WO2021059864A1 - Wire-shaped member arranging device, and wire-shaped member arranging method - Google Patents

Wire-shaped member arranging device, and wire-shaped member arranging method Download PDF

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Publication number
WO2021059864A1
WO2021059864A1 PCT/JP2020/032591 JP2020032591W WO2021059864A1 WO 2021059864 A1 WO2021059864 A1 WO 2021059864A1 JP 2020032591 W JP2020032591 W JP 2020032591W WO 2021059864 A1 WO2021059864 A1 WO 2021059864A1
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WO
WIPO (PCT)
Prior art keywords
linear member
guide
unit
moving
arranging device
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Application number
PCT/JP2020/032591
Other languages
French (fr)
Japanese (ja)
Inventor
敏章 前田
隆行 駒谷
悟 西牧
寿昌 関
田中　利典
Original Assignee
オムロン株式会社
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Application filed by オムロン株式会社 filed Critical オムロン株式会社
Priority to EP20869074.3A priority Critical patent/EP4037119A4/en
Priority to CN202080056355.6A priority patent/CN114207958A/en
Publication of WO2021059864A1 publication Critical patent/WO2021059864A1/en

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
    • H01R43/048—Crimping apparatus or processes
    • H01R43/052—Crimping apparatus or processes with wire-feeding mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F23/00—Feeding wire in wire-working machines or apparatus
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
    • H01R43/048—Crimping apparatus or processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F15/00—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire

Definitions

  • the present invention relates to a linear member arranging device and a linear member arranging method.
  • the tip of the linear member is positioned at the time of crimping to a terminal.
  • Patent Document 1 in a coated wire having one end fixed to the terminal, the tip of the coated wire is chucked by a clamp portion near the tip of the coated wire on the opposite side of the end fixed to the terminal in the same device.
  • a positioning device has been proposed. According to this device, the tip of the covered wire is less likely to swing by chucking the vicinity of the tip of the covered wire with the clamp portion. Further, even when the tip of the covered wire swings, the swing width becomes small because the clamp portion chucks the vicinity of the end portion of the covered wire.
  • Japanese Patent Publication Japanese Patent Laid-Open No. 8-102354 (published April 16, 1996)"
  • the device cannot change the relative position between the clamp part and the lead wire after chucking the lead wire by the clamp part. Therefore, the positioning accuracy of the tip of the lead wire depends on the accuracy of the clamp portion, the position accuracy of the robot that conveys the lead wire to the clamp portion, and the accuracy of the delivery chuck that delivers the lead wire to the clamp portion. That is, it was difficult to improve the positioning accuracy of the tip of the lead wire.
  • One aspect of the present disclosure has been made in view of such circumstances, and an object thereof is to provide a technique for accurately positioning the tip of a linear member.
  • the linear member arranging device is a linear member arranging device that arranges the linear member at a predetermined position, and is conveyed by a moving portion that conveys the linear member and the moving portion.
  • a fixed portion for switching between a state in which the linear member is fixed and a state in which the linear member is released, and a state in which the linear member is fixed to the fixed portion with a predetermined gap.
  • the fixed portion includes a guide portion for guiding by, a moving portion, the fixing portion, and a control unit for controlling the operation of the guide portion, and the fixing portion has a function of moving the linear member in a stretching direction.
  • the guide unit includes a first guide unit and a second guide unit that can change the distance between each other, and the control unit changes the distance between the first guide unit and the second guide unit.
  • the first guide portion and the second guide portion are set in an arrangement state in which the linear member is guided with a predetermined gap.
  • the positioning of the tip of the linear member can be accurately realized.
  • FIG. 1 is a block diagram showing a configuration of a main part in the linear member arranging device according to the embodiment.
  • FIG. 2 is a perspective view of the configuration of the linear member arranging device according to the embodiment.
  • FIG. 3 is a schematic view showing from a direction perpendicular to the stretching direction of the linear member of the linear member arranging device according to the embodiment.
  • FIG. 4 is a schematic view showing from the stretching direction of the linear member of the linear member arranging device according to the embodiment.
  • FIG. 5 is an enlarged view showing a portion shown by PP in FIG.
  • FIG. 6 is a diagram showing an example of a main part configuration of the linear member arranging device according to the embodiment.
  • FIG. 7 is a diagram illustrating an example of a processing procedure of the linear member arranging device according to the embodiment.
  • FIG. 1 is a block diagram showing a configuration of a main part in the linear member arranging device according to the present embodiment.
  • the linear member arranging device 1 is a device that includes at least a moving unit 10, a fixing unit 20, a guide unit 30, and a control unit 40, and arranges the tip of the linear member 50 at a predetermined position.
  • the moving portion 10 conveys the linear member 50 to the fixed portion 20.
  • the fixing portion 20 switches between a state in which the linear member 50 conveyed by the moving portion 10 is fixed and a state in which the linear member 50 is released. Further, the fixing portion 20 has a function of moving the linear member 50 in the stretching direction.
  • the guide unit 30 includes a first guide unit 31 and a second guide unit 32.
  • the guide portion 30 guides the linear member 50 with a predetermined interval in a state where the linear member 50 is fixed to the fixed portion 20.
  • the first guide portion 31 and the second guide portion 32 perform an operation of sandwiching the linear member 50, and the distance between them is variable.
  • the control unit 40 controls the distance between the first guide unit 31 and the second guide unit 32 to change the distance between the first guide unit 31 and the second guide unit 32, and the linear members 50 at predetermined intervals. Set to the arrangement state to guide in the open state.
  • the linear member 50 conveyed by the moving unit 10 changes the distance between the first guide unit 31 and the second guide unit 32, thereby changing the distance between the first guide unit 31 and the second guide unit 32.
  • the portion 32 can be set in an arrangement state in which the linear member 50 is guided at a predetermined distance. That is, the linear member 50 can be moved in the stretching direction by the fixing portion 20 in a state where the linear member 50 is guided by the first guide portion 31 and the second guide portion 32 at a predetermined interval. That is, the position of the linear member 50 in the extending direction can be adjusted while the position of the tip of the linear member 50 in the direction perpendicular to the extending direction is determined by the guide portion 30. Therefore, the position of the tip of the linear member 50 can be accurately positioned.
  • FIG. 2 is a perspective view showing the configuration of the linear member arranging device 1 according to the present embodiment.
  • FIG. 3 is a side view showing the configuration of the linear member arranging device 1 according to the present embodiment from a direction perpendicular to a straight line extending in the extending direction of the linear member 50.
  • FIG. 4 is a front view showing the configuration of the linear member arranging device 1 according to the present embodiment from the direction of a straight line extending in the extending direction of the linear member 50.
  • FIG. 5 is an enlarged view showing a portion shown by PP in FIG.
  • FIG. 6 is a schematic view showing an example of the moving portion 10, the fixing portion 20, and the guide portion 30, in which 501 is a view seen from above and 502 is a view seen from the side surface. There is.
  • the linear member arranging device 1 includes a first moving unit 11, a second moving unit 12, a moving drive mechanism 13, a first roller 21, a second roller 22, and a rotation. It includes a motor 23, a first guide unit 31, a second guide unit 32, and a sensor 60.
  • the first moving unit 11, the second moving unit 12, and the moving drive mechanism 13 are examples of the moving unit 10.
  • the movement drive mechanism 13 changes the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12, and also changes the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the second moving portion 12 in the front-rear direction. Change the position.
  • the front-rear direction is a direction along the stretching direction of the linear member 50.
  • the first moving portion 11 and the second moving portion 12 can hold the linear member 50 by sandwiching the linear member 50 from a predetermined direction, or from the left and right directions in the drawing. It is possible.
  • the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 can be changed.
  • the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 is equal to the diameter of the linear member 50, or larger than the diameter in consideration of the elastic deformation of the linear member 50.
  • the first moving portion 11 and the second moving portion 11 and the second The guide can be provided in a state where a gap can be provided between the moving portion 12 and the linear member 50.
  • a protrusion is provided at the lower part of the contact surface with the linear member 50 in each of the first moving portion 11 and the second moving portion 12.
  • the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 are parallel to each other, but the present invention is not limited to this.
  • the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 may be arranged in a state of being inclined by a predetermined angle from a state of being parallel to each other.
  • at least one of the structures of the first moving portion 11 and the second moving portion 12 is located between the first moving portion 11 and the second moving portion 12 at the lower part of the contact surface with the linear member 50. If the structure is such that the distance is short, it is possible to prevent the linear member 50 from hanging downward even if the protrusion is not provided.
  • the first roller 21, the second roller 22, and the rotary motor 23 are examples of the fixed portion 20.
  • the rotation motor 23 moves the linear member 50 in the stretching direction by, for example, arbitrarily rotating the second roller 22.
  • the first roller 21 and the second roller 22 have a structure in which they are arranged so as to face each other on the roller surfaces.
  • the fixing portion 20 can be switched between a state in which the linear member 50 is fixed and a state in which the linear member 50 is released by changing the distance between the first roller 21 and the second roller 22. Further, the fixing portion 20 can easily move the linear member 50 in the extending direction of the linear member 50 by appropriately rotating the second roller 22 by the rotary motor 23 without using the moving portion 10. can do.
  • the fixing portion 20 has a function of arranging the member 50 at a predetermined position.
  • the guide unit 30 includes a first guide unit 31 and a second guide unit 32.
  • the first guide unit 31 and the second guide unit 32 are driven by, for example, a robot cylinder or an air cylinder.
  • the Robo cylinder is an electric cylinder having an AC servomotor, a ball screw, a linear guide, and the like.
  • the first guide portion 31 and the second guide portion 32 are arranged so as to face each other.
  • the first guide portion 31 and the second guide portion 32 can guide the linear member 50 by sandwiching the linear member 50 from a predetermined direction, or in the vertical direction in the drawing.
  • the linear member 50 may be any linear member whose tip is positioned.
  • a lead wire as an electric wiring is assumed as the linear member 50.
  • the sensor 60 is an example of a detection unit.
  • the sensor 60 is composed of, for example, a photoelectric sensor or the like, and detects the presence or absence of the linear member 50 at a predetermined position.
  • the fixing unit control unit 41 controls a state in which the fixing unit 20 fixes and opens the linear member 50. Further, the fixing unit control unit 41 controls the movement of the linear member 50 in the stretching direction by controlling the fixing unit 20.
  • the movement control unit 42 controls the transportation of the linear member 50 by controlling the movement unit 10. Further, the movement control unit 42 controls to fix or release the movement unit 10 and the linear member 50. That is, the movement control unit 42 controls switching between the state in which the linear member 50 is gripped and the state in which the linear member 50 is not gripped in the moving unit 10.
  • the guide control unit 43 controls switching between a state in which the guide unit 30 guides the linear member 50 and a state in which the guide unit 30 does not guide the linear member 50.
  • FIG. 7 is a diagram illustrating an example of a processing procedure of the linear member arranging device 1.
  • the processing procedure described below is only an example, and each processing may be changed as much as possible. Further, with respect to the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the actual form.
  • the linear member arranging device 1 is controlled by the movement control unit 42 so that the moving unit 10 grips the linear member 50. Then, the linear member arranging device 1 arranges the linear member 50 between the first roller 21 and the second roller 22 by moving the moving unit 10 by the movement control unit 42 (first step).
  • the linear member arranging device 1 fixes the linear member 50 by controlling the relative positions of the first roller 21 and the second roller 22 by the fixing unit control unit 41 (the linear member arranging device 1). Second step).
  • the linear member arranging device 1 releases the fixing between the moving unit 10 and the linear member 50 by the movement control unit 42, and makes a line with the first moving unit 11 and the second moving unit 12. A predetermined gap is provided between the shape member 50 and the shape member 50.
  • the linear member arranging device 1 controls the movement control unit 42 to move the moving unit 10 in the extending direction of the linear member 50 (third step).
  • the linear member 50 is linearly shaped and arranged between the fixed position of the fixed portion 20 and the arranged position of the moving portion 10. That is, the subsequent sandwiching between the first guide portion 31 and the second guide portion 32 can be accurately executed without any misalignment of the linear member 50.
  • the linear member arranging device 1 changes the distance between the first guide unit 31 and the second guide unit 32 by the guide control unit 43, and changes the distance between the first guide unit 31 and the second guide unit 32.
  • the 32 and the linear member 50 are controlled in an arrangement state in which the linear member 50 is guided at a predetermined distance (fourth step).
  • the linear member arranging device 1 moves the moving unit 10 to a position that does not interfere with the positioning of the linear member 50 by the movement control unit 42 (fifth step). Since the moving portion 10 is moved to a position that does not interfere with the positioning of the linear member 50 in 105, the moving portion 10 is not shown thereafter.
  • the linear member arranging device 1 moves the linear member 50 in a predetermined direction by the first roller 21 and the second roller 22, from right to left in FIG. 7 (sixth). Step).
  • the fixing portion 20 moves the linear member 50 from the first guide portion 31 and the second guide portion 32 to the side opposite to the fixing portion 20 side to the fixing portion 20 side.
  • the linear member arranging device 1 moves the linear member 50 until the sensor 60 cannot detect the linear member 50 (7th step).
  • the linear member 50 is hidden by the first guide portion 31 and the second guide portion 32, so that the deflection of the tip in the vertical and horizontal directions is corrected and the linear member is straightened. Can be done.
  • the tip of the linear member can be positioned with high accuracy in the stretching direction.
  • the linear member arranging device 1 moves the linear member 50 in a predetermined direction by the fixing unit control unit 41, or from left to right in FIG. 7 by a predetermined amount (8th step). .. In this way, by moving the linear member 50 by a predetermined amount by the fixing portion 20, the tip of the linear member 50 can be accurately arranged at a predetermined position.
  • the linear member arranging device is a linear member arranging device for arranging linear members at predetermined positions, and is conveyed by a moving portion that conveys the linear member and the moving portion.
  • a fixed portion that switches between a state in which the linear member is fixed and a state in which the linear member is released, and a state in which the linear member is fixed to the fixed portion, and the linear member is guided with a predetermined gap.
  • a guide unit, a moving unit, a fixing unit, and a control unit that controls the operation of the guide unit are provided, and the fixing unit has a function of moving the linear member in a stretching direction.
  • the guide unit includes a first guide unit and a second guide unit that can change the distance from each other, and the control unit changes the distance between the first guide unit and the second guide unit.
  • the first guide portion and the second guide portion are set in an arrangement state in which the linear member is guided with a predetermined gap.
  • the linear member can be moved in the stretching direction by the fixing portion in a state where the linear member is guided at a predetermined interval between the first guide portion and the second guide portion. That is, the position of the linear member in the extending direction can be adjusted while the position of the tip of the linear member in the direction perpendicular to the extending direction is determined by the guide portion. Therefore, the position of the tip of the linear member can be accurately positioned.
  • guiding a linear member with a predetermined interval means that the linear member is linearly formed in an opening formed by arranging the first guide portion and the second guide portion at a predetermined interval. Includes guiding members.
  • the linear member arranging device has a structure in which two rollers are arranged so as to face each other on the roller surface, and the linear member is arranged by changing the distance between the two rollers. Switch between the fixed state and the released state.
  • the linear member can be easily moved in the stretching direction, and the linear member can be arranged at a desired position.
  • the fixed portion includes a rotary motor that drives the roller on one side of the roller. According to this configuration, the linear member can be easily moved in the stretching direction.
  • the control unit has the fixed portion side from a state in which the linear member is projected from the guide portion to the side opposite to the fixed portion side by the fixing portion. The tip of the linear member is hidden by the guide portion, and then the control is performed to move the linear member from the fixed portion side to the guide portion side by a predetermined amount.
  • the runout of the tip in the vertical and horizontal directions can be corrected and the linear member can be in a straight state. After that, by moving the linear member by a predetermined amount from the fixed portion side to the guide portion side, the position of the tip of the linear member can be accurately arranged at the predetermined position.
  • the linear member arranging device further includes a detection unit for detecting the linear member guided by the guide unit, and the control unit further includes the linear member based on the detection result of the detection unit. It is detected that the tip of the head is hidden by the guide portion.
  • the detection unit can detect whether or not the tip of the linear member is hidden by the guide unit by a simple sensor device such as a photoelectric sensor. Therefore, it is possible to easily and accurately position the tip of the linear member without performing an expensive device or complicated control.
  • the method of arranging the linear member according to the one side surface is a method of arranging the linear member using the linear member arranging device, and the linear member is guided by the fixing portion.
  • a step in which the portion is projected from the portion to the side opposite to the fixed portion side and then moved to the fixed portion side so as to be hidden by the guide portion, and then a predetermined amount from the fixed portion side to the guide portion side. Includes steps to move.
  • Linear member placement device 10 Moving part 20 Fixed part 21 1st roller 22 2nd roller 30 Guide part 31 1st guide part 32 2nd guide part 40 Control part 50 Linear member 60 Sensor

Abstract

Provided is a technology for more accurately arranging wire-shaped members. A fixing unit (20) that switches between a state in which a wire-shaped member which is conveyed by means of a movement unit (10) is fixed, and a state in which the wire-shaped member is released has the function of causing the wire-shaped member to move in an extending direction. By changing the distance between a first guide unit (31) and a second guide unit (32), a control unit (40) sets the first guide unit and the second guide unit to an arrangement state for guiding the wire-shaped member while separated by a prescribed interval.

Description

線状部材配置装置および線状部材配置方法Linear member arranging device and linear member arranging method
　本発明は線状部材配置装置および線状部材配置方法に関する。 The present invention relates to a linear member arranging device and a linear member arranging method.
　従来、リード線などの線状部材は、端子への圧着時などに線状部材の先端の位置決めが行われる。 Conventionally, in a linear member such as a lead wire, the tip of the linear member is positioned at the time of crimping to a terminal.
　特許文献１には、端子に片方の端部が固着された被覆線において、同じ装置内で端子に固着された端部の反対側の被覆線の先端付近をクランプ部でチャックすることにより先端の位置決めする装置が提案されている。当該装置によれば、被覆線の先端付近をクランプ部でチャックすることにより被覆線の先端が振れにくくなる。また、被覆線の先端が振れた場合であっても、被覆線の端部付近をクランプ部でチャックしているため、振れ幅が小さくなる。 In Patent Document 1, in a coated wire having one end fixed to the terminal, the tip of the coated wire is chucked by a clamp portion near the tip of the coated wire on the opposite side of the end fixed to the terminal in the same device. A positioning device has been proposed. According to this device, the tip of the covered wire is less likely to swing by chucking the vicinity of the tip of the covered wire with the clamp portion. Further, even when the tip of the covered wire swings, the swing width becomes small because the clamp portion chucks the vicinity of the end portion of the covered wire.
日本国公開特許公報「特開平８－１０２３５４号公報（１９９６年４月１６日公開）」Japanese Patent Publication "Japanese Patent Laid-Open No. 8-102354 (published April 16, 1996)"
　しかしながら、当該装置は、クランプ部によるリード線のチャック後、クランプ部とリード線との相対位置を変更できない。よって、リード線の先端の位置決め精度は、クランプ部の精度、リード線をクランプ部に搬送するロボットの位置精度、および、クランプ部へリード線を受け渡す受け渡しチャックの精度に依存することになる。すなわち、リード線の先端の位置決め精度を高めることが困難であった。 However, the device cannot change the relative position between the clamp part and the lead wire after chucking the lead wire by the clamp part. Therefore, the positioning accuracy of the tip of the lead wire depends on the accuracy of the clamp portion, the position accuracy of the robot that conveys the lead wire to the clamp portion, and the accuracy of the delivery chuck that delivers the lead wire to the clamp portion. That is, it was difficult to improve the positioning accuracy of the tip of the lead wire.
　本開示の一側面では、このような実情を鑑みてなされたものであり、その目的は、線状部材の先端を正確に位置決めすることを実現する技術を提供することである。 One aspect of the present disclosure has been made in view of such circumstances, and an object thereof is to provide a technique for accurately positioning the tip of a linear member.
　前記の課題を解決するために、以下の構成を採用する。 In order to solve the above problem, the following configuration will be adopted.
　すなわち、本開示の一側面に係る線状部材配置装置は、線状部材を所定位置に配置する線状部材配置装置であって、前記線状部材を搬送する移動部と、前記移動部によって搬送された前記線状部材を固定する状態および解放する状態との間で切り替える固定部と、前記線状部材が前記固定部に固定された状態において、前記線状部材を所定の間隙を開けた状態でガイドするガイド部と、前記移動部、前記固定部、および前記ガイド部の動作を制御する制御部と、を備え、前記固定部は、前記線状部材を延伸方向に移動させる機能を有し、前記ガイド部は、互いの距離を変更可能な第１ガイド部と第２ガイド部とを備え、前記制御部は、前記第１ガイド部と前記第２ガイド部との距離を変更させることによって、前記第１ガイド部および前記第２ガイド部を、前記線状部材を所定の間隙を開けた状態でガイドする配置状態に設定する。 That is, the linear member arranging device according to one aspect of the present disclosure is a linear member arranging device that arranges the linear member at a predetermined position, and is conveyed by a moving portion that conveys the linear member and the moving portion. A fixed portion for switching between a state in which the linear member is fixed and a state in which the linear member is released, and a state in which the linear member is fixed to the fixed portion with a predetermined gap. The fixed portion includes a guide portion for guiding by, a moving portion, the fixing portion, and a control unit for controlling the operation of the guide portion, and the fixing portion has a function of moving the linear member in a stretching direction. The guide unit includes a first guide unit and a second guide unit that can change the distance between each other, and the control unit changes the distance between the first guide unit and the second guide unit. , The first guide portion and the second guide portion are set in an arrangement state in which the linear member is guided with a predetermined gap.
　本発明の一態様によれば、線状部材の先端の位置決めを正確に実現することができる。 According to one aspect of the present invention, the positioning of the tip of the linear member can be accurately realized.
図１は、実施の形態に係る線状部材配置装置における、要部構成を示すブロック図である。FIG. 1 is a block diagram showing a configuration of a main part in the linear member arranging device according to the embodiment. 図２は、実施の形態に係る線状部材配置装置の構成の斜視図である。FIG. 2 is a perspective view of the configuration of the linear member arranging device according to the embodiment. 図３は、実施の形態に係る線状部材配置装置の線状部材の延伸方向に対し垂直な方向から示す模式図である。FIG. 3 is a schematic view showing from a direction perpendicular to the stretching direction of the linear member of the linear member arranging device according to the embodiment. 図４は、実施の形態に係る線状部材配置装置の線状部材の延伸方向から示す模式図である。FIG. 4 is a schematic view showing from the stretching direction of the linear member of the linear member arranging device according to the embodiment. 図５は、図４におけるＰＰで示す部分を拡大して示す図である。FIG. 5 is an enlarged view showing a portion shown by PP in FIG. 図６は、実施の形態に係る線状部材配置装置の要部構成の一例を示す図である。FIG. 6 is a diagram showing an example of a main part configuration of the linear member arranging device according to the embodiment. 図７は、実施の形態に係る線状部材配置装置の処理手順の一例を例示する図である。FIG. 7 is a diagram illustrating an example of a processing procedure of the linear member arranging device according to the embodiment.
　以下、本発明の一側面に係る実施の形態（以下、「本実施形態」とも表記する）を、図面に基づいて説明する。 Hereinafter, an embodiment according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings.
　§１　適用例
　図１を用いて、本実施形態に係る線状部材配置装置の構成概要について説明する。図１は、本実施形態に係る線状部材配置装置における、要部構成を示すブロック図である。 §1 Application example With reference to FIG. 1, the outline of the configuration of the linear member arranging device according to the present embodiment will be described. FIG. 1 is a block diagram showing a configuration of a main part in the linear member arranging device according to the present embodiment.
　線状部材配置装置１は、移動部１０と、固定部２０と、ガイド部３０と、制御部４０とを少なくとも備えた、線状部材５０の先端を所定位置に配置する装置である。 The linear member arranging device 1 is a device that includes at least a moving unit 10, a fixing unit 20, a guide unit 30, and a control unit 40, and arranges the tip of the linear member 50 at a predetermined position.
　移動部１０は、線状部材５０を固定部２０へ搬送する。固定部２０は、移動部１０によって搬送された線状部材５０を固定する状態および解放する状態との間で切り替える。また、固定部２０は、線状部材５０を延伸方向に移動させる機能を有する。 The moving portion 10 conveys the linear member 50 to the fixed portion 20. The fixing portion 20 switches between a state in which the linear member 50 conveyed by the moving portion 10 is fixed and a state in which the linear member 50 is released. Further, the fixing portion 20 has a function of moving the linear member 50 in the stretching direction.
　ガイド部３０は、第１ガイド部３１および第２ガイド部３２を備える。ガイド部３０は、線状部材５０が固定部２０に固定された状態において、線状部材５０を所定の間隔を開けた状態でガイドする。第１ガイド部３１および第２ガイド部３２は、線状部材５０を挟み込む動作を行い、両者の間の距離が可変となっている。 The guide unit 30 includes a first guide unit 31 and a second guide unit 32. The guide portion 30 guides the linear member 50 with a predetermined interval in a state where the linear member 50 is fixed to the fixed portion 20. The first guide portion 31 and the second guide portion 32 perform an operation of sandwiching the linear member 50, and the distance between them is variable.
　制御部４０は、第１ガイド部３１と第２ガイド部３２との距離を変更する制御を行うことにより、第１ガイド部３１および第２ガイド部３２を、線状部材５０を所定の間隔を開けた状態でガイドする配置状態に設定する。 The control unit 40 controls the distance between the first guide unit 31 and the second guide unit 32 to change the distance between the first guide unit 31 and the second guide unit 32, and the linear members 50 at predetermined intervals. Set to the arrangement state to guide in the open state.
　前記のような制御によれば、移動部１０により搬送される線状部材５０は、第１ガイド部３１および第２ガイド部３２の距離を変更することにより、第１ガイド部３１および第２ガイド部３２を、線状部材５０を所定の間隔を開けた状態でガイドする配置状態に設定できる。すなわち、第１ガイド部３１と第２ガイド部３２とを線状部材５０を所定の間隔を開けてガイドした状態で、固定部２０によって線状部材５０を延伸方向に移動させることができる。すなわち、線状部材５０の先端の延伸方向に垂直な方向の位置をガイド部３０によって決めた状態で、線状部材５０の延伸方向での位置を調整することができる。よって、線状部材５０の先端の位置を正確に位置決めすることが可能となる。 According to the control as described above, the linear member 50 conveyed by the moving unit 10 changes the distance between the first guide unit 31 and the second guide unit 32, thereby changing the distance between the first guide unit 31 and the second guide unit 32. The portion 32 can be set in an arrangement state in which the linear member 50 is guided at a predetermined distance. That is, the linear member 50 can be moved in the stretching direction by the fixing portion 20 in a state where the linear member 50 is guided by the first guide portion 31 and the second guide portion 32 at a predetermined interval. That is, the position of the linear member 50 in the extending direction can be adjusted while the position of the tip of the linear member 50 in the direction perpendicular to the extending direction is determined by the guide portion 30. Therefore, the position of the tip of the linear member 50 can be accurately positioned.
　§２　構成例
　＜線状部材配置装置＞
　次に、図２～６を用いて、本実施形態に係る線状部材配置装置１の構成の一例について説明する。図２は、本実施形態に係る線状部材配置装置１の構成を示す斜視図である。図３は、本実施形態に係る線状部材配置装置１の構成を線状部材５０の延伸方向に延びる直線に対し垂直な方向から示す側面図である。図４は、本実施形態に係る線状部材配置装置１の構成を線状部材５０の延伸方向に延びる直線の方向から示す正面図である。図５は、図４におけるＰＰで示す部分を拡大して示す図である。図６は、移動部１０と、固定部２０と、ガイド部３０との一例を示す模式図であり、上側から見た際の図を５０１、側面側から見た際の図を５０２で表している。 §2 Configuration example <Linear member placement device>
Next, an example of the configuration of the linear member arranging device 1 according to the present embodiment will be described with reference to FIGS. 2 to 6. FIG. 2 is a perspective view showing the configuration of the linear member arranging device 1 according to the present embodiment. FIG. 3 is a side view showing the configuration of the linear member arranging device 1 according to the present embodiment from a direction perpendicular to a straight line extending in the extending direction of the linear member 50. FIG. 4 is a front view showing the configuration of the linear member arranging device 1 according to the present embodiment from the direction of a straight line extending in the extending direction of the linear member 50. FIG. 5 is an enlarged view showing a portion shown by PP in FIG. FIG. 6 is a schematic view showing an example of the moving portion 10, the fixing portion 20, and the guide portion 30, in which 501 is a view seen from above and 502 is a view seen from the side surface. There is.
　図２～６に示すように、本実施形態に係る線状部材配置装置１は、第１移動部１１、第２移動部１２、移動駆動機構１３、第１ローラ２１、第２ローラ２２、回転モータ２３、第１ガイド部３１、第２ガイド部３２およびセンサ６０を備えている。 As shown in FIGS. 2 to 6, the linear member arranging device 1 according to the present embodiment includes a first moving unit 11, a second moving unit 12, a moving drive mechanism 13, a first roller 21, a second roller 22, and a rotation. It includes a motor 23, a first guide unit 31, a second guide unit 32, and a sensor 60.
　図２～４に示すように、第１移動部１１、第２移動部１２、および移動駆動機構１３は、移動部１０の一例である。移動駆動機構１３は、第１移動部１１の対向面と第２移動部１２の対向面とに内接する円の直径を変化させるとともに、第１移動部１１および第２移動部１２の前後方向の位置を変化させる。ここで、前後方向とは、線状部材５０の延伸方向に沿った方向である。 As shown in FIGS. 2 to 4, the first moving unit 11, the second moving unit 12, and the moving drive mechanism 13 are examples of the moving unit 10. The movement drive mechanism 13 changes the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12, and also changes the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the second moving portion 12 in the front-rear direction. Change the position. Here, the front-rear direction is a direction along the stretching direction of the linear member 50.
　図５に示すように、第１移動部１１および第２移動部１２は、線状部材５０に対して所定の方向、図においては左右方向から挟み込むことによって、線状部材５０を保持することが可能となっている。ここで、第１移動部１１の対向面と第２移動部１２の対向面とに内接する円の直径は変更可能となっている。第１移動部１１の対向面と第２移動部１２の対向面とに内接する円の直径を線状部材５０の直径と等しい、あるいは線状部材５０の弾性変形分を考慮して直径よりも少し小さい値にすることによって、移動部１０は線状部材５０を保持することができる。一方、第１移動部１１の対向面と第２移動部１２の対向面とに内接する円の直径を線状部材５０の直径よりも所定量大きくすることによって、第１移動部１１および第２移動部１２と線状部材５０との間に間隙を設けることが可能な状態でガイドできる。 As shown in FIG. 5, the first moving portion 11 and the second moving portion 12 can hold the linear member 50 by sandwiching the linear member 50 from a predetermined direction, or from the left and right directions in the drawing. It is possible. Here, the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 can be changed. The diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 is equal to the diameter of the linear member 50, or larger than the diameter in consideration of the elastic deformation of the linear member 50. By setting the value to a slightly smaller value, the moving portion 10 can hold the linear member 50. On the other hand, by making the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 larger than the diameter of the linear member 50 by a predetermined amount, the first moving portion 11 and the second moving portion 11 and the second The guide can be provided in a state where a gap can be provided between the moving portion 12 and the linear member 50.
　なお、第１移動部１１および第２移動部１２それぞれにおける、線状部材５０との当接面の下部には突起部が設けられている。これらの突起部によって線状部材５０の下部が支えられることによって、第１移動部１１の対向面と第２移動部１２の対向面とに内接する円の直径が線状部材５０の直径よりも所定量大きい状態であっても、線状部材５０が下方へ垂れ下がることを防止できる。 A protrusion is provided at the lower part of the contact surface with the linear member 50 in each of the first moving portion 11 and the second moving portion 12. By supporting the lower portion of the linear member 50 by these protrusions, the diameter of the circle inscribed in the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 is larger than the diameter of the linear member 50. Even in a state where the predetermined amount is large, it is possible to prevent the linear member 50 from hanging downward.
　また、本実施形態では、第１移動部１１の対向面および第２移動部１２の対向面は互いに平行となっているが、これに限定されるものではない。例えば、第１移動部１１の対向面および第２移動部１２の対向面が、互いに平行な状態から所定の角度傾いた状態で配置されていてもよい。この構成において、第１移動部１１または第２移動部１２の少なくともいずれか一方の構造が、線状部材５０との当接面の下部において第１移動部１１および第２移動部１２の間の距離が短くなる構造であれば、突起部を設けなくても線状部材５０が下方へ垂れ下がることを防止できる。 Further, in the present embodiment, the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 are parallel to each other, but the present invention is not limited to this. For example, the facing surface of the first moving portion 11 and the facing surface of the second moving portion 12 may be arranged in a state of being inclined by a predetermined angle from a state of being parallel to each other. In this configuration, at least one of the structures of the first moving portion 11 and the second moving portion 12 is located between the first moving portion 11 and the second moving portion 12 at the lower part of the contact surface with the linear member 50. If the structure is such that the distance is short, it is possible to prevent the linear member 50 from hanging downward even if the protrusion is not provided.
　図２～４および６に示すように、第１ローラ２１、第２ローラ２２、および回転モータ２３は、固定部２０の一例である。回転モータ２３は、例えば、第２ローラ２２を任意に回転させることにより、線状部材５０を延伸方向に移動させる。また、第１ローラ２１および第２ローラ２２は、互いのローラ面で対向して配置された構造である。固定部２０は、第１ローラ２１と第２ローラ２２との距離を変化させることにより、線状部材５０を固定する状態および解放する状態との間で切り替えることができる。また、固定部２０は、回転モータ２３により第２ローラ２２を適宜回転させることにより、移動部１０を用いなくても、線状部材５０を該線状部材の延伸方向への移動を容易に実施することができる。これにより、例えば、線状部材５０の延伸方向の位置を調整できる。以上のように固定部２０として第１ローラ２１、第２ローラ２２、および回転モータ２３を用いることで、固定部２０に線状部材５０を固定した状態または解放した状態とする機能と、線状部材５０を所定の位置に配置する機能と、を兼ね備えた固定部２０となる。 As shown in FIGS. 2 to 4 and 6, the first roller 21, the second roller 22, and the rotary motor 23 are examples of the fixed portion 20. The rotation motor 23 moves the linear member 50 in the stretching direction by, for example, arbitrarily rotating the second roller 22. Further, the first roller 21 and the second roller 22 have a structure in which they are arranged so as to face each other on the roller surfaces. The fixing portion 20 can be switched between a state in which the linear member 50 is fixed and a state in which the linear member 50 is released by changing the distance between the first roller 21 and the second roller 22. Further, the fixing portion 20 can easily move the linear member 50 in the extending direction of the linear member 50 by appropriately rotating the second roller 22 by the rotary motor 23 without using the moving portion 10. can do. Thereby, for example, the position of the linear member 50 in the stretching direction can be adjusted. By using the first roller 21, the second roller 22, and the rotary motor 23 as the fixing portion 20 as described above, the function of fixing or releasing the linear member 50 to the fixing portion 20 and the linear shape The fixing portion 20 has a function of arranging the member 50 at a predetermined position.
　図２～４および６に示すように、ガイド部３０は、第１ガイド部３１および第２ガイド部３２を備えている。第１ガイド部３１および第２ガイド部３２は、例えば、ロボシリンダやエアシリンダなどによって駆動される。ロボシリンダは、ＡＣサーボモータ、ボールネジ、およびリニアガイドなどを有する電動シリンダである。また、第１ガイド部３１および第２ガイド部３２は、互いに対向して配置される。第１ガイド部３１および第２ガイド部３２は、線状部材５０に対して所定の方向、図においては上下方向から挟みこむことによって、線状部材５０をガイドすることが可能となっている。 As shown in FIGS. 2 to 4 and 6, the guide unit 30 includes a first guide unit 31 and a second guide unit 32. The first guide unit 31 and the second guide unit 32 are driven by, for example, a robot cylinder or an air cylinder. The Robo cylinder is an electric cylinder having an AC servomotor, a ball screw, a linear guide, and the like. Further, the first guide portion 31 and the second guide portion 32 are arranged so as to face each other. The first guide portion 31 and the second guide portion 32 can guide the linear member 50 by sandwiching the linear member 50 from a predetermined direction, or in the vertical direction in the drawing.
　線状部材５０は、先端の位置決めが行われる線状の部材であればよい。本実施形態では、線状部材５０として、電気配線としてのリード線を想定している。 The linear member 50 may be any linear member whose tip is positioned. In the present embodiment, a lead wire as an electric wiring is assumed as the linear member 50.
　センサ６０は、検出部の一例である。センサ６０は、例えば、光電センサなどによって構成され、所定の位置における線状部材５０の有無を検知する。 The sensor 60 is an example of a detection unit. The sensor 60 is composed of, for example, a photoelectric sensor or the like, and detects the presence or absence of the linear member 50 at a predetermined position.
　＜制御部＞
　固定部制御部４１は、固定部２０を制御することにより、固定部２０が線状部材５０を固定する状態および開放する状態を制御する。また、固定部制御部４１は、固定部２０を制御することにより、線状部材５０の延伸方向の移動を制御する。 <Control unit>
By controlling the fixing unit 20, the fixing unit control unit 41 controls a state in which the fixing unit 20 fixes and opens the linear member 50. Further, the fixing unit control unit 41 controls the movement of the linear member 50 in the stretching direction by controlling the fixing unit 20.
　移動制御部４２は、移動部１０を制御することにより、線状部材５０の搬送を制御する。また、移動制御部４２は、移動部１０と線状部材５０とを固定する、または固定を解除する制御を行う。すなわち、移動制御部４２は、移動部１０における線状部材５０を把持する状態と把持しない状態との切り替えを制御する。 The movement control unit 42 controls the transportation of the linear member 50 by controlling the movement unit 10. Further, the movement control unit 42 controls to fix or release the movement unit 10 and the linear member 50. That is, the movement control unit 42 controls switching between the state in which the linear member 50 is gripped and the state in which the linear member 50 is not gripped in the moving unit 10.
　ガイド制御部４３は、第１ガイド部３１および第２ガイド部３２の相対位置を制御することにより、ガイド部３０が線状部材５０をガイドする状態とガイドしない状態との切り替えを制御する。 By controlling the relative positions of the first guide unit 31 and the second guide unit 32, the guide control unit 43 controls switching between a state in which the guide unit 30 guides the linear member 50 and a state in which the guide unit 30 does not guide the linear member 50.
　§３　動作例
　次に図７を用いて、線状部材配置装置１の動作例を説明する。図７は、線状部材配置装置１の処理手順の一例を例示する図である。なお、以下で説明する処理手順は一例に過ぎず、各処理は可能な限り変更されてよい。また、以下で説明する処理手順について、実際の形態に応じて、適宜、ステップの省略、置換、および追加が可能である。 §3 Operation example Next, an operation example of the linear member arranging device 1 will be described with reference to FIG. 7. FIG. 7 is a diagram illustrating an example of a processing procedure of the linear member arranging device 1. The processing procedure described below is only an example, and each processing may be changed as much as possible. Further, with respect to the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the actual form.
　線状部材配置装置１は、１０１に示すように、移動制御部４２によって移動部１０が線状部材５０を把持するように制御を行う。そして、線状部材配置装置１は、移動制御部４２によって移動部１０を移動させることにより、第１ローラ２１および第２ローラ２２の間に線状部材５０を配置する（第１ステップ）。 As shown in 101, the linear member arranging device 1 is controlled by the movement control unit 42 so that the moving unit 10 grips the linear member 50. Then, the linear member arranging device 1 arranges the linear member 50 between the first roller 21 and the second roller 22 by moving the moving unit 10 by the movement control unit 42 (first step).
　次に、線状部材配置装置１は、１０２に示すように、固定部制御部４１により第１ローラ２１と第２ローラ２２との相対位置を制御することにより、線状部材５０を固定する（第２ステップ）。次に、線状部材配置装置１は、１０３に示すように、移動制御部４２により移動部１０と線状部材５０との固定を解除し、第１移動部１１および第２移動部１２と線状部材５０との間に所定の間隙を設ける。そして、線状部材配置装置１は、移動制御部４２により移動部１０を線状部材５０の延伸方向に移動させる制御を行う（第３ステップ）。これにより、線状部材５０は、固定部２０における固定位置から移動部１０の配置位置の間で直線状に整形されて配置されることになる。すなわち、その後の第１ガイド部３１と第２ガイド部３２とによる挟み込みを、線状部材５０の位置ずれなどがない状態で正確に実行することができる。 Next, as shown in 102, the linear member arranging device 1 fixes the linear member 50 by controlling the relative positions of the first roller 21 and the second roller 22 by the fixing unit control unit 41 (the linear member arranging device 1). Second step). Next, as shown in 103, the linear member arranging device 1 releases the fixing between the moving unit 10 and the linear member 50 by the movement control unit 42, and makes a line with the first moving unit 11 and the second moving unit 12. A predetermined gap is provided between the shape member 50 and the shape member 50. Then, the linear member arranging device 1 controls the movement control unit 42 to move the moving unit 10 in the extending direction of the linear member 50 (third step). As a result, the linear member 50 is linearly shaped and arranged between the fixed position of the fixed portion 20 and the arranged position of the moving portion 10. That is, the subsequent sandwiching between the first guide portion 31 and the second guide portion 32 can be accurately executed without any misalignment of the linear member 50.
　次に、線状部材配置装置１は、１０４に示すように、ガイド制御部４３により第１ガイド部３１と第２ガイド部３２との距離を変更し、第１ガイド部３１と第２ガイド部３２とを線状部材５０を所定の間隔を開けた状態でガイドする配置状態に制御する（第４ステップ）。次に、線状部材配置装置１は、１０５に示すように、移動制御部４２により移動部１０を、線状部材５０の位置決めの邪魔にならない位置に移動させる（第５ステップ）。なお、１０５において移動部１０を線状部材５０の位置決めの邪魔にならない位置に移動させるため、以降では移動部１０を示さない。 Next, as shown in 104, the linear member arranging device 1 changes the distance between the first guide unit 31 and the second guide unit 32 by the guide control unit 43, and changes the distance between the first guide unit 31 and the second guide unit 32. The 32 and the linear member 50 are controlled in an arrangement state in which the linear member 50 is guided at a predetermined distance (fourth step). Next, as shown in 105, the linear member arranging device 1 moves the moving unit 10 to a position that does not interfere with the positioning of the linear member 50 by the movement control unit 42 (fifth step). Since the moving portion 10 is moved to a position that does not interfere with the positioning of the linear member 50 in 105, the moving portion 10 is not shown thereafter.
　次に、線状部材配置装置１は、１０６に示すように、第１ローラ２１および第２ローラ２２により線状部材５０を所定の方向、図７においては右から左方向へ移動させる（第６ステップ）。換言すれば、固定部２０によって線状部材５０を、第１ガイド部３１および第２ガイド部３２から固定部２０側とは反対側に突出させた状態から、固定部２０側に移動させる。 Next, as shown in 106, the linear member arranging device 1 moves the linear member 50 in a predetermined direction by the first roller 21 and the second roller 22, from right to left in FIG. 7 (sixth). Step). In other words, the fixing portion 20 moves the linear member 50 from the first guide portion 31 and the second guide portion 32 to the side opposite to the fixing portion 20 side to the fixing portion 20 side.
　次に、線状部材配置装置１は、１０７に示すように、センサ６０によって線状部材５０を検知できなくなるまで線状部材５０を移動させる（第７ステップ）。これにより、線状部材５０が第１ガイド部３１および第２ガイド部３２に隠れる状態となることにより、当該先端の上下左右方向への振れを矯正し、線状部材をまっすぐな状態とすることができる。これにより、線状部材の先端を延伸方向に高精度に位置決めできる。 Next, as shown in 107, the linear member arranging device 1 moves the linear member 50 until the sensor 60 cannot detect the linear member 50 (7th step). As a result, the linear member 50 is hidden by the first guide portion 31 and the second guide portion 32, so that the deflection of the tip in the vertical and horizontal directions is corrected and the linear member is straightened. Can be done. As a result, the tip of the linear member can be positioned with high accuracy in the stretching direction.
　次に、線状部材配置装置１は、１０８に示すように、固定部制御部４１によって線状部材５０を所定の方向、図７においては左から右方向に所定量移動させる（第８ステップ）。このように、固定部２０により、線状部材５０を所定量移動させることにより、線状部材５０の先端を所定の位置に正確に配置することができる。 Next, as shown in 108, the linear member arranging device 1 moves the linear member 50 in a predetermined direction by the fixing unit control unit 41, or from left to right in FIG. 7 by a predetermined amount (8th step). .. In this way, by moving the linear member 50 by a predetermined amount by the fixing portion 20, the tip of the linear member 50 can be accurately arranged at a predetermined position.
　〔まとめ〕
　本開示の一側面に係る線状部材配置装置は、線状部材を所定位置に配置する線状部材配置装置であって、前記線状部材を搬送する移動部と、前記移動部によって搬送された前記線状部材を固定する状態および解放する状態との間で切り替える固定部と、前記線状部材が前記固定部に固定された状態において、前記線状部材を所定の間隙を開けた状態でガイドするガイド部と、前記移動部、前記固定部、および前記ガイド部の動作を制御する制御部と、を備え、前記固定部は、前記線状部材を延伸方向に移動させる機能を有し、前記ガイド部は、互いの距離を変更可能な第１ガイド部と第２ガイド部とを備え、前記制御部は、前記第１ガイド部と前記第２ガイド部との距離を変更させることによって、前記第１ガイド部および前記第２ガイド部を、前記線状部材を所定の間隙を開けた状態でガイドする配置状態に設定する。 [Summary]
The linear member arranging device according to one aspect of the present disclosure is a linear member arranging device for arranging linear members at predetermined positions, and is conveyed by a moving portion that conveys the linear member and the moving portion. A fixed portion that switches between a state in which the linear member is fixed and a state in which the linear member is released, and a state in which the linear member is fixed to the fixed portion, and the linear member is guided with a predetermined gap. A guide unit, a moving unit, a fixing unit, and a control unit that controls the operation of the guide unit are provided, and the fixing unit has a function of moving the linear member in a stretching direction. The guide unit includes a first guide unit and a second guide unit that can change the distance from each other, and the control unit changes the distance between the first guide unit and the second guide unit. The first guide portion and the second guide portion are set in an arrangement state in which the linear member is guided with a predetermined gap.
　当該構成によれば、第１ガイド部と第２ガイド部とを線状部材を所定の間隔を開けてガイドした状態で、固定部によって線状部材を延伸方向に移動させることができる。すなわち、線状部材の先端の延伸方向に垂直な方向の位置をガイド部によって決めた状態で、線状部材の延伸方向での位置を調整することができる。よって、線状部材の先端の位置を正確に位置決めすることが可能となる。 According to this configuration, the linear member can be moved in the stretching direction by the fixing portion in a state where the linear member is guided at a predetermined interval between the first guide portion and the second guide portion. That is, the position of the linear member in the extending direction can be adjusted while the position of the tip of the linear member in the direction perpendicular to the extending direction is determined by the guide portion. Therefore, the position of the tip of the linear member can be accurately positioned.
　なお、前記構成において、線状部材を所定の間隔を開けた状態でガイドするとは、第１ガイド部と第２ガイド部とを所定の間隔を開けて配置することにより形成される開口に線状部材をガイドすることを含む。 In the above configuration, guiding a linear member with a predetermined interval means that the linear member is linearly formed in an opening formed by arranging the first guide portion and the second guide portion at a predetermined interval. Includes guiding members.
　前記一側面に係る線状部材配置装置は、前記固定部は、２つのローラが互いにローラ面で対向して配置された構造でおり、２つの前記ローラの距離を変化させることによって前記線状部材を固定する状態および解放する状態との間で切り替える。 The linear member arranging device according to the one side surface has a structure in which two rollers are arranged so as to face each other on the roller surface, and the linear member is arranged by changing the distance between the two rollers. Switch between the fixed state and the released state.
　当該構成によれば、ローラを適宜回転させることによって、線状部材の延伸方向への移動を容易に実施することができ、線状部材を所望の位置に配置できる。 According to this configuration, by appropriately rotating the roller, the linear member can be easily moved in the stretching direction, and the linear member can be arranged at a desired position.
　なお、前記構成において、固定部は、片側のローラに当該ローラを駆動させる回転モータを備える。当該構成によれば、線状部材の延伸方向への移動を容易に実施できる。 In the above configuration, the fixed portion includes a rotary motor that drives the roller on one side of the roller. According to this configuration, the linear member can be easily moved in the stretching direction.
　前記一側面に係る線状部材配置装置は、前記制御部は、前記固定部によって前記線状部材を、前記ガイド部から前記固定部側とは反対側に突出させた状態から、前記固定部側に移動させて前記線状部材の先端が前記ガイド部に隠れる状態とし、その後、前記固定部側から前記ガイド部側に所定量移動させる制御を行う。 In the linear member arranging device according to the one side surface, the control unit has the fixed portion side from a state in which the linear member is projected from the guide portion to the side opposite to the fixed portion side by the fixing portion. The tip of the linear member is hidden by the guide portion, and then the control is performed to move the linear member from the fixed portion side to the guide portion side by a predetermined amount.
　当該構成によれば、線状部材の先端が一旦ガイド部に隠れる状態となることにより、当該先端の上下左右方向への振れを矯正し、線状部材をまっすぐな状態とすることができる。その後固定部側からガイド部側に所定量線状部材を移動させることにより、線状部材の先端の位置を所定の位置に正確に配置することができる。 According to the configuration, once the tip of the linear member is hidden by the guide portion, the runout of the tip in the vertical and horizontal directions can be corrected and the linear member can be in a straight state. After that, by moving the linear member by a predetermined amount from the fixed portion side to the guide portion side, the position of the tip of the linear member can be accurately arranged at the predetermined position.
　前記一側面に係る線状部材配置装置は、前記ガイド部にガイドされている線状部材を検出する検出部をさらに備え、前記制御部は、前記検出部の検出結果に基づき、前記線状部材の先端が前記ガイド部に隠れる状態となったことを検知する。 The linear member arranging device according to the one side surface further includes a detection unit for detecting the linear member guided by the guide unit, and the control unit further includes the linear member based on the detection result of the detection unit. It is detected that the tip of the head is hidden by the guide portion.
　当該構成によれば、検出部は、線状部材の先端がガイド部に隠れる状態となったか否かの検出を例えば、光電センサなどの簡単なセンサ装置によって実現することができる。よって、高価な装置や複雑な制御を行うことなく、容易に線状部材の先端の位置決めを正確に実現することができる。 According to this configuration, the detection unit can detect whether or not the tip of the linear member is hidden by the guide unit by a simple sensor device such as a photoelectric sensor. Therefore, it is possible to easily and accurately position the tip of the linear member without performing an expensive device or complicated control.
　前記一側面に係る線状部材の配置方法は、線状部材配置装置を用いて前記線状部材を配置する線状部材の配置方法であって、前記固定部によって前記線状部材を、前記ガイド部から前記固定部側とは反対側に突出させた状態から、前記固定部側に移動させて前記ガイド部に隠れる状態とするステップと、その後、前記固定部側から前記ガイド部側に所定量移動させるステップと、を含む。 The method of arranging the linear member according to the one side surface is a method of arranging the linear member using the linear member arranging device, and the linear member is guided by the fixing portion. A step in which the portion is projected from the portion to the side opposite to the fixed portion side and then moved to the fixed portion side so as to be hidden by the guide portion, and then a predetermined amount from the fixed portion side to the guide portion side. Includes steps to move.
　当該構成によれば、線状部材を固定部側に移動させてガイド部に隠れる状態とするステップと、前記固定部側から前記ガイド部側に所定量移動させるステップとを行うことにより、容易に線状部材の先端の位置決めを正確に実現することができる。 According to this configuration, it is easy to perform a step of moving the linear member to the fixed portion side so as to be hidden by the guide portion and a step of moving the linear member from the fixed portion side to the guide portion side by a predetermined amount. Accurate positioning of the tip of the linear member can be realized.
　１　　線状部材配置装置
　１０　移動部
　２０　固定部
　２１　第１ローラ
　２２　第２ローラ
　３０　ガイド部
　３１　第１ガイド部
　３２　第２ガイド部
　４０　制御部
　５０　線状部材
　６０　センサ 1 Linear member placement device 10 Moving part 20 Fixed part 21 1st roller 22 2nd roller 30 Guide part 31 1st guide part 32 2nd guide part 40 Control part 50 Linear member 60 Sensor

Claims (5)

  1. 　線状部材を所定位置に配置する線状部材配置装置であって、
    　前記線状部材を搬送する移動部と、
    　前記移動部によって搬送された前記線状部材を固定する状態および解放する状態との間で切り替える固定部と、
    　前記線状部材が前記固定部に固定された状態において、前記線状部材を所定の間隙を開けた状態でガイドするガイド部と、
    　前記移動部、前記固定部、および前記ガイド部の動作を制御する制御部と、を備え、
    　前記ガイド部は、互いの距離を変更可能な第１ガイド部と第２ガイド部とを備え、
    　前記固定部は、前記線状部材を延伸方向に移動させる機能を有し、
    　前記制御部は、前記第１ガイド部と前記第２ガイド部との距離を変更させることによって、前記第１ガイド部および前記第２ガイド部を、前記線状部材を所定の間隙を開けた状態でガイドする配置状態に設定する線状部材配置装置。     A linear member arranging device that arranges a linear member at a predetermined position.
    A moving part that conveys the linear member and
    A fixing portion that switches between a state in which the linear member conveyed by the moving portion is fixed and a state in which the linear member is released, and a fixing portion.
    In a state where the linear member is fixed to the fixed portion, a guide portion that guides the linear member with a predetermined gap and a guide portion.
    A control unit that controls the operation of the moving unit, the fixing unit, and the guide unit is provided.
    The guide portion includes a first guide portion and a second guide portion that can change the distance from each other.
    The fixing portion has a function of moving the linear member in the stretching direction.
    By changing the distance between the first guide unit and the second guide unit, the control unit opens a predetermined gap between the first guide unit and the second guide unit and the linear member. A linear member arranging device that is set to the arranging state guided by.
  2. 　前記固定部は、２つのローラが互いにローラ面で対向して配置された構造でおり、２つの前記ローラの距離を変化させることによって前記線状部材を固定する状態および解放する状態との間で切り替える請求項１に記載の線状部材配置装置。 The fixing portion has a structure in which two rollers are arranged so as to face each other on the roller surface, and the linear member is fixed and released by changing the distance between the two rollers. The linear member arranging device according to claim 1.
  3. 　前記制御部は、前記固定部によって前記線状部材を、前記ガイド部から前記固定部側とは反対側に突出させた状態から、前記固定部側に移動させて前記線状部材の先端が前記ガイド部に隠れる状態とし、その後、前記固定部側から前記ガイド部側に所定量移動させる制御を行う請求項２に記載の線状部材配置装置。 The control unit moves the linear member from the guide portion to the side opposite to the fixing portion side by the fixing portion, and the tip of the linear member is moved to the fixing portion side. The linear member arranging device according to claim 2, wherein the linear member arranging device is hidden in a guide portion, and then controlled to move a predetermined amount from the fixed portion side to the guide portion side.
  4. 　前記ガイド部にガイドされている線状部材を検出する検出部をさらに備え、
    　前記制御部は、前記検出部の検出結果に基づき、前記線状部材の先端が前記ガイド部に隠れる状態となったことを検知する請求項３に記載の線状部材配置装置。     A detection unit for detecting a linear member guided by the guide unit is further provided.
    The linear member arranging device according to claim 3, wherein the control unit detects that the tip of the linear member is hidden by the guide portion based on the detection result of the detection unit.
  5. 　請求項３または４に記載の線状部材配置装置を用いて前記線状部材を配置する線状部材の配置方法であって、
    　前記固定部によって前記線状部材を、前記ガイド部から前記固定部側とは反対側に突出させた状態から、前記固定部側に移動させて前記ガイド部に隠れる状態とするステップと、
    　その後、前記固定部側に所定量移動させるステップと、を含む線状部材の配置方法。     A method of arranging a linear member for arranging the linear member using the linear member arranging device according to claim 3 or 4.
    A step in which the linear member is projected from the guide portion to the side opposite to the fixing portion side by the fixing portion, and then moved to the fixing portion side so as to be hidden in the guide portion.
    After that, a method of arranging the linear member including the step of moving the linear member to the fixed portion side by a predetermined amount.
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JPH08102354A (en) 1994-09-29 1996-04-16 Japan Automat Mach Co Ltd Device for crimping both ends of covered wire
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Publication number Priority date Publication date Assignee Title
JPH08102354A (en) 1994-09-29 1996-04-16 Japan Automat Mach Co Ltd Device for crimping both ends of covered wire
JP2006346769A (en) * 2005-06-14 2006-12-28 Kodera Electronics Co Ltd Workpiece gripper
JP2013105607A (en) * 2011-11-14 2013-05-30 Jst Mfg Co Ltd Pressure welding device
JP2018060791A (en) * 2016-10-03 2018-04-12 コマックス ホルディング アクチエンゲゼルシャフトＫｏｍａｘ Ｈｏｌｄｉｎｇ Ａｇ Device and method for attaching plug housing with preassembled cable end of cable harness

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