WO2017122653A1

WO2017122653A1 - Terminal insertion device, terminal insertion method, and wiring module production method

Info

Publication number: WO2017122653A1
Application number: PCT/JP2017/000557
Authority: WO
Inventors: 服部　誠
Original assignee: 住友電装株式会社
Priority date: 2016-01-15
Filing date: 2017-01-11
Publication date: 2017-07-20
Also published as: JP2017126515A

Abstract

Provided is a technology for favorably inserting a terminal into a connector. A terminal insertion device (100) inserts a tip-end terminal (92) of a terminal-equipped electric wire (9) into a cavity (81) in a connector (8). The terminal insertion device (100) is equipped with: a second gripping part (31) of a second-gripping-part associated mechanism (3A) for holding and transporting an end-section region (900) of a terminal-equipped electric wire (9); a second gripping part (31) which is capable of moving independently from the second gripping part (31) of the second-gripping-part associated mechanism (3A), and constitutes the second-gripping-part associated mechanism (3B) for holding and transporting a tip-end section (900) of a terminal-equipped electric wire (9); a holder (82) for holding the connector (8); a fourth gripping part (51) for taking over support of the end-section region (900) of a terminal-equipped electric wire (9) transported by the second-gripping-part associated mechanism (3A) and the second-gripping-part associated mechanism (3B); and a first-direction transport mechanism (53) for inserting the tip-end section of a terminal-equipped electric wire (9) into a cavity (81) of the connector (8) held by the holder (82), by bringing the fourth gripping part (51) near the holder (82).

Description

Terminal insertion device, terminal insertion method, and wiring module manufacturing method

This invention relates to a technique for inserting a terminal at an end of an electric wire into a connector.

Patent Document 1 discloses a device for inserting a terminal into a connector housing held by a fixture.

In the insertion device described in Patent Document 1, the tip of the terminal of the electric wire with terminal is gripped between the pair of guide claws and the terminal presser, the middle part of the terminal is gripped with the pair of terminal gripping claws, and The electric wire of an electric wire is clamped with a pair of electric wire clamping claws. Then, after the terminal-equipped electric wire is positioned with respect to the terminal housing chamber of the connector housing, the terminal claws and the electric wire clamping claws are directed toward the connector housing in a state where the gripping force of the pair of guide claws and the terminal retainer is relaxed. The tip of the terminal is inserted into the terminal accommodating chamber. Next, the terminal is completely inserted into the terminal accommodating chamber by isolating the terminal holding claw from the terminal accommodating chamber and further moving the electric wire clamping claw.

Japanese Patent Laid-Open No. 7-240267

By the way, when trying to manufacture a large number of connectors into which terminals are inserted, there is a problem in that it is necessary to increase the number of the terminal insertion devices to a plurality of units, which increases costs. In addition, the additional area increases the exclusive area. Therefore, it is required to improve the terminal insertion processing capability of the terminal insertion device.

Therefore, an object of the present invention is to provide a technique for efficiently inserting a terminal into a connector.

In order to solve the above-described problem, a first aspect is a terminal insertion device for inserting a terminal at an end of a terminal-attached electric wire into a cavity formed in a connector, and holding the tip of the terminal-attached electric wire. The first transfer part that transfers while holding the tip part of the electric wire with terminal and the second transfer part that holds the connector Relative to the holder, the holder that inherits the support of the tip of the terminal-attached electric wire transferred by one of the first transfer portion and the second transfer portion, and the holding portion And a relative movement mechanism for inserting the tip portion into the cavity of the connector held by the holder.

Moreover, a 2nd aspect is a terminal insertion apparatus which concerns on a 1st aspect, Comprising: To the said front-end | tip part of the said electric wire with a terminal transferred by either said 1st transfer part and said 2nd transfer part A holder moving mechanism that moves the holder to cause the tip of the terminal to enter the cavity, and the first transfer unit and the second transfer unit hold the terminal of the terminal-attached electric wire.

Further, a third aspect is a terminal insertion device according to the first or second aspect, wherein the holding portion holds the electric wire of the terminal-attached electric wire.

Moreover, a 4th aspect is a terminal insertion apparatus which concerns on a 2nd or 3rd aspect, Comprising: The said relative movement mechanism has the holding | maintenance part moving mechanism which moves the said holding | maintenance part toward the back | inner side of the said cavity. Further prepare.

Moreover, a 5th aspect is a terminal insertion apparatus which concerns on a 4th aspect, Comprising: The said holder moving mechanism is the said front-end | tip part of the said electric wire with a terminal hold | maintained at the said 1st transfer part or the said 2nd transfer part Moves the holder between a first holder position facing the cavity and a second holder position where the tip portion enters the cavity, and the holding portion moving mechanism is configured to move the tip of the electric wire with terminal. A first terminal position in which the portion enters the cavity of the connector held by the holder at the second holder position, and a state in which the tip of the terminal-attached electric wire is inserted into the cavity The terminal-attached electric wire is moved between the second terminal positions.

Moreover, a 6th aspect is a terminal insertion apparatus which concerns on any one among the 1st to 5th aspects, Comprising: The control part which controls a movement of said 1st transfer part and said 2nd transfer part, In addition, the control unit, when the terminal-attached electric wire is shorter than a predetermined length, the other end of the terminal-attached electric wire in a state in which the one end of the terminal electric wire is held in the first transfer unit It is made to hold | maintain to said 2nd transfer part.

Further, the seventh aspect is a terminal insertion method for inserting the tip of the terminal of the terminal-attached electric wire into the connector cavity, and (A) transporting while holding the tip of the terminal-attached electric wire at the first transfer portion A first transfer step, (B) a first transfer step of transferring the tip of the terminal-attached electric wire transferred by the first transfer step to a holding unit, and (C) after the first transfer step, A first inserting step of inserting the tip of the terminal-attached electric wire into the cavity by moving the holding portion relative to the connector; and (D) the tip of the terminal-attached electric wire of the first A second transfer step of transferring while being held by a second transfer unit movably provided independently of the transfer unit, and (E) a tip of the terminal-attached electric wire transferred by the second transfer step, A second delivery step of delivering to the holding unit; F) after the second transfer step, by relatively moving the holding unit relative to the connector, and a second insertion step of inserting the distal end portion of the electric wire with the terminal to the cavity.

Further, an eighth aspect is a wiring module manufacturing method for manufacturing a wiring module in which a terminal at a tip of a terminal-attached electric wire is inserted into a cavity of a connector, wherein (a) the tip of the terminal-attached electric wire is a first A first transfer step of transferring while holding the transfer portion; (b) a first transfer step of transferring the tip of the terminal-attached electric wire transferred by the first transfer step to the holding portion; After the first delivery step, by moving the holding portion relative to the connector, the first insertion step of inserting the tip of the terminal-attached electric wire into the cavity; and (d) the terminal-attached electric wire. A second transfer step of transferring the tip portion of the terminal while being held by a second transfer portion movably provided independently of the first transfer portion, and (e) the terminal transferred by the second transfer step Connect the tip of the attached wire to the A second delivery step of delivering to the holding portion; and (f) after the second delivery step, the distal end portion of the terminal-attached electric wire is moved into the cavity by moving the holding portion relative to the connector. A second insertion step of inserting.

According to the terminal insertion device according to the first to sixth aspects, since the terminal-attached electric wire can be alternately transferred to the holding part by the first transfer part and the second transfer part, the terminal can be inserted efficiently.

Moreover, according to the terminal insertion device which concerns on a 2nd aspect, it moves in the cavity of a connector by moving the holder holding a connector toward the front-end | tip part of the terminal of the electric wire with a terminal hold | maintained at the 1st transfer mechanism. The tip of the electric wire with terminal can be inserted. Thus, by holding the terminal of the terminal-attached electric wire after the first transfer part or the second transfer part holds the terminal of the terminal-attached electric wire, the terminal is not changed until the tip of the electric wire with the terminal enters the cavity. It is possible to prevent the posture from changing. Therefore, the tip of the terminal can be satisfactorily inserted into the back side of the cavity.

Also, according to the terminal insertion device according to the third aspect, the holding portion holds the electric wire, so that the holding portion can be moved away from the connector when the terminal is inserted into the cavity. Thereby, it becomes easy to insert the front-end | tip part of an electric wire with a terminal into the back | inner side of a cavity.

According to the terminal insertion device according to the fourth aspect, the holding portion inherits the terminal-attached electric wire with the tip portion inserted into the cavity from the first transfer portion or the second transfer portion, and then the holding portion is connected to the cavity. By moving toward the back side, the terminal of the electric wire with terminal can be satisfactorily inserted into the cavity.

According to the terminal insertion device according to the fifth aspect, by moving the holder from the first holder position to the second holder position, the tip of the terminal can be advanced into the cavity of the connector held by the holder. Thus, it is possible to prevent the terminal posture from changing by not changing the terminal until the tip of the terminal enters the cavity. Further, with the tip of the terminal entering the cavity, the holding part moving mechanism moves the holding part to move the terminal from the first terminal position to the second terminal position. Good insertion into the back of the cavity.

According to the terminal insertion device according to the sixth aspect, the terminals at both ends can be inserted into the cavity of the connector in correspondence with the electric wire with a terminal shorter than a predetermined length.

According to the terminal insertion method according to the seventh aspect, the first transfer part and the second transfer part can alternately transfer the tip of the terminal-attached electric wire to the holding part, so that the terminal can be inserted efficiently.

According to the wiring module manufacturing method according to the eighth aspect, since the tip of the terminal-attached electric wire can be alternately transferred to the holding portion by the first transfer portion and the second transfer portion, the terminal can be inserted efficiently. .

It is a schematic perspective view of the terminal insertion apparatus which concerns on embodiment. It is a schematic plan view of the terminal insertion device according to the embodiment. It is a schematic plan view of the terminal insertion apparatus which performs a starting point and terminal insertion positioning process. It is a schematic plan view of the terminal insertion apparatus which performs a clamping start process. It is a schematic plan view of the terminal insertion apparatus which performs a 1st transfer primary process. It is a schematic plan view of the terminal insertion apparatus which performs a 1st transfer secondary process. It is a schematic plan view of the terminal insertion apparatus which performs a 1st delivery process. It is a schematic plan view of the terminal insertion apparatus which performs a movement process. It is a schematic plan view of the terminal insertion apparatus which performs a 2nd delivery process. It is a schematic plan view of the terminal insertion apparatus which performs a 3rd transfer process. It is a schematic plan view of the terminal insertion apparatus which performs a holder movement process. It is a schematic plan view of the terminal insertion apparatus which performs a 3rd delivery process. It is a schematic plan view of the terminal insertion apparatus which performs a 4th transfer process. It is a schematic plan view of the terminal insertion apparatus which performs a return process. It is a schematic perspective view of the terminal insertion apparatus which performs terminal insertion. It is a schematic perspective view of the terminal insertion apparatus which hold | maintains the both ends of one electric wire with a terminal simultaneously with a pair of 2nd clamping part. It is the schematic which shows a wiring module.

Hereinafter, embodiments will be described with reference to the accompanying drawings. The following embodiment is an example embodying the present invention, and is not an example of limiting the technical scope of the present invention.

<Terminal insertion device>
First, the overall configuration of the terminal insertion device 100 according to the embodiment will be described with reference to FIGS. 1 and 2. The terminal insertion device 100 inserts the terminal 92 at the end of the terminal-attached electric wire 9 into the cavity 81 of the connector 8 and includes at least one electric wire with terminal 9 and at least one connector 8 (see FIG. 17). ). In particular, the terminal insertion device 100 in the present embodiment is a device that manufactures a wiring module 200 including a plurality of electric wires with terminals 9 and a plurality of connectors 8.

The wiring module 200 alone is bundled in a form along a wiring path in a vehicle or the like, and is configured as a wire harness for electric wiring in the vehicle. Alternatively, the wiring module 200 is combined with at least one of other wiring modules and electric wires and bundled along a wiring path in a vehicle or the like, and configured as a wiring harness for electric wiring in the vehicle. .

For the sake of convenience, the display of each component does not necessarily match the details of shape and size between FIGS. 1 and 2. In FIG. 2, the display of some mechanisms shown in FIG. 1 is omitted.

The terminal insertion device 100 includes an electric wire arrangement member transfer mechanism 1, a first holding part-related mechanism 2, a pair of second holding part-related

mechanisms

3, 3, a third holding part 4, a fourth holding part-related mechanism 5, a connector arrangement member. A transfer mechanism 6, an optical sensor 7, and a control unit 10 are provided. In the following description, the first clamping unit-related mechanism 2, the pair of second clamping unit-related

mechanisms

3, 3, the third clamping unit 4, and the fourth clamping unit-related mechanism 5 are collectively referred to as a terminal insertion mechanism. It is not essential that the terminal insertion device 100 has all of these configurations.

<Wire with terminal>
Each of the terminal-attached electric wires 9 includes an electric wire 91 and a terminal 92. The electric wire 91 is an insulated wire having a linear conductor and an insulating coating covering the periphery of the conductor. The terminal 92 is a conductive member such as metal. The terminal 92 is connected to the end of the electric wire 91. The terminal 92 in this embodiment is a crimp terminal, a conductor crimping portion 92a crimped to a conductor exposed at the end of the electric wire 91, a coated crimping portion 92b crimped to an insulating coating portion of the electric wire 91, and a counterpart It has the connection part 92c provided for a connection with a side terminal (refer FIG. 2).

In many cases, the connection portion 92c has a cylindrical (for example, rectangular) male terminal shape, or a flat or pin-shaped male terminal shape.

<Connector>
Each of the connectors 8 is a member in which a plurality of cavities 81 for accommodating the terminals 92 of each of the terminal-attached electric wires 9 are formed. The main body that forms the outer shape of the connector 8 is a non-conductive member, for example, a synthetic material such as polypropylene (PP), polyethylene (PE), polyvinyl chloride (PVC), polyethylene terephthalate (PET), or polyamide (PA). It is a resin member. Further, the connector 8 may include a bus bar (not shown) in contact with the terminal 92 of the terminal-attached electric wire 9 inserted into the cavity 81 in the main body.

The connector 8 is formed with a cavity 81 into which the terminals 92 can be inserted in a predetermined arrangement form. A lance or the like is provided in the cavity 81 as a locking structure capable of retaining and locking the terminal 92. When the terminal 92 is inserted into the cavity 81, the lance or the like is retained and locked to the terminal 92. As a result, the terminal 92 is held in the cavity 81.

When the terminal 92 is inserted into the connector 8 and the connector 8 rattles, the axial direction of the terminal 92 is inclined with respect to the axial direction of the cavity 81. For this reason, there exists a possibility that the terminal 92 may be caught in the cavity 81, and the insertion operation of the terminal 92 is not stable. For this reason, it is preferable to hold the connector 8 in a constant posture as much as possible.

<Wire arrangement member transfer mechanism>
The electric wire arrangement member transfer mechanism 1 is a mechanism that moves the electric wire arrangement member 90 while detachably holding it. The electric wire arraying member 90 has a long base 901 and a plurality of electric wire fastening portions 902 formed upright from the base 901. Each of the wire fastening portions 902 includes a pair of members that sandwich and fasten a portion of the wire 91 of the terminal-attached wire 9 near the terminal 92 by elastic force.

The plurality of wire fastening portions 902 are formed in a row at the base portion 901. Moreover, in the electric wire arrangement | sequence member 90, each electric wire clamping part 902 is clamped on both sides of the electric wire 91 of each electric wire 9 with a terminal in the state which the front-end | tip of the terminal 92 of each electric wire 9 with a terminal faces the same direction. The arrangement direction of the wire fastening portions 902 is a direction orthogonal to the direction in which the tip of the terminal 92 of each of the terminal-attached electric wires 9 faces.

For example, the pair of members of the wire clamp portion 902 are members that can be elastically deformed, and clamp the electric wire 91 by elastic force generated by elastic deformation. Alternatively, the pair of members of the wire fastening portion 902 may be applied with an elastic force in a direction approaching each other by an elastic body such as a spring (not shown).

Normally, each of the terminal-attached electric wires 9 fastened to the electric wire arraying member 90 has terminals 92 connected to both ends thereof. And the electric wire arrangement | sequence member 90 is supporting the part of the electric wire 91 in each of the both ends of the some electric wire 9 with a terminal by the electric wire fastening part 902. Therefore, the electric wire arrangement | sequence member 90 has pinched the electric wire 91 by the electric wire fastening part 902 in the location twice as many as the number of the electric wires 9 with a terminal.

The electric wire array member transfer mechanism 1 includes a fixed seat 11 and a linear actuator 12. The fixed seat 11 is a part that detachably holds the electric wire arranging member 90. The fixed seat 11 is provided with an electric wire arrangement member locking mechanism 111 having a structure for holding the electric wire arrangement member 90 and releasing the holding. As the electric wire arrangement member locking mechanism 111, for example, a known locking mechanism capable of holding the mating member by an engaging structure and releasing the holding can be adopted.

In addition, in FIG. 2, the display of the electric wire arrangement | sequence member locking mechanism 111 is abbreviate | omitted.

In the following description, the direction in which the tips of the terminals 92 of each of the terminal-attached electric wires 9 supported by the electric wire arranging member 90 in a state where the electric wire arranging member 90 is held by the fixed seat 11 is referred to as a first direction. In the present embodiment, the first direction is the horizontal direction.

Also, the one direction along the arrangement direction of the wire fastening portions 902 in the situation where the wire arrangement member 90 is held by the fixed seat 11 is referred to as a second direction. The second direction is orthogonal to the first direction. In the present embodiment, the second direction is also the horizontal direction. In the coordinate axes shown in each figure, the X-axis positive direction is the first direction, and the Y-axis positive direction is the second direction.

Accordingly, the fixed seat 11 has the terminal 92 of each of the terminal-attached electric wires 9 supported by the electric wire arraying member 90 facing the first direction, and the electric wire retaining portion 902 is arranged in the second direction orthogonal to the first direction. Hold along.

The linear actuator 12 moves the fixed seat 11 along the second direction, that is, along the Y-axis direction. The linear actuator 12 selectively positions each of the wire fastening portions 902 of the wire arranging member 90 at a predetermined starting position P0 by moving the fixed seat 11 along the second direction. The linear actuator 12 is, for example, a known ball screw type electric actuator.

In the state where the wire arraying member 90 is held by the fixed seat 11, the position of each of the wire fastening portions 902, that is, the position of each of the wires 91 fastened to the wire fastening portion 902 is known. For example, it is conceivable that the plurality of wire fastening portions 902 are arranged in a line at regular intervals from the reference position of the fixed seat 11. In this case, if a number indicating the number of the target wire retaining portion 902 from the end is designated, a linear for moving the target wire retaining portion 902 and the electric wire 91 secured thereto to the starting position P0. The operation amount of the actuator 12 (the transfer direction and transfer distance of the fixed seat 11) is determined.

As shown in FIG. 2, the electric wire arrangement member transfer mechanism 1 includes a first retracted position A1 where the entire electric wire arrangement member 90 deviates from the starting position P0 and a first operating position where a part of the electric wire arrangement member 90 is located at the starting position P0. The electric wire array member 90 can be moved along the first direction within a range extending to A2.

The electric wire arrangement member 90 that supports the ends of the plurality of electric wires 9 with terminals, that is, the module of the electric wire arrangement member 90 is prepared for each wiring module 200, for example.

In the step before the step executed by the terminal insertion device 100, the end of each of the terminal-attached electric wires 9 is fastened to each of the electric wire fastening portions 902 of the electric wire arranging member 90 by manual work or by another device. And the module of the electric wire arrangement | sequence member 90 is conveyed from the place of another process to the place of the terminal insertion apparatus 100, and is mounted | worn with the electric wire arrangement | sequence member transfer mechanism 1. FIG.

In the following description, a region extending from the terminal 92 in the terminal-attached electric wire 9 to a portion near the terminal 92 of the electric wire 91 is referred to as an end region 900.

<Connector arrangement member transfer mechanism>
The connector arrangement member transfer mechanism 6 is a mechanism that moves the connector arrangement member 80 while detachably holding it. The connector arraying member 80 has a plurality of holders 82 corresponding to the plurality of connectors 8 to be held. The holder 82 is supported in a state of being aligned in a row.

The holder 82 is a member formed of resin or the like, and is formed in a square tube shape having a bottom. The holder 82 is formed with a holding recess 83 that opens to one side of the holder 82. The holding recess 83 is formed in a shape corresponding to the outer shape of the connector 8. The connector 8 is housed and held in the holding recess 83 with the entrance of the cavity 81 facing the opening side of the holding recess 83. In this state, the connector 8 is held movably along the insertion direction of the terminal 92 with respect to the cavity 81 (also the extending direction of the cavity 81). The entire connector 8 may be accommodated in the holding recess 83, or the portion of the connector 8 on the inlet side of the cavity 81 may protrude outward from the opening of the holding recess 83.

Then, the connectors 8 are accommodated and held in the plurality of holders 82, respectively, so that the plurality of connectors are arranged in a line and the inlets of the cavities 81 are supported in the same direction. More specifically, the connector arraying member 80 is in a state in which the inlets of the cavities 81 of the plurality of connectors 8 face the same direction, and the arraying direction of the connectors 8 is orthogonal to the direction of the inlets of the cavities 81. The plurality of connectors 8 are supported.

Note that the holder 82 is not limited to the shape having the holding recess 83. Any configuration may be used as long as the connector 8 can be held in a fixed posture.

The connector array member transfer mechanism 6 includes a fixed seat 61 and

linear actuators

62 and 63. The fixed seat 61 is a portion that holds the connector arraying member 80 in a detachable manner. The fixed seat 61 is provided with a connector arrangement member locking mechanism 611 having a structure for holding the connector arrangement member 80 and releasing the holding. For example, a lock mechanism similar to the wire array member lock mechanism 111 is employed as the connector array member lock mechanism 611.

The fixed seat 61 detachably holds the connector arranging member 80 in a state in which the plurality of connectors 8 supported by the connector arranging member 80 are arranged in parallel to the arrangement direction of the wire fastening portions 902. In this case, the fixed seat 61 is in a state where the plurality of connectors 8 are arranged along the second direction, and the inlets of the cavities 81 of the plurality of connectors 8 face in the opposite direction of the first direction (X-axis negative direction). The connector arrangement member 80 is held.

The linear actuator 62 is, for example, a known ball screw type electric actuator or the like. The linear actuator 62 moves the fixed seat 61 along the second direction, that is, along the Y-axis direction. The linear actuator 62 selectively positions the cavities 81 of the connectors 8 supported by the connector arraying member 80 at predetermined terminal insertion positions P10 by moving the fixed seat 61 along the second direction.

The terminal insertion position P10 is a position aligned with a later-described fourth relay position P4 and insertion completion position P5 in the second direction. That is, the coordinate P10y in the second direction representing the terminal insertion position P10 matches the coordinates in the second direction of the fourth relay position P4 and the insertion completion position P5.

When the linear actuator 62 positions each cavity 81, the linear actuator 62 is transported along the connector transport path along the second direction in a state where the plurality of holders 82 are arranged. That is, the fixed seat 61 and the linear actuator 62 of the connector arrangement member transfer mechanism 6 are an example of a holder transport mechanism that transports along the connector transport path in a state where a plurality of holders 82 are arranged.

The linear actuator 63 is, for example, a known ball screw type electric actuator or the like. The linear actuator 63 moves the fixed seat 61 along the first direction by moving the linear actuator 62 along the first direction, that is, along the X-axis direction. The linear actuator 63 moves the distal end of the terminal 92 of the terminal-attached electric wire 9 held by the second holding part 31 (the holding part for transfer) by moving the fixed seat 61 along the first direction. The linear actuator 63 is an example of a holder moving mechanism that allows the distal end portion of the terminal 92 of the terminal-attached electric wire 9 to enter the predetermined cavity 81 of the connector 8 held by the holder 82.

In addition, the 3rd clamping part 4 is distribute | arranged to the lower side of the Z-axis negative direction of the connector arrangement | sequence member transfer mechanism 6. FIG. For this reason, even if the connector arrangement member transfer mechanism 6 and the connector arrangement member 80 are moved in the X-axis negative direction by the linear actuator 63, they are suppressed from interfering with the third clamping unit 4.

In the state where the connector arraying member 80 is held by the fixed seat 61, the position of each cavity 81 of each connector 8 is known. The positions of the cavities 81 on the connector arraying member 80 are determined by the positions at which the connectors 8 are held on the fixed seat 61 and the specifications of the shapes of the connectors 8.

For example, in the control unit 10, the identification code of each cavity 81 in each connector 8 and the position data on the fixed seat 61 corresponding to each identification code are set in advance. In this case, if the identification code of the target cavity 81 is designated, the position data in the second direction of the cavity 81 corresponding to the identification code is referred to move the target cavity 81 to the terminal insertion position P10. The operation amount of the linear actuator 62 (the transfer direction and transfer distance of the fixed seat 61) is determined.

The target cavity 81 is an insertion destination of the terminal 92, and is sequentially selected from the plurality of cavities 81 of the plurality of connectors 8 supported by the connector arraying member 80. When the plurality of cavities 81 are formed along the third direction at the terminal insertion position P10, the target cavity 81 is one of the plurality of cavities 81 aligned along the third direction.

As shown in FIG. 2, the connector arraying member transfer mechanism 6 includes a second retracted position A3 in which the entire connector arraying member 80 is disengaged from the terminal insertion position P10 and a second part in which a part of the connector arraying member 80 is positioned at the terminal insertion position P10. The connector arraying member 80 can be moved along the first direction within a range extending to the operating position A4.

As shown in FIG. 2, the direction of the first retracted position A1 viewed from the first operating position A2 is the same as the direction of the second retracted position A3 viewed from the second operating position A4. In the present embodiment, the second retracted position A3 is located in the first direction (X-axis positive direction) when viewed from the first retracted position A1.

A connector array member 80 that supports a plurality of connectors 8, that is, a module of the connector array member 80 is prepared for each set of wiring modules 200, for example.

In a step prior to the step performed by the terminal insertion device 100, the plurality of connectors 8 are attached to a connector array member 80 prepared in advance according to the specifications of the shape of each connector 8. Then, the module of the connector arraying member 80 is transported from the place of other processes to the place of the terminal insertion device 100 and mounted on the connector arraying member transfer mechanism 6.

<Optical sensor>
The optical sensor 7 is a transmissive optical sensor and includes a light emitting unit 71 and a light receiving unit 72. The light emitting unit 71 outputs detection light 73 along a plane orthogonal to the straight path R0 passing through the starting position P0 when viewed from the third direction orthogonal to the first direction and the second direction. In the example illustrated in FIG. 1, the detection light 73 is light that spreads in a sheet shape along a plane.

In the coordinate axes shown in each figure, the positive direction of the Z axis is the third direction. In the present embodiment, the third direction is a vertically upward direction.

The light receiving unit 72 of the optical sensor 7 receives the detection light 73. The optical sensor 7 is a sensor that detects an object that blocks the detection light 73 by detecting whether or not the light receiving level of the light receiving unit 72 is lower than a preset level. In the terminal insertion device 100, the optical sensor 7 detects the tip portion of the terminal 92 of the terminal-attached electric wire 9 that blocks the detection light 73.

<Terminal insertion mechanism>
The terminal insertion mechanism is a mechanism for inserting the terminal 92 of the electric wire 9 with terminal into the target cavity 81 located at the terminal insertion position P10. The terminal insertion mechanism removes the end region 900 of the terminal-attached electric wire 9 from the electric wire fastening portion 902 at the starting position P0 by holding and moving a part of the end region 900 of the electric wire 9 with the terminal. The terminal 92 in the end region 900 of the terminal-attached electric wire 9 is inserted into the target cavity 81 located at the terminal insertion position P10.

In FIG. 2, for the sake of convenience, regarding the terminal insertion mechanism, only the portion sandwiching a part of the end region 900 of the terminal-attached electric wire 9 is schematically shown, and the other mechanisms are not shown.

This terminal insertion mechanism includes a first clamping portion 21 as a moving wire end holding portion to be described later, and a third direction transfer mechanism 22 as the wire end moving mechanism. The mechanism is used as a mechanism for moving through the first clamping portion 21 and inserting it into the cavity 81 of the connector 8.

<First clamping part-related mechanism>
The first clamping unit-related mechanism 2 of the terminal insertion mechanism moves the end region 900 from the starting position P0 in advance by sandwiching and moving a part of the end region 900 of the terminal-attached electric wire 9. Move to position P1.

The first clamping unit-related mechanism 2 includes a first clamping unit 21, a third direction transfer mechanism 22, and a first direction transfer mechanism 23.

The first sandwiching portion 21 sandwiches a part of the end region 900 of the terminal-attached electric wire 9 with the tip of the terminal 92 facing the first direction from both sides along the second direction at the starting position P0.

The first clamping unit 21 includes a pair of first opposing members 211 and a first separation / contact actuator 212 that brings the pair of first opposing members 211 close to and away from each other along the second direction (Y-axis direction). is doing.

Each of the pair of first opposing members 211 has a bifurcated portion that is bifurcated from the root portion. And the branch part of a pair of 1st opposing member 211 is two places of the both sides of the part which the electric wire fixing part 902 in the electric wire 91 of the electric wire 9 with a terminal pinches (namely, electric wire fixing part 902 among the edge parts of the electric wire 9 with a terminal). And support with the part (except the part held by) sandwiched. The 1st clamping part 21 can pinch and support the part between the part hold | maintained by the wire clamp part 902 among the edge parts of the electric wire 9 with a terminal, and the clamping part by a pair of clamping part mentioned later. Preferably, here, of the two branch portions of each of the pair of first opposing members 211, the one in the positive direction of the X-axis supports the portion in between.

The first separation actuator 212 causes the pair of first opposing members 211 to approach or separate from each other along the second direction. As a result, the first separating / connecting actuator 212 switches the state of the pair of first opposing members 211 to either a state of holding the electric wire 91 or a state of releasing the holding of the electric wire 91. The first separating / connecting actuator 212 is, for example, a solenoid actuator or a ball screw type electric actuator.

The 3rd direction transfer mechanism 22 of the 1st clamping part related mechanism 2 is a mechanism which moves the 1st clamping part 21 along a 3rd direction. The first direction transfer mechanism 23 of the first clamping unit-related mechanism 2 is a mechanism that moves the first clamping unit 21 along the first direction.

The third direction transfer mechanism 22 and the first direction transfer mechanism 23 move the first clamping unit 21 along a plane (XZ plane) passing through the starting position P0 and along the first direction and the third direction. Accordingly, the first relay position P1 exists in a plane that passes through the starting position P0 and extends along the first direction and the third direction.

In the present embodiment, the third direction transfer mechanism 22 moves along the third direction while directly supporting the first clamping unit 21, and the first direction transfer mechanism 23 supports the third direction transfer mechanism 22 while supporting the first direction 21. Move along one direction.

For example, the first direction transfer mechanism 23 includes a slide support 231 that supports the third direction transfer mechanism 22 so as to be movable along the first direction, and a linear that moves the third direction transfer mechanism 22 along the third direction. And an actuator 232. The third direction transfer mechanism 22 and the linear actuator 232 are, for example, a known ball screw type electric actuator or the like.

While the third direction transfer mechanism 22 and the first direction transfer mechanism 23 move the end region 900 of the terminal-attached electric wire 9 from the starting position P0 to the first relay position P1, the first direction transfer mechanism 23 is connected to the straight path R0. The edge part area | region 900 of the electric wire 9 with a terminal is moved along. More specific operations of the third direction transfer mechanism 22 and the first direction transfer mechanism 23 will be described later.

In addition, the 3rd direction transfer mechanism 22 and the 1st direction transfer mechanism 23 of the 1st clamping part related mechanism 2 move the edge part 900 of the electric wire 9 with a terminal by moving the 1st clamping part 21, 1st relay position P1. It is an example of the 1st clamping part transfer mechanism made to move to.

The third direction transfer mechanism 22 raises the first clamping part 21 from a position where the end of the terminal-attached electric wire 9 held by the electric wire holding part 902 can be held (lowered position) and another position (raised). It is used as an electric wire end moving mechanism that is moved between In particular, the third direction transfer mechanism 22 has the first clamping part 21 in the first direction (Z-axis direction), that is, the extending direction of the terminal-attached electric wire 9 held by the electric wire fastening part 902 (X-axis direction). The first clamping part 21 is moved forward and backward toward the electric wire fastening part 902 along the crossing direction (here, the Z-axis direction orthogonal to the X-axis direction). However, the wire end portion moving mechanism only needs to move the first clamping portion 21 in a direction crossing the X-axis direction, and the first clamping portion 21 is tilted with respect to the Z-axis direction. You may move forward and backward.

<Second clamping mechanism>
Each of the pair of second clamping unit related

mechanisms

3 and 3 of the terminal insertion mechanism is a mechanism that inherits support of the end region 900 of the terminal-attached electric wire 9 from the first clamping unit 21 at the first relay position P1. Further, each of the second clamping unit-related

mechanisms

3 and 3 transfers the terminal-attached electric wire 9 at the first relay position P1 to the second relay position P2 in the third direction, and temporarily between the third clamping unit 4. The terminal 92 of the terminal-attached electric wire 9 is transferred. Further, each of the second clamping unit-related

mechanisms

3 and 3 transfers the terminal-attached electric wire 9 at the second relay position P2 to the third relay position P3 in the second direction, and then to the fourth relay position P4 in the third direction. Transport. And in the 4th relay position P4, the 2nd clamping part related

mechanisms

3 and 3 hand over the electric wire 9 with a terminal to the 4th clamping part related mechanism 5 (refer FIG. 15).

Each of the second clamping unit related

mechanisms

3 and 3 includes a second clamping unit 31, a second direction transfer mechanism 33, and a third direction transfer mechanism 34. Each of the second clamping unit-related

mechanisms

3 and 3 holds the terminal-attached electric wire 9 independently of each other and transfers it to a predetermined position. In the following description, when distinguishing each of a pair of 2nd clamping part related mechanisms 3, let one be the 2nd clamping part related mechanism 3A, and let the other be the 2nd clamping part related mechanism 3B.

The second sandwiching portion 31 is configured so that a part of the terminal 92 and a portion of the wire 91 in the end region 900 of the terminal-attached electric wire 9 that the first sandwiching portion 21 sandwiches at the first relay position P1 in the second direction (Y (Axial direction) from both sides. And the 2nd clamping part 31 inherits the support of the edge part area | region 900 of the electric wire 9 with a terminal from the 1st clamping part 21 in the 1st relay position P1.

The second clamping unit 31 includes a front second clamping unit 31a and a rear second clamping unit 31b. Each of the front 2nd clamping part 31a and the back 2nd clamping part 31b adjoins and separates a pair of 2nd opposing member 311 and a pair of 2nd opposing member 311 mutually along a 2nd direction (Y-axis direction). And a second separating / connecting actuator 312 to be operated.

The pair of second opposing members 311 of the front second clamping portion 31a supports the terminal 92 in the end region 900 of the terminal-attached electric wire 9 with a part thereof being sandwiched therebetween. On the other hand, the pair of second opposing members 311 of the rear second clamping portion 31b supports a part of the electric wire 91 in the end region 900 of the terminal-attached electric wire 9 while sandwiching a part thereof.

Since the 2nd clamping part 31 has the front 2nd clamping part 31a and the back 2nd clamping part 31b, the operation | movement which clamps the terminal 92 of the electric wire 9 with a terminal, the operation | movement which cancels | releases the clamping, and the electric wire with a terminal The operation of holding the nine electric wires 91 and the operation of releasing the holding can be performed individually.

The second separating / connecting actuator 312 causes the pair of second opposing members 311 to approach or separate from each other along the second direction. As a result, the second separating / connecting actuator 312 changes the state of the pair of second opposing members 311 to either the state of holding the end region 900 of the terminal-attached electric wire 9 or the state of releasing the holding of the end region 900. Switch to. The second separation actuator 312 is, for example, a solenoid actuator or a ball screw type electric actuator.

Moreover, the 2nd direction transfer mechanism 33 of the 2nd clamping part related mechanism 3 is a mechanism which moves the 2nd clamping part 31 along a 2nd direction.

Furthermore, in the present embodiment, the second direction transfer mechanism 33 moves the slide support portion 331 along the second direction, and the slide support portion 331 that supports the second holding portion 31 so as to be movable along the second direction. And a linear actuator 332 to be operated.

The third direction transfer mechanism 34 supports the second direction transfer mechanism 33 so as to be movable in the third direction (Z-axis direction). The third direction transfer mechanism 34 is configured by, for example, a ball screw type electric actuator or the like.

<Third clamping part>
The third clamping part 4 of the terminal insertion mechanism holds a part of the terminal 92 in the end region 900 arranged at the predetermined second relay position P2 from both sides along the third direction. The third clamping unit 4 temporarily inherits the support of the terminal 92 of the terminal-attached electric wire 9 from the second clamping unit 31 and then delivers it to the second clamping unit 31 again.

The third clamping unit 4 includes a pair of third opposing members 41, a third separating / contacting actuator 42 that causes the pair of third opposing members 41 to approach and separate from each other along the third direction (Z-axis direction), A first direction transfer mechanism 43 that moves the three opposing members 41 and the third separating / connecting actuator 42 along the first direction is provided.

The pair of third opposing members 41 supports the terminal 92 in the end region 900 of the terminal-attached electric wire 9 with a part of the terminal 92 interposed therebetween.

The third separation actuator 42 causes the pair of third opposing members 41 to approach or separate from each other along the third direction. Thereby, the 3rd separation / connection actuator 42 switches the state of a pair of 3rd opposing member 41 to either the state which clamps the terminal 92 of the electric wire 9 with a terminal, and the state which cancels | releases clamping of the terminal 92. The third separating / connecting actuator 42 is, for example, a solenoid actuator or a ball screw type electric actuator.

The first direction transfer mechanism 43 moves the third opposing member 41 and the third separating / connecting actuator 42 along the first direction, so that the third direction transfer mechanism 43 moves the third counter member 41 and the third separation / contact actuator 42 to the end region 900 existing at the second relay position P2. The opposing member 41 is relatively approached and separated.

In other words, the first direction transfer mechanism 43 determines the positional relationship between the terminal 92 of the terminal-attached electric wire 9 held by the second clamping unit 31 and the third clamping unit 4 between the first positional relationship and the second positional relationship. Change. The first positional relationship is a positional relationship in which the third clamping unit 4 is separated from the terminal 92 in the first direction. The second positional relationship is a positional relationship in which the terminal 92 is positioned at the clamping position of the third clamping unit 4.

In addition, you may provide the 1st direction transfer mechanism which moves the 2nd clamping part 31 along a 1st direction. By moving the second clamping unit 31 by the first direction transfer mechanism, the end region 900 of the terminal-attached electric wire 9 held by the second clamping unit 31 is moved closer to and away from the third opposing member 41. Also good.

<Fourth clamping mechanism>
The 4th clamping part related mechanism 5 of a terminal insertion mechanism is a mechanism which inherits support of the edge part area | region 900 of the electric wire 9 with a terminal from the 2nd clamping part 31 in the predetermined 4th relay position P4. Further, the fourth clamping unit-related mechanism 5 sandwiches and moves the end region 900 of the terminal-attached electric wire 9 to move the terminal 92 of the terminal-attached electric wire 9 to the cavity 81 of the connector 8 located at the terminal insertion position P10. insert.

The fourth clamping unit-related mechanism 5 includes a fourth clamping unit 51, a third direction transfer mechanism 52, and a first direction transfer mechanism 53.

The fourth holding part 51 holds each of a part of the terminal 92 and a part of the electric wire 91 in the end region 900 of the terminal-attached electric wire 9 held by the second holding part 31. And the 4th clamping part 51 inherits the support of the edge part area | region 900 of the electric wire 9 with a terminal from the 2nd clamping part 31. FIG.

The fourth clamping unit 51 includes a pair of fourth opposing members 511 and a fourth separation / contact actuator 512 that causes the pair of fourth opposing members 511 to approach and separate from each other along the second direction (Y-axis direction). is doing.

The pair of fourth opposing members 511 of the fourth sandwiching part 51 sandwich and support a part of the electric wire 91 in the end region 900 of the terminal-attached electric wire 9.

The fourth separation actuator 512 causes the pair of fourth opposing members 511 to approach or separate from each other along the second direction. As a result, the fourth separation actuator 512 is configured to change the state of the pair of fourth opposing members 511 between a state in which the end region 900 of the terminal-attached electric wire 9 is sandwiched and a state in which the end region 900 is released. Switch to. The fourth separation / connection actuator 512 is, for example, a solenoid actuator or a ball screw type electric actuator.

The fourth clamping part 51 is an insertion holding part capable of holding the end of the terminal-attached electric wire 9 when the terminal 92 is inserted into the cavity 81 of the connector 8.

The third direction transfer mechanism 52 of the fourth clamping unit related mechanism 5 is a mechanism for moving the fourth clamping unit 51 along the third direction. Here, the third direction transfer mechanism 52 holds the electric wire 91 of the terminal-attached electric wire 9.

In the fourth clamping unit-related mechanism 5, the third direction transfer mechanism 52 is configured to calculate the distance difference in the third direction between the known fourth relay position P4 and the position of the target cavity 81 existing at the terminal insertion position P10. The fourth clamping unit 51 is moved in the third direction (Z-axis positive direction) by the amount. Of course, when the distance difference is zero, the third direction transfer mechanism 52 does not need to move the fourth clamping unit 51.

Furthermore, in the fourth clamping unit related mechanism 5, the first direction transfer mechanism 53 moves the fourth clamping unit 51 in the first direction (X-axis positive direction) by a distance corresponding to the depth dimension of the target cavity 81.

The first direction transfer mechanism 53 is an example of a relative movement mechanism that moves the fourth holding portion 51 that is a holding portion for insertion in a direction in which the fourth holding portion 51 is relatively close to the holder 82 that holds the connector 8. The first direction transfer mechanism 53 is an example of a holding unit moving mechanism that moves the fourth holding unit 51, which is a holding unit, toward the back side of the cavity 81.

By the operation of the third direction transfer mechanism 52 and the first direction transfer mechanism 53 described above, the terminal 92 of the terminal-attached electric wire 9 is inserted into the target cavity 81 existing at the terminal insertion position P10.

In the present embodiment, the third direction transfer mechanism 52 moves along the third direction while directly supporting the fourth clamping unit 51, and the first direction transfer mechanism 53 supports the third direction transfer mechanism 52 while supporting the fourth direction 51. Move along one direction.

For example, the first direction transfer mechanism 53 includes a slide support portion 531 that supports the third direction transfer mechanism 52 movably along the first direction, and a linear that moves the third direction transfer mechanism 52 along the third direction. And an actuator 532. The third direction transfer mechanism 52 and the linear actuator 532 are, for example, a known ball screw type electric actuator or the like.

The third direction transfer mechanism 52 and the first direction transfer mechanism 53 of the fourth holding part-related mechanism 5 move the fourth holding part 51 to move the terminal 92 of the terminal-attached electric wire 9 to the cavity 81 of each connector 8. It is an example of the 4th clamping part transfer mechanism to insert.

Further, the second direction transfer mechanism 33 of the second holding unit related mechanism 3 constitutes a second holding unit transfer mechanism that moves the second holding unit 31 along the second direction. The second direction transfer mechanism 33 moves the second clamping unit 31 to inherit the end region 900 of the terminal-attached electric wire 9 supported by the second clamping unit 31 from the third clamping unit 4. It is moved between the second relay position P2 and the third relay position P3 (see FIG. 15).

Also, the third direction transfer mechanism 34 of the second clamping unit related mechanism 3 constitutes a second clamping unit transfer mechanism that moves the second clamping unit 31 along the third direction. The third direction transfer mechanism 34 moves the second clamping unit 31 to move the end region 900 of the terminal-attached electric wire 9 supported by the second clamping unit 31 to the third relay position P3 and the fourth clamping unit 51. The terminal-attached electric wire 9 is moved to and from the fourth relay position P4 to which the terminal-attached electric wire 9 is delivered (see FIG. 15).

When the holder 82 and the connector 8 are moved to the terminal insertion position P10 by the connector arrangement member transfer mechanism 6, the terminal 92 is inserted into the cavity 81 of the connector 8 by the fourth clamping portion related mechanism 5 at the terminal insertion position P10. The

<Control unit>
The control unit 10 is a device that controls each actuator in the wire arrangement member transfer mechanism 1, the terminal insertion mechanism, and the connector arrangement member transfer mechanism 6 while referring to the detection signal of the optical sensor 7. In FIG. 2, the display of the control unit 10 is omitted.

The control unit 10 includes a calculation unit, a storage unit, and a signal interface. The arithmetic unit, the storage unit, and the signal interface are electrically connected.

The calculation unit is an element or a circuit including a CPU (Central Processing Unit) that executes a process for deriving a control command for each actuator in accordance with a control program recorded in advance in the storage unit.

The storage unit is a non-volatile memory that stores a control program and other data referred to by the arithmetic unit. For example, in addition to the control program, the storage unit stores various data such as predetermined path transfer data, terminal-cavity correspondence data, wire position data, cavity position data, and wire length data.

The predetermined path transfer data is data representing the operation procedure of the actuator of the first clamping section related mechanism 2 for moving the end region 900 of the terminal-attached electric wire 9 along the predetermined path from the starting position P0 to the linear path R0. Including. Further, the predetermined route transfer data is transmitted from the position when the terminal 92 is detected by the optical sensor 7 through the first relay position P1, the second relay position P2, and the third relay position P3 in the end area 900, and the fourth relay. It also includes data representing the operating procedure of the actuator of the second clamping unit related mechanism 3 for moving along the predetermined path to the position P4 and the insertion completion position P5.

The terminal-cavity correspondence data is data representing a correspondence relationship between each identification code of the wire retaining portion 902 sandwiching the electric wire 91 in the electric wire arraying member 90 and each identification code of the cavity 81 representing the insertion destination of the terminal 92. Further, the terminal-cavity correspondence data also represents the order of the wire fastening portions 902 that are to be positioned to the starting position P0.

The electric wire position data includes data necessary for specifying the position of each of the electric wire fastening portions 902 in the electric wire arrangement member 90. That is, the electric wire position data includes data necessary for specifying the operation amount of the linear actuator 12 of the electric wire arrangement member transfer mechanism 1 when each of the electric wire holding portions 902 is moved to the starting position P0.

The cavity position data specifies the position and depth dimension of each of the cavities 81 of each connector 8 supported by the connector arraying member 80 in the second direction (Y-axis direction) and the third direction (Z-axis direction). Including data necessary for. In this case, the positions of the inlets of the cavities 81 in the first direction (X-axis direction) are all the same known positions.

That is, the position data in the second direction of each of the cavities 81 in the cavity position data is obtained when the cavities 81 of each of the connectors 8 supported by the connector arraying member 80 are moved to the terminal insertion position P10. This is data for specifying the operation amount of the linear actuator 62.

Further, the data of the position and depth dimension of each of the cavities 81 in the cavity position data is obtained when the terminal 92 of the terminal-attached electric wire 9 is moved from the fourth relay position P4 into the target cavity 81. This is data for specifying the operation amounts of the third direction transfer mechanism 52 and the first direction transfer mechanism 53 of the related mechanism 5.

The wire length data is data indicating the wire length of each of the terminal-attached wires 9. When the wire length of the terminal-attached electric wire 9 is shorter than a predetermined length, the control unit 10 includes the second holding unit 31 of the second holding unit-related mechanism 3A and the second holding unit 31 of the second holding unit-related mechanism 3B. Control for simultaneously holding the end regions 900 at both ends of the terminal-attached electric wire 9 is performed. Details of this will be described later.

When the detection signal is input from the light receiving unit 72 of the optical sensor 7, the signal interface transmits the detection signal to the calculation unit. Further, when a control command for each actuator derived by the calculation unit is input, the signal interface converts the control command into a drive signal for each actuator and outputs the drive signal.

<Manufacturing process of wiring module>
Next, an example of processing executed by the terminal insertion device 100 will be described with reference to FIGS. In the manufacturing process of the wiring module 200 including the plurality of electric wires with terminals 9 and the plurality of connectors 8 connected to the end portions thereof, the terminal insertion device 100 connects the terminals 92 of the electric wires with terminals 9 to the connectors 8. A terminal insertion step of inserting into each of the cavities 81 is executed.

For convenience, in FIGS. 3 to 14, regarding the terminal insertion mechanism, only the portion sandwiching a part of the end region 900 of the terminal-attached electric wire 9 is schematically shown, and the display of other mechanisms is omitted. . Further, in FIG. 5 to FIG. 14, the display of the electric wire arrangement member transfer mechanism 1 and the connector arrangement member transfer mechanism 6 is omitted. Further, for convenience, with respect to the first clamping part 21, the second clamping part 31, the third clamping part 4 and the fourth clamping part 51, the state holding the end region 900 of the terminal-attached electric wire 9 is shown in black, The state where the end region 900 of the terminal-attached electric wire 9 is released is shown in white. For convenience, FIGS. 3 to 14 show only the operation of the second clamping unit 31 of one second clamping unit-related mechanism 3 out of the pair of second clamping unit-related

mechanisms

3, 3.

FIG. 15 is a schematic perspective view of the terminal insertion device 100 that performs terminal insertion. Among the components of the terminal insertion device 100, mainly the second clamping unit 31, the third clamping unit 4, and the fourth clamping unit 51. Only the holder 82 and the terminal-attached electric wire 9 are schematically shown.

The terminal insertion process includes a starting point / terminal insertion positioning process (FIG. 3), a clamping start process (FIG. 4), a first transfer primary process (FIG. 5), a first transfer secondary process (FIG. 6), a first delivery process ( 7), second transfer step, transfer step (FIG. 8), second transfer step (FIG. 9), third transfer step (FIG. 10), holder transfer step (FIG. 11), third transfer step (FIG. 12). , A fourth transfer step (FIG. 13), and a return step (FIG. 14).

Note that the mechanism that operates in each process operates in accordance with the control command of the arithmetic unit that executes the control program stored in the storage unit in the control unit 10. At that time, the calculation unit of the control unit 10 outputs a control signal to each mechanism through the signal interface while referring to various data stored in the storage unit and the detection result of the optical sensor 7, so The process is executed.

Further, before each of the above steps is performed, the module of the electric wire arranging member 90 is fixed to the fixing seat 11 in a state where the electric wire arranging member transfer mechanism 1 places the fixing seat 11 at the first retracted position A1. . Further, the module of the connector array member 80 is fixed to the fixed seat 61 in a state where the connector array member transfer mechanism 6 places the fixed seat 61 at the second retracted position A3.

<Starting point / terminal insertion positioning process>
FIG. 3 is a schematic plan view of the terminal insertion device 100 that performs the starting point / terminal insertion positioning step. The starting point / terminal insertion positioning step includes a starting point positioning step and a terminal insertion positioning step.

As shown in FIG. 3, the starting point positioning step is a step in which the electric wire arranging member transfer mechanism 1 selectively positions each of the electric wire fastening portions 902 of the electric wire arranging member 90 at the starting point position P0. In this step, the control unit 10 sequentially specifies the target wire fastening portion 902 to be moved to the starting position P0 based on the terminal-cavity correspondence data in the storage unit.

And the electric wire arrangement | sequence member transfer mechanism 1 moves the electric wire arrangement | sequence member 90 along a 2nd direction, and positions the target electric wire fastening part 902 which the control part 10 specified to the starting position P0.

On the other hand, in the terminal insertion positioning step, the connector arraying member transfer mechanism 6 moves the connector arraying member 80 along the second direction, so that each cavity 81 of each connector 8 is selectively inserted in the terminal insertion position in the second direction. This is a step of positioning at P10. In this step, the control unit 10 sequentially specifies the target cavity 81 to be moved to the terminal insertion position P10 based on the terminal-cavity correspondence data in the storage unit.

Then, the connector arraying member transfer mechanism 6 moves the connector arraying member 80 along the second direction, thereby positioning the target cavity 81 specified by the control unit 10 at the terminal insertion position P10. When the previous target cavity 81 and the current target cavity 81 are aligned along the third direction, the connector array member transfer mechanism 6 does not move the connector array member 80 in this step.

For example, the starting point positioning step and the terminal insertion positioning step may be performed in parallel, or may be performed in an appropriate order.

Each time the control unit 10 sequentially specifies the target wire fastening portion 902, the starting point / terminal insertion positioning step is executed. And every time the starting point / terminal insertion positioning process is executed, the clamping start process, the first transfer primary process, the first transfer secondary process, the first transfer process, the second transfer process, the moving process, and the second transfer described later A process, a third transfer process, a holder moving process, a third delivery process, and a fourth transfer process are performed.

3 is a first starting point / terminal insertion positioning step, and this step is also an operation position transition step.

As shown in FIG. 3, the operation position transition process includes a first operation position transition process. In the first operation position transition step, the electric wire arrangement member transfer mechanism 1 moves the electric wire arrangement member 90 that supports the end regions 900 of the plurality of terminal-attached electric wires 9 from the first retracted position A1 to the first operation position A2. .

Furthermore, the operating position transition process includes a second operating position transition process. In the second operation position transition step, the connector array member transfer mechanism 6 moves the connector array member 80 that supports the plurality of connectors 8 from the second retracted position A3 to the second operation position A4.

For example, the first operation position transition process and the second operation position transition process may be performed in parallel, or may be performed in an appropriate order.

<Nipping start process>
FIG. 4 is a schematic plan view of the terminal insertion device 100 that performs the clamping start process. As shown in FIG. 4, in the clamping start step, the first clamping unit 21 is configured to detect the end region 900 in the terminal-attached electric wire 9 in a state where the tip of the terminal 92 faces the first direction at a predetermined starting position P0. It is a process with a part in between. In this embodiment, the 1st clamping part 21 has 2 places of the electric wire 91 in the edge part area | region 900 of the electric wire 9 with a terminal from both sides along a 2nd direction.

2 places of the electric wire 91 which the 1st clamping part 21 has are two places of the both sides of the part which the electric wire fastening part 902 clamps. Thereby, when the 1st clamping part 21 which pinches | interposes the electric wire 91 moves to a 3rd direction, the electric wire 91 tends to remove | deviate smoothly from the electric wire fastening part 902, without bending.

<First transfer primary process>
FIG. 5 is a schematic plan view of the terminal insertion device 100 that performs the first transfer primary process. As shown in FIG. 5, the first transfer primary process is performed after the third direction transfer mechanism 22 of the first holding unit related mechanism 2 moves the first holding unit 21 in the third direction by a predetermined distance. The first direction transfer mechanism 23 of the first clamping unit-related mechanism 2 moves in the first direction along the straight path R0.

In this step, when the first direction transfer mechanism 23 moves the first clamping unit 21 in the first direction along the predetermined linear path R0, and the optical sensor 7 detects the tip of the terminal 92 during the movement, The process executed by the first direction transfer mechanism 23 and the third direction transfer mechanism 22 proceeds to the next first transfer secondary process.

For example, in this step, the first direction transfer mechanism 23 of the first clamping unit-related mechanism 2 moves the first clamping unit 21 at a first speed by a predetermined first distance along a predetermined linear path R0. . Here, the first distance is set in a range in which the terminal 92 does not reach the detection light 73 regardless of variations in the initial position of the electric wire 9 with terminal. Subsequently, the first direction transfer mechanism 23 moves the first clamping unit 21 at a second speed slower than the first speed along the predetermined linear path R0 until the optical sensor 7 detects the tip of the terminal 92. .

The above operation prevents the positioning error of the terminal 92 from becoming so large that it cannot be ignored due to a delay in the feedback control for controlling the first direction transfer mechanism 23 according to the detection result of the optical sensor 7. Further, the above operation increases the transfer speed of the terminal-attached electric wire 9 while reducing the positioning error of the terminal 92 and shortens the execution time of the process.

Note that, at least when the first transfer primary process is being executed, a process in which the optical sensor 7 detects an object (a tip portion of the terminal 92) that blocks the detection light 73 is being executed.

<First transfer secondary process>
FIG. 6 is a schematic plan view of the terminal insertion device 100 that performs the first transfer secondary process. As shown in FIG. 6, in the first transfer secondary process, the first direction transfer mechanism 23 of the first holding unit related mechanism 2 moves the first holding unit 21 through the straight path from the time when the optical sensor 7 detects the terminal 92. After moving a predetermined distance in the first direction along R0, the third direction transfer mechanism 22 of the first clamping unit-related mechanism 2 is opposite to the third direction (Z-axis negative) by a predetermined distance. Direction). By this step, the end region 900 of the terminal-attached electric wire 9 moves to the first relay position P1.

<First delivery process>
FIG. 7 is a schematic plan view of the terminal insertion device 100 that performs the first delivery step. As shown in FIG. 7, in the first delivery step, the second holding portion 31 is a part of the terminal 92 in the end region 900 of the terminal-attached electric wire 9 held by the first holding portion 21 at the first relay position P1. And part of the electric wire 91 is sandwiched from both sides along the second direction.

Furthermore, in this process, the first clamping unit 21 releases the clamping of the electric wire 91. Thereby, the second clamping unit 31 inherits the support of the terminal-attached electric wire 9 from the first clamping unit 21. Thus, in the first delivery step, the step in which the second clamping unit 31 holds the terminal-attached electric wire 9 corresponds to the first holding step.

<Second transfer process>
Although illustration is omitted, in the second transfer step, the third direction transfer mechanism 34 moves the second clamping unit 31 by a predetermined distance, so that the terminal 92 of the terminal-attached electric wire 9 is moved from the first relay position P1 to the first transfer position P1. It is a process of transferring to the second relay position P2 in three directions.

<Transfer process>
FIG. 8 is a schematic plan view of the terminal insertion device 100 that performs the moving process. As shown in FIG. 8, in the moving process, the first direction transfer mechanism 43 of the third clamping unit 4 moves the third opposing member 41 and the third separating / connecting actuator 42 opposite to the first direction by a predetermined distance. This is a step of moving in the direction (X-axis negative direction). In this step, the first direction transfer mechanism 43 moves the third facing member 41 away from the end region 900 of the terminal-attached electric wire 9 at the first relay position P1 to the position where the third facing member 41 is sandwiched. Move.

<Second delivery process>
FIG. 9 is a schematic plan view of the terminal insertion device 100 that performs the second delivery step. As shown in FIG. 9, in the second delivery step, in the second relay position P <b> 2, the third clamping unit 4 is a part of the terminal 92 in the end region 900 of the terminal-attached electric wire 9 that the second clamping unit 31 holds. Is temporarily sandwiched from both sides along the third direction.

Further, in this step, the front second clamping part 31a temporarily releases the terminal 92 when the third clamping part 4 holds the terminal 92, and holds the terminal 92 again. That is, the third clamping unit 4 temporarily transfers the support of the terminal 92 of the terminal-attached electric wire 9 from the second clamping unit 31 and then delivers it to the second clamping unit 31.

In this step, the rear second clamping portion 31b, like the front second clamping portion 31a, temporarily releases the electric wire 91 when the third clamping portion 4 holds the terminal 92, and again It is also conceivable to hold the electric wire 91 therebetween.

Further, in the moving step, instead of causing the third holding portion 4 to approach the terminal-attached electric wire 9, the second holding portion 31 may move the terminal-attached electric wire 9 and the second delivery step may be performed. . In this case, since the movement of the third clamping unit 4 along the first direction becomes unnecessary, the first direction transfer mechanism 43 is omitted, and a moving mechanism that moves the second clamping unit 31 along the first direction is provided. What is necessary is just to provide.

<Third transfer process>
FIG. 10 is a schematic plan view of the terminal insertion device 100 that performs the third transfer step. As shown in FIG. 10, the third transfer step is a step in which the second direction transfer mechanism 33 of the second holding unit related mechanism 3 moves the second holding unit 31 in the second direction by a predetermined distance. . Accordingly, the second direction transfer mechanism 33 moves the end region 900 from the predetermined second relay position P2 to the predetermined third relay position P3. Further, the third direction transfer mechanism 34 moves the second clamping part 31 by a predetermined distance in the third direction, thereby moving the terminal 92 of the terminal-attached electric wire 9 from the third relay position P3 to the fourth relay position P4. . Here, the second relay position P <b> 2 is a position where the second clamping unit 31 inherits the support of the terminal 92 from the third clamping unit 4. Moreover, the 3rd relay position P3 is a position where the 2nd clamping part 31 changes the direction of a movement from a 2nd direction to a 3rd direction, as shown in FIG. Furthermore, the fourth relay position P4 is a position where the distal end portion of the terminal-attached electric wire 9 (the distal end portion of the terminal 92) is inserted into the target cavity 81, and the second clamping portion 31 is connected to the fourth clamping portion 51. This is the position where the support of the attached wire 9 is handed over.

<Holder moving process>
FIG. 11 is a schematic plan view of the terminal insertion device 100 that performs the holder moving step. As shown in FIG. 11, in the holder moving process, the linear actuator 63 moves the holder 82 from the first holder position P81 to the second holder position P82 by a predetermined distance in the direction opposite to the first direction. In this step, only the distal end portion of the terminal-attached electric wire 9 held by the second clamping portion 31 (the holding portion for transfer) is allowed to enter the target cavity 81. Thus, the linear actuator 63 is an example of a holder moving mechanism that moves the holder 82 toward the distal end portion of the terminal 92 of the terminal-attached electric wire 9 held by the second clamping unit 31. In the holder moving step, the tip 92 of the terminal-attached electric wire 9 enters the cavity 81 while being arranged at the fourth relay position P4. That is, the fourth relay position P4 is also the position of the terminal 92 (first terminal position) where only the tip of the terminal 92 enters the cavity 81 of the connector 8 held by the holder 82 of the second holder position P82. is there.

The first holder position P81 is a position of the holder 82 that holds the connector 8 in which the target cavity 81 is arranged at the terminal insertion position P10. For this reason, the first holder position P81 is the position of the holder 82 when the tip of the terminal-attached electric wire 9 held by the second clamping unit 31 (the holding unit for transfer) faces the target cavity 81. is there.

Further, the second holder position P82 is a position of the holder 82 moved from the first holder position P81 in the direction opposite to the first direction (X-axis negative direction). The distance from the first holder position P81 to the second holder position P82 is the distance from the tip position of the terminal-attached electric wire 9 with the end region 900 at the fourth relay position P4 to the entrance of the cavity 81 at the terminal insertion position P10. It corresponds to the distance to the position.

Further, the holder moving process corresponds to an entering process in which the tip of the terminal 92 of the terminal-attached electric wire 9 enters the cavity 81. After the holder moving process is executed, a third delivery process described below is executed.

<Third delivery process>
FIG. 12 is a schematic plan view of the terminal insertion device 100 that performs the third delivery step. As shown in FIG. 12, in the third delivery step, the end portion 900 of the terminal-attached electric wire 9 supported by the second holding portion 31 is supported by the fourth holding portion 51 in a state where the end region 900 is at the fourth relay position P4. This is a step of sandwiching a part of the electric wire 91 in the region 900.

Further, in this step, the second clamping unit 31 releases the clamping of the end region 900 while the fourth clamping unit 51 holds the electric wire 91 therebetween. Moreover, the 4th clamping part 51 inherits the support of the electric wire 9 with a terminal from the 2nd clamping part 31 by performing a 3rd delivery process.

In this way, in the third delivery step, a part of the terminal-attached electric wire 9 (in this case, the electric wire 91) held by the second holding unit 31 is replaced by the fourth holding unit 51 that is a holding unit for insertion. This corresponds to the second holding step of holding. In addition, the release of the support of the terminal-attached electric wire 9 by the second clamping unit 31 is performed by the second separating / connecting actuator 312 in each of the pair of second opposing members 311 of the front second clamping unit 31a and the rear second clamping unit 31b. It is performed by moving in the direction of separating from the terminal-attached electric wire 9 along the second direction. Thus, a 3rd delivery process includes the isolation process which moves the 2nd clamping part 31 in the direction isolated from the electric wire 9 with a terminal.

In addition, while the holder moving process is being performed, the end region 900 held by the second holding unit 31 may be held, and the fourth holding unit 51 may also hold the end region 900. In this case, the delivery to the fourth clamping unit 51 can be quickly performed by performing the isolation process immediately after the holder transfer process is completed.

As shown in FIG. 15, the second clamping unit 31 that has delivered the terminal-attached electric wire 9 to the fourth clamping unit 51 moves a predetermined distance in a direction opposite to the third direction, and then reverses to the second direction. It moves by a predetermined distance in the direction, and moves to a position (first relay position P1) where the support of the terminal-attached electric wire 9 is inherited from the first clamping part 21.

<Fourth transfer process>
FIG. 13 is a schematic plan view of the terminal insertion device 100 that performs the fourth transfer process. As shown in FIG. 13, in the fourth transfer step, the first direction transfer mechanism 53 of the fourth holding unit-related mechanism 5 moves the fourth holding unit 51 to insert the distal end portion of the terminal-attached electric wire 9 into the terminal. This is a step of moving to the back of the cavity 81 at the position P10. The fourth transfer process corresponds to an insertion process in which the terminal 92 is inserted into the cavity 81.

In the fourth transfer step, from the state in which only the distal end portion of the terminal-attached electric wire 9 enters the entrance of the cavity 81 (see FIG. 12), the first direction transfer mechanism 53 moves the fourth clamping portion 51 to the depth of the target cavity 81. This is a step of moving in the first direction by a distance corresponding to the dimension. As a result, the end region 900 of the terminal-attached electric wire 9 moves from the fourth relay position P4 to the insertion completion position P5 on the back side of the target cavity 81. This insertion completion position P5 corresponds to the position of the terminal 92 (second terminal position) in which the tip end portion of the terminal-attached electric wire 9 is inserted into the back of the cavity 81. By executing the fourth transfer step, the insertion of the terminal 92 into the target cavity 81 is completed.

In the fourth transfer step, the actuator 63 moves the holder 82 along the first direction with the fourth clamping portion 51 fixing the terminal-attached electric wire 9 at the third relay position P3, and the terminal is placed in the cavity 81. The process of inserting the front-end | tip part of the attached electric wire 9 may be sufficient. That is, the fourth transfer process may be a process of moving the end region 900 of the terminal-attached electric wire 9 relative to the connector 8.

<Return process>
FIG. 14 is a schematic plan view of the terminal insertion device 100 that performs the returning step. As shown in FIG. 14, the returning step is a step in which the linear actuator 63 moves the holder 82 at the second holder position P82 to the original predetermined first holder position P81 (see FIG. 11). When the holder 82 moves to the first holder position P81, the terminals 92 of the terminal-attached electric wires 9 that have been inserted in the previous fourth transfer step also move in the first direction. In addition, when inserting a terminal into another cavity 81 of the holder 82 moved to the first holder position P81, the linear actuator 62 moves the holder 82 along the second direction so that the target cavity 81 is moved. The terminal is moved to the terminal insertion position P10.

When the terminal insertion device 100 executes the steps shown above, one terminal 92 of the terminal-attached electric wire 9 is inserted into the cavity 81 of the connector 8. Then, the terminal insertion device 100 repeats the execution of each process described above until the insertion of the terminal 92 into the cavity 81 of each of the plurality of connectors 8 supported by the connector arraying member 80 is completed.

When the insertion of the terminals 92 into the cavities 81 of each of the plurality of connectors 8 supported by the connector arraying member 80 is completed, the connector arraying member transfer mechanism 6 moves the connector arraying member 80 from the second operating position A4 to the second retracted position A3. Move. Further, the electric wire arranging member transfer mechanism 1 moves the electric wire arranging member 90 from the first operating position A2 to the first retracted position A1.

Then, the electric wire array member 90 and the connector array member 80 are replaced at the first retracted position A1 and the second retracted position A3. The connector arraying member 80 removed from the connector arraying member transfer mechanism 6 at the second retracted position A3 connects the plurality of connectors 8 constituting one set of wire harnesses or one set of subwire harnesses to the terminals 92 of the terminal-attached electric wires 9. Is supported in a lump with the inserted.

The connector arrangement member 80 removed at the second retracted position A3 is transported to the next process place while supporting the plurality of connectors 8 into which the terminals 92 of the terminal-attached electric wires 9 are inserted.

By repeating the above, as shown in FIG. 17, a plurality of terminal-attached electric wires 9 and a plurality of connectors 8 are provided, and the terminals 92 of the plurality of terminal-attached electric wires 9 are integrally inserted in the cavity 81 of the connector 8. An integrated wiring module 200 is manufactured.

<About control of a pair of 2nd clamping part related

mechanisms

3 and 3>
Each of the pair of second clamping portion-related

mechanisms

3 and 3 independently inherits the support of the terminal-attached electric wire 9 from the first clamping portion 21 at the first relay position P1, and the second relay position P2 and the third relay position Transfer to P3 and the fourth relay position P4 is performed. And the 4th clamping part 51 inherits the electric wire 9 with a terminal supported by the 2nd clamping part 31 of each 2nd clamping part related

mechanism

3 and 3, and performs terminal insertion. Therefore, each of the second clamping unit-related

mechanisms

3 and 3 is set at a predetermined timing so that a waiting time for waiting until the end region 900 of the terminal-attached electric wire 9 to be inserted by the fourth clamping unit 51 reaches as much as possible does not occur. Operation is performed.

Specifically, as shown in FIG. 15, the control unit 10 moves the end region 900 of the terminal-attached electric wire 9 to the fourth relay position P <b> 4 with respect to one second clamping unit-related mechanism 3 </ b> A, At the same time, it is conceivable to transfer the end region 900 of another terminal-attached electric wire 9 to the second relay position P2 in the other second clamping unit-related mechanism 3B. As a result, one second holding section-related mechanism 3A delivers the terminal-attached electric wire 9 to the fourth holding section 51, and at the same time, the other second holding section-related mechanism 3B transfers the next terminal-attached electric wire 9 to the fourth holding section. Prepare to hand over to 51.

FIG. 16 is a schematic perspective view of the terminal insertion device 100 that simultaneously holds both ends of a single terminal-attached electric wire 9 with a pair of

second clamping portions

31 and 31. For example, when the length of the terminal-attached electric wire 9 (the length between the

end regions

900 and 900 at both ends) is shorter than a predetermined length, the control unit 10 holds a pair of second clamps as shown in FIG. The

end regions

900 and 900 at both ends may be simultaneously held by the

portions

31 and 31, respectively.

Temporarily, when the terminal-attached electric wire 9 is held only by the one second sandwiching portion 31, the end region 900 on the other end side remains held by the electric wire fastening portion 902 of the electric wire arrangement member 90. One second clamping unit 31 moves the end region 900 on one side away from the end region 900 on the other end side. Therefore, when the terminal-attached electric wire 9 is short, the second clamping unit 31 is in the end region. A situation may occur in which 900 cannot be transferred.

On the other hand, in the terminal insertion device 100, the other end region 900 on the other end side can be supported by the other second clamping unit 31. That is, by supporting the end region 900 on the other end side with the other second clamping portion 31, the end region 900 on the other end side can be brought closer to the end region 900 on the one end side than when supported by the wire fastening portion 902. That is, according to the terminal insertion device 100, it is possible to cope with a shorter terminal-attached electric wire 9 as well.

In addition, as shown in FIG. 16, the one 2nd clamping part 31 has stopped the edge part area | region 900 of the one end side in the 4th relay position P4, and the other 2nd clamping part 31 is the other end side in the meantime. The end region 900 may be supported. Then, after the other second clamping unit 31 moves the end region 900 on the other end side to a predetermined position (for example, the second relay position P2), the one end region 900 is inserted into the cavity 81. Can be considered.

<Effects>
According to the terminal insertion device 100 configured as described above, each of the pair of second clamping unit-related

mechanisms

3 and 3 independently of the terminal-attached electric wire 9 from the first clamping unit 21 at the first relay position P1. The support is inherited and transferred to the fourth relay position P4. Therefore, the control unit 10 causes each of the second clamping unit-related

mechanisms

3 and 3 to execute each operation at a suitable timing, whereby the single fourth clamping unit 51 is alternately connected to the terminal-attached electric wire. Nine end regions 900 can be delivered. Thereby, the waiting time of the 4th clamping part 51 can be reduced, and terminal insertion can be performed efficiently. Therefore, the manufacturing capability of the wiring module 200 of the terminal insertion device 100 can be greatly improved.

As shown in FIGS. 10 and 11, the linear actuator 63 moves the holder 82 to the second holder position P82 so that the tip of the terminal-attached electric wire 9 held by the second clamping unit 31 is brought into the holder 82. It is possible to enter the cavity 81 of the held connector 8. As described above, the terminal 92 is not held until the tip end portion of the terminal 92 enters the cavity 81 after the second holding portion 31 holds the terminal 92 of the terminal-attached electric wire 9. Can be prevented from changing. As a result, the distal end portion of the terminal 92 can be satisfactorily inserted into the back side of the cavity 81.

In particular, in the above-described embodiment, the second clamping unit 31 includes the front second clamping unit 31a and the rear second clamping unit 31b provided integrally with the slide support unit 331. For this reason, the front second clamping part 31a and the rear second clamping part 31b inherit the holding of the terminal-attached electric wire 9 from the third clamping part 4, and then, by the second direction transfer mechanism 33 and the third direction transfer mechanism 34, It moves integrally in the second direction and the third direction. For this reason, until the front-end | tip part of the terminal 92 is inserted in the cavity 81, the relative positional relationship of the front 2nd clamping part 31a and the back 2nd clamping part 31b does not change. Therefore, it is possible to prevent the terminal 92 from changing the posture while reliably supporting the terminal-attached electric wire 9. Thereby, the terminal 92 can be inserted satisfactorily.

In the above embodiment, the second clamping unit 31 (the front second clamping unit 31a and the rear second clamping unit 31b) is configured to hold the electric wire 91 and the terminal 92 of the electric wire 9 with terminal. However, it is not essential for the second clamping unit 31 to hold both the electric wire 91 and the terminal 92, and it may be configured to hold at least the terminal 92.

Moreover, in the said embodiment, the 4th clamping part 51 corresponded to a holding | maintenance part is comprised so that the electric wire 91 may be contacted and this may be hold | maintained. However, it is not essential for the holding portion to hold the electric wire 91. For example, the holding portion may be configured to contact and hold the terminal 92.

Although the present invention has been described in detail as described above, 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.

DESCRIPTION OF SYMBOLS 100 Terminal insertion apparatus 200 Wiring module 3 2nd clamping part related mechanism (1st transfer part, 2nd transfer part)
31, 31a, 31b 2nd clamping part 311 2nd opposing member 5 4th clamping part related mechanism 51 4th clamping part (holding part)
53 First direction transfer mechanism (relative movement mechanism, holding part movement mechanism)
6 Connector arrangement member transfer mechanism 63 Linear actuator (holder moving mechanism)
8 Connector 81 Cavity 82 Holder 9 Electric wire with terminal 91 Electric wire 92 Terminal 10 Control unit

Claims

A terminal insertion device for inserting a terminal at an end of an electric wire with a terminal into a cavity formed in a connector,
A first transfer part for transferring while holding the tip of the terminal-attached electric wire;
A second transfer part that is provided so as to be movable independently from the first transfer part, and that transfers the terminal-attached electric wire while holding the tip part;
A holder for holding the connector;
A holding unit that inherits the support of the tip of the terminal-attached electric wire transferred by either the first transfer unit or the second transfer unit;
A relative movement mechanism for inserting the tip portion into the cavity of the connector held by the holder by relatively moving the holding portion in a direction approaching the holder;
A terminal insertion device comprising:
The terminal insertion device according to claim 1,
A holder moving mechanism for moving the holder toward the tip end portion of the terminal-attached electric wire transferred by either the first transfer portion or the second transfer portion and causing the tip end portion of the terminal to enter the cavity. ,
Further comprising
Said 1st transfer part and said 2nd transfer part are terminal insertion apparatuses which hold | maintain the said terminal of the said electric wire with a terminal.
The terminal insertion device according to claim 1 or 2,
The said holding | maintenance part is a terminal insertion apparatus holding the electric wire of the said electric wire with a terminal.
The terminal insertion device according to claim 2 or 3, wherein
The relative movement mechanism includes a holding unit moving mechanism that moves the holding unit toward the inner side of the cavity.
The terminal insertion device according to claim 4,
The holder moving mechanism is
The first holder position where the tip of the electric wire with terminal held in the first transfer part or the second transfer part faces the cavity, and the second holder position where the tip enters the cavity Move the holder between
The holding part moving mechanism is
The first terminal position where the tip of the electric wire with terminal is in the cavity of the connector held by the holder at the second holder position, and the tip of the electric wire with terminal is the cavity The terminal insertion apparatus which moves the said electric wire with a terminal between the 2nd terminal positions which are the states inserted in the back.
The terminal insertion device according to any one of claims 1 to 5,
A control unit for controlling movement of the first transfer unit and the second transfer unit;
Further comprising
When the electric wire with terminal is shorter than a predetermined length, the control unit holds the other end portion of the electric wire with terminal in the second holding state with the first transfer portion holding the one end portion of the electric wire with terminal. A terminal insertion device to be held by the transfer unit.
A terminal insertion method for inserting a tip of a terminal of a terminal-attached electric wire into a connector cavity,
(A) a first transfer step of transferring while holding the tip of the terminal-attached electric wire in the first transfer unit;
(B) a first transfer step of transferring the tip of the terminal-attached electric wire transferred by the first transfer step to the holding unit;
(C) After the first delivery step, by moving the holding portion relative to the connector, a first insertion step of inserting the tip of the terminal-attached electric wire into the cavity;
(D) a second transfer step of transferring while holding the tip of the terminal-attached electric wire by a second transfer unit that is movably provided independently of the first transfer unit;
(E) a second delivery step of delivering the tip of the terminal-attached electric wire transferred by the second transfer step to the holding unit;
(F) After the second delivery step, by moving the holding portion relative to the connector, a second insertion step of inserting the tip of the terminal-attached electric wire into the cavity;
Including a terminal.
A wiring module manufacturing method for manufacturing a wiring module in which a terminal at a tip of an electric wire with terminal is inserted into a cavity of a connector,
(A) a first transfer step for transferring the terminal-attached electric wire while holding the tip of the electric wire with the terminal at the first transfer unit;
(B) a first delivery step of delivering the tip of the terminal-attached electric wire transferred by the first transfer step to a holding unit;
(C) After the first delivery step, by moving the holding portion relative to the connector, a first insertion step of inserting the tip of the terminal-attached electric wire into the cavity;
(D) a second transfer step of transferring the tip end of the terminal-attached electric wire while being held by a second transfer unit movably provided independently of the first transfer unit;
(E) a second delivery step of delivering the tip of the terminal-attached electric wire transferred by the second transfer step to the holding unit;
(F) After the second delivery step, by moving the holding portion relative to the connector, a second insertion step of inserting the tip of the terminal-attached electric wire into the cavity;
A method for manufacturing a wiring module, comprising: