WO2017141786A1 - Processing robot device - Google Patents

Processing robot device Download PDF

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Publication number
WO2017141786A1
WO2017141786A1 PCT/JP2017/004565 JP2017004565W WO2017141786A1 WO 2017141786 A1 WO2017141786 A1 WO 2017141786A1 JP 2017004565 W JP2017004565 W JP 2017004565W WO 2017141786 A1 WO2017141786 A1 WO 2017141786A1
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WO
WIPO (PCT)
Prior art keywords
hand
hands
auxiliary
electric wire
robot apparatus
Prior art date
Application number
PCT/JP2017/004565
Other languages
French (fr)
Japanese (ja)
Inventor
英昭 伊藤
Original Assignee
株式会社オートネットワーク技術研究所
住友電装株式会社
住友電気工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 株式会社オートネットワーク技術研究所, 住友電装株式会社, 住友電気工業株式会社 filed Critical 株式会社オートネットワーク技術研究所
Publication of WO2017141786A1 publication Critical patent/WO2017141786A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B7/00—Insulated conductors or cables characterised by their form

Definitions

  • This invention relates to a processing robot apparatus used for processing a wire harness or the like.
  • Patent Documents 1 to 4 disclose mechanisms for gripping and moving an electric wire when the electric wire is pressed against a press contact terminal.
  • Patent Documents 1 to 4 since the mechanism for gripping and moving the electric wires described in Patent Documents 1 to 4 is intended for moving one electric wire and moving the electric wire, the operation of collecting a plurality of electric wires and Unsuitable for handling collected wires.
  • the present invention provides a technique capable of providing a function suitable for at least one of an operation of collecting a plurality of linear members and an operation of handling the collected linear members with respect to the processing robot apparatus. Objective.
  • a machining robot device includes a plurality of hands provided to be openable and closable, a drive mechanism that opens and closes the plurality of hands, and supports the plurality of hands.
  • An arm that moves the plurality of hands with respect to the linear member that is a workpiece, the plurality of hands holding the linear member in a closed state, and adjacent to the gripping hand.
  • an auxiliary hand that surrounds the linear member in a state of being opened larger than the linear member in the closed state.
  • the processing robot apparatus is the processing robot apparatus according to the first aspect, and the auxiliary hand closes before the gripping hand.
  • the machining robot device is the machining robot device according to the first or second aspect, and a plurality of the auxiliary hands are provided.
  • a processing robot apparatus is the processing robot apparatus according to the third aspect, wherein a plurality of the auxiliary hands are arranged on one side with respect to the gripping hand, and the plurality of auxiliary hands are provided.
  • the auxiliary hand far from the gripping hand among the hands is greatly opened in the closed state as compared with the auxiliary hand close to the gripping hand.
  • the machining robot device is the machining robot device according to any one of the first to fourth aspects, and the drive mechanism drives the plurality of hands to open and close separately.
  • a processing robot apparatus is the processing robot apparatus according to any one of the first to fifth aspects, wherein the plurality of hands are provided in different stages, and each of the linear members is partially attached. Each of which includes a pair of claws that can be enclosed in
  • the machining robot apparatus according to the seventh aspect is the machining robot apparatus according to the sixth aspect, and the gripping hand is provided so as to be able to be closed without a gap.
  • the concentrating work can be performed by opening and closing a plurality of hands.
  • the handling operation can be performed by moving the hand by the arm while the hand is holding the linear member.
  • the concentrating work and the handling work are performed in two cases of the auxiliary hand with respect to the gripping hand in the rearward position and the forward position along the direction in which the linear member is handled. Is done.
  • the gripping hand grips a position of the linear member far from the connector while the auxiliary hand assists in the work of concentrating the portion of the linear member that extends from the connector. It is possible to suppress the load applied to the portion extending from.
  • the insertion angle of the linear member to the gripping hand can be reduced by the auxiliary hand. From these, the function suitable for at least one of the operation
  • the linear member previously concentrated by the auxiliary hand can be gripped by the gripping hand.
  • At least one of the concentrating work and the handling work can be assisted by a plurality of auxiliary hands.
  • both the concentrating work and the handling work can be assisted by the auxiliary hands.
  • the opening of the auxiliary hand is gradually reduced toward the gripping hand, even when the linear member is greatly spread outside, such as when the number of linear members is large, Linear members can be collected.
  • the fifth aspect it is possible to finely set the opening / closing patterns and the opening / closing amounts of a plurality of hands.
  • the distance between the pair of claws in the closed state can be easily changed. Thereby, it can respond to the thickness of the bundle of various linear members with one hand.
  • the object to be processed is as thin as a bundle of two electric wires, it can be gripped by the gripping hand.
  • the processing robot apparatus is provided so as to be capable of collecting and gripping a plurality of linear members and handling them in the gripped state.
  • an electric wire is assumed as such a linear member.
  • a processing robot apparatus is demonstrated as what is used for manufacture of the wire harness with which the some electric wire was combined.
  • FIG. 1 is a diagram in which an example of a manufactured wire harness 10 is developed on a plane.
  • the electric wires 12 passing through the same path are drawn with a single line.
  • the electric wire 12 drawn by one line may actually be a bundle of a plurality of electric wires 12 (the same applies to FIGS. 2 and 6).
  • a plurality of connectors 14 are connected via a plurality of electric wires 12. More specifically, the wire harness 10 is configured such that a plurality of electric wires 12 are bundled while being branched. At each branch destination of the wire harness 10, the electric wire 12 is inserted and connected to the connector 14. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle.
  • the electric wires 12 included in the wire harness 10 are bundled while being branched in a form corresponding to a laying route in the vehicle.
  • the electric wire 12 includes a core wire that is a wire material mainly composed of a metal such as copper or aluminum, and an insulating coating that covers the periphery of the core wire.
  • the insulating coating is, for example, a synthetic resin member mainly composed of polyethylene, vinyl chloride, polyamide-based nylon, or the like.
  • the connector 14 is connected to the end of the electric wire 12.
  • the electric wire 12 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.
  • the terminal is a metal member whose main component is a metal such as copper or tin.
  • the main body of the connector 14 is integrally formed of an insulating resin material such as polybutylene terephthalate (PBT) or ABS resin.
  • a plurality of cavities 141 are formed on the main surface of the connector 14 on the main surface to which the electric wires 12 are connected (see FIG. 3).
  • the cavity 141 has an opening structure that accommodates an end (for example, a terminal) of the electric wire 12.
  • the cavity 141 has a certain depth, for example, in a direction substantially perpendicular to the main surface of the main body of the connector 14, and the electric wire 12 accommodated in the cavity 141 is positioned at a predetermined depth in the cavity 141. Are held in a state where they are positioned.
  • the number of the cavities 141 is desirably provided in correspondence with the number of the electric wires 12, but is not particularly limited to such a number. In the present embodiment, eight cavities 141 are provided vertically and horizontally, but a plurality of cavities 141 may be provided. Further, the depth and width of each cavity 141 need not be the same, and cavities 141 having different depths and widths may be included.
  • the connector 14 in a state where the electric wire 12 is held in the cavity 141 is connected to the mating connector from a surface opposite to the main surface, for example.
  • each connector 14 is referred to with an identification symbol as in the case of the connector 14a, if distinction is necessary.
  • the branch portion may be called a primary branch and a secondary branch in order from the side closer to the connector 14. That is, the primary branch is a branch formed by collecting portions of the electric wire 12 extending from a certain connector 14 where no branch is formed on the connector 14 side.
  • the secondary branch is a first branch formed in the opposite direction from the connector 14 from the formed primary branch.
  • a portion where the branch line portion 122 connecting from the main line portion 121 to the connector 14 f branches (a branch position P ⁇ b> 3) is a secondary branch portion.
  • the primary branch may be provided.
  • a branch after the tertiary may be provided.
  • each connector 14 is held by a connector holder 92 here.
  • the connector holder 92 is fixed to the frame 90 or the like. Thereby, each connector 14 is in a fixed state.
  • the connector 14 is fixed so that the opening of the cavity 141 is directed downward in the vertical direction.
  • the processing robot apparatus 20 includes an arm 60 and a hand 22 provided at the tip of the arm 60.
  • the arm 60 is configured such that a plurality of arm portions are connected to be rotatable around an axis via a joint mechanism, and a hand 22 is provided at a tip portion thereof.
  • the processing robot apparatus 20 can move the hand 22 to an arbitrary position of the frame 90 in an arbitrary posture by operating the arm 60.
  • the hand 22 is a part that collects and grips the plurality of electric wires 12 and performs processing to handle them in the gripped state.
  • the process of collecting the wires 12 refers to a process of collecting the plurality of wires 12 so that the subsequent gripping and bundling can be easily performed when the plurality of wires 12 extending from the connector 14 and the like are scattered.
  • the hand 22 is provided so as to be opened and closed.
  • the process of handling the electric wire 12 is a process of sliding the grip part along the extending direction of the electric wire 12 in a state where the electric wire 12 is gripped by the grip part.
  • This processing it is possible to correct the habit of the electric wire 12 or to make the electric wire 12 stretched. That is, by handling the electric wire 12 before binding the electric wire 12, it is possible to suppress the electric wire 12 from being bound in a state where a part of the electric wire 12 is bent. Thereby, the improvement of dimensional accuracy can be aimed at.
  • the hand 22 is provided so as to be able to grip the electric wire 12 with a slidable force, and the arm 60 slides the hand 22 along the electric wire 12. It is possible.
  • the processing robot apparatus 20 is attached to the distal end portion of the arm 60 as a processing operation unit different from the hand 22 in a state in which various configurations including a known automatic tape winding machine are relatively movable. It is possible that
  • the bundling process may be performed by a processing robot apparatus 20 different from the processing robot apparatus 20.
  • the processing robot apparatus 20 may be a rectangular coordinate robot or the like in addition to the vertical articulated robot.
  • the machining control unit 70 is configured by a general computer including a CPU, a RAM, a ROM, an input circuit unit, and the like.
  • the ROM is composed of a rewritable nonvolatile semiconductor memory such as a flash memory.
  • the ROM stores a program describing a processing procedure and processing contents for the electric wire 12.
  • CPU performs the process which gives various instructions with respect to the processing robot apparatus 20 by running the program stored in ROM.
  • the processing robot apparatus 20 may perform various processing on the electric wire 12 based on the image data acquired by the image acquisition system 80.
  • the processing robot apparatus 20 may be controlled based on instruction data previously taught.
  • the ROM stores a program describing a procedure for determining a processing target area, a position and a posture of the processing target (the electric wire 12) based on the image data acquired by the image acquisition system 80 or the like. It is possible that As such an image acquisition system 80, for example, a two-dimensional camera 84 capable of photographing the whole image of the wire harness during the bundling work, and a stereo camera provided in the processing robot apparatus 20 and capable of photographing the hand of the processing robot apparatus 20 82.
  • image data is acquired by the image acquisition system 80 for the electric wires 12 that have been processed by the processing robot apparatus 20, and the quality of the handling is determined based on the acquired image data.
  • the pass / fail judgment is good, the process moves to bundling, and when the pass / fail process is re-executed, the occurrence of defects during bundling can be suppressed.
  • the electric wires 12 are first collected and gripped by the hand 22. Next, in a state where the hand 22 grips the electric wire 12, the hand 22 is moved relative to the electric wire 12 to handle the electric wire 12. Next, the electric wire 12 gripped in a state of being handled by the hand 22 is bundled by a bundling processing unit.
  • the electric wire 12 extends downward from the connector 14 in the vertical direction.
  • the electric wire 12 may be bent between the connector 14 and a binding location under the influence of the habit which will be followed when manufacturing the electric wire 12, for example.
  • the wire 12 is handled from the connector 14 side to the bundling portion as shown in FIG. Specifically, the arm 60 moves the hand 22 along the electric wire 12 to the binding location while the hand 22 is lightly holding the electric wire 12. At this time, the hand 22 maintains a state in which a part away from the connector 14 is held with respect to the binding part. At this time, the hand 22 may be handled while measuring the distance from the connector 14.
  • the binding tape 18 is wound around the electric wire 12 at the binding location.
  • the bundling tape 18 is wound around the electric wire 12 a plurality of times at substantially the same position. Therefore, the binding tape 18 is partially wound around the electric wire 12 at a position away from the connector 14. At this time, the tape is not wound around the portion of the electric wire 12 between the binding tape 18 and the connector 14.
  • the secondary branch may be bundled using the primary branch instead of the connector 14. That is, the hand 22 is held at a position slightly distant from the connector 14 with respect to the primary branch, and in this state, the electric wires 12 are handled up to the binding position of the secondary branch and then bundled. And a secondary branch is formed by bundling a bundling part and bundling the gathered part separately.
  • FIG. 7 is a front view showing the hand 22 in the open state.
  • FIG. 8 is a front view showing the hand 22 in the closed state.
  • FIG. 9 is a plan view showing the hand 22 in the open state.
  • FIG. 10 is a plan view showing the hand 22 in the closed state.
  • the processing robot apparatus 20 includes a plurality of hands 22, a drive mechanism 50, and an arm 60.
  • the plurality of hands 22 are provided to be openable and closable.
  • the plurality of hands 22 are opened and closed by the drive mechanism 50.
  • the plurality of hands 22 includes a gripping hand 30 and an auxiliary hand 40.
  • the gripping hand 30 grips the linear member in the closed state.
  • the gripping hand 30 is provided so that it can be closed without a gap.
  • the auxiliary hand 40 is provided next to the gripping hand 30.
  • the auxiliary hand 40 surrounds the linear member in a closed state and is larger than the linear member.
  • a plurality of (in this case, two) auxiliary hands 40 are provided.
  • the two auxiliary hands 40 are provided so as to be arranged on one side with respect to the gripping hand 30.
  • the auxiliary hand 40 far from the gripping hand 30 opens greatly in the closed state compared to the auxiliary hand 40 close to the gripping hand 30.
  • the auxiliary hand 40 close to the gripping hand 30 is referred to as a first auxiliary hand 42
  • the auxiliary hand 40 far from the gripping hand 30 of the two auxiliary hands 40 is the second auxiliary hand 46. May be called.
  • the plurality of hands 22 are provided at different levels and each include a pair of claws that can partially surround the linear member.
  • the gripping hand 30 includes a pair of claws 32a and 32b.
  • the first auxiliary hand 42 includes a pair of claws 44a and 44b, and the second auxiliary hand 46 includes a pair of claws 48a and 48b.
  • the pair of claws 32a and 32b are formed so as to create a closed space that surrounds the four sides of the electric wire 12 in a closed state.
  • the claws 32a and 32b are formed in a shape in which a V-shaped concave portion is formed in a flat body.
  • claw 32a, 32b is arrange
  • the claw 32a surrounds two of the four sides of the electric wire 12 in the closed state
  • the claw 32b surrounds the remaining two of the four sides of the electric wire 12 in the closed state.
  • the pair of claws 44a and 44b and the pair of claws 48a and 48b are formed in a shape in which a V-shaped concave portion is formed in a flat plate-like main body portion.
  • the recess in the claw 32a, the recess in the claw 44a, and the recess in the claw 48a are formed in the same shape.
  • claw 32b are arrange
  • the claws 44a and 44b are disposed so that the closed space is larger than the claws 32a and 32b.
  • the claws 48a and 48b are arranged so that the closed space is larger than the claws 44a and 44b.
  • the pair of claws 32a, 32b (44a, 44b and 48a, 48b) move linearly when they are closed. For this reason, when shifting from the open state to the closed state, when the V-shaped tip of the claw 32a (44a, 48a) and the V-shaped tip of the claw 32b (44b, 48b) overlap, the closed space is first formed. It is formed. Thereafter, the closed space gradually decreases.
  • the auxiliary hand 40 is closed before the gripping hand 30.
  • a separate drive mechanism 50 is provided for each hand 22, and the auxiliary hand 40 is driven before the gripping hand 30 to close the auxiliary hand 40 before the gripping hand 30.
  • the term “closed first” as used herein refers to the size of the closed space that is first formed while the auxiliary hand 40 is being closed, and the size of the closed space that is initially formed while the gripping hand 30 is being closed.
  • Sato is the same as in the present embodiment or when the closed space of the auxiliary hand 40 is larger, it means that the auxiliary hand 40 surrounds the four sides of the electric wire 12 before the gripping hand 30.
  • the auxiliary hand 40 When the size of the closed space that is initially formed while the auxiliary hand 40 is being closed is smaller than the size of the closed space that is initially formed while the gripping hand 30 is being closed, the auxiliary hand 40 When the closed space is first formed, the closed space of the auxiliary hand 40 is smaller than the closed space of the gripping hand 30.
  • the auxiliary hand 40 may shift to the closed state before the gripping hand 30.
  • auxiliary hands 40 When a plurality of auxiliary hands 40 are provided on one side of the gripping hand 30 as in the present embodiment, it is preferable that the second auxiliary hand 46 is closed before the first auxiliary hand 42.
  • the distance between the hands 22 (here, the distance between the claws 32a and 32b and the claws 44a and 44b and the distance between the claws 44a and 44b and the claws 48a and 48b along the direction in which the hands 22 are arranged) is appropriately set. That's fine. It is conceivable that the interval between the hands 22 is, for example, about several millimeters.
  • the distance between the claw 32a and the claw 32b is larger than the distance between the claw 44a and the claw 44b. Further, the gap between the claw 44a and the claw 44b is large between the claw 48a and the claw 48b. As a result, the pair of claws 44a and 44b and the pair of claws 48a and 48b are larger in closed space than the closed space created by the pair of claws 32a and 32b. At this time, the movement amount when the claw 32a shifts from the open state to the closed state, the movement amount when the claw 44a shifts from the open state to the closed state, and the movement amount when the claw 48a shifts from the open state to the closed state. The amount of movement is the same.
  • the drive mechanism 50 opens and closes the plurality of hands 22.
  • the drive mechanism 50 includes a combination structure of a motor and a gear, an electromagnetic actuator using a solenoid, and the like, and drives the pair of claws 32a and 32b (44a, 44b and 48a, 48b) to open and close. To do.
  • the drive mechanism 50 linearly drives the pair of claws 32a and 32b (44a and 44b and 48a and 48b).
  • Such a drive mechanism 50 includes a linear motor, a linear drive mechanism 50 having a screw shaft, a motor that rotationally drives the screw shaft, and a nut portion screwed to the screw shaft.
  • the drive mechanism 50 includes a drive mechanism main body 52 and a movable portion 54 that can be moved in one direction by the drive mechanism main body 52. By fixing the hand 22 to the movable portion 54, the hand 22 is supported so as to be movable along one direction.
  • the plurality of hands 22 are opened and closed by different drive mechanisms 50.
  • the driving mechanism 50 includes a gripping hand driving mechanism, a first auxiliary hand driving mechanism, and a second auxiliary hand driving mechanism.
  • a plurality of hands 22 may be driven by a single drive mechanism.
  • the plurality of auxiliary hands 40 are driven by one driving mechanism while the gripping hand 30 and the auxiliary hand 40 are driven by different driving mechanisms.
  • the opening / closing pattern can be set in detail. Specifically, an opening / closing order of the plurality of hands 22, an opening / closing speed of each hand 22, an interval at which each hand 22 starts an opening / closing operation, or the like can be appropriately set.
  • the arm 60 supports the plurality of hands 22 and moves the plurality of hands 22 relative to the linear member that is the workpiece.
  • an articulated arm 60 is adopted as the arm 60.
  • the multi-joint arm 60 has a structure in which a plurality of arms are connected to be rotatable around an axis via a joint mechanism, and a plurality of hands 22 are supported at the tip portions thereof. Then, by operating the articulated arm 60, the plurality of hands 22 can be moved to any position in the work area. That is, the plurality of hands 22 can be moved to a position where the plurality of hands 22 are initially gripped, and can be moved from the position where the hands are gripped first to a position where the binding work is performed.
  • the arm 60 is not limited to the above example.
  • a plurality of hands 22 may be movably supported by a multi-axis direction moving robot mechanism.
  • FIG. 11 is an explanatory diagram showing a state where the wires 12 are concentrated using the hand 22.
  • FIG. 12 is an explanatory diagram showing a state in which the electric wire 12 is gripped using the hand 22.
  • FIG. 13 is an explanatory diagram showing how the electric wire 12 is handled using the hand 22.
  • a plurality of hands 22 are brought closer to the electric wire 12 extending downward from the fixed connector 14 by the arm 60.
  • the plurality of hands 22 are positioned at positions where the gripping hand 30 can grip the electric wire 12.
  • the plurality of hands 22 are positioned at positions where the axial center direction of the closed space in the closed state of the hands 22 matches the central axis direction of the main surface of the connector 14.
  • the plurality of hands 22 may be positioned such that the posture of the hand 22 is such that the direction in which the pair of claws are closed coincides with the lateral direction of the connector 14.
  • the position at which the gripping hand 30 first grips the electric wire 12 may be set as appropriate.
  • the electric wire 12 is a position away from the connector 14 by several ten millimeters. If the position where the gripping hand 30 grips the electric wire 12 first is too close to the connector 14, when the gripping hand 30 grips the electric wire 12, the portion of the electric wire 12 that extends from the connector 14 becomes large. This is because the electric wire 12 may be strongly pressed against the opening periphery of the cavity of the connector 14. In addition, if the position where the gripping hand 30 grips the electric wire 12 first is too far from the connector 14, the electric wire 12 expands, and when the gripping hand 30 grips the electric wire 12, the electric wire 12 that cannot be gripped is generated. Because there is a fear.
  • the process moves to the line-collecting and gripping operations.
  • the drive mechanism 50 for the auxiliary hand 40 is driven to close the auxiliary hand 40 first and shift to the closed state.
  • the plurality of electric wires 12 are collected in the closed space of the auxiliary hand 40.
  • the drive mechanism 50 for the second auxiliary hand 46 is driven first to close the second auxiliary hand 46 first, and then the drive mechanism 50 for the first auxiliary hand 42 is driven to close the first auxiliary hand 42.
  • the driving mechanism 50 for the first auxiliary hand 42 and the driving mechanism 50 for the second auxiliary hand 46 may be driven simultaneously to close the first auxiliary hand 42 and the second auxiliary hand 46 simultaneously.
  • the driving mechanism 50 for the gripping hand 30 is driven to close the gripping hand 30.
  • the plurality of electric wires 12 are gripped by the gripping hand 30.
  • the plurality of electric wires 12 are collected in the closed space of the auxiliary hand 40 by the auxiliary hand 40, it is possible to suppress the generation of the electric wires 12 that cannot be held by the holding hand 30.
  • the gripping hand 30 grips the electric wire 12 with a force that can eliminate the bending of the electric wire 12 and that can slide.
  • the force capable of eliminating the bending of the electric wire 12 and slidable is an electric wire that is bent when the electric wire 12 at the rear in the moving direction is bent when the gripping hand 30 is moved. This is a force that generates a frictional force that can be pulled against the wire 12 and a frictional force that cannot be pulled on the unbent electric wire 12.
  • the sliding amount of the gripping hand 30 with respect to the bent electric wire 12 becomes smaller than the sliding amount with respect to the electric wire 12 which is not bent, and the bending is eliminated.
  • the plurality of hands 22 are moved by the arm 60.
  • the plurality of hands 22 are moved so that the second auxiliary hand 46 is positioned forward of the binding position when viewed from the connector 14 until the hands 22 are positioned forward of the binding position when viewed from the connector 14.
  • the gripping hand 30 moves the gripping hand 30 while gripping the electric wire 12 with the force as described above, so that the portion of the electric wire 12 between the connector 14 and the binding position is shown in FIG. Deflection is eliminated and it becomes a stretched state.
  • the processing robot apparatus 20 is used to perform the wire concentration, gripping and handling operations, and then the binding operation is performed. Then, the electric wires 12 extending from each connector 14 are bundled at the primary branch planned position. After that, the primary branch can be formed by collecting the electric wires 12 bound at the primary branch planned position and binding them separately.
  • the bundling operation is performed after the wire collecting, gripping and handling operations are similarly performed on the electric wires 12 extending from each connector 14 using the processing robot device 20.
  • the bundling operation is performed after performing the concentrating, gripping and handling operations on the wire 12 extending from the previously formed branch position using the processing robot device 20 in the same manner.
  • the branch after a secondary branch can be formed by gathering the electric wire 12 bundled in the planned secondary branch position, and bundling it separately.
  • FIG. 14 is an explanatory diagram showing how the electric wire 12 is handled by another method using the hand 22.
  • the concentrating, gripping and handling operations are performed in a state where the auxiliary hand 40 is positioned on the side of the connector 14 with respect to the gripping hand 30, that is, the rear of the handling direction. Absent. As shown in FIG. 14, the concentrating, gripping and handling operations may be performed in a state where the auxiliary hand 40 is positioned on the opposite side of the connector 14 with respect to the gripping hand 30, that is, in the front of the handling direction. In this case, when the electric wire 12 is handled by the gripping hand 30, the insertion angle of the electric wire 12 to the gripping hand 30 can be reduced by the auxiliary hand 40. This makes it easier to perform handling operations.
  • the wire 12 when the wire 12 is inserted into the gripping hand 30 at a large angle during handling, the wire 12 may be caught on the outer surfaces of the claws 32a and 32b, and an excessive force may be applied to the wire 12. . If an excessive force is applied to the electric wire 12, the electric wire 12 may be disconnected or disconnected from the connector 14.
  • the auxiliary hand 40 when the auxiliary hand 40 is positioned forward in the handling direction with respect to the gripping hand 30, when the electric wire 12 bulges outside, the bulging portion comes into contact with the auxiliary hand 40 and the degree of bulging is small. It can be suppressed. At this time, since the auxiliary hand 40 does not hold the electric wire 12, even if the electric wire 12 contacts the auxiliary hand 40, an excessive force is not easily applied to the electric wire 12.
  • the concentration effect by the auxiliary hand 40 cannot be expected so much.
  • the concentration effect by the auxiliary hand 40 can be enhanced by the following manner. That is, the plurality of hands 22 are moved such that the gripping hand 30 is positioned behind the initial gripping position in the handling direction, that is, on the connector 14 side. In this state, the auxiliary hand 40 is closed first. Then, the plurality of hands 22 are moved until the gripping hand 30 is positioned at the first gripping position. Then, the gripping hand 30 is closed with the gripping hand 30 positioned at the initial gripping position.
  • the concentrating work can be performed by opening and closing the plurality of hands 22.
  • the handling operation can be performed by moving the hand 22 by the arm 60 in a state where the hand 22 holds the electric wire 12.
  • the concentrating work and the handling work can be performed in the two cases of the state in which the auxiliary hand 40 is positioned rearward and along the direction in which the electric wire 12 is handled with respect to the gripping hand 30. is assumed.
  • the gripping hand 30 grips a position far from the connector 14 in the electric wire 12 while the auxiliary hand 40 assists in the concentrating work of the portion extending from the connector 14 in the electric wire 12.
  • the load applied to the portion extending from the connector 14 can be suppressed.
  • the insertion angle of the electric wire 12 to the gripping hand 30 can be reduced by the auxiliary hand 40. From these, the function suitable for at least one of the operation
  • the electric wires 12 previously concentrated by the auxiliary hand 40 can be held by the holding hand 30.
  • auxiliary hands 40 by providing a plurality of auxiliary hands 40, one of the concentrating work and the handling work can be assisted by the plurality of auxiliary hands 40.
  • the electric wires 12 can be collected even when the electric wires 12 are greatly spread outward when the number of the electric wires 12 is large.
  • the opening / closing patterns and the opening / closing amounts of the plurality of hands 22 can be set in detail.
  • claw 32b which partially enclose the electric wire 12 are provided in steps, the space
  • the gripping hand 30 can be closed without a gap, the gripping hand 30 can grip even when the object to be processed is as thin as a wire bundle composed of two wires 12.
  • auxiliary hands 42A and 46A are located on both sides of the gripping hand 30.
  • the electric wire 12 collected by the auxiliary hand 42 ⁇ / b> A can be held by the holding hand 30 by closing the auxiliary hand 42 ⁇ / b> A before closing the holding hand 30 and then closing the holding hand 30.
  • the gripping hand 30 is gripping the electric wire 12 and the other auxiliary hand 46A is closed, the electric wire 12 is handled in the direction from the gripping hand 30 toward the other auxiliary hand 46A. The incoming angle of the electric wire 12 is reduced.
  • the auxiliary hands 42A and 46A are positioned on both sides of the gripping hand 30, so that the concentrating work can be assisted by the auxiliary hand 42A and the handling work can be assisted by the auxiliary hand 46A.
  • auxiliary hand 42A and 46A are positioned on each side of the gripping hand 30, but a plurality of auxiliary hands are positioned on at least one side of the both sides of the gripping hand 30. May be.
  • a plurality of hands 22B are supported so as to be opened and closed by turning by a drive mechanism 50B. That is, a turning drive unit is provided instead of the linear drive unit in the first embodiment.
  • a plurality of hands 22C are supported by the drive mechanism 50C so as to be opened and closed. Yes.
  • the plurality of hands 22B turn in a plane orthogonal to the extending direction of the electric wires 12.
  • the plurality of hands 22 ⁇ / b> C rotate in a plane parallel to the extending direction of the electric wires 12.
  • the plurality of hands 22B are turned so that the surface including the main surface of the claw 32a matches in the open state and the closed state.
  • the plurality of hands 22C turn so that the surface including the main surface of the claw 32a intersects in the open state and the closed state.
  • the claws are turning so as to turn 90 degrees, but this is not essential. It may be larger or smaller than 90 degrees. Moreover, you may combine turning drive and linear drive.

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Abstract

The purpose of the present invention is to provide a technology capable of providing, to a processing robot device, a function suitable for at least either an operation that gathers a plurality of linear members or an operation that handles gathered linear members. The processing robot device comprises: a plurality of hands provided so as to be capable of opening and closing; a drive mechanism that drives the opening and closing of the plurality of hands; and an arm that supports the plurality of hands and moves the plurality of hands relative to the linear members being the objects to be processed. The plurality of hands comprise: a gripping hand that, in a closed state, grips the linear members; and an auxiliary hand that is provided adjacent to the gripping hand and encircles the linear members, when in a closed state, in a state whereby the auxiliary hand is open wider than the size of the linear members.

Description

加工ロボット装置Processing robot
　この発明は、ワイヤーハーネス等を加工するために用いられる加工ロボット装置に関する。 This invention relates to a processing robot apparatus used for processing a wire harness or the like.
　世界的な人件費高騰の影響により、ワイヤーハーネスの製造工程においても従来人手で行ってきた作業をロボットに代替させたいというニーズが高まっている。このような作業として、例えば、複数の電線を集線して把持すると共に把持した状態で扱く作業がある。 ニ ー ズ Due to the global increase in labor costs, there is a growing need to replace robotic tasks with conventional robots in the wire harness manufacturing process. As such an operation, for example, there is an operation of collecting and holding a plurality of electric wires and handling them while holding them.
　ここで、特許文献１乃至４には、電線を圧接端子に圧接する際に、電線を把持して移動させる機構が開示されている。 Here, Patent Documents 1 to 4 disclose mechanisms for gripping and moving an electric wire when the electric wire is pressed against a press contact terminal.
特開２０００－１７３３６７号公報JP 2000-173367 A 特開２０００－３５３４３７号公報JP 2000-353437 A 特開２００２－９５１２７号公報JP 2002-95127 A 特開２００６－７３５０２号公報JP 2006-73502 A
　しかしながら、特許文献１乃至４に記載の電線を把持して移動させる機構は、１本の電線を対象としているため、また、電線を移動させることを目的としているため、複数の電線を集める作業及び集めた電線を扱く作業に不向きである。 However, since the mechanism for gripping and moving the electric wires described in Patent Documents 1 to 4 is intended for moving one electric wire and moving the electric wire, the operation of collecting a plurality of electric wires and Unsuitable for handling collected wires.
　そこで、本発明は、加工ロボット装置に対して複数の線状部材を集める作業及び集めた線状部材を扱く作業のうち少なくとも一方に適した機能を付与することができる技術を提供することを目的とする。 Therefore, the present invention provides a technique capable of providing a function suitable for at least one of an operation of collecting a plurality of linear members and an operation of handling the collected linear members with respect to the processing robot apparatus. Objective.
　上記課題を解決するため、第１の態様に係る加工ロボット装置は、開閉可能に設けられた複数のハンドと、前記複数のハンドを開閉駆動する駆動機構と、前記複数のハンドを支持し、前記複数のハンドを被加工物である線状部材に対して移動させるアームと、を備え、前記複数のハンドは、閉状態で前記線状部材を把持する把持用ハンドと、前記把持用ハンドの隣に設けられ、閉状態で前記線状部材よりも大きく開いた状態で前記線状部材を囲う補助ハンドと、を備える。 In order to solve the above-described problem, a machining robot device according to a first aspect includes a plurality of hands provided to be openable and closable, a drive mechanism that opens and closes the plurality of hands, and supports the plurality of hands. An arm that moves the plurality of hands with respect to the linear member that is a workpiece, the plurality of hands holding the linear member in a closed state, and adjacent to the gripping hand. And an auxiliary hand that surrounds the linear member in a state of being opened larger than the linear member in the closed state.
　第２の態様に係る加工ロボット装置は、第１の態様に係る加工ロボット装置であって、前記補助ハンドが前記把持用ハンドよりも先に閉じる。 The processing robot apparatus according to the second aspect is the processing robot apparatus according to the first aspect, and the auxiliary hand closes before the gripping hand.
　第３の態様に係る加工ロボット装置は、第１又は第２の態様に係る加工ロボット装置であって、前記補助ハンドが複数設けられている。 The machining robot device according to the third aspect is the machining robot device according to the first or second aspect, and a plurality of the auxiliary hands are provided.
　第４の態様に係る加工ロボット装置は、第３の態様に係る加工ロボット装置であって、複数の前記補助ハンドが前記把持用ハンドに対して一方側に並ぶように設けられ、複数の前記補助ハンドのうち前記把持用ハンドから遠い前記補助ハンドが、前記把持用ハンドに近い補助ハンドに比べて閉状態で大きく開く。 A processing robot apparatus according to a fourth aspect is the processing robot apparatus according to the third aspect, wherein a plurality of the auxiliary hands are arranged on one side with respect to the gripping hand, and the plurality of auxiliary hands are provided. The auxiliary hand far from the gripping hand among the hands is greatly opened in the closed state as compared with the auxiliary hand close to the gripping hand.
　第５の態様に係る加工ロボット装置は、第１から第４のいずれか１つの態様に係る加工ロボット装置であって、前記駆動機構は、前記複数のハンドをそれぞれ別に開閉駆動する。 The machining robot device according to the fifth aspect is the machining robot device according to any one of the first to fourth aspects, and the drive mechanism drives the plurality of hands to open and close separately.
　第６の態様に係る加工ロボット装置は、第１から第５のいずれか１つの態様に係る加工ロボット装置であって、前記複数のハンドは、段違いに設けられ、それぞれ前記線状部材を部分的に囲うことができる一対の爪をそれぞれ含む。 A processing robot apparatus according to a sixth aspect is the processing robot apparatus according to any one of the first to fifth aspects, wherein the plurality of hands are provided in different stages, and each of the linear members is partially attached. Each of which includes a pair of claws that can be enclosed in
　第７の態様に係る加工ロボット装置は、第６の態様に係る加工ロボット装置であって、前記把持用ハンドは、隙間なく閉じることが可能に設けられている。 The machining robot apparatus according to the seventh aspect is the machining robot apparatus according to the sixth aspect, and the gripping hand is provided so as to be able to be closed without a gap.
　第１から第７の態様によると、複数のハンドの開閉動作によって集線作業を行うことができる。また、ハンドが線状部材を把持した状態でアームによってハンドを移動させることで扱き作業を行うことができる。このとき補助ハンドを把持用ハンドに対して線状部材を扱く方向に沿って後方に位置させた状態及び前方に位置させた状態の２つの場合で、集線作業及び扱き作業を行うことが想定される。前者の場合、補助ハンドが線状部材のうちコネクタから延出する部分の集線作業を補助しつつ把持用ハンドが線状部材のうちコネクタから遠い位置を把持することによって、線状部材のうちコネクタから延出する部分にかかる負荷を抑えることができる。また、後者の場合、把持用ハンドによって線状部材を扱く際に、補助ハンドによって把持用ハンドへの線状部材の入線角度を小さくすることができる。これらより、加工ロボット装置に対して複数の電線を集める作業及び集めた電線を扱く作業のうち少なくとも一方に適した機能を付与することができる。 According to the first to seventh aspects, the concentrating work can be performed by opening and closing a plurality of hands. Further, the handling operation can be performed by moving the hand by the arm while the hand is holding the linear member. At this time, it is assumed that the concentrating work and the handling work are performed in two cases of the auxiliary hand with respect to the gripping hand in the rearward position and the forward position along the direction in which the linear member is handled. Is done. In the former case, the gripping hand grips a position of the linear member far from the connector while the auxiliary hand assists in the work of concentrating the portion of the linear member that extends from the connector. It is possible to suppress the load applied to the portion extending from. In the latter case, when the linear member is handled by the gripping hand, the insertion angle of the linear member to the gripping hand can be reduced by the auxiliary hand. From these, the function suitable for at least one of the operation | work which collects a some electric wire with the processing robot apparatus, and the operation | work which handles the collected electric wire can be provided.
　特に、第２の態様によると、補助ハンドによって先に集線された線状部材を把持用ハンドで把持することができる。 Particularly, according to the second aspect, the linear member previously concentrated by the auxiliary hand can be gripped by the gripping hand.
　特に、第３の態様によると、集線作業及び扱き作業のうち少なくとも一方を複数の補助ハンドによって補助することができる。または、集線作業及び扱き作業の両方をそれぞれ補助ハンドによって補助することができる。 Particularly, according to the third aspect, at least one of the concentrating work and the handling work can be assisted by a plurality of auxiliary hands. Alternatively, both the concentrating work and the handling work can be assisted by the auxiliary hands.
　特に、第４の態様によると、補助ハンドの開きが把持用ハンドに向けて段階的に小さくなるため、線状部材の本数が多い場合などに線状部材が外に大きく広がっている場合でも、線状部材を集めることができる。 In particular, according to the fourth aspect, since the opening of the auxiliary hand is gradually reduced toward the gripping hand, even when the linear member is greatly spread outside, such as when the number of linear members is large, Linear members can be collected.
　特に、第５の態様によると、複数のハンドの開閉パターン及び開閉量等を細かく設定することができる。 In particular, according to the fifth aspect, it is possible to finely set the opening / closing patterns and the opening / closing amounts of a plurality of hands.
　特に、第６の態様によると、線状部材を部分的に囲う爪が段違いに一対設けられているため、閉状態時の一対の爪の間隔を容易に変更可能となる。これにより、一つのハンドで種々の線状部材の束の太さに対応することができる。 Particularly, according to the sixth aspect, since a pair of claws that partially surround the linear member are provided in steps, the distance between the pair of claws in the closed state can be easily changed. Thereby, it can respond to the thickness of the bundle of various linear members with one hand.
　特に、第７の態様によると、加工対象が電線２本の電線束のように細い場合でも、把持用ハンドによって把持可能となる。 Particularly, according to the seventh aspect, even when the object to be processed is as thin as a bundle of two electric wires, it can be gripped by the gripping hand.
製造されるワイヤーハーネスの一例を示す図である。It is a figure which shows an example of the wire harness manufactured. 実施形態に係る加工ロボット装置及びそれを用いてワイヤーハーネスを製造する方法を示す図である。It is a figure which shows the processing robot apparatus which concerns on embodiment, and the method of manufacturing a wire harness using it. コネクタから延出する電線を結束する様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire extended from a connector is bundled. コネクタから延出する電線を結束する様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire extended from a connector is bundled. コネクタから延出する電線を結束する様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire extended from a connector is bundled. 電線が結束された様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire was bundled. 開状態のハンドを示す正面図である。It is a front view which shows the hand of an open state. 閉状態のハンドを示す正面図である。It is a front view which shows the hand of a closed state. 開状態のハンドを示す平面図である。It is a top view which shows the hand of an open state. 閉状態のハンドを示す平面図である。It is a top view which shows the hand of a closed state. ハンドを用いて電線を集線する様子を示す説明図である。It is explanatory drawing which shows a mode that an electric wire is concentrated using a hand. ハンドを用いて電線を把持する様子を示す説明図である。It is explanatory drawing which shows a mode that an electric wire is hold | gripped using a hand. ハンドを用いて電線を扱く様子を示す説明図である。It is explanatory drawing which shows a mode that an electric wire is handled using a hand. ハンドを用いて別の方法で電線を扱く様子を示す説明図である。It is explanatory drawing which shows a mode that an electric wire is handled by another method using a hand. 第１変形例にかかる加工ロボット装置のハンドを示す正面図である。It is a front view which shows the hand of the processing robot apparatus concerning a 1st modification. 第１変形例にかかる加工ロボット装置のハンドを示す正面図である。It is a front view which shows the hand of the processing robot apparatus concerning a 1st modification. 第２変形例にかかる加工ロボット装置のハンドを示す正面図である。It is a front view which shows the hand of the processing robot apparatus concerning a 2nd modification. 第３変形例にかかる加工ロボット装置のハンドを示す正面図である。It is a front view which shows the hand of the processing robot apparatus concerning a 3rd modification.
　｛実施形態｝
　以下、実施形態に係る加工ロボット装置について説明する。加工ロボット装置は、複数の線状部材に対して集線及び把持し、把持した状態で扱く作業を行うことができるように設けられている。このような線状部材として、ここでは、電線が想定されている。以下では、加工ロボット装置が複数の電線が組み合わされたワイヤーハーネスの製造に用いられるものとして説明する。 {Embodiment}
Hereinafter, the processing robot apparatus according to the embodiment will be described. The processing robot apparatus is provided so as to be capable of collecting and gripping a plurality of linear members and handling them in the gripped state. Here, an electric wire is assumed as such a linear member. Below, a processing robot apparatus is demonstrated as what is used for manufacture of the wire harness with which the some electric wire was combined.
　まず、実施形態に係る加工ロボット装置を用いて製造されるワイヤーハーネス１０について、図１を交えて説明する。図１は、製造されるワイヤーハーネス１０の一例を平面に展開した図である。なお、図１において、同じ経路を通る電線１２は、１本の線で描かれている。このため、図１において、１本の線で描かれた電線１２は、実際には、複数の電線１２の束であることがあり得る（図２及び図６でも同様）。 First, the wire harness 10 manufactured using the processing robot apparatus according to the embodiment will be described with reference to FIG. FIG. 1 is a diagram in which an example of a manufactured wire harness 10 is developed on a plane. In FIG. 1, the electric wires 12 passing through the same path are drawn with a single line. For this reason, in FIG. 1, the electric wire 12 drawn by one line may actually be a bundle of a plurality of electric wires 12 (the same applies to FIGS. 2 and 6).
　加工対象となるワイヤーハーネス１０は、複数のコネクタ１４が複数の電線１２を介して接続されている。より詳細には、ワイヤーハーネス１０は、複数の電線１２が分岐しつつ結束された構成とされている。ワイヤーハーネス１０の各分岐先では、電線１２がコネクタ１４に挿入接続されている。本ワイヤーハーネス１０が車両に組込まれた状態で、各コネクタ１４が車両に搭載された各種電気部品に接続される。これにより、ワイヤーハーネス１０は、車両に搭載された各種電気部品を電気的に接続する役割を果す。ワイヤーハーネス１０に含まれる電線１２は、車両における敷設経路に応じた形態で分岐されつつ結束される。 In the wire harness 10 to be processed, a plurality of connectors 14 are connected via a plurality of electric wires 12. More specifically, the wire harness 10 is configured such that a plurality of electric wires 12 are bundled while being branched. At each branch destination of the wire harness 10, the electric wire 12 is inserted and connected to the connector 14. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle. The electric wires 12 included in the wire harness 10 are bundled while being branched in a form corresponding to a laying route in the vehicle.
　電線１２は、銅又はアルミニウムなどの金属を主成分とする線材である芯線と、芯線の周囲を覆う絶縁被覆とを備える。絶縁被覆は、例えば、ポリエチレン、塩化ビニル又はポリアミド系ナイロンなどを主成分とする合成樹脂の部材である。 The electric wire 12 includes a core wire that is a wire material mainly composed of a metal such as copper or aluminum, and an insulating coating that covers the periphery of the core wire. The insulating coating is, for example, a synthetic resin member mainly composed of polyethylene, vinyl chloride, polyamide-based nylon, or the like.
　上述したように、電線１２の端部には、コネクタ１４が接続される。電線１２は、例えば、その端部に圧着又は溶接などによって接続された端子を介してコネクタ１４に接続される。なお、端子は、例えば、銅又はスズなどの金属を主成分とする金属の部材である。 As described above, the connector 14 is connected to the end of the electric wire 12. For example, the electric wire 12 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding. The terminal is a metal member whose main component is a metal such as copper or tin.
　コネクタ１４の本体部は、例えば、ポリブチレンテレフタレート（ＰＢＴ）又はＡＢＳ樹脂などの絶縁性の樹脂材料で一体成型されている。コネクタ１４の本体部には、電線１２が接続される主面において複数のキャビティ１４１が形成される（図３参照）。 The main body of the connector 14 is integrally formed of an insulating resin material such as polybutylene terephthalate (PBT) or ABS resin. A plurality of cavities 141 are formed on the main surface of the connector 14 on the main surface to which the electric wires 12 are connected (see FIG. 3).
　キャビティ１４１は、電線１２の端部（例えば端子）を収容する開口構造である。キャビティ１４１は、コネクタ１４の本体部の主面に対し例えば略垂直な方向に一定の深さを有しており、キャビティ１４１内に収容された電線１２は、キャビティ１４１内の所定の深さ位置に位置決めされた状態で保持される。キャビティ１４１の数は、電線１２の本数に対応して設けられていることが望ましいが、特にそのような数に限定されるものではない。本実施形態においては、縦横合わせて８つのキャビティ１４１が設けられているが、複数のキャビティ１４１が設けられていればよい。また、各キャビティ１４１の深さ及び幅は同一である必要はなく、異なる深さ及び幅を有するキャビティ１４１が含まれていてもよい。 The cavity 141 has an opening structure that accommodates an end (for example, a terminal) of the electric wire 12. The cavity 141 has a certain depth, for example, in a direction substantially perpendicular to the main surface of the main body of the connector 14, and the electric wire 12 accommodated in the cavity 141 is positioned at a predetermined depth in the cavity 141. Are held in a state where they are positioned. The number of the cavities 141 is desirably provided in correspondence with the number of the electric wires 12, but is not particularly limited to such a number. In the present embodiment, eight cavities 141 are provided vertically and horizontally, but a plurality of cavities 141 may be provided. Further, the depth and width of each cavity 141 need not be the same, and cavities 141 having different depths and widths may be included.
　キャビティ１４１内に電線１２が保持された状態のコネクタ１４は、例えば、主面とは反対側の面から相手側コネクタと接続される。 The connector 14 in a state where the electric wire 12 is held in the cavity 141 is connected to the mating connector from a surface opposite to the main surface, for example.
　ここでは、例として、図１に示されるように分岐するワイヤーハーネス１０を製造するものとして説明する。もちろん、これ以外の分岐形態を有するワイヤーハーネスを製造するものであってもよい。ワイヤーハーネス１０は、幹線部１２１の一方側端部から２つの枝線部１２２が延びると共に幹線部１２１の他方側端部から３つの枝線部１２２が延び、幹線部１２１の中間部分から１本の枝線部１２２が延びている。この際、各枝線部１２２の端部にはコネクタ１４が接続されている。以降、各コネクタ１４について、特に区別が必要な場合は、コネクタ１４ａのように識別記号を付して称する。 Here, as an example, description will be made assuming that the wire harness 10 that branches as shown in FIG. 1 is manufactured. Of course, you may manufacture the wire harness which has a branch form other than this. In the wire harness 10, two branch line portions 122 extend from one end portion of the main line portion 121, and three branch line portions 122 extend from the other end portion of the main line portion 121, one from the middle portion of the main line portion 121. The branch line portion 122 extends. At this time, the connector 14 is connected to the end of each branch line portion 122. In the following, each connector 14 is referred to with an identification symbol as in the case of the connector 14a, if distinction is necessary.
　ここで、分岐部分は、コネクタ１４に近い側から順に一次分岐、二次分岐と呼ばれることがある。つまり、一次分岐とは、あるコネクタ１４から延出する電線１２のうちそれより当該コネクタ１４側に分岐が形成されない部分同士を集合させて形成される分岐である。また、二次分岐とは、形成された一次分岐から上記コネクタ１４とは、反対方向に形成される最初の分岐である。 Here, the branch portion may be called a primary branch and a secondary branch in order from the side closer to the connector 14. That is, the primary branch is a branch formed by collecting portions of the electric wire 12 extending from a certain connector 14 where no branch is formed on the connector 14 side. The secondary branch is a first branch formed in the opposite direction from the connector 14 from the formed primary branch.
　具体的には、図１に示されるワイヤーハーネス１０において、幹線部１２１からコネクタ１４ａ、１４ｂに連なる枝線部１２２が分岐する部分（分岐位置Ｐ１）及び幹線部１２１からコネクタ１４ｃ、１４ｄ、１４ｅに連なる枝線部１２２が分岐する部分（分岐位置Ｐ２）が一次分岐の部分である。また、図１に示されるワイヤーハーネス１０において、幹線部１２１からコネクタ１４ｆに連なる枝線部１２２が分岐する部分（分岐位置Ｐ３）が二次分岐の部分である。 Specifically, in the wire harness 10 shown in FIG. 1, a portion (branch position P <b> 1) where the branch line portion 122 connecting from the main line portion 121 to the connectors 14 a and 14 b branches and the main line portion 121 to the connectors 14 c, 14 d and 14 e. A portion where the continuous branch line portion 122 branches (branch position P2) is a primary branch portion. Further, in the wire harness 10 shown in FIG. 1, a portion where the branch line portion 122 connecting from the main line portion 121 to the connector 14 f branches (a branch position P <b> 3) is a secondary branch portion.
　なお、ワイヤーハーネス１０によっては、一次分岐のみが設けられる場合もあり得る。また、三次以降の分岐が設けられる場合もあり得る。 Depending on the wire harness 10, only the primary branch may be provided. In addition, a branch after the tertiary may be provided.
　次に、加工ロボット装置２０を用いてワイヤーハーネス１０を製造する方法の流れについて説明する。 Next, a flow of a method for manufacturing the wire harness 10 using the processing robot apparatus 20 will be described.
　まずは、各コネクタ１４に電線１２が挿入され、配線が完了した結束前のワイヤーハーネスを準備する。そして、電線１２が挿入された各コネクタ１４を固定する。図２に示すように、ここでは、各コネクタ１４はコネクタホルダ９２に保持される。そして、コネクタホルダ９２は、フレーム９０等に固定される。これにより、各コネクタ１４が固定された状態となる。この際ここでは、キャビティ１４１の開口が鉛直方向下向きを向くようにコネクタ１４が固定されている。 First, the electric wire 12 is inserted into each connector 14, and the wire harness before bundling in which wiring is completed is prepared. And each connector 14 in which the electric wire 12 was inserted is fixed. As shown in FIG. 2, each connector 14 is held by a connector holder 92 here. The connector holder 92 is fixed to the frame 90 or the like. Thereby, each connector 14 is in a fixed state. Here, the connector 14 is fixed so that the opening of the cavity 141 is directed downward in the vertical direction.
　コネクタ１４の固定が終わったら、加工ロボット装置２０等を用いて電線１２を結束していく。まず加工ロボット装置２０の全体構成について説明する。 When the connector 14 is fixed, the electric wires 12 are bundled using the processing robot device 20 or the like. First, the overall configuration of the processing robot apparatus 20 will be described.
　加工ロボット装置２０は、アーム６０と、アーム６０の先端部に設けられたハンド２２とを備える。アーム６０は、複数のアーム部が関節機構を介して軸周りに回転可能に連結された構成とされており、その先端部にハンド２２が設けられている。この加工ロボット装置２０は、アーム６０を動作させることによって、ハンド２２を、フレーム９０の任意の位置に任意の姿勢で移動させることができる。 The processing robot apparatus 20 includes an arm 60 and a hand 22 provided at the tip of the arm 60. The arm 60 is configured such that a plurality of arm portions are connected to be rotatable around an axis via a joint mechanism, and a hand 22 is provided at a tip portion thereof. The processing robot apparatus 20 can move the hand 22 to an arbitrary position of the frame 90 in an arbitrary posture by operating the arm 60.
　ハンド２２は、複数の電線１２を集線して把持すると共に把持した状態で扱く加工を行う部分である。 The hand 22 is a part that collects and grips the plurality of electric wires 12 and performs processing to handle them in the gripped state.
　電線１２を集線する加工とは、コネクタ１４等から延出する複数の電線１２が散在している場合に、その後の把持及び結束加工が行いやすいように、複数の電線１２を集める加工を言う。電線１２を集線する加工を行うためには、ハンド２２が、開閉可能に設けられていることが考えられる。 The process of collecting the wires 12 refers to a process of collecting the plurality of wires 12 so that the subsequent gripping and bundling can be easily performed when the plurality of wires 12 extending from the connector 14 and the like are scattered. In order to perform the process of collecting the electric wires 12, it is conceivable that the hand 22 is provided so as to be opened and closed.
　電線１２を扱く加工とは、把持部によって電線１２を把持した状態で、電線１２の延在方向に沿って把持部を摺動させていくような加工である。この加工により、電線１２についたくせを矯正する又は電線１２を張った状態にすることなどができる。つまり、電線１２を結束する前に電線１２を扱くことで、電線１２の一部が撓んだ状態で電線１２が結束されてしまうことを抑制することができる。これにより、寸法精度の向上を図ることができる。このような電線１２を扱く加工を行うためには、ハンド２２が電線１２を摺動可能な力で把持可能に設けられ、アーム６０が当該ハンド２２を電線１２に沿って摺動させていくことが考えられる。 The process of handling the electric wire 12 is a process of sliding the grip part along the extending direction of the electric wire 12 in a state where the electric wire 12 is gripped by the grip part. By this processing, it is possible to correct the habit of the electric wire 12 or to make the electric wire 12 stretched. That is, by handling the electric wire 12 before binding the electric wire 12, it is possible to suppress the electric wire 12 from being bound in a state where a part of the electric wire 12 is bent. Thereby, the improvement of dimensional accuracy can be aimed at. In order to perform such processing to handle the electric wire 12, the hand 22 is provided so as to be able to grip the electric wire 12 with a slidable force, and the arm 60 slides the hand 22 along the electric wire 12. It is possible.
　なお、ここでは、加工ロボット装置２０によって扱き終わった電線１２に粘着テープを巻付けて複数の電線１２を結束する加工が行われるものとして説明する。この結束加工を行うためには、加工ロボット装置２０は、アーム６０の先端部にハンド２２とは別の加工作業部として、周知のテープ自動巻機を含む各種構成が相対移動可能な状態で取付けられていることが考えられる。 Note that, here, description will be made on the assumption that a process of binding a plurality of electric wires 12 by winding an adhesive tape around the electric wires 12 which have been handled by the processing robot apparatus 20 will be described. In order to perform this bundling process, the processing robot apparatus 20 is attached to the distal end portion of the arm 60 as a processing operation unit different from the hand 22 in a state in which various configurations including a known automatic tape winding machine are relatively movable. It is possible that
　なお、結束加工は、加工ロボット装置２０とは別の加工ロボット装置２０によって行われてもよい。また、加工ロボット装置２０は、垂直多関節ロボットの他、直角座標型ロボット等であってもよい。 Note that the bundling process may be performed by a processing robot apparatus 20 different from the processing robot apparatus 20. Further, the processing robot apparatus 20 may be a rectangular coordinate robot or the like in addition to the vertical articulated robot.
　加工制御部７０は、ＣＰＵと、ＲＡＭと、ＲＯＭと、入力回路部等を備える一般的なコンピューターによって構成されている。ＲＯＭは、フラッシュメモリ等の書換え可能な不揮発性半導体メモリ等によって構成されている。ＲＯＭは、電線１２に対する加工手順及び加工内容を記述したプログラム等を格納している。そして、ＣＰＵがＲＯＭに格納されたプログラムを実行することにより、加工ロボット装置２０に対して諸指示を与える処理を実行する。 The machining control unit 70 is configured by a general computer including a CPU, a RAM, a ROM, an input circuit unit, and the like. The ROM is composed of a rewritable nonvolatile semiconductor memory such as a flash memory. The ROM stores a program describing a processing procedure and processing contents for the electric wire 12. And CPU performs the process which gives various instructions with respect to the processing robot apparatus 20 by running the program stored in ROM.
　なお、加工ロボット装置２０は、画像取得システム８０により取得された画像データに基づいて電線１２に対する諸加工を行うものであってもよい。加工ロボット装置２０は、予めティーチングされた指示データに基づいて制御されてもよい。前者の場合、ＲＯＭは、画像取得システム８０等により取得された画像データに基づいて加工対象領域、加工対象（電線１２）の位置及び姿勢等を決定するための手順を記述したプログラム等を格納していることが考えられる。このような画像取得システム８０としては、例えば、結束作業中のワイヤーハーネスの全体像を撮影可能な２次元カメラ８４と、加工ロボット装置２０に設けられ加工ロボット装置２０の手元を撮影可能なステレオカメラ８２と、を備えることが考えられる。 The processing robot apparatus 20 may perform various processing on the electric wire 12 based on the image data acquired by the image acquisition system 80. The processing robot apparatus 20 may be controlled based on instruction data previously taught. In the former case, the ROM stores a program describing a procedure for determining a processing target area, a position and a posture of the processing target (the electric wire 12) based on the image data acquired by the image acquisition system 80 or the like. It is possible that As such an image acquisition system 80, for example, a two-dimensional camera 84 capable of photographing the whole image of the wire harness during the bundling work, and a stereo camera provided in the processing robot apparatus 20 and capable of photographing the hand of the processing robot apparatus 20 82.
　加工ロボット装置２０によって扱き加工が終わった電線１２に対して、画像取得システム８０により画像データを取得し、取得された画像データに基づいて扱きの良否判定を行うことが考えられる。良否判定で良の場合に結束加工に移り、否の場合に扱き加工をやり直すことで、結束時の不良の発生を抑えることができる。 It is conceivable that image data is acquired by the image acquisition system 80 for the electric wires 12 that have been processed by the processing robot apparatus 20, and the quality of the handling is determined based on the acquired image data. When the pass / fail judgment is good, the process moves to bundling, and when the pass / fail process is re-executed, the occurrence of defects during bundling can be suppressed.
　加工ロボット装置２０等を用いて電線１２を結束していくには、まずハンド２２によって電線１２を集線して把持する。次に、ハンド２２が電線１２を把持した状態で、電線１２に対してハンド２２を相対移動させて電線１２を扱く。次に、ハンド２２によって扱かれた状態で把持されている電線１２を結束用の加工作業部によって結束する。 In order to bind the electric wires 12 using the processing robot apparatus 20 or the like, the electric wires 12 are first collected and gripped by the hand 22. Next, in a state where the hand 22 grips the electric wire 12, the hand 22 is moved relative to the electric wire 12 to handle the electric wire 12. Next, the electric wire 12 gripped in a state of being handled by the hand 22 is bundled by a bundling processing unit.
　具体的には、コネクタ１４が固定された状態で、図３に示すように、電線１２は、コネクタ１４から鉛直方向下向きに延出する。この際、電線１２を製造する際についてしまうくせ等の影響を受けて、一部の電線１２は、コネクタ１４と結束箇所との間で曲がっている恐れがある。 Specifically, in a state where the connector 14 is fixed, as shown in FIG. 3, the electric wire 12 extends downward from the connector 14 in the vertical direction. Under the present circumstances, there exists a possibility that some electric wires 12 may be bent between the connector 14 and a binding location under the influence of the habit which will be followed when manufacturing the electric wire 12, for example.
　この曲がりを解消するため、ここでは、図４に示すように電線１２をコネクタ１４側から結束箇所まで扱く。具体的には、ハンド２２が電線１２を軽く把持した状態で、アーム６０がハンド２２を電線１２に沿って結束箇所まで移動させる。このとき、ハンド２２は、結束箇所に対してコネクタ１４から離れた箇所を把持した状態を維持する。また、このとき、ハンド２２は、コネクタ１４からの距離を計測しつつ扱いていくとよい。 In order to eliminate this bending, here, the wire 12 is handled from the connector 14 side to the bundling portion as shown in FIG. Specifically, the arm 60 moves the hand 22 along the electric wire 12 to the binding location while the hand 22 is lightly holding the electric wire 12. At this time, the hand 22 maintains a state in which a part away from the connector 14 is held with respect to the binding part. At this time, the hand 22 may be handled while measuring the distance from the connector 14.
　このようにコネクタ１４が固定された状態で電線１２をコネクタ１４側から結束箇所までしごくと、電線１２のうちコネクタ１４と結束箇所との間の部分が張った状態となる。この状態で、結束箇所で電線１２の周囲に結束用テープ１８を巻付ける。これにより、図５に示すように電線１２が結束箇所で結束された状態となる。このとき結束用テープ１８は、電線１２に対してほぼ同じ位置で複数回巻付けられることが考えられる。従って、結束用テープ１８は、電線１２に対してコネクタ１４から離れた位置に部分的に巻付けられる。このとき、電線１２に対して結束用テープ１８とコネクタ１４との間の部分には、テープは巻付けられていない。 Thus, when the electric wire 12 is squeezed from the connector 14 side to the binding location with the connector 14 fixed, the portion of the electric wire 12 between the connector 14 and the binding location is stretched. In this state, the binding tape 18 is wound around the electric wire 12 at the binding location. Thereby, as shown in FIG. 5, it will be in the state by which the electric wire 12 was bundled in the binding location. At this time, it is conceivable that the bundling tape 18 is wound around the electric wire 12 a plurality of times at substantially the same position. Therefore, the binding tape 18 is partially wound around the electric wire 12 at a position away from the connector 14. At this time, the tape is not wound around the portion of the electric wire 12 between the binding tape 18 and the connector 14.
　他のコネクタ１４に対しても同様に分岐位置で結束したあと、結束部分を集合させて集合させた部分を別途結束することで一次分岐が形成される。２次分岐については、コネクタ１４の代わりに一次分岐を利用して結束するとよい。つまり、ハンド２２によって一次分岐に対してコネクタ１４から若干遠い位置を把持し、その状態で二次分岐の結束位置まで電線１２を扱いたうえで、結束する。そして、結束部分を集合させて集合させた部分を別途結束することで二次分岐が形成される。 Similarly, after the other connectors 14 are bundled at the branch position, the bundled portions are gathered and the gathered portions are separately bundled to form a primary branch. The secondary branch may be bundled using the primary branch instead of the connector 14. That is, the hand 22 is held at a position slightly distant from the connector 14 with respect to the primary branch, and in this state, the electric wires 12 are handled up to the binding position of the secondary branch and then bundled. And a secondary branch is formed by bundling a bundling part and bundling the gathered part separately.
　こうして一次分岐及び二次分岐について結束が完了すると図６に示すように電線１２に所定の分岐が形成された状態となる。 Thus, when the bundling is completed for the primary branch and the secondary branch, a predetermined branch is formed in the electric wire 12 as shown in FIG.
　＜ハンド２２＞
　次に、図２に加えて図７乃至図１０を参照して加工ロボット装置２０について詳述する。図７は、開状態のハンド２２を示す正面図である。図８は、閉状態のハンド２２を示す正面図である。図９は、開状態のハンド２２を示す平面図である。図１０は、閉状態のハンド２２を示す平面図である。 <Hand 22>
Next, the machining robot apparatus 20 will be described in detail with reference to FIGS. 7 to 10 in addition to FIG. FIG. 7 is a front view showing the hand 22 in the open state. FIG. 8 is a front view showing the hand 22 in the closed state. FIG. 9 is a plan view showing the hand 22 in the open state. FIG. 10 is a plan view showing the hand 22 in the closed state.
　加工ロボット装置２０は、複数のハンド２２と、駆動機構５０と、アーム６０とを備える。 The processing robot apparatus 20 includes a plurality of hands 22, a drive mechanism 50, and an arm 60.
　複数のハンド２２は、開閉可能に設けられている。複数のハンド２２は、駆動機構５０によって開閉駆動される。複数のハンド２２は、把持用ハンド３０と、補助ハンド４０と、を備える。 The plurality of hands 22 are provided to be openable and closable. The plurality of hands 22 are opened and closed by the drive mechanism 50. The plurality of hands 22 includes a gripping hand 30 and an auxiliary hand 40.
　把持用ハンド３０は、閉状態で線状部材を把持する。把持用ハンド３０は、隙間なく閉じることが可能に設けられている。 The gripping hand 30 grips the linear member in the closed state. The gripping hand 30 is provided so that it can be closed without a gap.
　補助ハンド４０は、把持用ハンド３０の隣に設けられている。補助ハンド４０は、閉状態で線状部材よりも大きく開いた状態で線状部材を囲う。補助ハンド４０が複数（ここでは、２つ）設けられている。 The auxiliary hand 40 is provided next to the gripping hand 30. The auxiliary hand 40 surrounds the linear member in a closed state and is larger than the linear member. A plurality of (in this case, two) auxiliary hands 40 are provided.
　２つの補助ハンド４０は、把持用ハンド３０に対して一方側に並ぶように設けられている。２つの補助ハンド４０のうち把持用ハンド３０から遠い補助ハンド４０が、把持用ハンド３０に近い補助ハンド４０に比べて閉状態で大きく開く。以下では、２つの補助ハンド４０のうち把持用ハンド３０に近い補助ハンド４０を第１補助ハンド４２と称し、２つの補助ハンド４０のうち把持用ハンド３０から遠い補助ハンド４０を第２補助ハンド４６と称することがある。 The two auxiliary hands 40 are provided so as to be arranged on one side with respect to the gripping hand 30. Of the two auxiliary hands 40, the auxiliary hand 40 far from the gripping hand 30 opens greatly in the closed state compared to the auxiliary hand 40 close to the gripping hand 30. Hereinafter, of the two auxiliary hands 40, the auxiliary hand 40 close to the gripping hand 30 is referred to as a first auxiliary hand 42, and the auxiliary hand 40 far from the gripping hand 30 of the two auxiliary hands 40 is the second auxiliary hand 46. May be called.
　複数のハンド２２は、段違いに設けられ、それぞれ線状部材を部分的に囲うことができる一対の爪をそれぞれ含む。具体的には、把持用ハンド３０は一対の爪３２ａ、３２ｂを含む。同様に、第１補助ハンド４２は一対の爪４４ａ、４４ｂを含み、第２補助ハンド４６は一対の爪４８ａ、４８ｂを含む。 The plurality of hands 22 are provided at different levels and each include a pair of claws that can partially surround the linear member. Specifically, the gripping hand 30 includes a pair of claws 32a and 32b. Similarly, the first auxiliary hand 42 includes a pair of claws 44a and 44b, and the second auxiliary hand 46 includes a pair of claws 48a and 48b.
　一対の爪３２ａ、３２ｂは、閉じた状態で電線１２の四方を囲う閉空間が生じるように形成されている。具体的には、爪３２ａ、３２ｂは、平板状の本体部にＶ字状の凹部が形成された形状に形成されている。そして、爪３２ａ、３２ｂは凹部を相手側に向けて配設される。これにより、爪３２ａは、閉じた状態で電線１２の四方のうち二方を囲い、爪３２ｂは、閉じた状態で電線１２の四方のうち残りの二方を囲う。一対の爪４４ａ、４４ｂ及び一対の爪４８ａ、４８ｂも一対の爪３２ａ、３２ｂと同様に、平板状の本体部にＶ字状の凹部が形成された形状に形成されている。爪３２ａにおける凹部と、爪４４ａにおける凹部と、爪４８ａにおける凹部とは同じ形状に形成されている。 The pair of claws 32a and 32b are formed so as to create a closed space that surrounds the four sides of the electric wire 12 in a closed state. Specifically, the claws 32a and 32b are formed in a shape in which a V-shaped concave portion is formed in a flat body. And claw 32a, 32b is arrange | positioned with a recessed part facing the other party. Thereby, the claw 32a surrounds two of the four sides of the electric wire 12 in the closed state, and the claw 32b surrounds the remaining two of the four sides of the electric wire 12 in the closed state. Similarly to the pair of claws 32a and 32b, the pair of claws 44a and 44b and the pair of claws 48a and 48b are formed in a shape in which a V-shaped concave portion is formed in a flat plate-like main body portion. The recess in the claw 32a, the recess in the claw 44a, and the recess in the claw 48a are formed in the same shape.
　爪３２ａと爪３２ｂとは、段違いに配設されている。このため、閉状態での爪３２ａと爪３２ｂとの位置関係を変更することで、閉空間の大きさを変更することができる。閉状態で、爪４４ａ、４４ｂは、爪３２ａ、３２ｂよりも閉空間が大きくなるように配設されている。閉状態で、爪４８ａ、４８ｂは、爪４４ａ、４４ｂよりも閉空間が大きくなるように配設されている。 The nail | claw 32a and the nail | claw 32b are arrange | positioned in steps. For this reason, the size of the closed space can be changed by changing the positional relationship between the claw 32a and the claw 32b in the closed state. In the closed state, the claws 44a and 44b are disposed so that the closed space is larger than the claws 32a and 32b. In the closed state, the claws 48a and 48b are arranged so that the closed space is larger than the claws 44a and 44b.
　ここでは、一対の爪３２ａ、３２ｂ（４４ａ、４４ｂ及び４８ａ、４８ｂ）は、閉じる際に直線的に移動する。このため、開状態から閉状態に移行する際に、爪３２ａ（４４ａ、４８ａ）のＶ字の先端と爪３２ｂ（４４ｂ、４８ｂ）のＶ字の先端とが重なるときに、最初に閉空間が形成される。その後、徐々に閉空間が小さくなる。 Here, the pair of claws 32a, 32b (44a, 44b and 48a, 48b) move linearly when they are closed. For this reason, when shifting from the open state to the closed state, when the V-shaped tip of the claw 32a (44a, 48a) and the V-shaped tip of the claw 32b (44b, 48b) overlap, the closed space is first formed. It is formed. Thereafter, the closed space gradually decreases.
　補助ハンド４０は、把持用ハンド３０よりも先に閉じる。ここでは、ハンド２２ごとに別の駆動機構５０が設けられ、補助ハンド４０が把持用ハンド３０よりも先に駆動することで補助ハンド４０が、把持用ハンド３０よりも先に閉じる。 The auxiliary hand 40 is closed before the gripping hand 30. Here, a separate drive mechanism 50 is provided for each hand 22, and the auxiliary hand 40 is driven before the gripping hand 30 to close the auxiliary hand 40 before the gripping hand 30.
　なお、ここで言う先に閉じるとは、補助ハンド４０を閉じている途中において最初に形成される閉空間の大きさと、把持用ハンド３０を閉じている途中において最初に形成される閉空間の大きさとが本実施形態のように同じ場合又は補助ハンド４０の閉空間の方が大きい場合、補助ハンド４０が把持用ハンド３０よりも先に電線１２の四方を囲うことを言う。また、補助ハンド４０を閉じている途中において最初に形成される閉空間の大きさが、把持用ハンド３０を閉じている途中において最初に形成される閉空間の大きさよりも小さい場合、補助ハンド４０が閉空間を最初に形成した時点で補助ハンド４０の閉空間が把持用ハンド３０の閉空間よりも小さいことを言う。好ましくは、補助ハンド４０が把持用ハンド３０よりも先に閉状態に移行するとよい。 The term “closed first” as used herein refers to the size of the closed space that is first formed while the auxiliary hand 40 is being closed, and the size of the closed space that is initially formed while the gripping hand 30 is being closed. When Sato is the same as in the present embodiment or when the closed space of the auxiliary hand 40 is larger, it means that the auxiliary hand 40 surrounds the four sides of the electric wire 12 before the gripping hand 30. In addition, when the size of the closed space that is initially formed while the auxiliary hand 40 is being closed is smaller than the size of the closed space that is initially formed while the gripping hand 30 is being closed, the auxiliary hand 40 When the closed space is first formed, the closed space of the auxiliary hand 40 is smaller than the closed space of the gripping hand 30. Preferably, the auxiliary hand 40 may shift to the closed state before the gripping hand 30.
　本実施形態のように補助ハンド４０が把持用ハンド３０の一方側に複数設けられている場合、第１補助ハンド４２よりも第２補助ハンド４６が先に閉じることが好ましい。 When a plurality of auxiliary hands 40 are provided on one side of the gripping hand 30 as in the present embodiment, it is preferable that the second auxiliary hand 46 is closed before the first auxiliary hand 42.
　ハンド２２間の間隔（ここでは、ハンド２２が並ぶ方向に沿った爪３２ａ、３２ｂと爪４４ａ、４４ｂとの間隔及び爪４４ａ、４４ｂと爪４８ａ、４８ｂとの間隔）は、適宜設定されていればよい。ハンド２２間の間隔は、例えば、数ミリメートル程度であることが考えられる。 The distance between the hands 22 (here, the distance between the claws 32a and 32b and the claws 44a and 44b and the distance between the claws 44a and 44b and the claws 48a and 48b along the direction in which the hands 22 are arranged) is appropriately set. That's fine. It is conceivable that the interval between the hands 22 is, for example, about several millimeters.
　爪３２ａと爪３２ｂとの間隔は、爪４４ａと爪４４ｂとの間隔よりも大きい。また、爪４４ａと爪４４ｂとの間隔は、爪４８ａと爪４８ｂとの間隔は大きい。これにより、一対の爪４４ａ、４４ｂ及び一対の爪４８ａ、４８ｂは、閉じた状態での閉空間の大きさが一対の爪３２ａ、３２ｂが作り出す閉空間よりも大きい。この際、爪３２ａが開状態から閉状態に移行する際の移動量と、爪４４ａが開状態から閉状態に移行する際の移動量と、爪４８ａが開状態から閉状態に移行する際の移動量とは同じである。 The distance between the claw 32a and the claw 32b is larger than the distance between the claw 44a and the claw 44b. Further, the gap between the claw 44a and the claw 44b is large between the claw 48a and the claw 48b. As a result, the pair of claws 44a and 44b and the pair of claws 48a and 48b are larger in closed space than the closed space created by the pair of claws 32a and 32b. At this time, the movement amount when the claw 32a shifts from the open state to the closed state, the movement amount when the claw 44a shifts from the open state to the closed state, and the movement amount when the claw 48a shifts from the open state to the closed state. The amount of movement is the same.
　駆動機構５０は、複数のハンド２２を開閉駆動する。具体的には、駆動機構５０は、モータとギヤとの組合わせ構造、ソレノイドを利用した電磁アクチュエータ等により構成されており、一対の爪３２ａ、３２ｂ（４４ａ、４４ｂ及び４８ａ、４８ｂ）を開閉駆動する。一対の爪３２ａ、３２ｂ（４４ａ、４４ｂ及び４８ａ、４８ｂ）を閉じることで、複数の電線１２を把持又は囲うことができる。ここでは、駆動機構５０は、一対の爪３２ａ、３２ｂ（４４ａ、４４ｂ及び４８ａ、４８ｂ）を直線的に駆動する。このような駆動機構５０は、リニアモータ、ネジ軸とネジ軸を回転駆動するモータとネジ軸に螺合されたナット部とを有する直線駆動機構５０等よって構成される。ここでは、駆動機構５０は、駆動機構本体部５２と、当該駆動機構本体部５２によって１つの方向に移動可能な可動部５４とを含む。可動部５４にハンド２２が固定されることによって、ハンド２２が１つの方向に沿って移動可能に支持される。 The drive mechanism 50 opens and closes the plurality of hands 22. Specifically, the drive mechanism 50 includes a combination structure of a motor and a gear, an electromagnetic actuator using a solenoid, and the like, and drives the pair of claws 32a and 32b (44a, 44b and 48a, 48b) to open and close. To do. By closing the pair of claws 32a, 32b (44a, 44b and 48a, 48b), the plurality of electric wires 12 can be gripped or enclosed. Here, the drive mechanism 50 linearly drives the pair of claws 32a and 32b (44a and 44b and 48a and 48b). Such a drive mechanism 50 includes a linear motor, a linear drive mechanism 50 having a screw shaft, a motor that rotationally drives the screw shaft, and a nut portion screwed to the screw shaft. Here, the drive mechanism 50 includes a drive mechanism main body 52 and a movable portion 54 that can be moved in one direction by the drive mechanism main body 52. By fixing the hand 22 to the movable portion 54, the hand 22 is supported so as to be movable along one direction.
　ここでは、複数のハンド２２がそれぞれ別の駆動機構５０によって開閉駆動される。従って、駆動機構５０は、把持用ハンド用駆動機構と、第１補助ハンド用駆動機構と、第２補助ハンド用駆動機構とを備える。もっとも、複数のハンド２２が１つの駆動機構で駆動されることも考えられる。また、把持用ハンド３０と補助ハンド４０とが別の駆動機構で駆動されつつ、複数の補助ハンド４０が、１つの駆動機構で駆動されることも考えられる。 Here, the plurality of hands 22 are opened and closed by different drive mechanisms 50. Accordingly, the driving mechanism 50 includes a gripping hand driving mechanism, a first auxiliary hand driving mechanism, and a second auxiliary hand driving mechanism. Of course, a plurality of hands 22 may be driven by a single drive mechanism. It is also conceivable that the plurality of auxiliary hands 40 are driven by one driving mechanism while the gripping hand 30 and the auxiliary hand 40 are driven by different driving mechanisms.
　複数のハンド２２がそれぞれ別の駆動機構５０によって開閉駆動されるため、開閉パターンを細かく設定することができる。具体的には、複数のハンド２２の開閉順序、各ハンド２２の開閉速度、又は、各ハンド２２が開閉動作を始めるときの間隔等を適宜設定することができる。 Since the plurality of hands 22 are driven to be opened and closed by different driving mechanisms 50, the opening / closing pattern can be set in detail. Specifically, an opening / closing order of the plurality of hands 22, an opening / closing speed of each hand 22, an interval at which each hand 22 starts an opening / closing operation, or the like can be appropriately set.
　アーム６０は、複数のハンド２２を支持し、複数のハンド２２を被加工物である線状部材に対して移動させる。 The arm 60 supports the plurality of hands 22 and moves the plurality of hands 22 relative to the linear member that is the workpiece.
　ここでは、アーム６０として、多関節アーム６０が採用されている。多関節アーム６０は、複数のアームが関節機構を介して軸周りに回転可能に連結された構成とされており、その先端部に複数のハンド２２が支持されている。そして、上記多関節アーム６０を動作させることによって、複数のハンド２２を作業エリアの任意の位置に移動させることができる。即ち、複数のハンド２２を複数の電線１２に対して最初に把持する位置に移動させることができると共に、最初に把持する位置から結束作業を行う位置に移動させることができる。 Here, an articulated arm 60 is adopted as the arm 60. The multi-joint arm 60 has a structure in which a plurality of arms are connected to be rotatable around an axis via a joint mechanism, and a plurality of hands 22 are supported at the tip portions thereof. Then, by operating the articulated arm 60, the plurality of hands 22 can be moved to any position in the work area. That is, the plurality of hands 22 can be moved to a position where the plurality of hands 22 are initially gripped, and can be moved from the position where the hands are gripped first to a position where the binding work is performed.
　なお、アーム６０は、上記例に限られない。複数のハンド２２を複数軸方向移動ロボット機構によって移動可能に支持するものであってもよい。 The arm 60 is not limited to the above example. A plurality of hands 22 may be movably supported by a multi-axis direction moving robot mechanism.
　＜動作＞
　次に、加工ロボット装置２０を用いた集線作業、把持作業及び扱き作業について図１１乃至図１３を参照しつつ説明する。図１１は、ハンド２２を用いて電線１２を集線する様子を示す説明図である。図１２は、ハンド２２を用いて電線１２を把持する様子を示す説明図である。図１３は、ハンド２２を用いて電線１２を扱く様子を示す説明図である。 <Operation>
Next, concentrating work, gripping work and handling work using the processing robot apparatus 20 will be described with reference to FIGS. 11 to 13. FIG. 11 is an explanatory diagram showing a state where the wires 12 are concentrated using the hand 22. FIG. 12 is an explanatory diagram showing a state in which the electric wire 12 is gripped using the hand 22. FIG. 13 is an explanatory diagram showing how the electric wire 12 is handled using the hand 22.
　固定されたコネクタ１４から鉛直方向下方に延出する電線１２に対して、アーム６０によって複数のハンド２２を近づけていく。このとき把持用ハンド３０が電線１２を把持可能な位置に複数のハンド２２を位置させる。例えば、ハンド２２が閉状態での閉空間の軸心方向がコネクタ１４の主面の中心軸方向と一致する位置に複数のハンド２２を位置させる。このとき、コネクタ１４が横長である場合、ハンド２２の姿勢が、一対の爪が閉じる方向がコネクタ１４の横方向と一致するような姿勢となるように複数のハンド２２を位置させるとよい。なお、把持用ハンド３０が最初に電線１２を把持する位置は、適宜設定されればよいが、例えば、電線１２のうちコネクタ１４から１０数ミリメートル離れた位置であることが考えられる。把持用ハンド３０が電線１２を最初に把持する位置がコネクタ１４に近すぎると、把持用ハンド３０が電線１２を把持した際に、電線１２のうちコネクタ１４から延出する部分の曲りが大きくなり、電線１２がコネクタ１４のうちキャビティの開口周縁に強く押し付けられる恐れがあるからである。また、把持用ハンド３０が電線１２を最初に把持する位置がコネクタ１４から遠すぎると、電線１２の広がりが大きくなり、把持用ハンド３０が電線１２を把持する際に、把持できない電線１２が生じる恐れがあるからである。 A plurality of hands 22 are brought closer to the electric wire 12 extending downward from the fixed connector 14 by the arm 60. At this time, the plurality of hands 22 are positioned at positions where the gripping hand 30 can grip the electric wire 12. For example, the plurality of hands 22 are positioned at positions where the axial center direction of the closed space in the closed state of the hands 22 matches the central axis direction of the main surface of the connector 14. At this time, when the connector 14 is horizontally long, the plurality of hands 22 may be positioned such that the posture of the hand 22 is such that the direction in which the pair of claws are closed coincides with the lateral direction of the connector 14. Note that the position at which the gripping hand 30 first grips the electric wire 12 may be set as appropriate. For example, it is conceivable that the electric wire 12 is a position away from the connector 14 by several ten millimeters. If the position where the gripping hand 30 grips the electric wire 12 first is too close to the connector 14, when the gripping hand 30 grips the electric wire 12, the portion of the electric wire 12 that extends from the connector 14 becomes large. This is because the electric wire 12 may be strongly pressed against the opening periphery of the cavity of the connector 14. In addition, if the position where the gripping hand 30 grips the electric wire 12 first is too far from the connector 14, the electric wire 12 expands, and when the gripping hand 30 grips the electric wire 12, the electric wire 12 that cannot be gripped is generated. Because there is a fear.
　複数のハンド２２が所望の位置まで移動したら、集線及び把持作業に移る。ここでは、図１１に示すように、まず補助ハンド４０用の駆動機構５０を駆動させて補助ハンド４０を先に閉じて、閉状態に移行させる。この結果、複数の電線１２が補助ハンド４０の閉空間内に集められる。 When the plurality of hands 22 have moved to the desired position, the process moves to the line-collecting and gripping operations. Here, as shown in FIG. 11, first, the drive mechanism 50 for the auxiliary hand 40 is driven to close the auxiliary hand 40 first and shift to the closed state. As a result, the plurality of electric wires 12 are collected in the closed space of the auxiliary hand 40.
　なお、第２補助ハンド４６用の駆動機構５０を先に駆動させて第２補助ハンド４６を先に閉じてから第１補助ハンド４２用の駆動機構５０を駆動させて第１補助ハンド４２を閉じてもよいし、第１補助ハンド４２用の駆動機構５０と第２補助ハンド４６用の駆動機構５０とを同時に駆動させて第１補助ハンド４２と第２補助ハンド４６とを同時に閉じてもよい。 The drive mechanism 50 for the second auxiliary hand 46 is driven first to close the second auxiliary hand 46 first, and then the drive mechanism 50 for the first auxiliary hand 42 is driven to close the first auxiliary hand 42. Alternatively, the driving mechanism 50 for the first auxiliary hand 42 and the driving mechanism 50 for the second auxiliary hand 46 may be driven simultaneously to close the first auxiliary hand 42 and the second auxiliary hand 46 simultaneously. .
　補助ハンド４０が閉状態となったら、把持用ハンド３０用の駆動機構５０を駆動させて把持用ハンド３０を閉じる。これにより、把持用ハンド３０によって複数の電線１２が把持される。この際、補助ハンド４０によって複数の電線１２が補助ハンド４０の閉空間内に集められているため、把持用ハンド３０で把持できない電線１２が生じることを抑制することができる。 When the auxiliary hand 40 is in the closed state, the driving mechanism 50 for the gripping hand 30 is driven to close the gripping hand 30. As a result, the plurality of electric wires 12 are gripped by the gripping hand 30. At this time, since the plurality of electric wires 12 are collected in the closed space of the auxiliary hand 40 by the auxiliary hand 40, it is possible to suppress the generation of the electric wires 12 that cannot be held by the holding hand 30.
　把持用ハンド３０は、電線１２の撓みを解消可能な力であって摺動可能となるような力で電線１２を把持する。電線１２の撓みを解消可能な力であって摺動可能となるような力とは、把持用ハンド３０を移動させた際に移動方向後方の電線１２が撓んでいた場合に、撓んでいる電線１２に対して引張り可能な摩擦力が生じ、撓んでいない電線１２に対して引張り不可能な摩擦力が生じるような力である。この場合、撓んでいる電線１２に対する把持用ハンド３０の摺動量が撓んでいない電線１２に対する摺動量よりも小さくなり、撓みが解消される。 The gripping hand 30 grips the electric wire 12 with a force that can eliminate the bending of the electric wire 12 and that can slide. The force capable of eliminating the bending of the electric wire 12 and slidable is an electric wire that is bent when the electric wire 12 at the rear in the moving direction is bent when the gripping hand 30 is moved. This is a force that generates a frictional force that can be pulled against the wire 12 and a frictional force that cannot be pulled on the unbent electric wire 12. In this case, the sliding amount of the gripping hand 30 with respect to the bent electric wire 12 becomes smaller than the sliding amount with respect to the electric wire 12 which is not bent, and the bending is eliminated.
　把持用ハンド３０によって電線１２が把持されたら、アーム６０によって複数のハンド２２を移動させる。複数のハンド２２はコネクタ１４から見て結束位置よりも前方に位置するまで、第２補助ハンド４６がコネクタ１４から見て結束位置よりも前方に位置するように移動される。このとき把持用ハンド３０が上述したような力で電線１２を把持しつつ把持用ハンド３０を移動させるで、図１３に示すように、電線１２のうちコネクタ１４と結束位置との間の部分の撓みが解消され、張った状態となる。 When the electric wire 12 is gripped by the gripping hand 30, the plurality of hands 22 are moved by the arm 60. The plurality of hands 22 are moved so that the second auxiliary hand 46 is positioned forward of the binding position when viewed from the connector 14 until the hands 22 are positioned forward of the binding position when viewed from the connector 14. At this time, the gripping hand 30 moves the gripping hand 30 while gripping the electric wire 12 with the force as described above, so that the portion of the electric wire 12 between the connector 14 and the binding position is shown in FIG. Deflection is eliminated and it becomes a stretched state.
　この状態で、別のハンド等によって電線１２の周囲にテープを巻付けるなどして複数の電線１２を結束する。この結果、電線１２のうちコネクタ１４と結束位置との間の部分の撓みが解消され、張った状態で結束される。これにより、コネクタ１４から結束位置までの寸法精度が高いワイヤーハーネス１０を得ることができる。 In this state, a plurality of wires 12 are bundled by winding a tape around the wires 12 with another hand or the like. As a result, the bending of the portion of the electric wire 12 between the connector 14 and the binding position is eliminated, and the wires 12 are bound in a stretched state. Thereby, the wire harness 10 with high dimensional accuracy from the connector 14 to a binding position can be obtained.
　他のコネクタ１４から延出する電線１２に対しても同様に加工ロボット装置２０を用いて、集線、把持及び扱き作業を行った上で、結束作業を行う。すると、各コネクタ１４から延出する電線１２が一次分岐予定位置で結束される。あとは、一次分岐予定位置で結束された電線１２を集合させて別途結束することで一次分岐を形成することができる。 Similarly, for the electric wires 12 extending from the other connectors 14, the processing robot apparatus 20 is used to perform the wire concentration, gripping and handling operations, and then the binding operation is performed. Then, the electric wires 12 extending from each connector 14 are bundled at the primary branch planned position. After that, the primary branch can be formed by collecting the electric wires 12 bound at the primary branch planned position and binding them separately.
　二次分岐以降については、各コネクタ１４から延出する電線１２に対して同様に加工ロボット装置２０を用いて、集線、把持及び扱き作業を行った上で、結束作業を行う。または先に形成された分岐位置から延出する電線１２に対して同様に加工ロボット装置２０を用いて、集線、把持及び扱き作業を行った上で、結束作業を行う。そして、二次分岐予定位置で結束された電線１２を集合させて別途結束することで二次分岐以降の分岐を形成することができる。 After the secondary branch, the bundling operation is performed after the wire collecting, gripping and handling operations are similarly performed on the electric wires 12 extending from each connector 14 using the processing robot device 20. Alternatively, the bundling operation is performed after performing the concentrating, gripping and handling operations on the wire 12 extending from the previously formed branch position using the processing robot device 20 in the same manner. And the branch after a secondary branch can be formed by gathering the electric wire 12 bundled in the planned secondary branch position, and bundling it separately.
　＜別動作例＞
　次に、加工ロボット装置２０を用いた集線作業、把持作業及び扱き作業についての別動作例を、図１４を参照しつつ説明する。図１４は、ハンド２２を用いて別の方法で電線１２を扱く様子を示す説明図である。 <Another operation example>
Next, another operation example of the concentrating work, the gripping work, and the handling work using the processing robot apparatus 20 will be described with reference to FIG. FIG. 14 is an explanatory diagram showing how the electric wire 12 is handled by another method using the hand 22.
　上記実施形態では、補助ハンド４０を把持用ハンド３０に対してコネクタ１４側、つまり、扱く方向の後方に位置させた状態で集線、把持及び扱き作業を行っていたが、このことは必須ではない。図１４に示すように、補助ハンド４０を把持用ハンド３０に対してコネクタ１４とは反対側、つまり、扱く方向の前方に位置させた状態で集線、把持及び扱き作業を行ってもよい。この場合、把持用ハンド３０によって電線１２を扱く際に、補助ハンド４０によって把持用ハンド３０への電線１２の入線角度を小さくすることができる。これにより、扱き作業を行いやすくなる。 In the above embodiment, the concentrating, gripping and handling operations are performed in a state where the auxiliary hand 40 is positioned on the side of the connector 14 with respect to the gripping hand 30, that is, the rear of the handling direction. Absent. As shown in FIG. 14, the concentrating, gripping and handling operations may be performed in a state where the auxiliary hand 40 is positioned on the opposite side of the connector 14 with respect to the gripping hand 30, that is, in the front of the handling direction. In this case, when the electric wire 12 is handled by the gripping hand 30, the insertion angle of the electric wire 12 to the gripping hand 30 can be reduced by the auxiliary hand 40. This makes it easier to perform handling operations.
　より詳細には、扱いている途中において把持用ハンド３０への電線１２の入線角度が大きい場合、電線１２が爪３２ａ、３２ｂの外面に引っかかってしまい、電線１２に過度の力がかかる恐れがある。電線１２に過度の力がかかると、電線１２が断線する又はコネクタ１４から抜けるなどする恐れがある。 More specifically, when the wire 12 is inserted into the gripping hand 30 at a large angle during handling, the wire 12 may be caught on the outer surfaces of the claws 32a and 32b, and an excessive force may be applied to the wire 12. . If an excessive force is applied to the electric wire 12, the electric wire 12 may be disconnected or disconnected from the connector 14.
　しかしながら、補助ハンド４０が把持用ハンド３０に対して扱き方向前方に位置していると、電線１２が外に膨らんでいる場合、膨らんでいる部分が補助ハンド４０に当接し、膨らみの度合いが小さく抑えられる。この際、補助ハンド４０は電線１２を把持していないため、電線１２が補助ハンド４０に当接しても、電線１２に過度の力がかかりにくい。 However, when the auxiliary hand 40 is positioned forward in the handling direction with respect to the gripping hand 30, when the electric wire 12 bulges outside, the bulging portion comes into contact with the auxiliary hand 40 and the degree of bulging is small. It can be suppressed. At this time, since the auxiliary hand 40 does not hold the electric wire 12, even if the electric wire 12 contacts the auxiliary hand 40, an excessive force is not easily applied to the electric wire 12.
　なお、この場合、把持用ハンド３０を最初の把持位置に移動させた状態で補助ハンド４０を閉じると、補助ハンド４０による集線効果はあまり期待できない。しかしながら、以下のようにすることで補助ハンド４０による集線効果を高めることができると考えられる。即ち、把持用ハンド３０が最初の把持位置よりも扱き方向後方、つまり、コネクタ１４側に位置させるように複数のハンド２２を移動させる。この状態で、補助ハンド４０を先に閉じる。そして、把持用ハンド３０が最初の把持位置に位置するまで複数のハンド２２を移動させる。そして、把持用ハンド３０が最初の把持位置に位置した状態で把持用ハンド３０を閉じる。 In this case, if the auxiliary hand 40 is closed with the gripping hand 30 moved to the initial gripping position, the concentration effect by the auxiliary hand 40 cannot be expected so much. However, it is considered that the concentration effect by the auxiliary hand 40 can be enhanced by the following manner. That is, the plurality of hands 22 are moved such that the gripping hand 30 is positioned behind the initial gripping position in the handling direction, that is, on the connector 14 side. In this state, the auxiliary hand 40 is closed first. Then, the plurality of hands 22 are moved until the gripping hand 30 is positioned at the first gripping position. Then, the gripping hand 30 is closed with the gripping hand 30 positioned at the initial gripping position.
　実施形態に係る加工ロボット装置２０によると、複数のハンド２２の開閉動作によって集線作業を行うことができる。また、ハンド２２が電線１２を把持した状態でアーム６０によってハンド２２を移動させることで扱き作業を行うことができる。このとき補助ハンド４０を把持用ハンド３０に対して電線１２を扱く方向に沿って後方に位置させた状態及び前方に位置させた状態の２つの場合で、集線作業及び扱き作業を行うことが想定される。前者の場合、補助ハンド４０が電線１２のうちコネクタ１４から延出する部分の集線作業を補助しつつ把持用ハンド３０が電線１２のうちコネクタ１４から遠い位置を把持することによって、線状部材のうちコネクタ１４から延出する部分にかかる負荷を抑えることができる。また、後者の場合、把持用ハンド３０によって電線１２を扱く際に、補助ハンド４０によって把持用ハンド３０への電線１２の入線角度を小さくすることができる。これらより、加工ロボット装置２０に対して複数の電線１２を集める作業及び集めた電線１２を扱く作業のうち少なくとも一方に適した機能を付与することができる。 According to the processing robot apparatus 20 according to the embodiment, the concentrating work can be performed by opening and closing the plurality of hands 22. In addition, the handling operation can be performed by moving the hand 22 by the arm 60 in a state where the hand 22 holds the electric wire 12. At this time, the concentrating work and the handling work can be performed in the two cases of the state in which the auxiliary hand 40 is positioned rearward and along the direction in which the electric wire 12 is handled with respect to the gripping hand 30. is assumed. In the former case, the gripping hand 30 grips a position far from the connector 14 in the electric wire 12 while the auxiliary hand 40 assists in the concentrating work of the portion extending from the connector 14 in the electric wire 12. Of these, the load applied to the portion extending from the connector 14 can be suppressed. In the latter case, when the electric wire 12 is handled by the gripping hand 30, the insertion angle of the electric wire 12 to the gripping hand 30 can be reduced by the auxiliary hand 40. From these, the function suitable for at least one of the operation | work which collects the some electric wire 12 and the operation | work which handles the collected electric wire 12 with respect to the processing robot apparatus 20 can be provided.
　また、補助ハンド４０が先に閉じることによって、補助ハンド４０によって先に集線された電線１２を把持用ハンド３０で把持することができる。 In addition, when the auxiliary hand 40 is closed first, the electric wires 12 previously concentrated by the auxiliary hand 40 can be held by the holding hand 30.
　また、補助ハンド４０が複数設けられることで、集線作業及び扱き作業のうち一方を複数の補助ハンド４０によって補助することができる。 Also, by providing a plurality of auxiliary hands 40, one of the concentrating work and the handling work can be assisted by the plurality of auxiliary hands 40.
　補助ハンド４０の開きが把持用ハンド３０に向けて段階的に小さくなるため、電線１２の本数が多い場合などに電線１２が外に大きく広がっている場合でも、電線１２を集めることができる。 Since the opening of the auxiliary hand 40 is gradually reduced toward the gripping hand 30, the electric wires 12 can be collected even when the electric wires 12 are greatly spread outward when the number of the electric wires 12 is large.
　複数のハンド２２がそれぞれ別の駆動機構５０によって駆動されるため、複数のハンド２２の開閉パターン及び開閉量等を細かく設定することができる。 Since the plurality of hands 22 are driven by different driving mechanisms 50, the opening / closing patterns and the opening / closing amounts of the plurality of hands 22 can be set in detail.
　電線１２を部分的に囲う爪３２ａ及び爪３２ｂが段違いに一対設けられているため、閉状態時の一対の爪３２ａ、３２ｂの間隔を容易に変更可能となる。これにより、一つのハンド２２で種々の電線の束の太さに対応することができる。 Since the nail | claw 32a and the nail | claw 32b which partially enclose the electric wire 12 are provided in steps, the space | interval of a pair of nail | claw 32a, 32b at the time of a closed state can be changed easily. Thereby, the thickness of various bundles of electric wires can be dealt with with one hand 22.
　また、把持用ハンド３０が隙間なく閉じることができることによって、加工対象が２本の電線１２からなる電線束のように細い場合でも、把持用ハンド３０によって把持可能となる。 In addition, since the gripping hand 30 can be closed without a gap, the gripping hand 30 can grip even when the object to be processed is as thin as a wire bundle composed of two wires 12.
　｛変形例｝
　上記実施形態を前提として、各種変形例を説明する。以下の変形例の各図では、各構成部分が概略的に描かれている。 {Modification}
Based on the above embodiment, various modifications will be described. In each figure of the following modifications, each component is schematically drawn.
　図１５及び図１６に示す第１変形例に係る加工ロボット装置２０Ａでは、把持用ハンド３０の両側に補助ハンド４２Ａ、４６Ａが位置する。 15 and FIG. 16, in the processing robot apparatus 20A according to the first modification, auxiliary hands 42A and 46A are located on both sides of the gripping hand 30.
　この場合、把持用ハンド３０よりも先に一方の補助ハンド４２Ａを閉じたうえで把持用ハンド３０を閉じることで、補助ハンド４２Ａにより集められた電線１２を把持用ハンド３０で把持することができる。また、把持用ハンド３０が電線１２を把持しつつ他方の補助ハンド４６Ａが閉じた状態で把持用ハンド３０から他方の補助ハンド４６Ａに向かう向きに電線１２を扱くことで把持用ハンド３０への電線１２の入線角度が小さくなる。 In this case, the electric wire 12 collected by the auxiliary hand 42 </ b> A can be held by the holding hand 30 by closing the auxiliary hand 42 </ b> A before closing the holding hand 30 and then closing the holding hand 30. . Further, when the gripping hand 30 is gripping the electric wire 12 and the other auxiliary hand 46A is closed, the electric wire 12 is handled in the direction from the gripping hand 30 toward the other auxiliary hand 46A. The incoming angle of the electric wire 12 is reduced.
　このように、把持用ハンド３０の両側に補助ハンド４２Ａ、４６Ａが位置することによって、集線作業を補助ハンド４２Ａによって補助することができると共に、扱き作業を補助ハンド４６Ａによって補助することができる。 As described above, the auxiliary hands 42A and 46A are positioned on both sides of the gripping hand 30, so that the concentrating work can be assisted by the auxiliary hand 42A and the handling work can be assisted by the auxiliary hand 46A.
　なお、ここでは、把持用ハンド３０の両側にそれぞれ補助ハンド４２Ａ、４６Ａが１つずつ位置しているが、把持用ハンド３０の両側のうち少なくとも一方側には、複数の補助ハンドが位置していてもよい。 Here, one auxiliary hand 42A and 46A are positioned on each side of the gripping hand 30, but a plurality of auxiliary hands are positioned on at least one side of the both sides of the gripping hand 30. May be.
　図１７に示す第２変形例に係る加工ロボット装置２０Ｂでは、複数のハンド２２Ｂが、駆動機構５０Ｂにより旋回することによって開閉可能に支持されている。つまり、上記第１実施形態における直線駆動部の代わりに旋回駆動部が設けられている。図１８に示す第３変形例に係る加工ロボット装置２０Ｃでも、第２変形例に係る加工ロボット装置２０Ｂと同様に、複数のハンド２２Ｃが、駆動機構５０Ｃにより旋回することによって開閉可能に支持されている。 In the machining robot apparatus 20B according to the second modification shown in FIG. 17, a plurality of hands 22B are supported so as to be opened and closed by turning by a drive mechanism 50B. That is, a turning drive unit is provided instead of the linear drive unit in the first embodiment. In the machining robot apparatus 20C according to the third modification shown in FIG. 18, as in the machining robot apparatus 20B according to the second modification, a plurality of hands 22C are supported by the drive mechanism 50C so as to be opened and closed. Yes.
　加工ロボット装置２０Ｂでは、複数のハンド２２Ｂが電線１２の延在方向に直交する面内で旋回する。これに対して加工ロボット装置２０Ｃでは、複数のハンド２２Ｃが電線１２の延在方向に平行な面内で旋回する。別の見方をすると、加工ロボット装置２０Ｂでは、複数のハンド２２Ｂが、爪３２ａの主面を含む面が開状態と閉状態とで一致するように旋回する。これに対して加工ロボット装置２０Ｃでは、複数のハンド２２Ｃが、爪３２ａの主面を含む面が開状態と閉状態とで交差するように旋回する。なお、加工ロボット装置２０Ｂ及び加工ロボット装置２０Ｃのいずれでも爪が９０度向きを変えるように旋回しているが、このことは必須ではない。９０度より大きくてもよいし小さくてもよい。また、旋回駆動と直線駆動とを組み合わせてもよい。 In the processing robot apparatus 20B, the plurality of hands 22B turn in a plane orthogonal to the extending direction of the electric wires 12. On the other hand, in the processing robot apparatus 20 </ b> C, the plurality of hands 22 </ b> C rotate in a plane parallel to the extending direction of the electric wires 12. From another viewpoint, in the processing robot apparatus 20B, the plurality of hands 22B are turned so that the surface including the main surface of the claw 32a matches in the open state and the closed state. On the other hand, in the processing robot apparatus 20C, the plurality of hands 22C turn so that the surface including the main surface of the claw 32a intersects in the open state and the closed state. It should be noted that in both the processing robot apparatus 20B and the processing robot apparatus 20C, the claws are turning so as to turn 90 degrees, but this is not essential. It may be larger or smaller than 90 degrees. Moreover, you may combine turning drive and linear drive.
　なお、上記実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組み合わせることができる。 In addition, each structure demonstrated in the said embodiment and each modification can be suitably combined unless it mutually contradicts.
　以上のようにこの発明は詳細に説明されたが、上記した説明は、すべての局面において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 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.
　１０　ワイヤーハーネス
　１２　電線
　１４　コネクタ
　２０　加工ロボット装置
　２２　ハンド
　３０　把持用ハンド
　３２ａ、３２ｂ　爪
　４０　補助ハンド
　４２　第１補助ハンド
　４４ａ、４４ｂ　爪
　４６　第２補助ハンド
　４８ａ、４８ｂ　爪
　５０　駆動機構
　６０　アーム
　７０　加工制御部
　９２　コネクタホルダ DESCRIPTION OF SYMBOLS 10 Wire harness 12 Electric wire 14 Connector 20 Processing robot apparatus 22 Hand 30 Gripping hand 32a, 32b Claw 40 Auxiliary hand 42 1st auxiliary hand 44a, 44b Claw 46 2nd auxiliary hand 48a, 48b Claw 50 Drive mechanism 60 Arm 70 Processing control 92 Connector holder

Claims (7)

  1. 　開閉可能に設けられた複数のハンドと、
    　前記複数のハンドを開閉駆動する駆動機構と、
    　前記複数のハンドを支持し、前記複数のハンドを被加工物である線状部材に対して移動させるアームと、
    　を備え、
    　前記複数のハンドは、
    　閉状態で前記線状部材を把持する把持用ハンドと、
    　前記把持用ハンドの隣に設けられ、閉状態で前記線状部材よりも大きく開いた状態で前記線状部材を囲う補助ハンドと、を備える、加工ロボット装置。     A plurality of hands that can be opened and closed;
    A drive mechanism for opening and closing the plurality of hands;
    An arm that supports the plurality of hands and moves the plurality of hands relative to a linear member that is a workpiece;
    With
    The plurality of hands are:
    A gripping hand for gripping the linear member in a closed state;
    A processing robot apparatus comprising: an auxiliary hand that is provided next to the gripping hand and surrounds the linear member in a state of being opened larger than the linear member in a closed state.
  2. 　請求項１に記載の加工ロボット装置であって、
    　前記補助ハンドが前記把持用ハンドよりも先に閉じる、加工ロボット装置。     The processing robot apparatus according to claim 1,
    A processing robot apparatus in which the auxiliary hand is closed before the gripping hand.
  3. 　請求項１又は請求項２に記載の加工ロボット装置であって、
    　前記補助ハンドが複数設けられている、加工ロボット装置。     The processing robot apparatus according to claim 1 or 2,
    A machining robot apparatus provided with a plurality of the auxiliary hands.
  4. 　請求項３に記載の加工ロボット装置であって、
    　複数の前記補助ハンドが前記把持用ハンドに対して一方側に並ぶように設けられ、
    　複数の前記補助ハンドのうち前記把持用ハンドから遠い前記補助ハンドが、前記把持用ハンドに近い補助ハンドに比べて閉状態で大きく開く、加工ロボット装置。     A processing robot apparatus according to claim 3,
    A plurality of the auxiliary hands are provided to be arranged on one side with respect to the gripping hand,
    A processing robot apparatus in which the auxiliary hand far from the gripping hand among the plurality of auxiliary hands opens greatly in a closed state as compared to an auxiliary hand close to the gripping hand.
  5. 　請求項１から請求項４のいずれか１項に記載の加工ロボット装置であって、
    　前記駆動機構は、前記複数のハンドをそれぞれ別に開閉駆動する、加工ロボット装置。     A machining robot apparatus according to any one of claims 1 to 4, wherein
    The driving mechanism is a processing robot apparatus that opens and closes the plurality of hands separately.
  6. 　請求項１から請求項５のいずれか１項に記載の加工ロボット装置であって、
    　前記複数のハンドは、段違いに設けられ、それぞれ前記線状部材を部分的に囲うことができる一対の爪をそれぞれ含む、加工ロボット装置。     A processing robot apparatus according to any one of claims 1 to 5,
    The plurality of hands are provided at different levels, and each includes a pair of claws that can partially surround the linear member.
  7. 　請求項６に記載の加工ロボット装置であって、
    　前記把持用ハンドは、隙間なく閉じることが可能に設けられている、加工ロボット装置。     The processing robot apparatus according to claim 6,
    The processing robot apparatus is provided so that the gripping hand can be closed without a gap.
PCT/JP2017/004565 2016-02-16 2017-02-08 Processing robot device WO2017141786A1 (en)

Applications Claiming Priority (2)

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JP2016-026520 2016-02-16
JP2016026520A JP2017144501A (en) 2016-02-16 2016-02-16 Machining robot device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10501283B2 (en) * 2016-06-22 2019-12-10 The Boeing Company Wire processing system
US10501284B2 (en) * 2016-06-22 2019-12-10 The Boeing Company Wire processing system
JP7469268B2 (en) 2021-08-04 2024-04-16 矢崎総業株式会社 Robot for bundling electric wires

Citations (6)

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JPS54138271A (en) * 1978-04-19 1979-10-26 Hitachi Ltd Centering pawl apparatus
JPH103826A (en) * 1996-06-14 1998-01-06 Koito Mfg Co Ltd Manufacture of vehicle lighting fixture cord, and structure of the manufacturing die and of vehicle lighting fixture cord
JP2000343164A (en) * 1999-06-04 2000-12-12 Kodera Electronics Co Ltd Grip for holding wire bar
JP2002127066A (en) * 2000-10-20 2002-05-08 Shin Etsu Chem Co Ltd Object gripping method
JP2004050378A (en) * 2002-07-23 2004-02-19 Mitsubishi Heavy Ind Ltd Robot hand
JP2006346769A (en) * 2005-06-14 2006-12-28 Kodera Electronics Co Ltd Workpiece gripper

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54138271A (en) * 1978-04-19 1979-10-26 Hitachi Ltd Centering pawl apparatus
JPH103826A (en) * 1996-06-14 1998-01-06 Koito Mfg Co Ltd Manufacture of vehicle lighting fixture cord, and structure of the manufacturing die and of vehicle lighting fixture cord
JP2000343164A (en) * 1999-06-04 2000-12-12 Kodera Electronics Co Ltd Grip for holding wire bar
JP2002127066A (en) * 2000-10-20 2002-05-08 Shin Etsu Chem Co Ltd Object gripping method
JP2004050378A (en) * 2002-07-23 2004-02-19 Mitsubishi Heavy Ind Ltd Robot hand
JP2006346769A (en) * 2005-06-14 2006-12-28 Kodera Electronics Co Ltd Workpiece gripper

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