WO2018074245A1 - Wire harness manufacturing assistance device - Google Patents

Wire harness manufacturing assistance device Download PDF

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Publication number
WO2018074245A1
WO2018074245A1 PCT/JP2017/036275 JP2017036275W WO2018074245A1 WO 2018074245 A1 WO2018074245 A1 WO 2018074245A1 JP 2017036275 W JP2017036275 W JP 2017036275W WO 2018074245 A1 WO2018074245 A1 WO 2018074245A1
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WO
WIPO (PCT)
Prior art keywords
holding
assembly
sub
hand
wire harness
Prior art date
Application number
PCT/JP2017/036275
Other languages
French (fr)
Japanese (ja)
Inventor
信一朗 岩田
Original Assignee
住友電装株式会社
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Filing date
Publication date
Application filed by 住友電装株式会社 filed Critical 住友電装株式会社
Publication of WO2018074245A1 publication Critical patent/WO2018074245A1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • 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 manufacturing a wire harness.
  • Patent Document 1 manufactures a subassembly in which a plurality of electric wire ends are inserted into a connector housing and the like, and a plurality of electric wires are collected, and the plurality of subassemblies are arranged on the assembly drawing board. Discloses a technique for manufacturing a final wire harness from a plurality of subassemblies.
  • an object of the present invention is to enable a wire harness to be manufactured at a low cost.
  • a first aspect is a wire harness manufacturing support device in which a sub-assembly or electric wires in which a plurality of electric wires are gathered via a plurality of connectors are arranged on an assembly drawing board, An assembly drawing plate in which a plurality of holders capable of holding a sub-assembly or electric wire are erected, a holding bar provided with a plurality of end holding portions for holding a plurality of ends of the sub-assembly or electric wire, and A holding bar holding portion that holds the holding bar at a standby position around the assembly drawing plate; a hand that grips a part of the sub-assembly or electric wire; and a hand moving mechanism that moves the hand; A transfer robot for holding a part of the subassembly or the electric wire held by the holding bar and transferring the subassembly or the electric wire to the plurality of holding members of the assembly drawing board.
  • a second aspect is the wire harness manufacturing support apparatus according to the first aspect, wherein the transfer robot (a) grips one of a plurality of end portions of the sub-assembly, and An operation of holding at least one of the plurality of holders, and (b) one of the plurality of ends of the subassembly being held by at least one of the plurality of holders, The operation which handles an assembly is performed.
  • 3rd aspect is a manufacturing support apparatus of the wire harness which concerns on 2nd aspect, Comprising:
  • the said transfer robot is (c) after said operation
  • the fourth aspect is a wire harness manufacturing support apparatus according to any one of the first to third aspects, wherein the transfer robot includes a force detection unit that detects a force applied to the hand, When it is determined that an excessive force is applied based on the detection output of the force detector, the operation of the transfer robot is stopped.
  • the fifth aspect is a wire harness manufacturing support apparatus according to the fourth aspect, wherein the force detection unit is a six-axis sensor provided on the base end side of the hand.
  • the transfer robot grips a part of the sub-assembly or the electric wire with the hand, and transfers the sub-assembly or the electric wire held by the holding bar to the plurality of holders of the assembly drawing board. Therefore, the worker's manual work can be performed by the transfer robot, and the wire harness can be manufactured at low cost.
  • the second aspect it is possible to dispose slack or the like on the assembly drawing board along the path as accurate as possible by handling the intermediate wire of the sub-assembly.
  • the intermediate wire of the sub-assembly can be handled and suppressed on the assembly drawing board along the path as accurate as possible while suppressing slack.
  • FIG. 1 is a schematic perspective view showing a wire harness manufacturing support apparatus 20.
  • the wire harness manufacturing support apparatus 20 is configured to dispose the subassembly 14 or the electric wires in which the plurality of electric wires 11 are gathered via the plurality of connectors 12 on the assembly drawing board 30, A holding bar 42, a holding bar holding unit 40, and a transfer robot 50 are provided.
  • the wire harness 10 is obtained by branching and binding a plurality of electric wires 11 each having a connector 12 attached to an end thereof in accordance with a wiring form in a vehicle or the like.
  • the subassies 14 and 15 are manufactured by connecting the ends of the plurality of wires 11 that are a part of all the wires 11 constituting the wire harness 10 to the connector 12. This is combined with the other subassemblies 14 and 15 and the other electric wires 11 to assemble into a single wire harness 10.
  • the wire harness manufacturing support device 20 transfers the sub-assies 14 and 15 or the electric wires 11 held by the holding bar 42 to the assembly drawing board 30.
  • the electric wire extended from the connector 12 is simplified and drawn by one line, in fact, the some electric wire 11 is often extended. Further, in this example, an example in which the subassemblies 14 and 15 are transferred will be described. However, the electric wires 11 may be held alone by the holding bar 42, and the electric wires 11 may be transferred to the assembly drawing board 30.
  • the assembly drawing board 30 is configured such that a plurality of holders 34A and 34B that can hold the sub-assies 14 and 15 or the electric wire 11 are provided upright. More specifically, the assembly drawing board 30 includes a drawing board main body 32 and holders 34A and 34B.
  • the figure board main body 32 is formed in a rectangular plate shape, and is supported at a predetermined height position by a frame or the like.
  • the holders 34A and 34B are jigs for holding the wire harness 10, for example, jigs in which a U-shaped part is formed at the upper end.
  • the electric wires 11 are attached to the opening ends of the holders 34A and 34B. It is preferable to provide a spring piece or the like that allows movement in the insertion direction but suppresses movement in the opposite direction.
  • a well-known jig can be used as an overflow prevention jig.
  • the plurality of holders 34 ⁇ / b> A and 34 ⁇ / b> B include an end holder 34 ⁇ / b> A that holds the end of the wire harness 10 and an intermediate holder 34 ⁇ / b> B that holds an intermediate part of the wire harness 10.
  • the end holder 34 ⁇ / b> A that holds the end of the wire harness 10 has a configuration in which a set recess that can hold the connector 12 is formed. By holding the connector 12, the end of the wire harness 10 is held. It is also conceivable that this is a configuration.
  • the holding bar 42 is configured to include a plurality of end holding portions 44 that hold the sub assemblies 14, 15 or the ends of the electric wires 11 so as to be removable.
  • the holding bar 42 has a configuration in which a plurality of end holding portions 44 are formed at a plurality of positions at intervals along the extending direction of the long member.
  • the end holding part 44 is a slit formed so as to reach the lower part from the upper side surface of the holding bar 42, and the sub holding part 42 is arranged from the upper side of the end holding part 44 in a state where the holding bar 42 is disposed in a horizontal posture.
  • the end portion of the sub-assembly 14, 15 or the electric wire 11 is held in a state where it can be taken out with respect to the end holding portion 44.
  • the end holding portion 44 is preferably configured such that a slit is formed in an elastic member such as rubber, and the end portions of the subassemblies 14 and 15 or the electric wire 11 held by the end holding portion 44 are connected to the slits. When pulled out to the opening side, it can be taken out from the end holding portion 44.
  • the holding bar holding unit 40 is configured to hold the holding bar 42 at a standby position around the assembly drawing board 30.
  • the holding bar holding part 40 is, for example, a member in which a set recess 41 into which the holding bar 42 can be fitted from above is formed.
  • the holding bar holding unit 40 may be configured such that one end of the subassembly 14 or 15 held by the holding bar 42 is held by the end holder 34A and the other end of the subassembly 14 or 15 is held. Is provided at a position near the assembly drawing board 30 so that the state can be kept held by the holding bar 42.
  • a holding bar supply holding unit 48 capable of holding the holding bar 42 is provided at a position farther from the assembly drawing board 30 than the holding bar holding unit 40.
  • the holding bar supply holding unit 48 is a member in which a set concave portion 49 into which the holding bar 42 can be fitted from above is formed.
  • the holding bar 42 holding the sub-assies 14, 15, etc. is supplied to the holding bar supply holding portion 48 located relatively far from the assembly drawing board 30. Then, the holding bar 42 set in the holding bar supply holding unit 48 is transferred and moved to the holding bar holding unit 40 by the transfer robot 50. In this state, the sub robots 14 and 15 are transferred from the holding bar 42 toward the assembly drawing board 30 by the transfer robot 50.
  • the sub-assy 14, 15 and the like are held on the holding bar 42.
  • the sub-assies 14 and 15 are usually in a state in which a plurality of end portions are held by the end holding portion 44 and an intermediate portion thereof hangs down in a U shape.
  • the intermediate portions of the subassemblies 14 and 15 are held in order to prevent the intermediate portions of the subassies 14 and 15 from interfering with the holding bar 42 and the like. It is preferable to hang down to the assembly drawing board 30 side with respect to the bar 42.
  • the transfer robot 50 includes a hand 52 and a hand moving mechanism unit 56, and grips a part of the sub-assy 14, 15, etc. with the hand 52, and holds the sub-assy 14, 15 held by the holding bar 42.
  • the holders 34A and 34B of the assembly drawing board 30 can be transferred.
  • the transfer robot 50 is provided around the assembly drawing board 30.
  • the hand 52 is a hand that performs an operation of gripping or handling the bundle of the electric wires 11.
  • the hand moving mechanism unit 56 moves the hand 52, and here, it is constituted by a general vertical articulated robot, and the hand 52 is attached to the tip portion thereof.
  • the hand moving mechanism unit 56 may be an orthogonal robot or the like.
  • FIG. 2 is a schematic perspective view showing the tip of the transfer robot 50, that is, the portion where the hand 52 is provided.
  • a rotation drive unit 51a including a motor or the like is attached to the distal end portion of the arm 51 of the transfer robot 50, and the hand 52 is rotationally driven by the rotation drive unit 51a.
  • a common base 51B is attached to the tip of the arm 51, and hands 52 and 53 are attached to the common base 51B.
  • the common base 51B is formed in a rectangular frame shape, and a hand 52 is attached to a surface of the common base 51B opposite to the arm 51, and a hand 53 is attached to one side in front of the common base 51B.
  • the hand 52 mainly handles the electric wire 11 and handles a plurality of electric wires 11, and is driven to open and close by a driving unit 52a configured by an air cylinder, a hydraulic cylinder, and the like.
  • a pair of claw portions 52F The front ends of the pair of claws 52F are bent in the approaching direction.
  • one tip portion 52Fa of the pair of claw portions 52F can be inserted between the tip portions 52Fb of the other claw portion 52F. For this reason, in a state where the pair of claw portions 52F are brought close to each other and the bundle of the electric wires 11 is gripped therebetween, the bundle of the electric wires 11 is not easily dropped from between the pair of claw portions 52F.
  • the hand 53 is mainly for gripping the holding bar 42, and includes a drive part 53a configured by an air cylinder, a hydraulic cylinder, and the like, and a pair of claw parts 53F that are opened and closed by the drive part 53a. .
  • a drive part 53a configured by an air cylinder, a hydraulic cylinder, and the like
  • claw parts 53F that are opened and closed by the drive part 53a.
  • a force sensor 54 as a force detection unit is provided on the proximal end side of the hand 52, here, between the common base 51B and the arm 51.
  • the force sensor 54 is configured to detect a force applied to the hand 52.
  • the force sensor 54 includes a Y-axis direction that is an opening and closing direction of the pair of claw portions 52F of the hand 52, a Z-axis direction that is a direction connecting the base ends and the distal ends of the pair of claw portions 52F, and X orthogonal to these. It is constituted by a six-axis force sensor capable of detecting three force components applied in the respective axial directions and torque components acting around the three axial directions.
  • the force applied to the hand 52 can be detected by the force sensor 54 while the hand 52 is moved by the hand moving mechanism 56 while the hand 52 is gripping the electric wire 11.
  • the detection output of the force sensor 54 is given to the control unit 60.
  • the force sensor 54 need not be a 6-axis force sensor, and may be a 3-axis force sensor or the like.
  • an imaging unit 58 may be provided on the common base 51B or the like.
  • the imaging unit 58 is configured by a CCD camera or the like, and is configured to be able to image the electric wires 11 of the subassemblies 14 and 15, the connector 12, and the like, and the hand 52 uses the electric wires 11 and the like of the predetermined end holding unit 44.
  • FIG. 3 is a block diagram showing an electrical configuration of the wire harness manufacturing support apparatus 20.
  • the control unit 60 is configured by a general computer in which a CPU 62, a RAM 63, a storage unit 64, and the like are interconnected via a bus line 61.
  • the storage unit 64 is configured by a nonvolatile storage device such as a flash memory or a hard disk device, and stores a basic program, a transfer program 64a, bar position data 64b, and wiring data 64c.
  • the bar position data 64b is the position of each end of the sub-assy 14, 15 in the holding bar 42 held at the standby position (position data of each end holding portion 44, which end holding portion 44 holds the end).
  • the wiring data 64c indicates the wiring path of the sub-assies 14 and 15 in the assembly drawing board 30 (especially which holding tool 34A holds the end portion and which intermediate portion).
  • the transfer program 64a refers to the holding position data of the end portions of the subassies 14 and 15 in the bar position data 64b and the position data of the holders 34A and 34B in the wiring data 64c, and the like.
  • the opening / closing control of the hand 52 of the robot 50 and the movement control of the hand 52 are performed, and the sub-assy 14, 15 is moved from the holding bar 42 to the assembly drawing board 30.
  • the instruction to transfer to is described.
  • the outputs of the imaging unit 58 and the force sensor 54 are input to the control unit 60 through the input / output unit 66.
  • a control command from the control unit 60 is given to the transfer robot 50 through the input / output unit 67.
  • FIG. 4 is a flowchart showing the main flow of the transfer program 64a.
  • step S1 the control unit 60 instructs the transfer robot 50 to transfer the holding bar 42 held by the holding bar supply holding unit 48 to the holding bar holding unit 40 and move it. give.
  • the holding bar 42 is set on the holding bar 42 and is in a standby state at the standby position (see FIG. 7).
  • Step S2 the control unit 60 gives a command to transfer the subassemblies 14 and 15 to the assembly drawing board 30.
  • Step S2 will be described later separately for a transfer instruction for the sub-assembly 14 and a transfer instruction for the sub-assembly 15.
  • step S3 it is determined whether or not there is a next sub-assembly. If there is a next sub-assembly to be transferred, the process returns to step S2 to transfer the next sub-assembly, and the transfer target. If there is no next sub-assy, the process is terminated.
  • step S11 the control unit 60 determines the presence / absence of an abnormality based on the detection result of the force sensor 54. For example, each force component and each torque component in the X-axis direction, the Y-axis direction, and the Z-axis direction of the force sensor 54 are monitored, and if any of them exceeds a predetermined reference value, it is determined that there is an abnormality.
  • the predetermined reference value is set empirically and experimentally as a value that can be generated when, for example, the subassembly 14 or 15 is caught in another part or the electric wire 11 is entangled and the hand 52 is caught in this. Values can be adopted. If it is determined that there is no abnormality, the process of step S11 is repeated. If it is determined that there is an abnormality, a robot stop signal is output. This robot stop signal is given as an interrupt signal during the processing shown in FIG. 4, whereby the operation of the transfer robot 50 is stopped.
  • FIG. 6 is a flowchart describing step S2 as processing to be performed on the sub-assembly 14.
  • the sub-assembly 14 has a configuration in which two connectors 12 are connected to both ends of a plurality of electric wires 11 forming one bundle. Both end portions of the sub-assembly 14 are separately held by the plurality of end holding portions 44 of the holding bar 42 at the standby position.
  • step S21 the control unit 60 moves the one end of the sub-assembly 14 to the one end holder 34A (the left side of the assembly drawing board 30) of the assembly drawing board 30.
  • An end movement command is given to the robot 50.
  • the transfer robot 50 grips one end of the sub-assembly 14 held by the holding bar 42 with the hand 52, and then the hand 52 by the hand moving mechanism 56. Is moved so that one end of the sub-assembly 14 is held in one end holder 34A of the assembly drawing board 30.
  • the control unit 60 gives a command to the transfer robot 50 so as to handle the plurality of electric wires 11 extending from one end portion of the sub assembly 14 to the intermediate portion.
  • the transfer robot 50 moves the hand 52 in a direction away from the end holder 34 ⁇ / b> A while holding the plurality of electric wires 11.
  • the hand 52 moves toward the vicinity of the intermediate holding tool 34B that holds the intermediate portion of the subassembly 14. Since the connector 12 at the end of the sub-assembly 14 is held so as not to be pulled out by the end holder 34A, the plurality of electric wires 11 extending from the connector 12 are handled so as to form a straight line.
  • control unit 60 gives a command to the transfer robot 50 so that the intermediate portion of the sub-assembly 14 is held by the intermediate holder 34B. Then, the transfer robot 50 releases the grip by the hand 52 after holding the intermediate portion of the subassembly 14 on the intermediate holder 34B.
  • one end of the sub assembly 14 is held by the end holder 34A and the intermediate portion is held by the intermediate holder 34B, and the other end of the sub assembly 14 is held at the standby position.
  • the bar 42 is held by the end holding portion 44.
  • the control unit 60 moves the other end of the sub assembly 14 to the other end holder 34A (the right side of the assembly drawing board 30) of the assembly drawing board 30.
  • An end movement command is given to the transfer robot 50.
  • the transfer robot 50 grips the other end of the sub-assembly 14 held by the holding bar 42 with the hand 52, and then the hand 52 by the hand moving mechanism 56. Is moved to hold the other end of the sub-assembly 14 in the other end holder 34A of the assembly drawing board 30. Thereafter, gripping by the hand 52 is released.
  • both end portions of the sub-assembly 14 are held by the two end holders 34 ⁇ / b> A, and the intermediate portion is held by the intermediate holder 34 ⁇ / b> B, and is arranged in a straight line. .
  • FIG. 11 is a flowchart describing step S2 as processing to be performed on the sub-assembly 15.
  • the subassembly 15 includes a plurality of electric wires 11 extending from one connector 12, and the connector 12 is connected to the end of each of the divided electric wires 11. It is set as the structure. That is, the subassembly 15 has a configuration in which a plurality of electric wires 11 extending from one connector 12 are branched and connected to different connectors 12 respectively. The three end portions of the sub-assembly 15 are separately held by a plurality of end holding portions 44 of the holding bar 42 in the standby position.
  • step S31 the control unit 60 moves one branch side end of the sub assembly 15 to one end holder 34A (on the left side of the assembly drawing plate 30) of the assembly drawing plate 30.
  • An end movement command is given to the transfer robot 50. Accordingly, as shown in FIG. 12, the transfer robot 50 grips one branch-side end portion of the subassembly 15 held by the holding bar 42 with the hand 52, and then the hand moving mechanism unit 56 The hand 52 is moved so that one end of the sub-assembly 15 is held in one end holder 34 ⁇ / b> A of the assembly drawing board 30.
  • control unit 60 gives a command to the transfer robot 50 so as to handle the plurality of electric wires 11 extending from one branch side end of the subassembly 15 to the intermediate portion.
  • control unit 60 gives a command to the transfer robot 50 so that the intermediate holder 34B holds the portion from the middle from the one branch side end of the sub assembly 15.
  • control unit 60 gives a command to the transfer robot 50 so as to handle a plurality of electric wires 11 extending from one branch side end of the subassembly 15 to the intermediate portion.
  • control unit 60 gives a command to the transfer robot 50 so that the intermediate holding tool 34B holds a portion further from the middle than the one branch side end of the sub assembly 15.
  • Steps S36 to S40 similar to Steps S31 to S35 are also performed on the other branch side end of the subassembly 15.
  • the other branch side end of the sub-assembly 15 is held by the end holder 34A (in the upper center of the assembly drawing plate 30) and more than that.
  • a plurality (here, two) of intermediate holding tools 34B are sequentially held.
  • the ends of the two branch sides of the subassembly 15 are held by a plurality of common intermediate holders 34B, and are brought into a single state.
  • the control unit 60 moves the other common end of the sub assembly 14 to the other end holder 34A (the one on the upper left side of the assembly drawing plate 30) of the assembly drawing plate 30.
  • an end movement command is given to the transfer robot 50.
  • the control unit 60 gives an instruction to hold the other common end of the sub assembly 14 on the intermediate holder 34B and then hold it on the end holder 34A.
  • the transfer robot 50 grips the other common end of the subassembly 15 held by the holding bar 42 with the hand 52, and then moves the hand moving mechanism 56.
  • the hand 52 is moved by the above operation so that the other common side end of the sub assembly 15 is held by the intermediate holder 34B of the assembly drawing board 30, and then the other assembly of the sub assembly 15 is maintained so as to keep the holding state.
  • the end on the common side is pulled out, and then held in the other one end holder 34A.
  • each end portion of the sub-assembly 15 is held by the three end holders 34A, and the intermediate portion is held by the intermediate holder 34B.
  • the intermediate portions of the subassemblies 14 and 15 are wired along a common path.
  • the wire harness 10 is manufactured by bundling a plurality of electric wires 11 on the assembly drawing board 30 using a robot or the like to which a known tape winding device is attached as a hand or a hand.
  • empty holding bar 42 may be moved to the holding bar supply holding unit 48 by the transfer robot 50.
  • the wire harness 10 may be attached with a clamp part for fixing to the vehicle, a protector for protection, or the like, if necessary.
  • the transfer robot 50 holds the subassies 14 and 15 or a part of the electric wire 11 with the hand 52 and holds it on the holding bar 42. Since the subassembly 14, 15 or the electric wire 11 is transferred to the plurality of holders 34A, 34B of the assembly drawing board 30, the manual operation of the operator can be performed by the transfer robot 50, and the wire harness 10 is reduced in cost. Can be manufactured.
  • the transfer robot 50 holds one end of the sub-assies 14 and 15 and holds it on one end holder 34A, and the one end is held on the end holder 34A.
  • the wires 11 in the middle of the sub-assies 14 and 15 are handled so as to suppress loosening and the like, and along the path as accurate as possible. It can be arranged on the assembly drawing board 30.
  • the transfer robot 50 handles the intermediate wire 11 between the subassemblies 14 and 15 as described above, and then holds the intermediate portion of the subassies 14 and 15 on at least one intermediate holder 34B. In a state where the intermediate electric wires 11 between the assemblies 14 and 15 are handled and the slack is suppressed and gathered, it can be arranged on the assembly drawing board 30 along the path as accurate as possible while maintaining the state.
  • an excessive force is applied based on the detection output of the force sensor 54, an excessive force is applied to the sub-assy 14, 15 or the electric wire 11 in order to stop the operation of the transfer robot 50. This can suppress the occurrence of defective products.
  • the operator may confirm the situation, release the catch manually, or perform the following work.
  • a plurality of robots may be used as the transfer robot.
  • the hand 152 of the other robot moves the intermediate portion of the sub assembly 15.
  • the electric wire 11 may be supported so as not to be caught by the other holding tools 34A and 34B.
  • the intermediate portion of the sub-assembly 15 when the intermediate portion of the sub-assembly 15 is held by the intermediate holder 34 ⁇ / b> B by the hand 52 of the transfer robot 50, the positions of both sides of the intermediate holder 34 ⁇ / b> B are set to the hand 52 and the hand.
  • the intermediate portion of the sub-assembly 15 may be smoothly held by the intermediate holder 34B.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)

Abstract

The purpose of the present invention is to enable low-cost manufacturing of a wire harness. A wire harness manufacturing assistance device is provided with: an assembly drawing board on which a plurality of holders each capable of holding a sub-assembly or electric wire are provided in a standing manner; and a transfer robot which includes a holding bar provided with a plurality of end holding parts each for demountably holding a plurality of ends of the sub-assembly or electric wire, a holding bar holding part for holding the holding bar at a standby position around the assembly drawing board, a hand for grasping a portion of the sub assembly or electric wire, and a hand moving mechanism part for moving the hand, and while grasping the portion of the sub-assembly or electric wire by the hand, transfers the sub-assembly or electric wire held by the holding bar to the plurality of holders of the assembly drawing board.

Description

ワイヤーハーネスの製造支援装置Wire harness manufacturing support equipment
　この発明は、ワイヤーハーネスを製造する技術に関する。 This invention relates to a technique for manufacturing a wire harness.
　特許文献１は、複数の電線端部をコネクタハウジングに挿入等して複数の電線をまとめたサブアッシーを製造し、複数のサブアッシーを組立図板上に配設し、当該組立図板上で、複数のサブアッシーから最終的なワイヤーハーネスを製造する技術を開示している。 Patent Document 1 manufactures a subassembly in which a plurality of electric wire ends are inserted into a connector housing and the like, and a plurality of electric wires are collected, and the plurality of subassemblies are arranged on the assembly drawing board. Discloses a technique for manufacturing a final wire harness from a plurality of subassemblies.
特開２０１２－１６９３０２号公報JP 2012-169302 A
　しかしながら、従来では、作業者が人手によってサブアッシーを組立図板上に移し替えていたため、製造コストが高いという問題があった。 However, in the past, there was a problem that the manufacturing cost was high because the operator manually moved the subassembly onto the assembly drawing board.
　そこで、本発明は、ワイヤーハーネスを低コストで製造できるようにすることを目的とする。 Therefore, an object of the present invention is to enable a wire harness to be manufactured at a low cost.
　上記課題を解決するため、第１の態様は、複数の電線が複数のコネクタを介してまとめられたサブアッシー又は電線を、組立図板上に配設するワイヤーハーネスの製造支援装置であって、サブアッシー又は電線を保持可能な保持具が複数立設された組立図板と、サブアッシー又は電線の複数の端部を取出可能に保持する端部保持部が複数設けられた保持バーと、前記保持バーを前記組立図板周りの待機位置で保持する保持バー保持部と、サブアッシー又は電線の一部を把持するハンドと、前記ハンドを移動させるハンド移動機構部とを含み、サブアッシー又は電線の一部を前記ハンドで把持して、前記保持バーに保持されたサブアッシー又は電線を、前記組立図板の複数の保持具に移し替える移替用ロボットとを備える。 In order to solve the above-mentioned problem, a first aspect is a wire harness manufacturing support device in which a sub-assembly or electric wires in which a plurality of electric wires are gathered via a plurality of connectors are arranged on an assembly drawing board, An assembly drawing plate in which a plurality of holders capable of holding a sub-assembly or electric wire are erected, a holding bar provided with a plurality of end holding portions for holding a plurality of ends of the sub-assembly or electric wire, and A holding bar holding portion that holds the holding bar at a standby position around the assembly drawing plate; a hand that grips a part of the sub-assembly or electric wire; and a hand moving mechanism that moves the hand; A transfer robot for holding a part of the subassembly or the electric wire held by the holding bar and transferring the subassembly or the electric wire to the plurality of holding members of the assembly drawing board.
　第２の態様は、第１の態様に係るワイヤーハーネスの製造支援装置であって、前記移替用ロボットは、（ａ）サブアッシーの複数の端部のうちの１つを把持して、前記複数の保持具のうちの少なくとも１つに保持させる動作と、（ｂ）サブアッシーの複数の端部のうちの１つが前記複数の保持具のうちの少なくとも１つに保持された状態で、サブアッシーを扱く動作と、を実行するものである。 A second aspect is the wire harness manufacturing support apparatus according to the first aspect, wherein the transfer robot (a) grips one of a plurality of end portions of the sub-assembly, and An operation of holding at least one of the plurality of holders, and (b) one of the plurality of ends of the subassembly being held by at least one of the plurality of holders, The operation which handles an assembly is performed.
　第３の態様は、第２の態様に係るワイヤーハーネスの製造支援装置であって、前記移替用ロボットは、（ｃ）前記動作（ｂ）の後、さらに、サブアッシーの中間部分を前記複数の保持具のうちの少なくとも１つに保持させる動作と、この動作（ｃ）の後、サブアッシーの複数の端部のうちの他の端部を把持して、前記複数の保持具のうちの少なくとも１つに保持させる動作と、を実行するものである。 3rd aspect is a manufacturing support apparatus of the wire harness which concerns on 2nd aspect, Comprising: The said transfer robot is (c) after said operation | movement (b), Furthermore, the intermediate part of a sub-assembly is said plurality. And holding the other end of the plurality of ends of the sub-assembly after the operation (c), and holding the other end of the plurality of holders. And at least one operation to be held.
　第４の態様は、第１から第３のいずれか１つの態様に係るワイヤーハーネスの製造支援装置であって、前記移替用ロボットは、前記ハンドに加わる力を検出する力検出部を含み、前記力検出部の検出出力に基づいて、過大な力が加わったと判断されたときに、前記移替用ロボットの動作を停止させるものである。 The fourth aspect is a wire harness manufacturing support apparatus according to any one of the first to third aspects, wherein the transfer robot includes a force detection unit that detects a force applied to the hand, When it is determined that an excessive force is applied based on the detection output of the force detector, the operation of the transfer robot is stopped.
　第５の態様は、第４の態様に係るワイヤーハーネスの製造支援装置であって、前記力検出部は、前記ハンドの基端側に設けられた６軸センサとされている。 The fifth aspect is a wire harness manufacturing support apparatus according to the fourth aspect, wherein the force detection unit is a six-axis sensor provided on the base end side of the hand.
　第１の態様によると、移替用ロボットによって、サブアッシー又は電線の一部を前記ハンドで把持して、保持バーに保持されたサブアッシー又は電線を、組立図板の複数の保持具に移し替えるため、作業者の人手作業を移替用ロボットによって行うことができ、ワイヤーハーネスを低コストで製造できる。 According to the first aspect, the transfer robot grips a part of the sub-assembly or the electric wire with the hand, and transfers the sub-assembly or the electric wire held by the holding bar to the plurality of holders of the assembly drawing board. Therefore, the worker's manual work can be performed by the transfer robot, and the wire harness can be manufactured at low cost.
　第２の態様によると、サブアッシーの中間の電線を扱いて弛み等を抑制してなるべく正確な経路に沿って組立図板上に配設することができる。 According to the second aspect, it is possible to dispose slack or the like on the assembly drawing board along the path as accurate as possible by handling the intermediate wire of the sub-assembly.
　第３の態様によると、サブアッシーの中間の電線を扱いて弛み等を抑制してなるべく正確な経路に沿って組立図板上に配設することができる。 According to the third aspect, the intermediate wire of the sub-assembly can be handled and suppressed on the assembly drawing board along the path as accurate as possible while suppressing slack.
　第４の態様によると、サブアッシー又は電線に無理な力が加わることが抑制される。 According to the fourth aspect, excessive force is suppressed from being applied to the sub-assembly or the electric wire.
　第５の態様によると、ハンドが各種方向に移動する際に、過大な力が加わったことを検出できる。 According to the fifth aspect, it can be detected that an excessive force is applied when the hand moves in various directions.
実施形態に係るワイヤーハーネスの製造支援装置を示す概略斜視図である。It is a schematic perspective view which shows the manufacture support apparatus of the wire harness which concerns on embodiment. 移替用ロボットハンドが設けられた部分を示す概略斜視図である。It is a schematic perspective view which shows the part in which the robot hand for transfer was provided. ワイヤーハーネスの製造支援装置の電気的構成を示すブロック図である。It is a block diagram which shows the electrical constitution of the manufacture assistance apparatus of a wire harness. 移し替えプログラムのメインの流れを示すフローチャートである。It is a flowchart which shows the main flow of a transfer program. 監視処理を示すフローチャートである。It is a flowchart which shows the monitoring process. サブアッシーを移し替える処理を示すフローチャートである。It is a flowchart which shows the process which transfers a sub assembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. 他のサブアッシーを移し替える処理を示すフローチャートである。It is a flowchart which shows the process which transfers another sub assembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. サブアッシーを移し替える工程を示す説明図である。It is explanatory drawing which shows the process of transferring a subassembly. ロボットを追加した場合の動作例を示す説明図である。It is explanatory drawing which shows the operation example at the time of adding a robot. ロボットを追加した場合の他の動作例を示す説明図である。It is explanatory drawing which shows the other operation example at the time of adding a robot.
　以下、実施形態に係るワイヤーハーネスの製造支援装置について説明する。図１はワイヤーハーネスの製造支援装置２０を示す概略斜視図である。 Hereinafter, the manufacturing support apparatus of the wire harness which concerns on embodiment is demonstrated. FIG. 1 is a schematic perspective view showing a wire harness manufacturing support apparatus 20.
　ワイヤーハーネスの製造支援装置２０は、複数の電線１１が複数のコネクタ１２を介してまとめられたサブアッシー１４又は電線を、組立図板３０上に配設するものであり、組立図板３０と、保持バー４２と、保持バー保持部４０と、移替用ロボット５０とを備える。 The wire harness manufacturing support apparatus 20 is configured to dispose the subassembly 14 or the electric wires in which the plurality of electric wires 11 are gathered via the plurality of connectors 12 on the assembly drawing board 30, A holding bar 42, a holding bar holding unit 40, and a transfer robot 50 are provided.
　ワイヤーハーネス１０は、端部にコネクタ１２が取付けられた複数の電線１１を、車両等における配線形態に合わせて分岐及び結束したものである。ワイヤーハーネス１０を組立てるにあたっては、ワイヤーハーネス１０を構成する全ての電線１１の一部である複数の電線１１の端部をコネクタ１２に接続してまとめたサブアッシー１４、１５を製造しておき、これを他のサブアッシー１４、１５及び他の電線１１と組合わせて、１つのまとまったワイヤーハーネス１０に組立てる作業が実施される。本ワイヤーハーネスの製造支援装置２０は、保持バー４２に保持されたサブアッシー１４、１５又は電線１１を、組立図板３０に移し替えるものである。なお、各図では、コネクタ１２から延出する電線が単純化して１本の線で描かれているが、実際には、複数の電線１１が延出していることが多い。また、本例では、サブアッシー１４、１５を移し替える例で説明するが、電線１１が単独で保持バー４２に保持されており、当該電線１１が組立図板３０に移し替えられてもよい。 The wire harness 10 is obtained by branching and binding a plurality of electric wires 11 each having a connector 12 attached to an end thereof in accordance with a wiring form in a vehicle or the like. In assembling the wire harness 10, the subassies 14 and 15 are manufactured by connecting the ends of the plurality of wires 11 that are a part of all the wires 11 constituting the wire harness 10 to the connector 12. This is combined with the other subassemblies 14 and 15 and the other electric wires 11 to assemble into a single wire harness 10. The wire harness manufacturing support device 20 transfers the sub-assies 14 and 15 or the electric wires 11 held by the holding bar 42 to the assembly drawing board 30. In addition, in each figure, although the electric wire extended from the connector 12 is simplified and drawn by one line, in fact, the some electric wire 11 is often extended. Further, in this example, an example in which the subassemblies 14 and 15 are transferred will be described. However, the electric wires 11 may be held alone by the holding bar 42, and the electric wires 11 may be transferred to the assembly drawing board 30.
　組立図板３０は、サブアッシー１４、１５又は電線１１を保持可能な保持具３４Ａ、３４Ｂが複数立設された構成とされている。より具体的には、組立図板３０は、図板本体３２と、保持具３４Ａ、３４Ｂとを備える。 The assembly drawing board 30 is configured such that a plurality of holders 34A and 34B that can hold the sub-assies 14 and 15 or the electric wire 11 are provided upright. More specifically, the assembly drawing board 30 includes a drawing board main body 32 and holders 34A and 34B.
　図板本体３２は、方形板状に形成されており、フレーム等によって所定の高さ位置に支持されている。 The figure board main body 32 is formed in a rectangular plate shape, and is supported at a predetermined height position by a frame or the like.
　保持具３４Ａ、３４Ｂは、ワイヤーハーネス１０を保持する治具であり、例えば、上端部にＵ字状部分が形成された治具である。保持具３４Ａ、３４Ｂに保持された電線１１（電線１１の束）が保持具３４Ａ、３４Ｂから抜け出ないように、保持具３４Ａ、３４Ｂの開口端部には、電線１１（電線１１の束）を挿入方向への移動を許容するが反対側の抜け方向への移動を抑制するばね片等が設けられていることが好ましい。このような保持具３４Ａ、３４Ｂ自体は、あふれ防止用の治具として周知のものを用いることができる。 The holders 34A and 34B are jigs for holding the wire harness 10, for example, jigs in which a U-shaped part is formed at the upper end. In order to prevent the electric wires 11 (a bundle of electric wires 11) held by the holders 34A and 34B from coming out of the holders 34A and 34B, the electric wires 11 (a bundle of electric wires 11) are attached to the opening ends of the holders 34A and 34B. It is preferable to provide a spring piece or the like that allows movement in the insertion direction but suppresses movement in the opposite direction. As such holders 34A and 34B themselves, a well-known jig can be used as an overflow prevention jig.
　複数の保持具３４Ａ、３４Ｂは、ワイヤーハーネス１０の端部を保持する端部保持具３４Ａと、ワイヤーハーネス１０の中間部を保持する中間保持具３４Ｂとを含む。ワイヤーハーネス１０の端部を保持する端部保持具３４Ａとしては、コネクタ１２を保持可能なセット凹部が形成された構成であり、当該コネクタ１２を保持することで、ワイヤーハーネス１０の端部を保持する構成であることも考えられる。 The plurality of holders 34 </ b> A and 34 </ b> B include an end holder 34 </ b> A that holds the end of the wire harness 10 and an intermediate holder 34 </ b> B that holds an intermediate part of the wire harness 10. The end holder 34 </ b> A that holds the end of the wire harness 10 has a configuration in which a set recess that can hold the connector 12 is formed. By holding the connector 12, the end of the wire harness 10 is held. It is also conceivable that this is a configuration.
　保持バー４２は、サブアッシー１４、１５又は電線１１の端部を取出可能に保持する端部保持部４４が複数設けられた構成とされている。ここでは、保持バー４２は、長尺部材の延在方向に沿って間隔をあけて複数箇所に端部保持部４４が複数形成された構成とされている。端部保持部４４は、保持バー４２の上側面から下方の途中に至るように形成されたスリットであり、保持バー４２を水平姿勢に配設した状態で、端部保持部４４の上側からサブアッシー１４、１５又は電線１１の端部を挿入することで、サブアッシー１４、１５又は電線１１の端部が当該端部保持部４４に対して取出可能な状態で保持される。端部保持部４４は、好ましくは、ゴム等の弾性部材にスリットが形成された構成であり、当該端部保持部４４に保持されたサブアッシー１４、１５又は電線１１の端部を、スリットの開口側に抜くと、当該端部保持部４４から取出すことができる。 The holding bar 42 is configured to include a plurality of end holding portions 44 that hold the sub assemblies 14, 15 or the ends of the electric wires 11 so as to be removable. Here, the holding bar 42 has a configuration in which a plurality of end holding portions 44 are formed at a plurality of positions at intervals along the extending direction of the long member. The end holding part 44 is a slit formed so as to reach the lower part from the upper side surface of the holding bar 42, and the sub holding part 42 is arranged from the upper side of the end holding part 44 in a state where the holding bar 42 is disposed in a horizontal posture. By inserting the end portions of the assembly 14, 15 or the electric wire 11, the end portion of the sub-assembly 14, 15 or the electric wire 11 is held in a state where it can be taken out with respect to the end holding portion 44. The end holding portion 44 is preferably configured such that a slit is formed in an elastic member such as rubber, and the end portions of the subassemblies 14 and 15 or the electric wire 11 held by the end holding portion 44 are connected to the slits. When pulled out to the opening side, it can be taken out from the end holding portion 44.
　保持バー保持部４０は、保持バー４２を組立図板３０周りの待機位置で保持可能に構成されている。保持バー保持部４０は、例えば、保持バー４２を上方から嵌込可能なセット凹部４１が形成された部材である。保持バー保持部４０は、例えば、保持バー４２に保持されたサブアッシー１４、１５の一つの端部を端部保持具３４Ａに保持させた状態で、当該サブアッシー１４、１５の他の端部を保持バー４２に保持させたままの状態とすることができるように、組立図板３０の近くの位置に設けられている。 The holding bar holding unit 40 is configured to hold the holding bar 42 at a standby position around the assembly drawing board 30. The holding bar holding part 40 is, for example, a member in which a set recess 41 into which the holding bar 42 can be fitted from above is formed. For example, the holding bar holding unit 40 may be configured such that one end of the subassembly 14 or 15 held by the holding bar 42 is held by the end holder 34A and the other end of the subassembly 14 or 15 is held. Is provided at a position near the assembly drawing board 30 so that the state can be kept held by the holding bar 42.
　また、保持バー保持部４０よりも、組立図板３０から離れた位置に、保持バー４２を保持可能な保持バー供給用保持部４８が設けられている。保持バー供給用保持部４８も、上記保持バー保持部４０と同様に、保持バー４２を上方から嵌込可能なセット凹部４９が形成された部材である。 Further, a holding bar supply holding unit 48 capable of holding the holding bar 42 is provided at a position farther from the assembly drawing board 30 than the holding bar holding unit 40. Similarly to the holding bar holding unit 40, the holding bar supply holding unit 48 is a member in which a set concave portion 49 into which the holding bar 42 can be fitted from above is formed.
　そして、組立図板３０から比較的離れた位置にある保持バー供給用保持部４８に、サブアッシー１４、１５等が保持された保持バー４２が供給される。すると、移替用ロボット５０によって、保持バー供給用保持部４８にセットされた保持バー４２が、保持バー保持部４０に移し替え移動される。この状態で、移替用ロボット５０によって、保持バー４２から組立図板３０に向けて、サブアッシー１４、１５等の移し替えがなされる。 Then, the holding bar 42 holding the sub-assies 14, 15, etc. is supplied to the holding bar supply holding portion 48 located relatively far from the assembly drawing board 30. Then, the holding bar 42 set in the holding bar supply holding unit 48 is transferred and moved to the holding bar holding unit 40 by the transfer robot 50. In this state, the sub robots 14 and 15 are transferred from the holding bar 42 toward the assembly drawing board 30 by the transfer robot 50.
　なお、待機位置において保持バー４２が保持された状態で、当該保持バー４２にはサブアッシー１４、１５等が保持される。サブアッシー１４、１５は、通常、複数の端部が端部保持部４４に保持され、その中間部がＵ字状に垂れ下がった状態となっている。サブアッシー１４、１５の端部を保持具３４Ａに移し替える際に、サブアッシー１４、１５の中間部が保持バー４２等に干渉しないようにするため、サブアッシー１４、１５の中間部は、保持バー４２に対して組立図板３０側に垂れ下がっていることが好ましい。 In addition, in the state where the holding bar 42 is held at the standby position, the sub-assy 14, 15 and the like are held on the holding bar 42. The sub-assies 14 and 15 are usually in a state in which a plurality of end portions are held by the end holding portion 44 and an intermediate portion thereof hangs down in a U shape. When the ends of the subassemblies 14 and 15 are transferred to the holder 34A, the intermediate portions of the subassemblies 14 and 15 are held in order to prevent the intermediate portions of the subassies 14 and 15 from interfering with the holding bar 42 and the like. It is preferable to hang down to the assembly drawing board 30 side with respect to the bar 42.
　移替用ロボット５０は、ハンド５２と、ハンド移動機構部５６とを備え、サブアッシー１４、１５等の一部をハンド５２で把持して、保持バー４２に保持されたサブアッシー１４、１５を、組立図板３０の保持具３４Ａ、３４Ｂに移し替え可能に構成されている。 The transfer robot 50 includes a hand 52 and a hand moving mechanism unit 56, and grips a part of the sub-assy 14, 15, etc. with the hand 52, and holds the sub-assy 14, 15 held by the holding bar 42. The holders 34A and 34B of the assembly drawing board 30 can be transferred.
　より具体的には、移替用ロボット５０は、組立図板３０の周りに設けられている。ハンド５２は、電線１１の束を把持したり、扱いたりする作業を実施するハンドである。ハンド移動機構部５６は、ハンド５２を移動させるものであり、ここでは、一般的な垂直多関節ロボットにより構成されており、その先端部に上記ハンド５２が取付けられている。ハンド移動機構部５６は、その他、直交ロボット等であってもよい。 More specifically, the transfer robot 50 is provided around the assembly drawing board 30. The hand 52 is a hand that performs an operation of gripping or handling the bundle of the electric wires 11. The hand moving mechanism unit 56 moves the hand 52, and here, it is constituted by a general vertical articulated robot, and the hand 52 is attached to the tip portion thereof. In addition, the hand moving mechanism unit 56 may be an orthogonal robot or the like.
　図２は、移替用ロボット５０の先端部、すなわち、ハンド５２が設けられた部分を示す概略斜視図である。移替用ロボット５０のアーム５１の先端部には、モータ等を含む回転駆動部５１ａが取付けられており、この回転駆動部５１ａの駆動によりハンド５２が回転駆動される。 FIG. 2 is a schematic perspective view showing the tip of the transfer robot 50, that is, the portion where the hand 52 is provided. A rotation drive unit 51a including a motor or the like is attached to the distal end portion of the arm 51 of the transfer robot 50, and the hand 52 is rotationally driven by the rotation drive unit 51a.
　また、アーム５１の先端部に、共通ベース５１Ｂが取付けられており、この共通ベース５１Ｂに、ハンド５２、５３が取付けられている。 Further, a common base 51B is attached to the tip of the arm 51, and hands 52 and 53 are attached to the common base 51B.
　共通ベース５１Ｂは、方形枠状に形成されており、共通ベース５１Ｂのうちアーム５１とは反対側の面にハンド５２が取付けられ、その手前の一側面にハンド５３が取付けられている。 The common base 51B is formed in a rectangular frame shape, and a hand 52 is attached to a surface of the common base 51B opposite to the arm 51, and a hand 53 is attached to one side in front of the common base 51B.
　ハンド５２は、主に電線１１を把持すると共に、複数の電線１１を扱くためのものであり、エアシリンダ、油圧シリンダ等により構成される駆動部５２ａと、当該駆動部５２ａにより開閉駆動される一対の爪部５２Ｆとを備える。一対の爪部５２Ｆの先端部は互いの接近方向に曲がっている。また、一対の爪部５２Ｆの一方の先端部５２Ｆａが、他方の爪部５２Ｆの先端部５２Ｆｂの間に入り込めるようになっている。このため、一対の爪部５２Ｆを近づけて間に電線１１の束等を把持した状態で、電線１１の束が一対の爪部５２Ｆの間から脱落し難いようになっている。 The hand 52 mainly handles the electric wire 11 and handles a plurality of electric wires 11, and is driven to open and close by a driving unit 52a configured by an air cylinder, a hydraulic cylinder, and the like. A pair of claw portions 52F. The front ends of the pair of claws 52F are bent in the approaching direction. In addition, one tip portion 52Fa of the pair of claw portions 52F can be inserted between the tip portions 52Fb of the other claw portion 52F. For this reason, in a state where the pair of claw portions 52F are brought close to each other and the bundle of the electric wires 11 is gripped therebetween, the bundle of the electric wires 11 is not easily dropped from between the pair of claw portions 52F.
　ハンド５３は、主に保持バー４２を把持するためのものであり、エアシリンダ、油圧シリンダ等により構成される駆動部５３ａと、当該駆動部５３ａにより開閉駆動される一対の爪部５３Ｆとを備える。主に電線１１を取り扱うハンド５２と、保持バー４２を取り扱うハンド５３とを分けることで、それぞれに適した保持力等を有するものを選定することができる。 The hand 53 is mainly for gripping the holding bar 42, and includes a drive part 53a configured by an air cylinder, a hydraulic cylinder, and the like, and a pair of claw parts 53F that are opened and closed by the drive part 53a. . By separating the hand 52 mainly handling the electric wire 11 and the hand 53 handling the holding bar 42, it is possible to select one having a holding force suitable for each.
　また、上記ハンド５２の基端側、ここでは、共通ベース５１Ｂとアーム５１との間に、力検出部としての力センサ５４が設けられている。力センサ５４は、ハンド５２に加わる力を検出可能に構成されている。ここでは、力センサ５４は、ハンド５２の一対の爪部５２Ｆの開閉方向であるＹ軸方向、一対の爪部５２Ｆの基端と先端とを結ぶ方向であるＺ軸方向、これらに直交するＸ軸方向のそれぞれの軸方向に加わる３つの力成分、及び、３つの軸方向の周りに作用するトルク成分を検出可能な６軸力覚センサによって構成されている。このため、ハンド５２が電線１１を把持した状態で、ハンド移動機構部５６によりハンド５２を移動させている状態で、当該ハンド５２に加わる力を力センサ５４によって検出することができる。この力センサ５４の検出出力は、制御ユニット６０に与えられる。なお、上記力センサ５４は、６軸力覚センサである必要は無く、３軸力覚センサ等であってもよい。 Further, a force sensor 54 as a force detection unit is provided on the proximal end side of the hand 52, here, between the common base 51B and the arm 51. The force sensor 54 is configured to detect a force applied to the hand 52. Here, the force sensor 54 includes a Y-axis direction that is an opening and closing direction of the pair of claw portions 52F of the hand 52, a Z-axis direction that is a direction connecting the base ends and the distal ends of the pair of claw portions 52F, and X orthogonal to these. It is constituted by a six-axis force sensor capable of detecting three force components applied in the respective axial directions and torque components acting around the three axial directions. For this reason, the force applied to the hand 52 can be detected by the force sensor 54 while the hand 52 is moved by the hand moving mechanism 56 while the hand 52 is gripping the electric wire 11. The detection output of the force sensor 54 is given to the control unit 60. The force sensor 54 need not be a 6-axis force sensor, and may be a 3-axis force sensor or the like.
　なお、上記共通ベース５１Ｂ等に、撮像部５８が設けられていてもよい。撮像部５８は、ＣＣＤカメラ等によって構成されており、サブアッシー１４、１５の電線１１、コネクタ１２等を撮像可能に構成されており、ハンド５２が所定の端部保持部４４の電線１１等を把持する際に、当該撮像部５８で撮像された画像に基づいてハンド５２の把持位置、把持姿勢等を補正して、電線１１を把持しに行くようにするとよい。 Note that an imaging unit 58 may be provided on the common base 51B or the like. The imaging unit 58 is configured by a CCD camera or the like, and is configured to be able to image the electric wires 11 of the subassemblies 14 and 15, the connector 12, and the like, and the hand 52 uses the electric wires 11 and the like of the predetermined end holding unit 44. When gripping, it is preferable to correct the gripping position, gripping posture, and the like of the hand 52 based on the image captured by the imaging unit 58 so as to grip the electric wire 11.
　上記移替用ロボット５０は、制御ユニット６０の制御によって動作する。図３はワイヤーハーネスの製造支援装置２０の電気的構成を示すブロック図である。 The transfer robot 50 operates under the control of the control unit 60. FIG. 3 is a block diagram showing an electrical configuration of the wire harness manufacturing support apparatus 20.
　制御ユニット６０は、ＣＰＵ６２、ＲＡＭ６３、記憶部６４等がバスライン６１を介して相互接続された一般的なコンピュータによって構成されている。記憶部６４は、フラッシュメモリ或はハードディスク装置等の不揮発性の記憶装置によって構成されており、基本プログラム、移し替えプログラム６４ａ、バー位置データ６４ｂ、布線データ６４ｃを記憶している。バー位置データ６４ｂは、待機位置に保持された保持バー４２におけるサブアッシー１４、１５の各端部の位置（各端部保持部４４の位置データ、端部がどの端部保持部４４に保持されているか等のデータ）に関するデータであり、布線データ６４ｃは、組立図板３０におけるサブアッシー１４、１５の布線経路（特に、端部をどの保持具３４Ａに保持させるか、中間部をどの保持具３４Ｂに保持させるか）に関するデータである。移し替えプログラム６４ａには、バー位置データ６４ｂにおけるサブアッシー１４、１５の端部の各保持位置データ及び布線データ６４ｃにおける保持具３４Ａ、３４Ｂの各位置データ等を参照して、サブアッシー１４、１５の各端部等を布線データ６４ｃに移し替えるべく、ロボット５０のハンド５２の開閉制御、及び、ハンド５２の移動制御を行って、サブアッシー１４、１５を保持バー４２から組立図板３０に移し替えていく指令が記述されている。また、入出力部６６を通じて、撮像部５８及び力センサ５４の各出力が制御ユニット６０に入力される。さらに、入出力部６７を通じて制御ユニット６０からの制御指令が移替用ロボット５０に与えられる。 The control unit 60 is configured by a general computer in which a CPU 62, a RAM 63, a storage unit 64, and the like are interconnected via a bus line 61. The storage unit 64 is configured by a nonvolatile storage device such as a flash memory or a hard disk device, and stores a basic program, a transfer program 64a, bar position data 64b, and wiring data 64c. The bar position data 64b is the position of each end of the sub-assy 14, 15 in the holding bar 42 held at the standby position (position data of each end holding portion 44, which end holding portion 44 holds the end). The wiring data 64c indicates the wiring path of the sub-assies 14 and 15 in the assembly drawing board 30 (especially which holding tool 34A holds the end portion and which intermediate portion). Data regarding whether to be held by the holding tool 34B). The transfer program 64a refers to the holding position data of the end portions of the subassies 14 and 15 in the bar position data 64b and the position data of the holders 34A and 34B in the wiring data 64c, and the like. In order to transfer each end of 15 to the wiring data 64c, the opening / closing control of the hand 52 of the robot 50 and the movement control of the hand 52 are performed, and the sub-assy 14, 15 is moved from the holding bar 42 to the assembly drawing board 30. The instruction to transfer to is described. Further, the outputs of the imaging unit 58 and the force sensor 54 are input to the control unit 60 through the input / output unit 66. Further, a control command from the control unit 60 is given to the transfer robot 50 through the input / output unit 67.
　図４は移し替えプログラム６４ａのメインの流れを示すフローチャートである。 FIG. 4 is a flowchart showing the main flow of the transfer program 64a.
　すなわち、ステップＳ１において、制御ユニット６０は、移替用ロボット５０に対して、保持バー供給用保持部４８に保持された保持バー４２を、保持バー保持部４０に移し替え移動させるように指令を与える。これにより、保持バー４２が保持バー４２にセットされ、待機位置にて待機した状態となる（図７参照）。 That is, in step S1, the control unit 60 instructs the transfer robot 50 to transfer the holding bar 42 held by the holding bar supply holding unit 48 to the holding bar holding unit 40 and move it. give. As a result, the holding bar 42 is set on the holding bar 42 and is in a standby state at the standby position (see FIG. 7).
　次ステップＳ２において、制御ユニット６０は、サブアッシー１４、１５を組立図板３０に移し替えるように指令を与える。ステップＳ２について、サブアッシー１４の移し替え指令と、サブアッシー１５の移し替え指令とに分けて、後述する。 In the next step S2, the control unit 60 gives a command to transfer the subassemblies 14 and 15 to the assembly drawing board 30. Step S2 will be described later separately for a transfer instruction for the sub-assembly 14 and a transfer instruction for the sub-assembly 15.
　この後、ステップＳ３において、次のサブアッシーの有無が判定され、移し替え対象となる次のサブアッシーが存在する場合、ステップＳ２に戻って、次のサブアッシーの移し替えを行い、移し替え対象となる次のサブアッシーが存在しない場合、処理を終了する。 Thereafter, in step S3, it is determined whether or not there is a next sub-assembly. If there is a next sub-assembly to be transferred, the process returns to step S2 to transfer the next sub-assembly, and the transfer target. If there is no next sub-assy, the process is terminated.
　なお、制御ユニット６０が上記処理を行う途中、図５に示す監視処理が実行される。 Note that the monitoring process shown in FIG. 5 is performed while the control unit 60 performs the above process.
　すなわち、ステップＳ１１において、制御ユニット６０は、力センサ５４の検出結果に基づいて、異常の有無を判定する。例えば、力センサ５４のＸ軸方向、Ｙ軸方向、Ｚ軸方向の各力成分及び各トルク成分を監視し、それらのいずれかが所定の基準値を超える場合に異常有りと判定する。所定の基準値は、例えば、サブアッシー１４、１５が他の部分に引っ掛かったり、電線１１が絡んでおり、これにハンド５２が引っ掛かったりした場合に生じ得る値として、経験的、実験的に設定された値を採用することができる。異常無しと判定された場合、ステップＳ１１の処理を繰返し、異常有りと判定された場合、ロボット停止信号を出力する。このロボット停止信号は、図４に示す処理途中に割込み信号として与えられ、これにより、移替用ロボット５０の動作が停止される。 That is, in step S11, the control unit 60 determines the presence / absence of an abnormality based on the detection result of the force sensor 54. For example, each force component and each torque component in the X-axis direction, the Y-axis direction, and the Z-axis direction of the force sensor 54 are monitored, and if any of them exceeds a predetermined reference value, it is determined that there is an abnormality. The predetermined reference value is set empirically and experimentally as a value that can be generated when, for example, the subassembly 14 or 15 is caught in another part or the electric wire 11 is entangled and the hand 52 is caught in this. Values can be adopted. If it is determined that there is no abnormality, the process of step S11 is repeated. If it is determined that there is an abnormality, a robot stop signal is output. This robot stop signal is given as an interrupt signal during the processing shown in FIG. 4, whereby the operation of the transfer robot 50 is stopped.
　図６は、ステップＳ２を、サブアッシー１４に対して行う処理として記述したフローチャートである。 FIG. 6 is a flowchart describing step S2 as processing to be performed on the sub-assembly 14.
　まず、図７に示すように、サブアッシー１４は、１つの束をなす複数の電線１１の両端に２つのコネクタ１２が接続された構成とされている。サブアッシー１４の両端部は、待機位置にある保持バー４２の複数の端部保持部４４に別々に保持されている。 First, as shown in FIG. 7, the sub-assembly 14 has a configuration in which two connectors 12 are connected to both ends of a plurality of electric wires 11 forming one bundle. Both end portions of the sub-assembly 14 are separately held by the plurality of end holding portions 44 of the holding bar 42 at the standby position.
　ステップＳ２１において、制御ユニット６０は、サブアッシー１４の１つの端部を、組立図板３０の１つの端部保持具３４Ａ（組立図板３０の左側のもの）に移動させるように、移替用ロボット５０に端部移動指令を与える。これにより、図７に示すように、移替用ロボット５０は、ハンド５２で、保持バー４２に保持されたサブアッシー１４の１つの端部を把持し、その後、ハンド移動機構部５６によってハンド５２を移動させて、サブアッシー１４の１つの端部を組立図板３０の１つの端部保持具３４Ａ内に保持させる。 In step S21, the control unit 60 moves the one end of the sub-assembly 14 to the one end holder 34A (the left side of the assembly drawing board 30) of the assembly drawing board 30. An end movement command is given to the robot 50. As a result, as shown in FIG. 7, the transfer robot 50 grips one end of the sub-assembly 14 held by the holding bar 42 with the hand 52, and then the hand 52 by the hand moving mechanism 56. Is moved so that one end of the sub-assembly 14 is held in one end holder 34A of the assembly drawing board 30.
　次ステップＳ２２において、制御ユニット６０は、サブアッシー１４の１つの端部から中間部に至る複数の電線１１を扱くように、移替用ロボット５０に指令を与える。すると、図８に示すように、移替用ロボット５０は、複数の電線１１を把持したまま、ハンド５２を、端部保持具３４Ａから離れる方向に移動させる。好ましくは、ハンド５２は、サブアッシー１４の中間部の保持を行う中間保持具３４Ｂの近くに向けて移動する。サブアッシー１４の端部のコネクタ１２は、端部保持具３４Ａによって抜けないように保持されているため、当該コネクタ１２から延出する複数の電線１１は、直線状をなすように扱かれる。 In the next step S22, the control unit 60 gives a command to the transfer robot 50 so as to handle the plurality of electric wires 11 extending from one end portion of the sub assembly 14 to the intermediate portion. Then, as illustrated in FIG. 8, the transfer robot 50 moves the hand 52 in a direction away from the end holder 34 </ b> A while holding the plurality of electric wires 11. Preferably, the hand 52 moves toward the vicinity of the intermediate holding tool 34B that holds the intermediate portion of the subassembly 14. Since the connector 12 at the end of the sub-assembly 14 is held so as not to be pulled out by the end holder 34A, the plurality of electric wires 11 extending from the connector 12 are handled so as to form a straight line.
　次ステップＳ２３において、制御ユニット６０は、サブアッシー１４の中間部を、中間保持具３４Ｂに保持させるように、移替用ロボット５０に指令を与える。すると、移替用ロボット５０は、サブアッシー１４の中間部を中間保持具３４Ｂに保持させた後、ハンド５２による把持を解除する。 In the next step S23, the control unit 60 gives a command to the transfer robot 50 so that the intermediate portion of the sub-assembly 14 is held by the intermediate holder 34B. Then, the transfer robot 50 releases the grip by the hand 52 after holding the intermediate portion of the subassembly 14 on the intermediate holder 34B.
　この状態では、サブアッシー１４のうち１つの端部が端部保持具３４Ａによって保持されると共に中間部が中間保持具３４Ｂによって保持され、さらに、サブアッシー１４の他の端部が待機位置の保持バー４２の端部保持部４４に保持された状態となる。 In this state, one end of the sub assembly 14 is held by the end holder 34A and the intermediate portion is held by the intermediate holder 34B, and the other end of the sub assembly 14 is held at the standby position. The bar 42 is held by the end holding portion 44.
　次ステップＳ２４において、制御ユニット６０は、サブアッシー１４の他の端部を、組立図板３０の他の１つの端部保持具３４Ａ（組立図板３０の右側のもの）に移動させるように、移替用ロボット５０に端部移動指令を与える。これにより、図９に示すように、移替用ロボット５０は、ハンド５２で、保持バー４２に保持されたサブアッシー１４の他の端部を把持し、その後、ハンド移動機構部５６によってハンド５２を移動させて、サブアッシー１４の他の１つの端部を組立図板３０の他の１つの端部保持具３４Ａ内に保持させる。この後、ハンド５２による把持を解除する。 In the next step S24, the control unit 60 moves the other end of the sub assembly 14 to the other end holder 34A (the right side of the assembly drawing board 30) of the assembly drawing board 30. An end movement command is given to the transfer robot 50. As a result, as shown in FIG. 9, the transfer robot 50 grips the other end of the sub-assembly 14 held by the holding bar 42 with the hand 52, and then the hand 52 by the hand moving mechanism 56. Is moved to hold the other end of the sub-assembly 14 in the other end holder 34A of the assembly drawing board 30. Thereafter, gripping by the hand 52 is released.
　すると、図１０に示すように、サブアッシー１４の両端部が２つの端部保持具３４Ａによって保持されると共に、中間部が中間保持具３４Ｂによって保持され、直線状に布線された状態となる。 Then, as shown in FIG. 10, both end portions of the sub-assembly 14 are held by the two end holders 34 </ b> A, and the intermediate portion is held by the intermediate holder 34 </ b> B, and is arranged in a straight line. .
　図１１は、ステップＳ２を、サブアッシー１５に対して行う処理として記述したフローチャートである。 FIG. 11 is a flowchart describing step S2 as processing to be performed on the sub-assembly 15.
　まず、図１２に示すように、サブアッシー１５は、１つのコネクタ１２から延出する複数の電線１１が２つに分けられ、分けられたそれぞれの電線１１の束の端部にコネクタ１２が接続された構成とされている。つまり、サブアッシー１５は、１つのコネクタ１２から延出する複数の電線１１が途中で分岐してそれぞれ別々のコネクタ１２に接続された構成である。サブアッシー１５の３つの端部は、待機位置にある保持バー４２の複数の端部保持部４４に別々に保持されている。 First, as shown in FIG. 12, the subassembly 15 includes a plurality of electric wires 11 extending from one connector 12, and the connector 12 is connected to the end of each of the divided electric wires 11. It is set as the structure. That is, the subassembly 15 has a configuration in which a plurality of electric wires 11 extending from one connector 12 are branched and connected to different connectors 12 respectively. The three end portions of the sub-assembly 15 are separately held by a plurality of end holding portions 44 of the holding bar 42 in the standby position.
　ステップＳ３１において、制御ユニット６０は、サブアッシー１５の１つの分岐側端部を、組立図板３０の１つの端部保持具３４Ａ（組立図板３０の左側上のもの）に移動させるように、移替用ロボット５０に端部移動指令を与える。これにより、図１２に示すように、移替用ロボット５０は、ハンド５２で、保持バー４２に保持されたサブアッシー１５の１つの分岐側端部を把持し、その後、ハンド移動機構部５６によってハンド５２を移動させて、サブアッシー１５の１つの端部を組立図板３０の１つの端部保持具３４Ａ内に保持させる。 In step S31, the control unit 60 moves one branch side end of the sub assembly 15 to one end holder 34A (on the left side of the assembly drawing plate 30) of the assembly drawing plate 30. An end movement command is given to the transfer robot 50. Accordingly, as shown in FIG. 12, the transfer robot 50 grips one branch-side end portion of the subassembly 15 held by the holding bar 42 with the hand 52, and then the hand moving mechanism unit 56 The hand 52 is moved so that one end of the sub-assembly 15 is held in one end holder 34 </ b> A of the assembly drawing board 30.
　次ステップＳ３２において、制御ユニット６０は、サブアッシー１５の１つの分岐側の端部から中間部に至る複数の電線１１を扱くように、移替用ロボット５０に指令を与える。 In the next step S32, the control unit 60 gives a command to the transfer robot 50 so as to handle the plurality of electric wires 11 extending from one branch side end of the subassembly 15 to the intermediate portion.
　次ステップＳ３３において、制御ユニット６０は、サブアッシー１５の１つの分岐側の端部より中間よりの部分を、中間保持具３４Ｂに保持させるように、移替用ロボット５０に指令を与える。 In the next step S33, the control unit 60 gives a command to the transfer robot 50 so that the intermediate holder 34B holds the portion from the middle from the one branch side end of the sub assembly 15.
　次ステップＳ３４において、制御ユニット６０は、サブアッシー１５の１つの分岐側の端部からさらに中間部に至る複数の電線１１を扱くように、移替用ロボット５０に指令を与える。 In the next step S34, the control unit 60 gives a command to the transfer robot 50 so as to handle a plurality of electric wires 11 extending from one branch side end of the subassembly 15 to the intermediate portion.
　次ステップＳ３５において、制御ユニット６０は、サブアッシー１５の１つの分岐側の端部よりさらに中間よりの部分を、中間保持具３４Ｂに保持させるように、移替用ロボット５０に指令を与える。 In the next step S35, the control unit 60 gives a command to the transfer robot 50 so that the intermediate holding tool 34B holds a portion further from the middle than the one branch side end of the sub assembly 15.
　これにより、図１２に示すように、サブアッシー１５のうち１つの分岐側の端部が端部保持具３４Ａによって保持されると共に、それよりも中間寄りの部分が１つに纏められた状態で、複数（ここでは、２つ）の中間保持具３４Ｂに順次保持された状態となる。 As a result, as shown in FIG. 12, the end of one branch side of the sub-assembly 15 is held by the end holder 34A, and the intermediate portions are gathered into one. In this state, the plurality of (here, two) intermediate holders 34B are sequentially held.
　続いて、サブアッシー１５の他の１つの分岐側の端部についても、上記ステップＳ３１～Ｓ３５と同様のステップＳ３６～Ｓ４０を実行する。 Subsequently, Steps S36 to S40 similar to Steps S31 to S35 are also performed on the other branch side end of the subassembly 15.
　これにより、図１３に示すように、サブアッシー１５のうち他の１つの分岐側の端部が端部保持具３４Ａ（組立図板３０の上方中央のもの）によって保持されると共に、それよりも中間寄りの部分が１つに纏められた状態で、複数（ここでは、２つ）の中間保持具３４Ｂに順次保持された状態となる。サブアッシー１５の２つの分岐側の端部は、共通する複数の中間保持具３４Ｂによって保持され、１つに纏められた状態となる。 As a result, as shown in FIG. 13, the other branch side end of the sub-assembly 15 is held by the end holder 34A (in the upper center of the assembly drawing plate 30) and more than that. In a state where the intermediate portions are gathered into one, a plurality (here, two) of intermediate holding tools 34B are sequentially held. The ends of the two branch sides of the subassembly 15 are held by a plurality of common intermediate holders 34B, and are brought into a single state.
　次ステップＳ４１において、制御ユニット６０は、サブアッシー１４の他の共通側の端部を、組立図板３０の他の１つの端部保持具３４Ａ（組立図板３０の上方左側のもの）に移動させるように、移替用ロボット５０に端部移動指令を与える。ここでは、制御ユニット６０は、サブアッシー１４の他の共通側の端部を、中間保持具３４Ｂに保持させた後、端部保持具３４Ａに保持させるように指令を与える。これにより、図１４に示すように、移替用ロボット５０は、ハンド５２で、保持バー４２に保持されたサブアッシー１５の他の共通側の端部を把持し、その後、ハンド移動機構部５６によってハンド５２を移動させて、サブアッシー１５の他の１つの共通側の端部を組立図板３０の中間保持具３４Ｂに保持させた後、当該保持状態を保つようにサブアッシー１５の他の共通側の端部を引出すようにし、その後、他の１つの端部保持具３４Ａ内に保持させる。 In the next step S41, the control unit 60 moves the other common end of the sub assembly 14 to the other end holder 34A (the one on the upper left side of the assembly drawing plate 30) of the assembly drawing plate 30. In such a manner, an end movement command is given to the transfer robot 50. Here, the control unit 60 gives an instruction to hold the other common end of the sub assembly 14 on the intermediate holder 34B and then hold it on the end holder 34A. As a result, as shown in FIG. 14, the transfer robot 50 grips the other common end of the subassembly 15 held by the holding bar 42 with the hand 52, and then moves the hand moving mechanism 56. The hand 52 is moved by the above operation so that the other common side end of the sub assembly 15 is held by the intermediate holder 34B of the assembly drawing board 30, and then the other assembly of the sub assembly 15 is maintained so as to keep the holding state. The end on the common side is pulled out, and then held in the other one end holder 34A.
　これにより、サブアッシー１５の各端部が３つの端部保持具３４Ａによって保持されると共に、中間部が中間保持具３４Ｂによって保持された状態となる。特に、サブアッシー１４、１５の中間部は、共通する経路に沿って布線された状態となる。 Thus, each end portion of the sub-assembly 15 is held by the three end holders 34A, and the intermediate portion is held by the intermediate holder 34B. In particular, the intermediate portions of the subassemblies 14 and 15 are wired along a common path.
　この後、人手又はハンドとして周知のテープ巻付装置を取付けたロボット等を用いて、組立図板３０上において、複数の電線１１同士を結束すると、ワイヤーハーネス１０が製造される。 Thereafter, the wire harness 10 is manufactured by bundling a plurality of electric wires 11 on the assembly drawing board 30 using a robot or the like to which a known tape winding device is attached as a hand or a hand.
　なお、空になった保持バー４２は、移替用ロボット５０によって保持バー供給用保持部４８に移動させるようにするとよい。 Note that the empty holding bar 42 may be moved to the holding bar supply holding unit 48 by the transfer robot 50.
　上記のように移替用ロボット５０によってサブアッシー１４、１５を組立図板３０上に移し替える際に、電線１１が他の部分、例えば、保持バー４２、保持具３４Ａ、３４Ｂ等に引っ掛かると、ハンド５２に比較的大きな力が作用し、これが力センサ５４によって検出され、移替用ロボット５０の動作を停止させる。 When the subassembly 14 and 15 is transferred onto the assembly drawing board 30 by the transfer robot 50 as described above, if the electric wire 11 is caught on another part, for example, the holding bar 42, the holding tools 34A and 34B, A relatively large force acts on the hand 52, which is detected by the force sensor 54, and stops the operation of the transfer robot 50.
　なお、ワイヤーハーネス１０には、必要に応じて、車両への固定用のクランプ部品、保護用のプロテクタ等が取付けられてもよい。 The wire harness 10 may be attached with a clamp part for fixing to the vehicle, a protector for protection, or the like, if necessary.
　以上のように構成されたワイヤーハーネスの製造支援装置２０によると、移替用ロボット５０によって、サブアッシー１４、１５又は電線１１の一部をハンド５２で把持して、保持バー４２に保持されたサブアッシー１４、１５又は電線１１を、組立図板３０の複数の保持具３４Ａ、３４Ｂに移し替えるため、作業者の人手作業を移替用ロボット５０によって行うことができ、ワイヤーハーネス１０を低コストで製造できる。 According to the wire harness manufacturing support device 20 configured as described above, the transfer robot 50 holds the subassies 14 and 15 or a part of the electric wire 11 with the hand 52 and holds it on the holding bar 42. Since the subassembly 14, 15 or the electric wire 11 is transferred to the plurality of holders 34A, 34B of the assembly drawing board 30, the manual operation of the operator can be performed by the transfer robot 50, and the wire harness 10 is reduced in cost. Can be manufactured.
　また、移替用ロボット５０は、サブアッシー１４、１５の１つの端部を把持して、１つの端部保持具３４Ａに保持させる動作と、当該１つの端部が端部保持具３４Ａに保持された状態で、サブアッシー１４、１５を扱く動作とを実行するため、サブアッシー１４、１５の中間の電線１１を扱いて弛み等を抑制して纏めた状態で、なるべく正確な経路に沿って組立図板３０上に配設することができる。 Further, the transfer robot 50 holds one end of the sub-assies 14 and 15 and holds it on one end holder 34A, and the one end is held on the end holder 34A. In order to carry out the operation of handling the sub-assies 14 and 15 in a state where they are connected, the wires 11 in the middle of the sub-assies 14 and 15 are handled so as to suppress loosening and the like, and along the path as accurate as possible. It can be arranged on the assembly drawing board 30.
　また、移替用ロボット５０は、上記のようにサブアッシー１４、１５の中間の電線１１を扱いた後、サブアッシー１４、１５の中間部分を少なくとも１つの中間保持具３４Ｂに保持させるため、サブアッシー１４、１５の中間の電線１１を扱いて弛み等を抑制して纏めた状態で、その状態を保ちつつ、なるべく正確な経路に沿って組立図板３０上に配設することができる。 In addition, the transfer robot 50 handles the intermediate wire 11 between the subassemblies 14 and 15 as described above, and then holds the intermediate portion of the subassies 14 and 15 on at least one intermediate holder 34B. In a state where the intermediate electric wires 11 between the assemblies 14 and 15 are handled and the slack is suppressed and gathered, it can be arranged on the assembly drawing board 30 along the path as accurate as possible while maintaining the state.
　また、力センサ５４の検出出力に基づいて、過大な力が加わったと判断されたときに、移替用ロボット５０の動作を停止させるため、サブアッシー１４、１５又は電線１１に無理な力が加わることが抑制され、不良品の発生を抑制することができる。 Further, when it is determined that an excessive force is applied based on the detection output of the force sensor 54, an excessive force is applied to the sub-assy 14, 15 or the electric wire 11 in order to stop the operation of the transfer robot 50. This can suppress the occurrence of defective products.
　特に、力センサ５４として、６軸力覚センサを用いることで、ハンド５２を各種方向に移動させる際に、ハンド５２に過大な力が加わった状況を検出することができる。 Particularly, by using a 6-axis force sensor as the force sensor 54, it is possible to detect a situation in which an excessive force is applied to the hand 52 when the hand 52 is moved in various directions.
　なお、移替用ロボット５０の動作が停止した後は、作業者が状況を確認し、人手で引っ掛かりを解除してもよいし、続く作業を行ってもよい。 It should be noted that after the operation of the transfer robot 50 stops, the operator may confirm the situation, release the catch manually, or perform the following work.
　｛変形例｝
　なお、移替用ロボットとして、複数のロボットを用いてもよい。 {Modification}
A plurality of robots may be used as the transfer robot.
　この場合、図１５に示すように、移替用ロボット５０のハンド５２によってサブアッシー１５の端部を組立図板３０上に移し替える途中で、他のロボットのハンド１５２がサブアッシー１５の中間部分の電線１１を持上げるように支持し、他の保持具３４Ａ、３４Ｂに引っ掛からないようにしてもよい。 In this case, as shown in FIG. 15, while the end portion of the sub assembly 15 is transferred onto the assembly drawing plate 30 by the hand 52 of the transfer robot 50, the hand 152 of the other robot moves the intermediate portion of the sub assembly 15. The electric wire 11 may be supported so as not to be caught by the other holding tools 34A and 34B.
　あるいは、図１６に示すように、移替用ロボット５０のハンド５２によって、サブアッシー１５の中間部を中間保持具３４Ｂに保持させる際に、当該中間保持具３４Ｂの両側の位置をハンド５２、ハンド２５２によって把持し、サブアッシー１５の中間部を円滑に中間保持具３４Ｂに保持させるようにしてもよい。 Alternatively, as shown in FIG. 16, when the intermediate portion of the sub-assembly 15 is held by the intermediate holder 34 </ b> B by the hand 52 of the transfer robot 50, the positions of both sides of the intermediate holder 34 </ b> B are set to the hand 52 and the hand. The intermediate portion of the sub-assembly 15 may be smoothly held by the intermediate holder 34B.
　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
　１１　　電線
　１２　　コネクタ
　１４、１５　　サブアッシー
　２０　　ワイヤーハーネスの製造支援装置
　３０　　組立図板
　３２　　図板本体
　３４Ａ　　端部保持具
　３４Ｂ　　中間保持具
　４０　　保持バー保持部
　４２　　保持バー
　４４　　端部保持部
　４８　　保持バー供給用保持部
　５０　　移替用ロボット
　５１　　アーム
　５２　　ハンド
　５４　　力センサ
　５６　　ハンド移動機構部
　６０　　制御ユニット DESCRIPTION OF SYMBOLS 10 Wire harness 11 Electric wire 12 Connector 14, 15 Subassembly 20 Wire harness manufacturing support device 30 Assembly drawing board 32 Drawing board main body 34A End holder 34B Intermediate holder 40 Holding bar holder 42 Holding bar 44 End holder 48 Holding bar supply holding unit 50 Transfer robot 51 Arm 52 Hand 54 Force sensor 56 Hand moving mechanism unit 60 Control unit

Claims (5)

  1. 　複数の電線が複数のコネクタを介してまとめられたサブアッシー又は電線を、組立図板上に配設するワイヤーハーネスの製造支援装置であって、
    　サブアッシー又は電線を保持可能な保持具が複数立設された組立図板と、
    　サブアッシー又は電線の複数の端部を取出可能に保持する端部保持部が複数設けられた保持バーと、
    　前記保持バーを前記組立図板周りの待機位置で保持する保持バー保持部と、
    　サブアッシー又は電線の一部を把持するハンドと、前記ハンドを移動させるハンド移動機構部とを含み、サブアッシー又は電線の一部を前記ハンドで把持して、前記保持バーに保持されたサブアッシー又は電線を、前記組立図板の複数の保持具に移し替える移替用ロボットと、
    　を備えるワイヤーハーネスの製造支援装置。     A manufacturing support device for a wire harness in which a sub-assembly or an electric wire in which a plurality of electric wires are gathered through a plurality of connectors is arranged on an assembly drawing board,
    An assembly drawing board in which a plurality of holders capable of holding sub-assies or electric wires are erected;
    A holding bar provided with a plurality of end holding parts for holding a plurality of ends of the sub-assembly or the electric wire so as to be removable;
    A holding bar holding portion for holding the holding bar at a standby position around the assembly drawing plate;
    A sub-assembly that includes a hand that grips a part of the sub-assembly or electric wire, and a hand moving mechanism that moves the hand, and that holds the sub-assembly or a part of the electric wire with the hand and is held by the holding bar Alternatively, a transfer robot that transfers the electric wire to a plurality of holders of the assembly drawing board;
    A wire harness manufacturing support apparatus comprising:
  2. 　請求項１に記載のワイヤーハーネスの製造支援装置であって、
    　前記移替用ロボットは、（ａ）サブアッシーの複数の端部のうちの１つを把持して、前記複数の保持具のうちの少なくとも１つに保持させる動作と、（ｂ）サブアッシーの複数の端部のうちの１つが前記複数の保持具のうちの少なくとも１つに保持された状態で、サブアッシーを扱く動作と、を実行するワイヤーハーネスの製造支援装置。     It is a manufacturing support apparatus of the wire harness of Claim 1, Comprising:
    The transfer robot includes (a) an operation of gripping one of the plurality of end portions of the sub-assembly and holding it by at least one of the plurality of holders; A wire harness manufacturing support device that performs an operation of handling a sub-assembly in a state in which one of a plurality of end portions is held by at least one of the plurality of holding tools.
  3. 　請求項２に記載のワイヤーハーネスの製造支援装置であって、
    　前記移替用ロボットは、（ｃ）前記動作（ｂ）の後、さらに、サブアッシーの中間部分を前記複数の保持具のうちの少なくとも１つに保持させる動作と、この動作（ｃ）の後、サブアッシーの複数の端部のうちの他の端部を把持して、前記複数の保持具のうちの少なくとも１つに保持させる動作と、を実行する、ワイヤーハーネスの製造支援装置。     It is a manufacturing support apparatus of the wire harness of Claim 2, Comprising:
    The transfer robot includes (c) after the operation (b), an operation for holding the intermediate portion of the sub-assembly on at least one of the plurality of holders, and after the operation (c). A wire harness manufacturing support device that performs an operation of gripping the other end of the plurality of sub-assies and holding the other end by at least one of the plurality of holders.
  4. 　請求項１から請求項３のいずれか１項に記載のワイヤーハーネスの製造支援装置であって、
    　前記移替用ロボットは、前記ハンドに加わる力を検出する力検出部を含み、前記力検出部の検出出力に基づいて、過大な力が加わったと判断されたときに、前記移替用ロボットの動作を停止させる、ワイヤーハーネスの製造支援装置。     It is a manufacturing support apparatus of the wire harness of any one of Claims 1-3,
    The transfer robot includes a force detection unit that detects a force applied to the hand, and when it is determined that an excessive force is applied based on a detection output of the force detection unit, the transfer robot includes: A wire harness manufacturing support device that stops operation.
  5. 　請求項４に記載のワイヤーハーネスの製造支援装置であって、
    　前記力検出部は、前記ハンドの基端側に設けられた６軸センサである、ワイヤーハーネスの製造支援装置。     It is a manufacture support apparatus of the wire harness of Claim 4, Comprising:
    The said force detection part is a manufacture assistance apparatus of a wire harness which is a 6-axis sensor provided in the base end side of the said hand.
PCT/JP2017/036275 2016-10-19 2017-10-05 Wire harness manufacturing assistance device WO2018074245A1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019245052A1 (en) * 2018-06-22 2019-12-26 古河電気工業株式会社 Wire harness manufacturing system, conveyance device for wire harness manufacturing system, wiring device, inspection device for wire harness manufacturing system, and work tray for manufacturing wire harness
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