WO2017199875A1

WO2017199875A1 - Gripping structure and wire harness production method

Info

Publication number: WO2017199875A1
Application number: PCT/JP2017/018040
Authority: WO
Inventors: 大江　聡; 貞夫川村
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; 学校法人立命館
Priority date: 2016-05-18
Filing date: 2017-05-12
Publication date: 2017-11-23
Also published as: JP2017208221A

Abstract

The objective of the invention is to provide a gripping structure applicable to wire-grouping operation and branch-forming operation. A hand 1 has the gripping structure for gripping a first wire group 91 and a second wire group 92, each configured from a plurality of flexible wires. The hand 1 comprises: a first finger part 10, a second finger part 20 and a third finger part 30; and a first finger part drive mechanism 40, a second finger part drive mechanism 50, and a third finger part drive mechanism 60, each causing respective finger part drive mechanism to rotate independently. The hand 1 comprises an overall moving mechanism 43. The overall moving mechanism 43 moves the entirety of the first finger part 10 in such a manner that, when observed from a direction D1, a tip portion 10E thereof passes through a region sandwiched by the second finger part 20 and the third finger part 30.

Description

Grip structure and method of manufacturing wire harness

This invention relates to a technique for gripping a flexible linear object.

One of the manufacturing processes of a wire harness is a concentrator that collects a plurality of electric wires (linear objects). The wire concentrating work collects the wires extending apart to form a wire bundle and maintains the assembled state. Further, after the wire concentrating work, work such as bundling is usually performed.

In addition, the wire harness manufacturing process may include a branch forming operation for forming a branch. The branch forming operation is formed by binding each of the two electric wire groups that are individually bundled into one.

In recent years, automation of the above-described line concentrating work and branch forming work has been promoted. For this purpose, it is necessary to optimize a gripping structure for gripping a flexible linear object. Here, Patent Documents 1 and 2 disclose a hand that holds an object.

Patent Document 1 discloses a robot hand that can move three fingers around a range of 180 ° or more around a position where each of the fingers is supported. According to this robot hand, it is possible to grip various objects including different shapes and dimensional differences with various hand gripping postures.

Patent Document 2 discloses a robot hand in which three fingers are attached to the palm. When the object to be grasped is large, it is assumed that the object is grasped between the three fingers and the palm. If the object to be gripped is small, one finger moves to a position facing one of the other fingers, and the two fingers facing each other approach to hold the object. It is said that.

JP 2013-146798 A JP 2011-240421 A

In the case of the robot hand described in Patent Document 1, with one finger part placed in the center and two electric wire groups arranged on both sides thereof, by bringing each of the two finger parts closer to the center finger part, It is possible to collect two wire groups individually. However, when two electric wire groups are bundled into one, there is a problem that the central finger part becomes an obstacle and branching work is difficult. Further, in the case of the robot hand described in Patent Document 2, it is difficult to collect the two electric wire groups individually, so that the branching operation cannot be performed.

Therefore, an object of the present invention is to provide a gripping structure that can be applied to a concentrating operation and a branch forming operation.

In order to solve the above-described problem, a first aspect is a gripping structure for gripping a plurality of flexible linear objects, and includes a first finger part, a second finger part, and a third finger part formed in a bar shape. The first finger mechanism and the second finger section move relatively to each other in a direction approaching and separating from each other, and the first finger section and the third finger section approaching and separating from each other. A second moving mechanism that moves relative to the direction, and the second finger when viewed from an orthogonal direction that is orthogonal to the direction in which the second moving mechanism moves the first finger and the third finger relatively. And an overall movement mechanism for moving the entire first finger part so that one end of the part passes through a region sandwiched between the second finger part and the third finger part.

Further, the second aspect is a gripping structure according to the first aspect, wherein each of the first movement mechanism and the second movement mechanism includes the second finger part and the third finger part, A rotation drive unit that rotates about an axis extending in the first direction as a rotation center is provided.

The third aspect is a gripping structure according to the first or second aspect, wherein an intermediate part of the second finger part is bent in a direction away from the first finger part.

Further, the fourth aspect is a gripping structure according to the third aspect, wherein an intermediate part of the first finger part is bent in a direction away from the second finger part.

Further, a fifth aspect is the gripping structure according to any one of the first to fourth aspects, wherein the entire movement mechanism is arranged along a path that matches the shape of the first finger part. Move the entire first finger.

Further, a sixth aspect is a gripping structure according to any one of the first to fifth aspects, wherein the entire moving mechanism is combined with a rack formed on the first finger part. And a rotation driving unit that rotates the gear unit about a predetermined axis as a rotation center.

Further, the seventh aspect is a method for manufacturing a wire harness, wherein (a) the first pinching part has a first electric wire group sandwiched between the first finger part and the second finger part moving in a direction approaching each other. And (b) a first bundling step of bundling the first electric wire group with a bundling member after the first clamping step, and (c) a direction in which the first finger portion and the third finger portion approach each other. A second clamping step of sandwiching the second wire group, and (d) a second binding step of binding the second wire group with a binding member after the second clamping step, and (e) the above After the first binding step and the second binding step, the entire first finger portion is moved so that one end of the first finger portion passes through a region sandwiched between the second finger portion and the third finger portion. Extracting the first finger from between the first electric wire group and the second electric wire group, and (f) after the extracting step, the first electric wire group and the second electric wire group. And a third combining process of binding the groups in the binding member.

According to the gripping structure according to the first aspect, the first linear object group is concentrated and held between the first finger part and the second finger part, and the first finger part and the third finger part A second group of linear objects can be gathered between them. Furthermore, the whole first finger part can be extracted from between the first linear object group and the second linear object group by moving between the second finger part and the third finger part. Thereby, the first linear object group and the second linear object group can be bound. Therefore, a branch can be easily formed between the first linear object group and the second linear object group.

Further, according to the gripping structure according to the second aspect, each of the second finger part and the third finger part can approach or separate from the first finger part by rotating. Accordingly, the electric wire group can be held between the first finger portion and the second finger portion and between the first finger portion and the third finger portion.

Further, according to the gripping structure according to the third aspect, the electric wire group can be sandwiched and held by the second finger portion by bringing the second finger portion closer to the first finger portion.

Moreover, according to the grip structure which concerns on a 4th aspect, an electric wire group is wrapped between the intermediate part of a 1st finger part, and the intermediate part of a 2nd finger part by making a 2nd finger part approach a 1st finger part. You can hold it while holding it.

Further, according to the gripping structure according to the fifth aspect, the entire first finger portion can be moved while reducing the pressing force applied to the first linear object group and the second linear object group.

Further, according to the gripping structure according to the sixth aspect, the entire first finger portion can be moved along the extending direction of the rack provided on the first finger portion by rotating the gear.

According to the method for manufacturing the wire harness according to the seventh aspect, the first electric wire group is concentrated and held between the first finger portion and the second finger portion, and the first finger portion and the third finger portion The second electric wire group is collected and held between the two, and each can be bundled. Furthermore, when the whole first finger part moves between the second finger part and the third finger part, it can be extracted from between the first electric wire group and the second electric wire group. Thereby, a 1st electric wire group and a 2nd electric wire group can be bundled. Therefore, a branch can be easily formed between the first electric wire group and the second electric wire group.

It is a schematic perspective view of the hand which concerns on embodiment. It is a schematic plan view of the 1st finger part and movement mechanism with which the hand concerning an embodiment is provided. 1 is a schematic plan view of 1 according to an embodiment. It is a schematic plan view of the hand which concerns on embodiment. It is a schematic plan view of the hand which concerns on embodiment. It is a schematic plan view of the hand which concerns on embodiment. It is a schematic plan view of the hand which concerns on embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the component described in this embodiment is an illustration to the last, and is not a thing of the meaning which limits the scope of the present invention only to them. In the drawings, the size and number of each part may be exaggerated or simplified as necessary for easy understanding.

<1. Embodiment>
FIG. 1 is a schematic perspective view of a hand 1 according to the embodiment. FIG. 2 is a schematic plan view of the first finger unit 10 and the entire moving mechanism 43 provided in the hand 1 according to the embodiment. In FIG. 2, a partial configuration of the entire moving mechanism 43 is shown in a cross-sectional view. 3 to 7 are schematic plan views of the hand 1 according to the embodiment.

The hand 1 includes three finger parts (first finger part 10, second finger part 20 and third finger part 30) for gripping an object, a first finger part drive mechanism 40, a second finger part drive mechanism 50, The gripping structure includes the third finger unit driving mechanism 60 and the control unit 70. In the following description, a case where the object gripped by the hand 1 is an electric wire or a plurality of electric wires (hereinafter referred to as “electric wire group”) will be described, but the object is not limited to this.

The first finger part 10, the second finger part 20, and the third finger part 30 are made of resin material (thermoplastic resin such as polyamide resin or thermosetting resin such as epoxy resin or silicon resin) in order to reduce weight. However, it is not limited to a resin material.

The first finger unit 10, the second finger unit 20, and the third finger unit 30 are arranged at different positions with respect to the direction D1, and here, from the base end side to the distal end side in the direction D1, the first finger unit 10, The second finger part 20 and the third finger part 30 are arranged in this order.

Each of the first finger part 10, the second finger part 20, and the third finger part 30 is a rod-like member extending in parallel to a plane P1 orthogonal to the direction D1. The first finger portion 10 is formed in an arc shape bent in a direction away from the second finger portion 20 in a plane orthogonal to the direction D1. The second finger portion 20 is formed in an arc shape bent in a direction away from the first finger portion 10 in a plane orthogonal to the direction D1. The third finger part 30 is formed in an arc shape bent in a direction away from the first finger part 10 in a plane orthogonal to the direction D1.

The first finger unit 10, the second finger unit 20, and the third finger unit 30 are rotatably supported by the first finger unit driving mechanism 40, the second finger unit driving mechanism 50, and the third finger unit driving mechanism 60, respectively. ing.

The first finger part drive mechanism 40 supports the base end part of the first finger part 10, and a motor 41 (rotation drive part) that rotates the first finger part 10 about an axis Q1 parallel to the direction D1. I have. The motor 41 moves the first finger part 10 in each of the directions approaching and separating from the second finger part 20 in a plane orthogonal to the direction D1 by rotating forward and backward around the axis Q1.

As shown in FIG. 2, the first finger drive mechanism 40 includes an entire moving mechanism 43 that moves the entire first finger 10. The entire moving mechanism 43 is configured so that the first finger 10E (one end) passes through a region sandwiched between the second finger portion 20 and the third finger portion 30 when viewed along the direction D1. The whole part 10 is moved. In this application, “the whole object moves” means that all points on the object move, and the rotation rotates only with the axis passing through one point on the object as a stationary rotation axis. A distinction is made from movement. This direction D1 corresponds to an orthogonal direction orthogonal to the direction in which the first finger portion 10 and the third finger portion 30 rotate. The parallel movement mechanism 43 includes a gear portion 431, a motor 433, and a guide portion 435.

The gear portion 431 is a pinion combined with a saw-like groove 11 (rack) formed on the side surface of the first finger portion 10. The motor 433 is a drive unit that rotates the gear unit 431 forward and backward about an axis parallel to the direction D1. The guide portion 435 is formed with a through hole 435H having a size that allows the first finger portion 10 to pass through. The inner peripheral surface of the through-hole 435 </ b> H is in contact with the outer peripheral surface of the first finger portion 10, thereby defining the moving direction of the first finger portion 10. The gear portion 431 is fixed inside the through hole 435H.

As the gear portion 431 rotates, the gear portion 431 relatively moves on the groove 11. Then, as shown in FIG. 2, the entire first finger portion 10 passes through the through hole 435 </ b> H while moving. As shown in FIG. 2, the distal end portion 10 </ b> E of the first finger portion 10 moves in a direction passing through between the second finger portion 20 and the third finger portion 30. In this example, the groove 11 extends in an arc shape that matches the shape of the first finger portion 10. Therefore, the distal end portion 10E passes through the arcuate path T1 that matches the shape of the first finger portion 10, and finally moves into the through hole 435H.

It should be noted that it is not essential that the shape of the path T1 of the distal end portion 10E that is moved by the overall moving mechanism 43 matches the shape of the first finger portion 10 (here, an arc shape). For example, it is conceivable that the path T1 of the distal end portion 10E is made linear by extending the groove 11 in a straight line instead of an arc. Moreover, it is not essential to employ the overall movement mechanism 43 that is a rack and pinion gear as the overall movement mechanism. For example, a linear drive mechanism including a motor and a ball screw, a fluid cylinder, a linear motor, and the like may be employed.

The second finger part drive mechanism 50 includes an axis Q2 extending in parallel with the direction D1 and a motor 51 (rotation drive part) that rotates the axis Q2. The axis Q2 is fixed to the proximal end portion of the second finger portion 20. When the motor 51 rotates the axis Q2, the second finger portion 20 rotates about the axis Q2. As a result, the intermediate portion of the second finger portion 20 moves in each direction approaching and separating from the first finger portion 10.

The axis Q1 and the motor 41 of the first finger drive mechanism 40, and the axis Q2 and the motor 51 of the second finger drive mechanism 50 are directions in which the first finger 10 and the second finger 20 approach and separate from each other. It is an example of the 1st movement mechanism moved relatively to each. However, it is not essential that the hand 1 includes both the axis Q1 and the motor 41 of the first finger drive mechanism 40 and the axis Q2 and the motor 51 of the second finger drive mechanism 50 as the first movement mechanism. Either one may be omitted.

The third finger drive mechanism 60 includes an axis Q3 extending in parallel with the direction D1 and a motor 61 that rotates the axis Q3. The axis Q3 is fixed to the proximal end portion of the third finger portion 30. As the motor 61 rotates the axis Q3, the third finger 30 rotates about the axis Q3. As a result, the intermediate portion of the third finger portion 30 moves in each of the directions approaching and separating from the first finger portion 10.

In this example, the axes Q1, Q2, and Q3 are arranged on the coaxial line that overlaps along the direction D1, but this is not essential. For example, each of the axes Q1, Q2, and Q3 may be arranged at different positions with respect to the direction parallel to the plane P1.

The first finger part drive mechanism 40 including the axis Q1 and the motor 41 and the third finger part drive mechanism 60 including the axis Q3 and the motor 61 approach and separate the first finger part 10 and the third finger part 30 from each other. It is an example of the 2nd moving mechanism moved relatively to each direction to do. However, it is not essential that the hand 1 includes both the first finger drive mechanism 40 axis Q1 and the motor 41, and the second finger drive mechanism 50 axis Q3 and the motor 61 as the second movement mechanism. Either one may be omitted.

The control unit 70 controls the movement of the first finger unit 10, the second finger unit 20, and the third finger unit 30. The configuration of the control unit 70 as hardware is the same as that of a general computer. That is, the control unit stores a CPU that performs various arithmetic processes, a ROM that is a read-only memory that stores basic programs, a RAM that is a readable and writable memory that stores various information, and a control application or data. A storage unit is provided.

The control unit 70 individually controls the movement of the first finger unit 10, the second finger unit 20, and the third finger unit 30 by giving control signals to the

motors

41, 433, 51, and 61, respectively. Further, the control unit 70 monitors the torque of each of the

motors

41, 433, 51, 61, so that the first finger unit 10, the second finger unit 20, and the third finger unit 30 are connected to the first electric wire group 91 or the second electric wire group 91. Each of the

motors

41, 433, 51, 61 is controlled so as to hold the wire group 92 with an appropriate force.

Note that it is not essential to monitor the torque of each of the

motors

41, 433, 51, 61. For example, it is also conceivable to provide a pressure sensor in each intermediate portion of the first finger portion 10, the second finger portion 20, and the third finger portion 30. Thereby, when the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 pinched the 1st electric wire group 91 or the 2nd electric wire group 92, the 1st electric wire group 91 or the 2nd electric wire group The pressure value applied to 92 can be measured. Therefore, the control unit 70 may control each of the

motors

41, 433, 51, 61 based on the pressure value detected by each pressure sensor.

<Flow of wire harness production>
The manufacturing method of the wire harness which concerns on this invention is demonstrated referring FIGS. 3-7. Here, out of a plurality of steps included in the manufacture of the wire harness, the step of collecting the first electric wire group 91 and the second electric wire group 92 shown in FIG. 1 using the hand 1, and further using the hand 1. A process of performing branch formation will be described. However, the use of the hand 1 is not limited to the process of concentration and branch formation in wire harness production.

The first electric wire group 91 is a linear object group composed of a plurality of electric wires (flexible linear objects) extending in the same direction. The 1st electric wire group 91 shall be comprised with the some electric wire which should be bundled into one. The first electric wire group 91 is sandwiched between intermediate portions of the first finger portion 10 and the second finger portion 20 that move in a direction approaching each other, and is held in a bundled state.

The second electric wire group 92 is a linear object group composed of a plurality of electric wires (flexible linear objects) extending in the same direction. The second electric wire group 92 is composed of a plurality of electric wires to be bundled together. In addition, the second electric wire group 92 is bundled together with the first electric wire group 91 so as to branch to a different path from the first electric wire group 91.

First, as shown in FIG. 3, at least a binding target portion of the unbound first electric wire group 91 and at least a binding target portion of the unbound second electric wire group 92 are arranged to extend in the direction D1 ( Preparation step). At this time, the first electric wire group 91 is gathered so as to be sandwiched between the first finger portion 10 and the second finger portion 20, and the second electric wire group 92 is formed between the first finger portion 10 and the third finger portion 30. It is assumed that they are gathered together so as to be sandwiched between them. Furthermore, the first electric wire group 91 and the second electric wire group 92 are separated to such an extent that the first finger portion 10 can enter. But the part of the extending direction of the 1st electric wire group 91 should just be separated from the clearance gap in which the 1st finger | toe part 10 can approach from the 2nd electric wire group 92. FIG.

Subsequently, as shown in FIG. 3, the first electric wire group 91 is placed between the first finger portion 10 and the second finger portion 20. The first finger unit 10 and the second finger unit 20 rotate and move in directions approaching each other, thereby holding the first electric wire group 91 (first clamping step). Thereby, the first electric wire group 91 is collected. At this time, each of the first finger part 10 and the second finger part 20 sandwiches and holds the first electric wire group 91 between inner portions of the arc-shaped intermediate part that protrudes outward. For this reason, it becomes easy to gather the 1st electric wire group 91 in one place, and it can reduce that an electric wire is unevenly distributed in the 1st electric wire group 91 at the time of collecting.

Subsequently, as shown in FIG. 4, the first electric wire group 91 sandwiched between the first finger portion 10 and the second finger portion 20 is bound by a binding member 81 such as a vinyl tape or a binding band (first binding). Process). Binding may be performed manually or using a binding device such as an automatic tape winding device. Further, the binding position is a position on the negative side in the direction D1 with respect to the first finger part 10 (a position on the opposite side to the second finger part 20 through the first finger part 10), and a direction with respect to the second finger part 20. The position on the positive side of D1 (the position opposite to the first finger 10 via the second finger 20) or the position between the first finger 10 and the second finger 20 with respect to the direction D1 Either may be sufficient.

Subsequently, as illustrated in FIG. 5, the second electric wire group 92 is brought close to the first finger portion 10 by the third finger portion 30 rotating and moving in a direction approaching the first finger portion 10. Thereby, the 1st finger part 10 and the 3rd finger part 30 pinch the 2nd electric wire group 92 (2nd clamping process). And the 2nd electric wire group 92 is bundled. For convenience of illustration, in FIG. 5, a portion of the second wire group 92 with which the third finger portion 30 abuts is schematically illustrated.

Subsequently, as shown in FIG. 5, the second wire group 92 sandwiched between the first finger portion 10 and the third finger portion 30 is bound by the binding member 82 (second binding step). Binding may be performed manually or using a binding device such as an automatic tape winding device.

Subsequently, as shown in FIGS. 6 and 7, the gear portion 431 of the overall movement mechanism 43 rotates, so that the entire first finger portion 10 moves while being guided by the through hole 435H. Further, when viewed from the direction D1, the distal end portion 10E moves so as to pass through a region sandwiched between the second finger portion 20 and the third finger portion 30 facing each other. Thereby, the 1st finger part 10 is extracted from between the 1st electric wire group 91 and the 2nd electric wire group 92 (extraction process). At this time, as shown in FIGS. 6 and 7, the entire first finger portion 10 moves along an arcuate path T <b> 1 that matches the shape of the first finger portion 10. For this reason, the 1st finger | toe part 10 can be pulled out reasonably, suppressing that pressing force is added to the 1st electric wire group 91 and the 2nd electric wire group 92. FIG.

Subsequently, as shown in FIG. 7, the first electric wire group 91 and the second electric wire group 92 are bound by the binding member 83 (third binding step). In addition, as FIG. 7 shows, after the extraction process, the third finger part 30 further rotates so as to approach the second finger part 20, and the second electric wire group 92 is pressed against the first electric wire group 91. Also good. When the first electric wire group 91 and the second electric wire group 92 are bound by the binding member 83, a branch point where the first electric wire group 91 and the second electric wire group 92 branch at the attachment position of the binding member 83. The provided wire harness can be manufactured. That is, by using the hand 1, branch formation can be performed in the electric wire group including the first electric wire group 91 and the second electric wire group 92.

As described above, according to the hand 1 according to the present embodiment, the first electric wire group 91 and the second finger portion 20, and the first finger portion 10 and the third finger portion 30, respectively, Each of the second electric wire groups 92 can be individually collected. Further, the tip portion 10E of the first finger portion 10 is moved between the second finger portion 20 and the third finger portion 30 so as to be sandwiched between the first electric wire group 91 and the second electric wire group 92. The first finger 10 can be extracted. Thereby, the 1st electric wire group 91 and the 2nd electric wire group 92 can be bundled, without the 1st finger part 10 becoming obstruction. Therefore, the wire harness which has a branch can be manufactured favorably.

<2. Modification>
Although the embodiment has been described above, the present invention is not limited to the above, and various modifications are possible.

For example, in the above embodiment, it is not essential that the hand 1 includes only the first finger part 10, the second finger part 20, and the third finger part 30. For example, four or more fingers may be provided.

In the above embodiment, it is not essential that each of the first finger portion 10, the second finger portion 20, and the third finger portion 30 is formed in an arc shape. For example, a part or all of the first finger part 10, the second finger part 20, and the third finger part 30 may be a rod-like member that extends substantially linearly. In addition, a joint structure may be provided in the intermediate portion so that a portion on the distal end side with respect to the joint portion may be bent with respect to a portion on the proximal end side with respect to the joint. 70 may be electrically controlled.

In the above-described embodiment, the second finger portion 20 and the third finger portion 30 are configured to approach or separate from the first finger portion 10 by rotational movement. You may make it isolate | separate.

Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention. In addition, the configurations described in the above embodiments and modifications can be appropriately combined or omitted as long as they do not contradict each other.

1 hand 10 first finger 10E tip (one end)
11 Groove (rack)
20 Second finger part 30 Third finger part 40 First finger

part drive mechanism

41, 51, 61 Motor (rotation drive part)
43 Overall movement mechanism 431 Gear portion 433 Motor 435 Guide portion 50 Second finger portion drive mechanism 60 Third finger

portion drive mechanism

81, 82, 83 Bundling member 91 First wire group (first wire group)
92 Second wire group (second wire group)
D1 direction (orthogonal direction, first direction)
Q1, Q2, Q3 axis T1 path

Claims

A gripping structure for gripping a plurality of flexible linear objects,
A first finger, a second finger, and a third finger formed in a rod shape;
A first moving mechanism for moving the first finger and the second finger relatively in directions approaching and separating from each other;
A second moving mechanism for moving the first finger part and the third finger part relatively in directions approaching and separating from each other;
When viewed from an orthogonal direction orthogonal to the direction in which the second moving mechanism relatively moves the first finger part and the third finger part, one end of the first finger part is the second finger part and the third finger part. An overall movement mechanism for moving the entirety of the first finger part so as to pass through an area sandwiched between the finger parts;
A gripping structure.
The gripping structure according to claim 1,
Each of said 1st moving mechanism and said 2nd moving mechanism is provided with the rotation drive part which rotates each of said 2nd finger part and said 3rd finger part about the axis | shaft extended in a 1st direction as a rotation center. .
The gripping structure according to claim 1 or 2,
The gripping structure, wherein an intermediate part of the second finger part has a shape bent in a direction away from the first finger part.
A gripping structure according to claim 3,
The gripping structure, wherein an intermediate part of the first finger part has a shape bent in a direction away from the second finger part.
The gripping structure according to any one of claims 1 to 4,
The overall movement mechanism is a gripping structure that moves the first finger along a path that matches the shape of the first finger.
The gripping structure according to any one of claims 1 to 5,
The translation mechanism is
A gear portion combined with a rack formed on the first finger portion;
A rotation drive unit that rotates the gear unit around a predetermined axis as a rotation center;
A gripping structure.
A method of manufacturing a wire harness,
(a) a first clamping step in which the first finger and the second finger move in a direction approaching each other and sandwich the first wire group;
(b) after the first clamping step, a first binding step of binding the first electric wire group with a binding member;
(c) a second clamping step in which the first finger part and the third finger part move in a direction approaching each other and sandwich the second wire group;
(d) after the second clamping step, a second binding step of binding the second electric wire group with a binding member;
(e) After the first bundling step and the second bundling step, one end of the first finger portion passes through a region sandwiched between the second finger portion and the third finger portion. Moving the whole and extracting the first finger from between the first electric wire group and the second electric wire group; and
(f) After the extraction step, a third bundling step of bundling the first electric wire group and the second electric wire group with a bundling member;
The manufacturing method of a wire harness containing.