WO2018012337A1 - Système de production de faisceau de câbles et procédé de production de faisceau de câbles - Google Patents

Système de production de faisceau de câbles et procédé de production de faisceau de câbles Download PDF

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Publication number
WO2018012337A1
WO2018012337A1 PCT/JP2017/024340 JP2017024340W WO2018012337A1 WO 2018012337 A1 WO2018012337 A1 WO 2018012337A1 JP 2017024340 W JP2017024340 W JP 2017024340W WO 2018012337 A1 WO2018012337 A1 WO 2018012337A1
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WO
WIPO (PCT)
Prior art keywords
wire
connector
electric wires
wire harness
manufacturing
Prior art date
Application number
PCT/JP2017/024340
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English (en)
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 WO2018012337A1 publication Critical patent/WO2018012337A1/fr

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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
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses

Definitions

  • This invention relates to a technique for binding wire harness terminals.
  • Patent Document 1 discloses a harness wiring device for arranging several wires in a required form and a tape winding unit for bundling a plurality of wires of the harness wiring device by tape winding in a desired direction.
  • the manufacturing apparatus of the wire harness comprised with a winding apparatus is disclosed.
  • a harness wiring device a harness shaping device is disclosed in which the plurality of electric wires are routed along a plurality of vertical rails.
  • the connector of the sub-wire harness is set on a vertical rail receiving jig, and the electric wire portion of the sub-wire harness hangs down to the lower frame. Thereafter, the wire harness is shaped, and the main line portion and the branch line portion are bound.
  • Patent Document 1 when the electric wire portion of the sub-wire harness hanging from the connector set on the receiving jig is to be bound, the electric wire is bent or jumped between the connector and the binding portion. There is a fear.
  • an object of the present invention is to enable a plurality of electric wires extending from a connector to be bundled with the electric wires extending from the connector being as straight as possible.
  • the wire harness manufacturing apparatus is a wire harness manufacturing apparatus used for binding a plurality of electric wires extending from a connector at a position away from the connector.
  • the wire holding member including at least one holding portion for holding the plurality of wires in a manner capable of being pulled out while sliding the plurality of wires, and the plurality of wires held between the wire holding members.
  • a holding portion that holds a portion of the connector or the plurality of electric wires between the connector and the electric wire holding member, and a moving mechanism that moves the holding portion away from the electric wire holding member.
  • a wire drawing mechanism for pulling out the plurality of wires held by the holding member.
  • the wire harness manufacturing apparatus is the wire harness manufacturing apparatus according to the first aspect, further comprising a bundling mechanism that binds the plurality of electric wires in a state of being drawn out by the electric wire pulling mechanism. .
  • An apparatus for manufacturing a wire harness according to a third aspect is the apparatus for manufacturing a wire harness according to the first or second aspect, wherein the plurality of electric wires are clamped by the electric wire holding member and the connector and A state information acquisition unit that acquires state information of the plurality of electric wires; and a processing control unit that determines a holding position of the holding unit based on the state information acquired by the state information acquisition unit.
  • the apparatus for manufacturing a wire harness according to a fourth aspect is the apparatus for manufacturing a wire harness according to any one of the first to third aspects, wherein the plurality of electric wires are drawn out by the electric wire drawing mechanism. And a wire collecting mechanism for collecting the plurality of electric wires at the planned binding location.
  • the apparatus for manufacturing a wire harness according to a fifth aspect is the apparatus for manufacturing a wire harness according to any one of the first to fourth aspects, and the wire clamping member includes a plurality of the clamping parts.
  • the manufacturing method of the wire harness which concerns on a 6th aspect is a manufacturing method of the wire harness which binds the several electric wire extended from a connector in the position away from the said connector, and manufactures a wire harness, Comprising: (a) A step of sandwiching the plurality of wires in a manner in which the plurality of wires can be pulled out while sliding, and (b) after the step (a), a portion of the plurality of wires sandwiched is a connector. A step of drawing out to the side, and (c) a step of binding the plurality of electric wires after the step (b).
  • the manufacturing method of the wire harness which concerns on a 7th aspect is a manufacturing method of the wire harness which concerns on a 6th aspect, Comprising: The said process (a) and the said process (b) each extend from the said several connector. Each of the plurality of electric wires is performed, and in the step (c), the plurality of electric wires extending from the plurality of connectors are bundled into one.
  • the manufacturing method of the wire harness which concerns on an 8th aspect is a manufacturing method of the wire harness which concerns on a 7th aspect, Comprising: In the said process (a), the said some electric wire each extended from the said several connector is put together. Hold it.
  • a method for manufacturing a wire harness according to a ninth aspect is the method for manufacturing a wire harness according to the seventh aspect, wherein in the step (a), the plurality of electric wires respectively extending from the plurality of connectors are divided. Hold it.
  • the portion of the drawn wire between the wire holding member and the connector is pulled out while being slid by the wire drawing mechanism while being held by the wire holding member. It will be in a state of being squeezed. Thereby, the several electric wire extended from a connector can be bundled in the state which the electric wire extended from the connector became as straight as possible. At this time, a plurality of electric wires extending only from one connector can be bundled, or a plurality of electric wires extending from the plurality of connectors can be bundled together.
  • the holding position of the holding unit based on the status information acquired by the status information acquiring unit, it is possible to suppress holding errors of the holding unit and to damage the connector and the like during holding. It becomes difficult. Thereby, quality can be stabilized.
  • the fourth aspect it becomes easier to perform the bundling work by collecting the electric wires by the wire collecting mechanism.
  • the fifth aspect when a plurality of electric wires extending from a plurality of connectors are bundled together, the plurality of electric wires respectively held by the plurality of holding portions are pulled out separately and then bundled together. can do. Thereby, the drawing-out operation
  • the drawn-out electric wire is squeezed by being drawn while sliding while being held.
  • the several electric wire extended from a connector can be bundled in the state which the electric wire extended from the connector became as straight as possible.
  • branch formation can be performed by a simple method.
  • the concentrating work can be omitted or simplified.
  • the connector since the posture of the connector before the electric wire is drawn out is easily stabilized, the connector is easily held when the electric wire is drawn out while holding the connector.
  • FIG. 1 is an expanded view of an example of the wire harness 10.
  • the electric wire 11 passing through the same path is drawn with a single line.
  • the electric wire 11 drawn with one line may actually be a bundle of a plurality of electric wires 11.
  • the wire harness 10 to be manufactured has a plurality of connectors 14 connected via a plurality of electric wires 11. More specifically, the wire harness 10 has a configuration in which a plurality of electric wires 11 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 11 is inserted and connected to the connector 14. FIG. 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 11 included in the wire harness 10 are bundled while being branched in a form corresponding to the laying route in the vehicle.
  • the connector 14 is connected to the end of the electric wire 11.
  • the electric wire 11 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.
  • the main body of the connector 14 is integrally formed of, for example, an insulating resin material.
  • a plurality of cavities in which the terminals at the end of the electric wire 11 can be inserted and held are formed.
  • the terminals of the plurality of electric wires 11 are inserted and held in the cavities, the plurality of electric wires 11 are extended from each connector 14.
  • FIG. 2 is a schematic view showing the wire harness manufacturing apparatus 20.
  • FIG. 3 is a schematic plan view showing the wire clamping member 30.
  • FIG. 4 is a schematic perspective view showing the electric wire clamping member 30.
  • the wire harness manufacturing apparatus 20 is used to bind a plurality of electric wires 11 extending from the connector 14 at positions away from the connector 14.
  • the apparatus 20 for manufacturing a wire harness includes an electric wire clamping member 30 and a first robot 40 as an electric wire drawing mechanism.
  • the wire harness manufacturing apparatus 20 further includes a second robot 50 as a bundling mechanism, an imaging unit 70 as a state information acquisition unit, and a processing control unit 80.
  • the electric wire holding member 30 includes at least one holding portion 36 that holds the plurality of electric wires 11 in such a manner that the plurality of electric wires 11 can be pulled out while sliding.
  • the wire clamping member 30 includes a plurality of clamping portions 36.
  • the electric wire holding member 30 is configured to be able to hold the electric wire 11 extending from the connector 14 in a state where the electric wire 11 hangs down from the connector 14.
  • the electric wire clamping member 30 is a long member, and is configured such that a plurality of the clamping portions 36 are provided so as to be arranged in a substantially straight line along the longitudinal direction thereof. More specifically, the electric wire clamping member 30 has three pressing plate portions 32 and a pair of elastic plate members 34.
  • the pressing plate portion 32 is a member formed of resin or the like, and is formed in a substantially rectangular plate-like member that is long in one direction.
  • a plurality of holding recesses 32 h are formed at an edge portion 32 a on the long side of each presser plate portion 32 at intervals along the longitudinal direction of the presser plate portion 32.
  • Each holding recess 32h is formed in a substantially U-shaped groove opening toward the edge 32a on the one long side when viewed from the main surface of the pressing plate 32.
  • the elastic plate member 34 is a member formed of an elastic plate material such as rubber, and has a shape corresponding to the main surface of the pressing plate portion 32 and is formed in a substantially rectangular plate shape that is long in one direction.
  • linear cut portions 34h are formed at positions corresponding to the holding recesses 32h on the edge 34a on the long side of the elastic plate member 34, respectively.
  • the cut portion 34h may or may not have a width.
  • the pair of elastic plate members 34 are clamped and fixed to the three presser plate portions 32 in a state where the respective cut portions 34h are disposed in the substantially U-shaped width direction substantially central portion of the holding recess 32h. .
  • the two outer presser plate portions 32 are the inner presser plates.
  • the pair of elastic plate members 34 are clamped and fixed at fixed positions.
  • the clamping part 36 is configured with a configuration in which the cut portions 34h of the pair of elastic plate members 34 are disposed at the approximate center in the width direction of each holding recess 32h. Then, while elastically deforming the elastic plate member 34 so as to widen the cut portion 34h, each electric wire 11 is pushed into the cut portion 34h in the holding recess 32h, so that each electric wire 11 slides on the holding portion 36. While being pulled out, it is clamped. In addition, here, the electric wire 11 can be more reliably clamped even when the number of the electric wires 11 is large by clamping the electric wire 11 with two notch portions 34h separated from each other.
  • the frictional force when the electric wire 11 slides with respect to the sandwiching portion 36 can be changed.
  • the number of the elastic plate members 34, the thickness, and the like the distance that the electric wire 11 slides with respect to the holding portion 36 can be changed.
  • an electric wire clamping member 30 it is a member conventionally used when conveying the electric wire with a connector before wiring to the drawing board for wiring, and can hold the terminal part of the electric wire with connector
  • An electric wire holder also referred to as a wiring bar
  • members other than an electric wire holder may be used, and what was formed as an exclusive article of the said wire harness manufacturing apparatus 20 can also be used.
  • the wire clamping member 30 is supported by the frame portion 90.
  • the frame unit 90 includes a vertical frame 92 and a horizontal frame 94.
  • the vertical frame 92 is supported in a standing state on the floor.
  • the horizontal frame 94 is supported in a horizontal posture at a position on the floor by the vertical frame 92.
  • the electric wire clamping member 30 is supported in a horizontal posture at a position on the floor by the horizontal frame 94.
  • the wire clamping member 30 is supported in a posture in which the extending direction of the notch 34h is orthogonal to the vertical direction, that is, a posture in which the pair of elastic plate members 34 are arranged in the vertical direction (see FIG. 5).
  • the electric wires 11 extending from the respective connectors 14 are clamped by the clamping portions 36 in a state where the terminals at the respective end portions of the plurality of electric wires 11 are inserted and held in the corresponding connectors 14.
  • the electric wire 11 extending from the connector 14 is sandwiched between the cut portions 34h of the pair of elastic plate members 34 so as to extend in the vertical direction.
  • the two connectors 14a and 14b are connectors 14 from which the electric wires 11 constituting the primary branch are extended.
  • each electric wire 11 is not bundled. For this reason, each electric wire 11 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a position below each connector 14.
  • each electric wire 11 extending from each connector 14 hangs down from each sandwiching portion 36 and is curved toward the other sandwiching portion 36 at a position below each sandwiching portion 36.
  • the wire drawing mechanism pulls out the plurality of wires 11 held by the wire holding member 30.
  • the wire drawing mechanism includes a holding unit and a moving mechanism.
  • the holding unit holds a portion between the connector 14 and the wire holding member 30 among the connector 14 or the plurality of wires 11 in a state where the plurality of wires 11 are held by the wire holding member 30.
  • the moving mechanism moves the holding portion away from the wire clamping member 30.
  • the first robot 40 is employed as the wire drawing mechanism.
  • the first robot 40 includes a robot arm 42 as the moving mechanism and a robot hand 44 as the holding unit provided at the tip of the robot arm 42.
  • the robot hand 44 can be moved to each work position by driving the robot arm 42. Further, the posture of the robot hand 44 can be changed by driving the robot arm 42.
  • the robot hand 44 includes a plurality of fingers, and the connector 14 or the electric wire 11 extending from the connector 14 can be gripped by the plurality of fingers. In particular, in a state where the robot hand 44 is moved to the position of the connector 14 or a position below the connector 14 by driving the robot arm 42, the electric wire 11 extending from the connector 14 or the connector 14 is held by the robot hand 44.
  • the electric wire 11 can be pulled out from the electric wire holding member 30 by moving the robot hand 44 upward by driving the robot arm 42 (see FIGS. 6 and 8).
  • the robot hand 44 will be described as gripping the connector 14.
  • the electric wire 11 is pulled out while sliding with respect to the electric wire holding member 30. That is, the drawn-out electric wire 11 is in a squeezed state. Therefore, the wire clamping member 30 and the first robot 40 also have a function as a wire straightening mechanism that straightens the plurality of wires 11 as straight as possible.
  • the binding mechanism binds the plurality of electric wires 11 drawn by the electric wire drawing mechanism.
  • the second robot 50 is employed as the bundling mechanism.
  • the second robot 50 includes a robot arm 52 and a bundling device 54 provided at the tip of the robot arm 52.
  • the bundling device 54 can be moved to each work position by driving the robot arm 52.
  • the binding device 54 is a device that binds the plurality of electric wires 11 with a binding member such as an adhesive tape or a binding band.
  • a bundling device 54 for example, a tape winding body in which an adhesive tape is wound is rotated around the plurality of electric wires 11, so that the adhesive tape is wound around the plurality of electric wires 11.
  • An apparatus can be used.
  • the bundling device 54 is connected to the upper side or the lower side of the electric wire holding member 30 by driving the robot arm 52.
  • the binding device 54 can wind the adhesive tape around the plurality of wires 11 to bind the plurality of wires 11 (see FIGS. 9 and 10).
  • FIG. 9 it demonstrates as what binds the some electric wire 11 in the upper position (henceforth a scheduled binding location) of the electric wire clamping member 30 by the binding apparatus 54.
  • the bundling device 54 When the plurality of electric wires 11 are bundled at a position above the electric wire holding member 30 by the bundling device 54, it is preferable that a portion between the connector 14 and the electric wire holding member 30 is relatively stretched.
  • the portion between the connector 14 held by the robot hand 44 and the wire holding member 30 can be kept relatively stretched. In this state, the binding state is stabilized by binding the portion between the connector 14 and the wire clamping member 30 among the plurality of wires 11 by the binding device 54.
  • the robot hand does not necessarily hold the connector 14 as it is, but a holding member or the like that can hold the connector 14 is provided in advance at a position where the connector 14 is to be moved by the robot hand 44.
  • the connector 14 may be transferred to the holding member to keep the portion between the connector 14 and the wire clamping member 30 in a relatively stretched state.
  • the moved connector is used. Even if the robot 14 is not held by the robot hand 44 or the like, the planned binding location of the electric wires 11 is relatively straight and is relatively gathered. Of course, the moved connector 14 may be held by the robot hand 44 or the like. For example, when the wire length between the pulled-out connector 14 and the wire clamping member 30 is long, it is conceivable that the plurality of wires 11 are bound at a position below the wire clamping member 30 by the binding device 54.
  • a plurality of electric wires 11 are bound by a binding member such as an adhesive tape T at a predetermined binding portion below the connector 14 (see FIG. 10). Thereby, the some electric wire 11 is bound so that the form of the said wire harness 10 may be made.
  • the plurality of electric wires 11 may be bound between the planned binding location and the connector 14 or between the planned binding locations.
  • robot arms 42 and 52 of the first robot 40 and the second robot 50 general industrial robots can be used.
  • general vertical articulated robots are illustrated as the robot arms 42 and 52 of the first robot 40 and the second robot 50.
  • the robot hand 44 and the bundling device 54 may be moved by a common robot arm. Good.
  • the state information acquisition unit acquires state information of the connector 14 and the plurality of electric wires 11 in a state where the plurality of electric wires 11 are held by the electric wire holding member 30.
  • the imaging unit 70 is provided as a state information acquisition unit.
  • the imaging unit 70 is configured to be able to image the connector 14 and the plurality of electric wires 11 extending from the connector 14. That is, the imaging unit 70 is an imaging camera configured by a CCD camera or the like. As the imaging unit 70, a two-dimensional camera may be used, or a stereo camera may be used. When the posture of the robot hand 44 is changed three-dimensionally according to the posture of the connector 14 to be grasped, a stereo camera is preferably used as the imaging unit 70. Here, an example in which a stereo camera is used as the imaging unit 70 will be described.
  • the machining control unit 80 determines the holding position of the holding unit based on the state information acquired by the state information acquisition unit. At this time, the machining control unit 80 has a function of controlling the operation of the first robot 40 and the second robot 50.
  • the machining control unit 80 is connected to the first robot 40, the second robot 50, and the imaging unit 70.
  • the image picked up by the image pickup unit 70 is given to the processing control unit 80, whereby the processing control unit 80 acquires the holding position of the robot hand 44.
  • the first robot 40 performs an electric wire drawing operation and the second robot 50 performs a bundling operation.
  • the machining control unit 80 is configured by a general computer in which a CPU, a ROM, a RAM, an external storage device, and the like are interconnected via a bus line.
  • the ROM stores basic programs and the like, and the RAM is used as a work area when the CPU performs processing according to a predetermined procedure.
  • the external storage device is configured by a nonvolatile storage device such as a flash memory or a hard disk device.
  • the external storage device stores an OS (operation system), a machining program including a holding position determination program for determining the holding position of the robot hand 44, and the like. Operation control of the first robot 40 and the second robot 50 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program.
  • an image signal input interface and an input / output interface are also connected to the bus line. Then, the imaging signal of the imaging unit 70 is input to the main processing control unit 80 through the image signal input interface, and is used for the process of acquiring the holding position of the robot hand 44. Further, a control signal from the main processing control unit 80 is given to the first robot 40 and the second robot 50 via the input / output interface, and the first robot 40 and the second robot 50 are driven and controlled.
  • the processing control unit 80 is connected to an input unit composed of various switches, a touch panel, etc., and the wire harness manufacturing apparatus 20 is configured to receive various instructions to the processing control unit 80 through the input unit. It is possible that
  • machining control unit 80 may be realized by hardware using a dedicated logic circuit or the like.
  • a plurality of connectors 14 each having an end of a plurality of wires 11 connected thereto is prepared. And the some electric wire 11 is clamped in the aspect which can be pulled out, sliding the some electric wire 11 (refer FIG. 2, FIG. 5, process (a)). Specifically, a portion in the vicinity of the connector 14 among the plurality of electric wires 11 extending from the connector 14 is held by the holding portion 36. At this time, by inserting the electric wire 11 through the cut portion 34h of the elastic plate member 34, the electric wire 11 is clamped in such a manner that it can be pulled out while sliding with respect to the clamping portion 36. In this state, as shown in FIG. 5, the connector 14 is supported on the upper surface of the pressing plate portion 32. Further, the plurality of electric wires 11 hang down from the sandwiching portion 36. At this time, here, the electric wires 11 extending from the plurality of connectors 14 a and 14 b and corresponding to the same primary branch are held together in one holding portion 36.
  • the pinched portion of the plurality of electric wires 11 is pulled out to the connector 14 side (step (b)).
  • the connector 14 or the portion of the plurality of electric wires 11 between the connector 14 and the electric wire holding member 30 (here, the connector 14) is used by the robot hand 44 of the first robot 40.
  • the robot hand 44 is lifted in this state.
  • the part clamped by the clamping part 36 among the some electric wires 11 and the part located below this raise and are pulled out to the connector 14 side rather than the electric wire clamping member 30 passing the clamping part 36 in order.
  • the electric wire 11 is squeezed by passing through the cut portion 34h of the elastic plate member 34 while sliding.
  • a holding error may occur if the position and posture of the connector 14 are not constant. Further, the connector 14 or the electric wire 11 may be held from an undesired direction, and the connector 14 or the electric wire 11 may be damaged.
  • the plurality of electric wires 11 extending from the plurality of connectors 14 are collectively held by one holding portion 36, the plurality of connectors 14 interfere with each other, and as shown in FIG. May not be constant.
  • the electric wire 11 extending from one connector 14a is pulled out
  • the electric wire 11 extending from the other connector 14b may be tangled and pulled out, and the position and posture of the connector 14b may not be constant.
  • a plurality of electric wires extending from the connector 14 and the connector 14 are used here. 11 state information is acquired.
  • the imaging unit 70 images a region including the terminals of the plurality of electric wires 11. For example, a region including the connector 14 to be held and a member that is likely to be an interference when the connector 14 is held by the robot hand 44 around the connector 14 is imaged. Then, the processing control unit 80 acquires the holding position and the like of the robot hand 44 based on the state information of the connector 14 and the plurality of electric wires 11 in the captured image captured by the imaging unit 70. For example, the processing control unit 80 performs pattern recognition on the connector 14 by comparing it with the shape of the connector 14 input in advance in the captured image, and determines the position and orientation of the connector 14.
  • an approach path that prevents the robot hand 44 from interfering with another connector 14 or the electric wire 11, and a suitable position and orientation of the robot hand 44 with respect to the connector 14 to be held are acquired.
  • the robot hand 44 grips the electric wire 11
  • the background may be acquired in advance from a captured image captured without the electric wire 11.
  • the machining control unit 80 controls the operation of the robot hand 44. It is preferable that the acquisition of the imaging and holding position is performed every time before the connector 14 or the electric wire 11 is held.
  • the expected binding locations of the electric wires 11 are formed on the electric wire holding member 30 as shown in FIG. It will be in the state which moved to near (here, the position adjacent to the upper side of the electric wire clamping member 30).
  • the bundling device 54 is moved to the planned bundling position, and the plurality of electric wires 11 extending from the connector 14 are bundled (step (c)).
  • the plurality of electric wires 11 extending from the two connectors 14a and 14b are bundled together.
  • the bound portion forms a branching portion.
  • the wire harness 10 in which a plurality of electric wires 11 extending from each connector 14 are bundled is manufactured by performing the above operation on each of the plurality of connectors 14 or branching points.
  • the wire 11 is pulled out while being slid by the first robot 40 while being pinched by the wire pinching member 30.
  • the part between the electric wire clamping member 30 and the connector 14 is squeezed.
  • the several electric wire 11 extended from the connector 14 can be bundled in the state which the electric wire 11 extended from the connector 14 became as straight as possible.
  • a plurality of electric wires 11 extending only from one connector 14 can be bundled, or a plurality of electric wires 11 extending from the plurality of connectors 14 can be bundled together.
  • branching can be performed by a simple method by binding the plurality of electric wires 11 extending from the plurality of connectors 14 into one using the wire harness manufacturing apparatus 20.
  • the wire harness manufacturing apparatus 20 can perform the binding. Thereby, most of the binding work can be automated.
  • the concentrating work can be omitted or simplified.
  • FIGS. 11 to 14 are explanatory views showing another example of the bundling work of the electric wires 11.
  • the electric wires 11 extending from the two connectors 14 a and 14 b are clamped by another clamping unit 36.
  • the plurality of electric wires 11 extending from the plurality of connectors 14 are separately held.
  • the first robot 40 sequentially holds and moves the connectors 14 a and 14 b to pull out the electric wire 11 from the electric wire holding member 30.
  • the wire harness manufacturing apparatus 20A further includes a wire collecting mechanism.
  • the wire collecting mechanism collects the plurality of electric wires 11 at the planned binding location in a state where the plurality of electric wires 11 are drawn by the electric wire drawing mechanism. It is conceivable to use the third robot 60 as the concentrator.
  • the third robot 60 includes a robot arm 62 and a robot hand 64 provided at the tip of the robot arm 62.
  • a general industrial robot can be used in the same manner as the robot arms 42 and 52 of the first robot 40 and the second robot 50.
  • the robot hand 64 can be moved to each work position by driving the robot arm 62.
  • the robot hand 64 can collect a plurality of electric wires 11. Further, here, the robot hand 64 can hold the collected electric wires 11 or hold the plural electric wires 11 in a bundled state.
  • the plurality of electric wires 11 can be collected by closing the robot hand 64 in a state where the robot hand 64 is moved to a position above or below the electric wire holding member 30 by driving the robot arm 62.
  • the first robot 40 that has pulled out the electric wire 11 by gripping and moving the connector 14 is configured to be free by passing the gripped connector 14 to a connector holder or the like. It is also conceivable to use the free first robot 40 as a concentrator. That is, it is conceivable that the first robot 40 also functions as an electric wire drawing mechanism and a concentrating mechanism. In addition to the above, a configuration in which a robot hand as a concentrating mechanism is separately provided in the robot arm 52 of the second robot 50 in addition to the binding device 54 is also conceivable.
  • the bundling device 54 binds the portion between the robot hand 64 and the connector 14, but binds the portion between the robot hand 64 and the wire holding member 30. May be.
  • the wire harness 10 in which the plurality of electric wires 11 extending from each connector 14 are bundled is manufactured.
  • the wire harness manufacturing apparatus 20 ⁇ / b> A and the wire harness manufacturing method configured as described above when the plurality of electric wires 11 extending from the plurality of connectors 14 are bundled together, they are respectively held by the plurality of holding portions 36. The plurality of electric wires 11 can be pulled out separately and then bundled together. Thereby, the drawing-out operation
  • the bundling work is facilitated by collecting the electric wires 11 by the robot hand 64.
  • a plurality of electric wires 11 extending from the two connectors 14 are bundled together to form a branch portion, but this is not essential.
  • a plurality of electric wires 11 extending from one connector 14 may be bundled.
  • the bundled portions of the plurality of electric wires 11 respectively extending from the two connectors 14 are joined together. You may form a branch part by bundling separately.
  • the plurality of electric wires 11 extending from three or more connectors 14 are clamped together in one clamping portion 36.
  • the plurality of electric wires 11 respectively extending from the three or more connectors 14 may be divided and held in separate holding portions 36.
  • the plurality of electric wires 11 extending from the three or more connectors 14 are divided into a plurality of groups, and are held by the separate holding portions 36 for each group, and the at least one group is extended from the plurality of connectors 14.
  • a plurality of outgoing electric wires 11 may be held together in one holding portion 36.
  • the wire drawing mechanism is described as the first robot 40 including the robot arm 42 and the robot hand 44, but this is not essential.
  • the electric wire drawing mechanism may be provided with a connector holder that holds the connector 14 as a holding portion, and may be provided with an actuator that is configured by a cylinder or a linear motor as a moving mechanism and moves the connector holder.
  • the wire drawing mechanism is preferably fixed to a frame or the like, for example.
  • the robot hand 44 demonstrated as what hold
  • the robot hand 44 may be formed, for example, in a fork shape and hooked on the connector 14 to move the connector 14.
  • the robot hand 44 holding the connector 14 or the electric wire 11 is moved vertically upward, but this is not essential.
  • the robot hand holding the connector 14 or the electric wire 11 may be moved in the horizontal direction, may be moved vertically downward, or moved in a direction inclined with respect to the vertical direction and the horizontal direction. It may be allowed.
  • the pair of elastic plate members 34 are preferably arranged along the moving direction of the robot hand 44. That is, the moving direction of the robot hand 44 may be a direction orthogonal to the main surface of the elastic plate member 34. However, the moving direction of the robot hand 44 may be a direction inclined from a direction orthogonal to the main surface of the elastic plate member 34.
  • the moving direction of the robot hand 44 is a direction inclined from the direction orthogonal to the main surface of the elastic plate member 34 to the side opposite to the opening (entrance / exit) of the notch 34h along the extending direction of the notch 34h. It is thought that it is.
  • the imaging unit 70 has been described as being mounted on the first robot 40, but this is not necessarily required.
  • the imaging unit 70 may be movably installed on another robot arm 52 or may be fixedly installed at another location.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Installation Of Indoor Wiring (AREA)
  • Automatic Assembly (AREA)

Abstract

L'objectif de la présente invention est de permettre le regroupement d'une pluralité de câbles s'étendant hors d'un connecteur, pendant que l'état de chaque fil s'étendant hors du connecteur est aussi droit que possible. Ce dispositif de production de faisceau de câbles comprend un élément de serrage de câbles et un premier robot. L'élément de serrage de câbles comporte au moins une partie de serrage destinée à serrer la pluralité de câbles dans un état laissant la pluralité de câbles coulisser tout en étant tirée vers l'extérieur. Le premier robot comprend : une main de robot destinée à maintenir, pendant que la pluralité de câbles est dans un état serré au moyen de l'élément de serrage de câbles, le connecteur ou une partie, à l'intérieur de la pluralité de câbles, entre le connecteur et l'élément de serrage de câbles; et un bras de robot amenant la main de robot à s'éloigner de l'élément de serrage de câbles. Le premier robot retire la pluralité de câbles serrés par l'élément de serrage de câbles.
PCT/JP2017/024340 2016-07-14 2017-07-03 Système de production de faisceau de câbles et procédé de production de faisceau de câbles WO2018012337A1 (fr)

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JP2016-139130 2016-07-14

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN113994440A (zh) * 2019-06-17 2022-01-28 株式会社自动网络技术研究所 线束的制造方法及制造装置
WO2024002700A1 (fr) * 2022-07-01 2024-01-04 Lisa Dräxlmaier GmbH Encapsulation et mise en place stationnaires et entièrement automatisées de parties de maintien

Families Citing this family (2)

* Cited by examiner, † Cited by third party
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CN110767381B (zh) * 2019-11-14 2021-08-24 上海应用技术大学 一种线束自动包覆设备的控制方法
GB2620951A (en) * 2022-07-27 2024-01-31 Aptiv Tech Ltd Automated wire taping system

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JPH08222047A (ja) * 1995-02-10 1996-08-30 Sumitomo Wiring Syst Ltd 電線束組立体のテーピング装置およびそれを用いたテーピング方法
JPH103826A (ja) * 1996-06-14 1998-01-06 Koito Mfg Co Ltd 車両用灯具コードの製造方法及びその製造用金型並びに車両用灯具コードの構造
JP2008135199A (ja) * 2006-11-27 2008-06-12 Sumitomo Wiring Syst Ltd ワイヤーハーネス組立用補助装置及びワイヤーハーネスの製造方法
JP2012204309A (ja) * 2011-03-28 2012-10-22 Furukawa Electric Co Ltd:The ワイヤハーネスの製造方法

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JPH08222047A (ja) * 1995-02-10 1996-08-30 Sumitomo Wiring Syst Ltd 電線束組立体のテーピング装置およびそれを用いたテーピング方法
JPH103826A (ja) * 1996-06-14 1998-01-06 Koito Mfg Co Ltd 車両用灯具コードの製造方法及びその製造用金型並びに車両用灯具コードの構造
JP2008135199A (ja) * 2006-11-27 2008-06-12 Sumitomo Wiring Syst Ltd ワイヤーハーネス組立用補助装置及びワイヤーハーネスの製造方法
JP2012204309A (ja) * 2011-03-28 2012-10-22 Furukawa Electric Co Ltd:The ワイヤハーネスの製造方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113994440A (zh) * 2019-06-17 2022-01-28 株式会社自动网络技术研究所 线束的制造方法及制造装置
WO2024002700A1 (fr) * 2022-07-01 2024-01-04 Lisa Dräxlmaier GmbH Encapsulation et mise en place stationnaires et entièrement automatisées de parties de maintien

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