415 determines in step S52 that the distal end portion 201 has reached the movement completion allowable position L6 (No in step S52), the drive control unit 411 temporarily stops the terminal insertion operation. (Step S54). In this case, although the insertion of the terminal-attached electric wire 20 is insufficient, a resistance exceeding the predetermined threshold value Th1 is detected, so that a terminal insertion failure may have occurred. For this reason, by stopping the terminal insertion operation, it becomes possible for the operator to appropriately check the insertion failure.
　なお、端子挿入動作が停止された場合、例えば、オペレータが、挿入不良と判定された電線を引抜くなどして元の位置にセットし直し、その後、端子挿入装置４０に対して再起動の操作を適宜行う。これによって、端子挿入装置４０が端子挿入動作を再開するようにしてもよい。 When the terminal insertion operation is stopped, for example, an operator pulls out an electric wire determined to be defective in insertion and resets the original position, and then restarts the terminal insertion device 40. As appropriate. Thereby, the terminal insertion device 40 may restart the terminal insertion operation.
　ステップＳ５２にて、先端部２０１が挿入完了許容位置Ｌ６に到達したと判定部４１５が判定した場合（ステップＳ５２にてＹｅｓ）、駆動制御部４１１は、端子挿入動作を終了する。これによって、第２挿入工程Ｓ５が完了する。 In step S52, when the determination unit 415 determines that the distal end portion 201 has reached the insertion completion allowable position L6 (Yes in step S52), the drive control unit 411 ends the terminal insertion operation. Thereby, the second insertion step S5 is completed.
　なお、ステップＳ５４において、端子挿入不良であることを、表示部４９に表示させたり、あるいは、停止ランプ等を点灯させることによって、オペレータに通知するようにしてもよい。端子挿入動作が一時停止されることで、オペレータは端子挿入状況を確認することができる。 In step S54, the operator may be notified of the terminal insertion failure on the display unit 49 or by turning on a stop lamp or the like. By temporarily stopping the terminal insertion operation, the operator can check the terminal insertion status.
　図７は、端子挿入処理が正常に行われた場合の、電線チャック部５３にかかる抵抗力の変化を示す図である。図７において、横軸は電線チャック部５３の位置を示しており、縦軸は抵抗力を示す図である。図７に示すように、電線チャック部５３にかかる抵抗力は、その位置に応じて変化する。 FIG. 7 is a diagram showing a change in the resistance force applied to the wire chuck portion 53 when the terminal insertion process is normally performed. In FIG. 7, the horizontal axis indicates the position of the electric wire chuck portion 53, and the vertical axis indicates the resistance force. As shown in FIG. 7, the resistance force applied to the wire chuck portion 53 varies depending on the position.
　図７に示す位置Ｌ１１は、端子付電線２０の先端部２０１が、端子係止部１４に接触したときの、電線チャック部５３の位置を示している。電線チャック部５３が位置Ｌ１１に到達すると、先端部２０１が端子係止部１４を乗り越えようとするため、抵抗力が大きくなる。そして、端子付電線２０がさらに奥に進むとともに電線チャック部５３が位置Ｌ１２に到達することで、端子係止部１４が係止孔２６１に収容され、抵抗力が減少する。 A position L11 shown in FIG. 7 indicates the position of the wire chuck portion 53 when the tip portion 201 of the terminal-attached electric wire 20 comes into contact with the terminal locking portion. When the wire chuck portion 53 reaches the position L11, the distal end portion 201 tries to get over the terminal locking portion 14, so that the resistance force increases. And when the electric wire 20 with a terminal advances further back and the electric wire chuck | zipper part 53 reaches | attains the position L12, the terminal latching | locking part 14 is accommodated in the latching hole 261, and resistance force reduces.
　位置Ｌ１３は、ステップＳ５２で説明した先端部２０１が挿入完了許容位置Ｌ６に到達したときの、電線チャック部５３の位置である。位置Ｌ１４は、先端部２０１が挿入完了位置Ｌ５に到達したときの電線チャック部５３の位置である。また、位置Ｌ１５は、先端部２０１が移動終了位置Ｌ４に到達するときの電線チャック部５３の位置である。端子挿入が良好に行われた場合には、先端部２０１が挿入完了位置Ｌ５に到達すること（すなわち、電線チャック部５３が位置Ｌ１４に到達すること）で、係止孔２６１内に進入した端子係止部１４が、係止孔２６１の後端部分に接触する。このため、先端部２０１が移動終了位置Ｌ４に到達するまで（すなわち、電線チャック部５３が位置Ｌ１５に到達するまで）、抵抗力が大きくなる。 The position L13 is the position of the electric wire chuck portion 53 when the distal end portion 201 described in step S52 reaches the insertion completion allowable position L6. The position L14 is the position of the electric wire chuck portion 53 when the distal end portion 201 reaches the insertion completion position L5. Further, the position L15 is a position of the electric wire chuck portion 53 when the tip portion 201 reaches the movement end position L4. When the terminal is inserted successfully, the terminal that has entered the locking hole 261 when the tip 201 reaches the insertion completion position L5 (that is, the electric wire chuck 53 reaches the position L14). The locking portion 14 contacts the rear end portion of the locking hole 261. For this reason, until the front-end | tip part 201 arrives at the movement end position L4 (namely, until the electric wire chuck | zipper part 53 arrives at the position L15), resistance force becomes large.
　図８は、端子挿入不良の事例に係る端子付電線２０の概略側面図である。図８に示す事例は、第２挿入工程Ｓ５において、端子付電線２０の先端部２０１がキャビティ１２内の端子係止部１４に引っ掛かった状態を示している。また、図９は、図８に示す端子挿入不良時抵抗力の変化を示す図である。 FIG. 8 is a schematic side view of the terminal-attached electric wire 20 according to a case of terminal insertion failure. The example shown in FIG. 8 shows a state in which the distal end portion 201 of the terminal-attached electric wire 20 is caught by the terminal locking portion 14 in the cavity 12 in the second insertion step S5. Moreover, FIG. 9 is a figure which shows the change of the resistance force at the time of the terminal insertion defect shown in FIG.
　図８及び図９に示すように、電線チャック部５３が位置Ｌ１１に到達して、先端部２０１が端子係止部１４に引っ掛かり、それ以上の移動が妨げられたとする。すると、図８に示すように、電線チャック部５３にかかる抵抗力が急上昇する。この状態で、押圧力がさらに加えられると、端子係止部１４が破損してしまう可能性がある。また、図８に示すように、電線２２が座屈するおそれがある。 As shown in FIGS. 8 and 9, it is assumed that the wire chuck portion 53 reaches the position L11, the tip portion 201 is caught by the terminal locking portion 14, and further movement is prevented. Then, as shown in FIG. 8, the resistance force applied to the wire chuck portion 53 increases rapidly. If a pressing force is further applied in this state, the terminal locking portion 14 may be damaged. Moreover, as shown in FIG. 8, there exists a possibility that the electric wire 22 may buckle.
　このような端子係止部１４の破損を回避するため、端子挿入装置４０においては、図６にて説明したように、第２挿入工程Ｓ５が開始された後、電線チャック部５３が受ける抵抗力が、しきい値Ｔｈ１に到達するかどうか監視される（ステップＳ５１）。そして、先端部２０１が端子完了許容位置Ｌ６に到達するまで（すなわち、電線チャック部５３が位置Ｌ１６に到達するまで）に、抵抗力がしきい値Ｔｈ１を越えた場合には、電線チャック部５３の移動が停止される（ステップＳ５４）。これによって、無理に端子付電線２０を挿入することによる、端子係止部１４の破損を抑制できる。 In order to avoid such damage to the terminal locking portion 14, in the terminal insertion device 40, as described in FIG. 6, the resistance force received by the wire chuck portion 53 after the second insertion step S <b> 5 is started. Is monitored to determine whether the threshold value Th1 has been reached (step S51). When the resistance force exceeds the threshold Th1 until the tip 201 reaches the terminal completion allowable position L6 (that is, until the wire chuck 53 reaches the position L16), the wire chuck 53 Is stopped (step S54). Thereby, the damage of the terminal latching | locking part 14 by inserting the electric wire 20 with a terminal forcibly can be suppressed.
　以上のように、本例では、抵抗力の変化を監視し（抵抗力検出工程）、かつ、抵抗力が増減するときの電線チャック部５３の位置を把握する（位置情報取得工程）。このため、端子挿入時においては、端子２４の端子係止部１４への引っ掛かり、あるいは、不十分な端子挿入を、適切に判別することができる。 As described above, in this example, the change in resistance force is monitored (resistance force detection step), and the position of the wire chuck portion 53 when the resistance force increases or decreases is determined (position information acquisition step). For this reason, at the time of terminal insertion, it is possible to appropriately determine whether the terminal 24 is caught on the terminal locking portion 14 or insufficient terminal insertion.
　＜引張確認工程における判定処理について＞
　次に、図３及び図５で説明した引張確認工程Ｓ６における、駆動制御部４１１の動作について説明する。引張確認工程Ｓ６では、上述したように、電線チャック部５３が端子付電線２０を引っ張ることによって、先端部２０１を移動終了位置Ｌ４から移動させる。そして、判定部４１５が、最大移動量（例えば、４ｍｍ）分だけ電線チャック部５３を移動させる前に、所定のしきい値を超える抵抗力が検出されるかどうかに基づき、端子２４が端子係止部１４に係止されるかどうかが確認される。 <Determination process in the tension confirmation process>
Next, the operation of the drive control unit 411 in the tension confirmation step S6 described with reference to FIGS. 3 and 5 will be described. In the tension confirmation step S6, as described above, the wire chuck portion 53 pulls the terminal-attached electric wire 20 to move the tip portion 201 from the movement end position L4. Then, before the determination unit 415 moves the electric wire chuck unit 53 by the maximum movement amount (for example, 4 mm), the terminal 24 is connected to the terminal based on whether or not a resistance force exceeding a predetermined threshold is detected. It is confirmed whether or not the stopper 14 is locked.
　端子挿入が良好に行われた場合には、最大移動量を超える前に、端子係止部１４が係止孔２６１の前端部に接触するため、所定のしきい値を超える抵抗力の増大を抵抗力検出部４５で検出することができる。逆に、移動量が最大移動量に到達しても、所定のしきい値を超える抵抗力が検出されない場合には、端子付電線２０が係止されていないと推定されるため、端子挿入装置４０が動作を停止させる。これによって、オペレータが端子挿入不良（端子２４の係止不良）の状況を確認することができる。また、端子挿入不良が発生したまま、新たな端子付電線２０が継続して行われることを抑制できる。なお、表示部４９や警告ランプなどをオペレータに通知することで、端子挿入不良（係止不良）をオペレータに通知してもよい。 If the terminal is inserted successfully, the terminal locking portion 14 contacts the front end of the locking hole 261 before exceeding the maximum movement amount, so that the resistance force increases beyond a predetermined threshold value. It can be detected by the resistance detection unit 45. On the other hand, if the resistance exceeding the predetermined threshold is not detected even if the movement amount reaches the maximum movement amount, it is estimated that the terminal-attached electric wire 20 is not locked. 40 stops operation. As a result, the operator can confirm the state of terminal insertion failure (locking failure of the terminal 24). Moreover, it can suppress that the electric wire 20 with a new terminal continues being performed with the terminal insertion defect having generate | occur | produced. The operator may be notified of a terminal insertion failure (locking failure) by notifying the operator of the display unit 49 or a warning lamp.
　本実施形態に係る端子挿入装置４０では、電線チャック部５３の位置情報及び電線チャック部５３にかかる抵抗力を測定するため、抵抗力が変動したときの端子付電線２０の位置を容易に把握できる。これによって、どの位置で端子挿入不良が発生するかを判別できるため、端子２４の挿入良否を適切に判別できる。 In the terminal insertion device 40 according to the present embodiment, the position information of the wire chuck portion 53 and the resistance force applied to the wire chuck portion 53 are measured, so that the position of the terminal-attached wire 20 when the resistance force fluctuates can be easily grasped. . As a result, it is possible to determine at which position the terminal insertion failure occurs, so that it is possible to appropriately determine whether the terminal 24 is inserted or not.
　また、本実施形態に係る端子挿入装置４０によると、端子付電線２０の端子２４をキャビティ１２に挿入する際の抵抗力及び位置情報を取得することで、端子挿入動作時に発生する端子２４の挿入不良を適切に判別できる。 Moreover, according to the terminal insertion apparatus 40 which concerns on this embodiment, the insertion of the terminal 24 which generate | occur | produces at the time of terminal insertion operation | movement is acquired by acquiring the resistance force and position information at the time of inserting the terminal 24 of the electric wire 20 with a terminal in the cavity 12. Defects can be properly identified.
　図１０は、端子挿入不良の状態で引張確認が行われた場合を示す端子付電線２０の概略側面図である。図１０では、端子挿入時に先端部２０１が端子係止部１４に引っ掛かることで端子２４が係止されず、かつ、電線２２が座屈した状態の端子付電線２０を示している。 FIG. 10 is a schematic side view of the terminal-attached electric wire 20 showing a case where the tensile confirmation is performed in a state where the terminal is not properly inserted. FIG. 10 shows the terminal-attached electric wire 20 in a state where the terminal 24 is not locked and the electric wire 22 is buckled because the distal end 201 is hooked on the terminal locking portion 14 when the terminal is inserted.
　このような端子付電線２０について、引張確認を行った場合、通常は、端子２４が端子係止部１４に係止されていないため、抵抗力が検出されない。しかしながら、端子付電線２０が端子挿入ハウジング１０の端子係止部１４以外の部分（例えば、ゴム栓１８等）に引っ掛かる場合もあり得る。この場合には、最大移動量に到達する前に、抵抗力が所定のしきい値を超えることもある。すなわち、引張確認のみ行っただけでは、端子２４が係止されていないにも関わらず、係止されていると誤判定されることが起こり得る。 When such a terminal-attached electric wire 20 is checked for tension, normally, the resistance is not detected because the terminal 24 is not locked to the terminal locking portion 14. However, the terminal-attached electric wire 20 may be caught on a portion (for example, a rubber plug 18) other than the terminal locking portion 14 of the terminal insertion housing 10. In this case, the resistance force may exceed a predetermined threshold before reaching the maximum movement amount. That is, if only the tension check is performed, it may be erroneously determined that the terminal 24 is locked although the terminal 24 is not locked.
　これに対して、本実施形態では、上述したように、端子挿入時において、端子挿入の良否判定が行われる。これにより、端子２４の端子係止部１４への引っ掛かりを適切に抑制できるため、電線２２の座屈を抑制できる。このため、引張確認工程Ｓ６において、誤判定が起こる可能性を大幅に軽減できる。 On the other hand, in this embodiment, as described above, whether or not the terminal is inserted is determined when the terminal is inserted. Thereby, since the catch to the terminal latching | locking part 14 of the terminal 24 can be suppressed appropriately, the buckling of the electric wire 22 can be suppressed. For this reason, in the tension confirmation step S6, the possibility of erroneous determination can be greatly reduced.
　この発明は詳細に説明されたが、上記の説明は、すべての局面において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。また、上記各実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組み合わせたり、省略したりすることができる。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention. In addition, the configurations described in the above embodiments and modifications can be appropriately combined or omitted as long as they do not contradict each other.
　１０　端子挿入ハウジング
　１２　キャビティ
　１４　端子係止部
　２０　端子付電線
　２０１　先端部
　２２　電線
　２４　端子
　２６１　係止孔
　４０　端子挿入装置
　４１　制御部
　４１１　駆動制御部
　４１３　位置情報取得部
　４１５　判定部
　４３　進退駆動部
　４５　抵抗力検出部
　５１　端子チャック部
　５３　電線チャック部（把持部）
　Ｌ１　移動開始位置
　Ｌ２　第１挿入開始位置
　Ｌ３　第２挿入開始位置
　Ｌ４　移動終了位置
　Ｌ５　挿入完了位置
　Ｌ６　挿入完了許容位置
　Ｓ４　第１挿入工程
　Ｓ５　第２挿入工程
　Ｓ６　引張確認工程
　Ｔｈ１　しきい値 DESCRIPTION OF SYMBOLS 10 Terminal insertion housing 12 Cavity 14 Terminal locking part 20 Electric wire with terminal 201 Tip part 22 Electric wire 24 Terminal 261 Locking hole 40 Terminal insertion apparatus 41 Control part 411 Drive control part 413 Position information acquisition part 415 Judgment part 43 Advance / retreat drive part 45 Resistance detection part 51 Terminal chuck part 53 Electric wire chuck part (grip part)
L1 movement start position L2 first insertion start position L3 second insertion start position L4 movement end position L5 insertion completion position L6 insertion completion allowable position S4 first insertion step S5 second insertion step S6 tension check step Th1 threshold

Claims (5)

  1. 　端子付電線の端子を、端子挿入ハウジングに形成されたキャビティに挿入する端子挿入装置であって、
    　前記端子付電線を把持する把持部と、
    　前記把持部を前記キャビティに対して進退駆動する進退駆動部と、
    　前記把持部の位置情報を取得する位置情報取得部と、
    　前記把持部が受ける抵抗力を検出する抵抗力検出部と、
    　前記位置情報及び前記抵抗力に基づいて、前記端子の挿入良否を判定する判定部と、
    を備える、端子挿入装置。     A terminal insertion device for inserting a terminal of an electric wire with terminal into a cavity formed in a terminal insertion housing,
    A gripping part for gripping the electric wire with terminal;
    An advancing / retreating drive unit that drives the gripping part to advance / retreat with respect to the cavity;
    A position information acquisition unit that acquires position information of the gripping unit;
    A resistance detection unit that detects the resistance received by the gripping unit;
    A determination unit that determines whether the terminal is inserted or not based on the position information and the resistance force;
    A terminal insertion device comprising:
  2. 　請求項１に記載の端子挿入装置であって、
    　前記判定部は、
    　前記端子付電線を把持した前記把持部を前記キャビティに向けて進めた際に、前記位置情報及び前記抵抗力に基づき、前記端子の挿入良否を判定する、端子挿入装置。     The terminal insertion device according to claim 1,
    The determination unit
    A terminal insertion device that determines whether or not the terminal is inserted based on the position information and the resistance force when the gripping portion that grips the terminal-attached electric wire is advanced toward the cavity.
  3. 　請求項２に記載の端子挿入装置であって、
    　前記判定部は、
    　前記端子付電線の前記端子が、前記キャビティ内に設けられた端子係止部に接触してから、当該端子係止部が前記端子に設けられた係止孔に進入するまでの間、前記抵抗力と既定のしきい値とを比較することによって、前記端子の挿入良否を判定する、端子挿入装置。     The terminal insertion device according to claim 2,
    The determination unit
    The resistance of the terminal-equipped electric wire from when the terminal comes into contact with the terminal locking portion provided in the cavity until the terminal locking portion enters the locking hole provided in the terminal. A terminal insertion device for determining whether or not the terminal is inserted by comparing a force with a predetermined threshold value.
  4. 　請求項３に記載の端子挿入装置であって、
    　前記判定部の判定に基づき、前記進退駆動部を制御する制御部、
    をさらに備え、
    　前記制御部は、
    　前記判定部によって前記抵抗力が前記しきい値を超えたと判定された場合に、前記端子付電線を把持した前記把持部の移動を停止させる、端子挿入装置。     The terminal insertion device according to claim 3,
    A control unit for controlling the advance / retreat driving unit based on the determination of the determination unit;
    Further comprising
    The controller is
    A terminal insertion device that stops movement of the gripping part that grips the electric wire with terminal when the determination part determines that the resistance force exceeds the threshold value.
  5. 　端子付電線の端子を、端子挿入ハウジングに形成されたキャビティに挿入する端子挿入方法であって、
    　前記端子付電線を把持部によって把持する把持工程と、
    　前記把持工程にて前記端子付電線を把持した前記把持部を前記キャビティに対して進退移動させる進退移動工程と、
    　前記進退移動工程にて進退移動する前記把持部の位置情報を取得する位置情報取得工程と、
    　前記進退移動工程にて前記把持部が受ける抵抗力を検出する抵抗力検出工程と、
    　前記位置情報及び前記抵抗力に基づいて、前記端子の挿入良否を判定する判定工程と、
    を含む、端子挿入方法。     A terminal insertion method for inserting a terminal of an electric wire with terminal into a cavity formed in a terminal insertion housing,
    A gripping step of gripping the electric wire with terminal by a gripping portion;
    An advancing / retreating step for moving the grasping portion that grasps the terminal-attached electric wire in the grasping step with respect to the cavity;
    A position information acquisition step of acquiring position information of the grip portion that moves forward and backward in the advance / retreat movement step;
    A resistance force detection step of detecting a resistance force received by the grip portion in the advance / retreat movement step;
    A determination step for determining whether the terminal is inserted or not based on the position information and the resistance force;
    Including a terminal.
PCT/JP2016/086559 2015-12-18 2016-12-08 Terminal insertion device and terminal insertion method WO2017104536A1 (en)

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CN109449718A (en) * 2018-12-13 2019-03-08 东莞市超日自动化设备科技有限公司 Secondary-inserting cable terminal inserts shell method and device thereof

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JP7444524B2 (en) * 2020-03-31 2024-03-06 Ｍｍｉセミコンダクター株式会社 Inspection equipment and wire harness manufacturing equipment

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JPH11260526A (en) * 1998-03-06 1999-09-24 Yazaki Corp Device for inserting terminal provided with wire
JP2005228577A (en) * 2004-02-12 2005-08-25 Furukawa Electric Co Ltd:The Inserting device of terminal with electric wire

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Publication number Priority date Publication date Assignee Title
JPH10154534A (en) * 1996-11-22 1998-06-09 Harness Sogo Gijutsu Kenkyusho:Kk Pressure contact terminal and design method therefor
JPH11260526A (en) * 1998-03-06 1999-09-24 Yazaki Corp Device for inserting terminal provided with wire
JP2005228577A (en) * 2004-02-12 2005-08-25 Furukawa Electric Co Ltd:The Inserting device of terminal with electric wire

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Publication number Priority date Publication date Assignee Title
CN109449718A (en) * 2018-12-13 2019-03-08 东莞市超日自动化设备科技有限公司 Secondary-inserting cable terminal inserts shell method and device thereof
CN109449718B (en) * 2018-12-13 2024-04-05 东莞市超日自动化设备科技有限公司 Method and device for inserting shell of secondary plug-in type flat cable terminal

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