WO2021199514A1 - Detection device and wire harness manufacturing device - Google Patents

Detection device and wire harness manufacturing device Download PDF

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Publication number
WO2021199514A1
WO2021199514A1 PCT/JP2020/046864 JP2020046864W WO2021199514A1 WO 2021199514 A1 WO2021199514 A1 WO 2021199514A1 JP 2020046864 W JP2020046864 W JP 2020046864W WO 2021199514 A1 WO2021199514 A1 WO 2021199514A1
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WO
WIPO (PCT)
Prior art keywords
electric wire
force
connector
gripping
inspection device
Prior art date
Application number
PCT/JP2020/046864
Other languages
French (fr)
Japanese (ja)
Inventor
匡志 井上
Original Assignee
オムロン株式会社
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Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2021199514A1 publication Critical patent/WO2021199514A1/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

Definitions

  • the present invention relates to an inspection device and a wire harness manufacturing device.
  • a wire harness has been developed in which a crimp terminal crimped to the end of an electric wire is inserted into a connector housing (for example, Patent Documents 1-4). Further, these documents disclose a technique for inspecting whether or not the crimp terminal is normally inserted into the housing of the connector.
  • Patent Document 1-2 inspects the correctness of inserting an electric wire into a connector via a plurality of members and springs in addition to the connector holding portion. Therefore, the structure of the inspection device becomes complicated. Further, when the electric wire inserted in the housing of the connector is manually pulled and inspected, it is considered that the pulling force of the electric wire varies. Therefore, if the pulling force is excessive, there is a possibility that the connector insertion portion is deteriorated. On the contrary, if the tensile force is too small, for example, in Patent Document 1, the displacement of the connector holder becomes too small.
  • the present invention has been made in view of such circumstances on one side, and an object of the present invention is to inspect whether or not a crimp terminal crimped to an end of an electric wire is normally inserted into the housing of a connector. It is to improve the accuracy of the above and to provide the inspection technology with a simple structure.
  • the present invention adopts the following configuration in order to solve the above-mentioned problems.
  • the inspection device is an inspection device that inspects whether or not the terminal of the electric wire is normally inserted into the connector, and the connector into which the terminal of the electric wire is inserted is pulled by the electric wire.
  • the connector grip portion that grips the electric wire so as to be stationary in the direction and the electric wire grip portion that grips the electric wire from a direction orthogonal to the pulling direction of the electric wire, and the connector grip portion or the electric wire grip portion is the connector or the electric wire grip portion.
  • a tension load can be applied to the electric wire while the electric wire is gripped, and a gripping force that the connector gripping portion or the electric wire gripping portion grips the connector or the electric wire and the connector gripping from the connector or the electric wire.
  • It has a force-tactile sensor element that is arranged so as to be able to detect the force in the tensile direction received by the portion or the wire grip portion.
  • the gripping force is detected by the tactile sensor element. Therefore, it is possible to confirm whether the connector gripping portion or the connector or the connector actually grips the connector or the electric wire with a predetermined gripping force. Therefore, for example, it is prevented that the force for gripping the electric wire is weak and the tensile load is not correctly applied to the electric wire due to insufficient proficiency in the inspection of the operator. Further, it is possible to make a pass / fail judgment including not only the pulling force acting on the connector gripping portion or the wire gripping portion from the electric wire when the electric wire is pulled, but also the gripping force. Therefore, the inspection accuracy is improved.
  • the force in the tensile direction acting from the connector or the electric wire to the connector gripping portion or the electric wire gripping portion when the electric wire is pulled can be detected by a simple structure. Therefore, it is possible to prevent the force acting in the tensile direction from the connector or the electric wire on the connector gripping portion or the electric wire gripping portion from being mixed with the friction between the parts, the sliding resistance, the load loss due to the deterioration of the parts, and the like. Therefore, the accuracy of detecting the force in the tensile direction acting on the connector gripping portion or the wire gripping portion from the connector or the electric wire is improved. Therefore, the inspection accuracy is improved. In addition, since the structure is simple, the inspection device can be easily manufactured.
  • the pulling force of the electric wire can be easily changed according to the type of the connector, the electric wire, and the terminal. That is, since it is suppressed to remake the inspection device according to the types of connectors, electric wires, and terminals, the cost required for constructing the wire harness manufacturing line can be reduced.
  • the judgment criteria regarding the magnitude of the force in the tensile direction acting from the connector or electric wire to the connector gripping part or electric wire gripping part according to the type of connector, electric wire, or terminal the type of connector, electric wire, or terminal can be changed. Inspection can be performed easily in response to changes.
  • the connector or the electric wire is gripped by the connector gripping portion or the electric wire gripping portion. Then, the connector gripping portion or the electric wire gripping portion can pull the electric wire by applying a tensile load to the electric wire. Therefore, when the tensile load is controlled by, for example, a device, the magnitude of the pulling force of the wire is greater than when manually pulling the wire and inspecting whether the wire is properly inserted into the connector housing. Variation is suppressed. Therefore, the inspection accuracy is improved.
  • the electric wire gripping portion is from the electric wire in a direction orthogonal to the gripping direction in which the electric wire gripping portion grips the electric wire and in a direction orthogonal to the pulling direction.
  • the acting force may be further detected.
  • the electric wire gripping portion has two surfaces arranged so as to face each other with the electric wire interposed therebetween, and in the force-tactile sensor element, the two surfaces each have the gripping force. When pressed against each other, the force acting from the electric wire may be detectable on one of the two surfaces.
  • the device can have a simpler structure.
  • the force-tactile sensor element may be arranged between the force and tactile sensor element via a predetermined member.
  • the force-tactile sensor element can be protected from the impact generated by contact with the electric wire when gripping the electric wire. Therefore, since the failure of the force-tactile sensor element is prevented, the influence on the inspection is suppressed. Further, the shape of the predetermined member can be changed to a shape that makes it easy to grip the electric wire. Therefore, it is possible to efficiently grip the electric wire even with a small gripping force. Therefore, the power of the inspection device that generates the gripping force is reduced.
  • the connector gripping portion or the electric wire gripping portion applies the tensile load to the electric wire
  • the electric wire is attached to the connector based on the force detected by the force-tactile sensor element.
  • a determination unit for determining whether or not the terminal of is normally inserted may be further provided.
  • the determination unit may make the determination based on the force in the tensile direction detected by the force / tactile sensor element at a predetermined time.
  • the determination unit may make the determination based on the force in the tensile direction continuously detected by the force-tactile sensor element in a predetermined period from the second predetermined time. ..
  • pass / fail judgment can be made including the time change of the force in the tensile direction detected by the force-tactile sensor element. Therefore, erroneous detection is suppressed as compared with the case where the pass / fail judgment is performed based on the momentarily increased force in the tensile direction.
  • the determination unit may make the determination based on the gripping force detected by the force / tactile sensor element.
  • the electric wire gripping portion may be provided so that the electric wire can be manually gripped, and the tensile load can be manually applied to the electric wire while the electric wire is gripped. ..
  • the gripping force and the pulling direction detected by the force-tactile sensor element do not depend on the human sense whether or not the electric wire is pulled while being gripped with an appropriate force. Can be judged based on the force of. Therefore, the inspection accuracy is improved.
  • the force / tactile sensor element may include a force sensor element having three detectable load directions.
  • the inspection device can be made compact.
  • the wire harness manufacturing apparatus grips the second electric wire having no terminal inserted in the second connector with the second gripping force, and inserts the terminal of the second electric wire into the second connector.
  • the force-tactile sensor element is provided with a second electric wire grip portion that can be provided, and an inspection device that is an inspection device related to the one side surface and that inspects whether or not the terminal of the second electric wire is inserted into the second connector. Further detects the second gripping force and the force in the insertion direction acting on the second electric wire gripping portion from the second electric wire when the terminal of the second electric wire is inserted into the second connector. May be good.
  • the wire harness can be manufactured by inserting the terminal of the second electric wire into the second connector. Further, if the second gripping force is weak, the second electric wire slips with respect to the second grip portion when the second electric wire is inserted into the second connector.
  • the second gripping force when the terminal of the second electric wire is inserted into the second connector is detected by the force-tactile sensor element. Therefore, it can be confirmed whether the second gripping force acts on the second electric wire as desired, and as a result, the second electric wire is prevented from slipping with respect to the second gripping portion. Therefore, manufacturing defects of the wire harness are reduced.
  • the force acting on the second grip portion from the second electric wire in the insertion direction is detected, so that the second electric wire becomes the second connector. It is possible to perform an insertion inspection to see if the insertion is successful. Therefore, the manufacturing man-hours can be reduced. Further, after the terminal of the second electric wire is inserted into the second connector, the wire harness is manufactured by performing a tensile inspection by an inspection device to see if the terminal of the second electric wire is normally inserted into the second connector. Defects can be detected with higher accuracy. Further, when it is determined that the insertion inspection fails, the wire harness to be inspected can be determined to be a manufacturing defect without performing the tensile inspection.
  • the manufacturing man-hours including the tensile inspection can be shortened. Further, when the second grip portion is replaced with the first grip portion, the wire harness manufacturing, insertion inspection, and tensile inspection can be performed by one inspection device. It can be said that such an inspection device is highly convenient.
  • the wire harness device may further include a second determination unit that determines whether or not the terminal of the second electric wire is inserted into the second connector based on the force detected by the force / tactile sensor element. good.
  • the present invention it is possible to improve the accuracy of inspection of whether or not the crimp terminal crimped to the end of the electric wire is normally inserted into the housing of the connector, and to provide an inspection technique having a simple structure. ..
  • FIG. 1 shows an outline of an inspection device according to an embodiment.
  • FIG. 2 shows an outline of the operation when inspecting whether or not the crimp terminal of the electric wire is normally inserted into the housing of the connector.
  • FIG. 3 shows an example of a flowchart of the inspection method.
  • FIG. 4 is an example of a temporal change in the force detected by the 3-axis sensor unit.
  • FIG. 5 illustrates an outline of the inspection device according to the modified example.
  • FIG. 6 is an example of a temporal change in the force detected by the 3-axis sensor unit when the electric wire is normally inserted into the connector.
  • FIG. 7 illustrates an outline of the inspection device according to the modified example.
  • FIG. 8 shows an example of a modification of the gripping member.
  • FIG. 9 illustrates an outline of the inspection device according to the modified example.
  • the present embodiment 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.
  • the embodiments described below are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. That is, in carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted.
  • FIG. 1 shows an outline of the inspection device 100 according to the embodiment.
  • the inspection device 100 includes grip portions 2A and 2B.
  • the grip portions 2A and 2B are arranged so that they can be gripped by sandwiching the electric wire 52 to be inspected. Further, the grip portions 2A and 2B can move in the + X direction with the electric wire 52 sandwiched therein.
  • the force of pinching the electric wire 52 by the gripping portions 2A and 2B that is, the force of gripping the electric wire in the direction orthogonal to the pulling direction of the electric wire 52 (an example of the "grasping force" of the present disclosure) and the + X direction with the electric wire 52 sandwiched.
  • the power to move to is controlled by a drive unit (not shown). In this way, a tensile inspection can be performed to confirm whether or not the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50.
  • the inspection device 100 includes 3-axis sensor units 4A and 4B.
  • the three-axis sensor units 4A and 4B include force sensor elements having three detectable load directions. Therefore, the three-axis sensor units 4A and 4B can detect the forces acting on themselves in the X, Y, and Z directions when the electric wire 52 is pulled in the + X direction.
  • the gripping force at which the gripping portions 2A and 2B grip the electric wire 52 is detected by the three-axis sensor units 4A and 4B. Therefore, it can be confirmed whether the gripping portions 2A and 2B actually grip the electric wire 52 with a predetermined gripping force. Therefore, it is prevented that the force for gripping the electric wire 52 is weak and the tensile load is not correctly applied to the electric wire 52. Further, it is possible to make a pass / fail judgment including not only the force in the tensile direction acting on the grip portions 2A and 2B from the electric wire 52 when the electric wire 52 is pulled, but also the gripping force. Therefore, the inspection accuracy is improved.
  • FIG. 1 shows an outline of the inspection device 100 according to the present embodiment.
  • the vertical direction in FIG. 1 will be the X direction
  • the depth direction will be the Y direction
  • the horizontal direction will be the Z direction.
  • the inspection device 100 includes grip portions 2A and 2B.
  • the grip portions 2A and 2B are provided symmetrically with respect to the central axis of the inspection device 100 extending in the X direction.
  • the grip portions 2A and 2B are examples of the "electric wire grip portion" of the present disclosure.
  • the inspection device 100 includes 3-axis sensor units 4A and 4B (hereinafter, also referred to as 3-axis sensor unit 4).
  • the three-axis sensor units 4A and 4B are provided on the grip portions 2A and 2B, respectively.
  • the three-axis sensor units 4A and 4B detect the forces acting on themselves in the X, Y, and Z directions.
  • the sensing unit of the 3-axis sensor units 4A and 4B is, for example, a MEMS (Micro Electro Mechanical Systems) sensor.
  • the portions of the three-axis sensor units 4A and 4B facing each other have planar surfaces 3A and 3B parallel to the XY directions. Then, the forces acting on the surfaces 3A and 3B are detected by the three-axis sensor units 4A and 4B.
  • the sizes of the three-axis sensor units 4A and 4B are small, not too large compared to the dimensions of the electric wire 52. That is, for example, the size of the 3-axis sensor units 4A and 4B is preferably 5 mm or less.
  • the surfaces 3A and 3B are examples of the "two surfaces arranged so as to face each other with the electric wire interposed therebetween" of the present disclosure.
  • the inspection device 100 includes a drive unit (not shown) that generates power for moving the grip portion 2A in the + Z direction and the grip portion 2B in the ⁇ Z direction, and transmits the power to the grip portions 2A and 2B.
  • the drive unit include a motor and a robot arm.
  • the grip portions 2A and 2B force the electric wire 52 arranged between the 3-axis sensor unit 4A and the 3-axis sensor unit 4B to a predetermined force. Can be sandwiched between.
  • the drive unit also generates power to move the grip portions 2A and 2B in the X direction, and transmits the power to the grip portions 2A and 2B.
  • the driving unit that generates the driving force in the Z direction and the driving unit that generates the driving force in the X direction may be separate driving units.
  • the inspection device 100 includes a fixing jig 5.
  • the fixing jig 5 includes surfaces 15A and 15B facing in the Z direction. Further, the fixing jig 5 has, for example, a bolt (not shown) that penetrates itself in the Z direction. Then, the distance between the surface 15A and the surface 15B is adjusted by twisting the bolt. With such a structure, the connector 50 can be fixed to the fixing jig 5 by sandwiching the connector 50 (details will be described later) arranged between the surfaces 15A and 15B with a predetermined force.
  • the fixing jig 5 is an example of the "connector grip portion" of the present disclosure.
  • the inspection device 100 includes a CPU and a memory. Then, a determination unit for determining whether or not the insertion of the electric wire 52 is correct is provided by loading and executing the program stored in the memory.
  • the inspection device 100 includes a processor such as a CPU, a main storage device such as a RAM or ROM, and an auxiliary storage device such as an EPROM or a hard disk drive.
  • the auxiliary storage device stores information such as an operating system (OS), various programs, and various table formats.
  • the inspection device 100 includes a determination unit that determines whether or not the insertion of the electric wire 52 is correct or not by loading and executing the program stored in the auxiliary storage device in the work area of the main storage device.
  • FIG. 2 shows an outline of the operation of the inspection device 100 that inspects whether or not the crimp terminal of the electric wire 52 to be inspected is normally inserted into the housing of the connector 50.
  • FIG. 3 shows an example of a flowchart of the inspection method.
  • step S101 the connector 50 in which the crimp terminal of the electric wire 52 is inserted into the housing is arranged between the surfaces 15A and 15B of the fixing jig 5. Then, by twisting the bolt of the fixing jig 5, the connector 50 is sandwiched in the Z direction by a predetermined force. In this way, the connector 50 is fixed to the inspection device 100.
  • a power for moving the gripping portion 2A in the + Z direction and the gripping portion 2B in the ⁇ Z direction is generated by the driving unit.
  • the predetermined gripping force is preset according to the type of the connector, the type of the electric wire, the terminal, and the like. Then, the power is transmitted to the grip portions 2A and 2B. In this way, the electric wire 52 is sandwiched in the Z direction by the surfaces 3A and 3B. In addition, the state of being gripped with a predetermined gripping force is continued for a certain period of time.
  • the force acting on the surfaces 3A and 3B that press against each other in the Z direction is detected. Then, it is determined whether or not the difference between the detected force in the Z direction and the predetermined gripping force is within the permissible range. Then, when the error between the detected force in the Z direction and the predetermined gripping force is out of the permissible range, the driving unit adjusts the power in the direction in which the error is reduced. By such a step, the electric wire 52 can be reliably sandwiched by a predetermined gripping force set in advance. Therefore, the inspection accuracy is improved.
  • the force acting on the surfaces 3A and 3B in the Y direction is detected. Then, it is determined whether or not the detected force in the Y direction is within the allowable range.
  • the electric wire 52 is gripped off the center of the surfaces 3A and 3B in the Y direction. In such a case, the position where the electric wire 52 is gripped is corrected so as to be the center of the surfaces 3A and 3B.
  • a desired gripping force acts on the electric wire 52, so that the inspection accuracy is improved.
  • step S102 the driving unit generates a power for moving the grip portion 2A and the grip portion 2B in the X direction by a specified fixed displacement (for example, 1.5 mm), and transmits the power to the grip portions 2A and 2B.
  • a specified fixed displacement for example, 1.5 mm
  • the grip portions 2A and 2B gripping the electric wire 52 pull the electric wire 52 in the + X direction.
  • the force acting on the surfaces 3A and 3B from the electric wire 52 in the X direction is detected by the three-axis sensor units 4A and 4B.
  • the drive unit may generate a power that gradually increases the tensile load until a predetermined tensile load value is reached.
  • step S103 when the grip portions 2A and 2B move 1.5 mm in the + X direction from the initial state of step S101, the movement of the grip portions 2A and 2B is stopped.
  • step S102 when the drive unit generates a power that gradually increases the tensile load until it reaches a predetermined tensile load value, the grip portion when the power generated by the drive unit reaches a predetermined tensile load. The movement of 2A and 2B may be stopped.
  • step S104 the force information in the XYZ directions acting on the surfaces 3A and 3B from the electric wire 52 detected by the three-axis sensor units 4A and 4B is stored in the storage device.
  • the determination unit determines whether or not the insertion of the electric wire 52 is correct or not by using the force information in the XYZ directions detected by the three-axis sensor units 4A and 4B.
  • FIG. 4 shows a temporal change of the force Fx in the X direction detected by the 3-axis sensor unit 4A when the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50 and when it is not inserted.
  • An example is shown.
  • (A) shows the case where the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50.
  • (B) shows a case where the crimp terminal of the electric wire 52 is not normally inserted into the housing of the connector 50.
  • the magnitude of the momentary change in Fx after a predetermined time after the grip portions 2A and 2B start pulling the electric wire 52 in the + X direction (S102) is greater than or equal to the predetermined value. In this case, it is determined that the electric wire 52 is normally inserted into the connector 50.
  • the determination unit continuously maintains a state in which Fx is separated by a predetermined value or more from the value before tension after the grip portions 2A and 2B pull the electric wire 52 in the + X direction (S102) (this).
  • Fx is set within a predetermined time (an example of the "predetermined period from the second predetermined time” of the present disclosure) after the grip portions 2A and 2B start pulling the electric wire 52 in the + X direction (S102). If it exceeds a predetermined value, it may be determined that the electric wire 52 is normally inserted into the connector 50.
  • Fx is a predetermined value until the load of the grip portions 2A and 2B pulling the electric wire 52 reaches a predetermined value (an example of the “predetermined period from the second predetermined time” of the present disclosure). If it exceeds, it may be determined that the electric wire 52 is normally inserted into the connector 50.
  • the determination unit determines that the electric wire 52 is normally inserted into the connector 50 based on the size of Fx as described above, if the Fz is not equal to or more than the predetermined load value, or the predetermined load. If it is not within the range, it may be determined that the electric wire 52 is not normally inserted into the connector 50. These determination criteria are stored in advance in the storage device.
  • step S105 when the determination unit determines in step S104 that the electric wire 52 is normally inserted into the connector 50, the tensile test of the electric wire 52 inserted into the connector 50 is determined to pass.
  • the gripping force with which the surfaces 3A and 3B grip the electric wire 52 is detected as Fz by the three-axis sensor units 4A and 4B. Therefore, it can be confirmed whether the surfaces 3A and 3B actually grip the electric wire 52 with a predetermined gripping force. Therefore, for example, it is prevented that the force for gripping the electric wire 52 is weak and the tensile load is not correctly applied to the electric wire 52 due to insufficient proficiency in the inspection of the operator. Further, the pass / fail judgment can be performed by including not only the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 when the electric wire 52 is pulled, but also the Fz corresponding to the gripping force. Therefore, the inspection accuracy is improved.
  • the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 when the electric wire 52 is pulled can be detected by a simple structure. Therefore, it is possible to prevent the load loss due to friction between parts, sliding resistance, etc. from being mixed with the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52. Therefore, the detection accuracy of the force Fx in the pulling direction when the electric wire 52 is pulled is improved. Further, since the structure is simplified, the inspection device 100 can be easily manufactured.
  • the inspection device 100 since the gripping force and the tensile load are controlled by the drive device, the force for pulling the electric wire 52 can be easily changed according to the type of the connector 50, the electric wire 52, and the terminal. can do. That is, since it is suppressed to remake the inspection device 100 according to the types of the connector 50, the electric wire 52, and the terminal, the cost required for constructing the wire harness manufacturing line can be reduced. Further, by changing the judgment criteria regarding the magnitude of the tensile force Fx acting on the surfaces 3A and 3B from the electric wire 52 according to the type of the connector 50, the electric wire 52, and the terminal, the type of the connector 50, the electric wire 52, and the terminal can be changed. The inspection can be performed easily in response to the change of.
  • the pass / fail judgment is automatically performed by the judgment unit. Therefore, the stability of the inspection is improved. Further, when the electric wire having the terminal inserted correctly is pulled with respect to the connector 50, the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 rises momentarily as shown in FIG. 4 (A). It will be. Therefore, it can be determined that the electric wire 52 is normally inserted into the connector 50 when the magnitude of the change is greater than or equal to the predetermined time at the predetermined time. Further, the force detected by the three-axis sensor units 4A and 4B is stored in the storage device.
  • the pass / fail judgment can be made including the time change of the force Fx in the tensile direction stored in the storage device. Therefore, erroneous detection is suppressed as compared with the case where the pass / fail judgment is performed based on the force Fx in the tensile direction at a predetermined time.
  • the connector 50 is fixed in the X direction by the fixing jig 5. Further, the electric wire 52 is gripped by the surfaces 3A and 3B. The surfaces 3A and 3B are pulling the electric wire 52 by applying a tensile load transmitted from the driving device to the electric wire 52. Therefore, as compared with the case where the electric wire 52 is manually pulled to inspect whether or not the electric wire 52 is normally inserted into the housing of the connector 50, the variation in the magnitude of the force for pulling the electric wire 52 is suppressed. Therefore, the inspection accuracy is improved.
  • the inspection device 100 as described above, the forces Fx, Fy, and Fz in the XYZ directions acting on the surfaces 3A and 3B can be detected by one element. Therefore, the inspection device 100 can be made compact.
  • the 3-axis sensor unit 4 may be provided on one of the grip portions 2A and 2B. Then, the 3-axis sensor unit 4 may detect a force acting on one of the surfaces 3A and 3B from the electric wire 52 when the surfaces 3A and 3B press each other. According to such an inspection device 100, the device can have a simpler structure.
  • FIG. 5 illustrates an outline of the inspection device 100A according to the modified example.
  • the inspection device 100A has the same configuration and function as the inspection device 100.
  • the fixing jig 5 holds the connector 50A (an example of the "second connector” of the present disclosure) in which the crimp terminal of the electric wire 52A is not inserted.
  • the electric wires 52A are gripped by the surfaces 3A and 3B with a predetermined gripping force ("an example of the" second gripping force "of the present disclosure).
  • the grip portions 2A and 2B are provided at a location where the distance in the X direction from the connector 50A is, for example, about 1-10 mm.
  • the grip portions 2A and 2B are provided at a location where the distance in the X direction from the connector 50A is, for example, about 1-10 mm.
  • the drive unit generates power so that the grip portions 2A and 2B move in the ⁇ X direction, and transmits the power to the grip portions 2A and 2B.
  • the crimp terminal located in the ⁇ X direction of the electric wire 52A is inserted into the housing of the connector 50A.
  • the three-axis sensor units 4A and 4B provided in the inspection device 100A have a gripping force (Fz) for gripping the electric wire 52A by the surfaces 3A and 3B, and the electric wire 52A when the terminal of the electric wire 52A is inserted into the connector 50A.
  • the force (Fx) in the insertion direction acting on the surfaces 3A and 3B is detected.
  • FIG. 6 is an example of a temporal change of Fx detected by the 3-axis sensor units 4A and 4B when the crimp terminal of the electric wire 52A is normally inserted into the housing of the connector 50A.
  • the determination unit of the inspection device 100A is used when a characteristic Fx waveform as shown in FIG. 6 is detected by the three-axis sensor units 4A and 4B. It is assumed that the electric wire 52A is normally inserted into the connector 50A.
  • the determination unit determines that the electric wire 52A has been normally inserted into the connector 50A when the Fz (corresponding to the second gripping force) detected by the three-axis sensor units 4A and 4B is equal to or greater than a predetermined value.
  • a wire harness can be manufactured by inserting the terminal of the electric wire 52A into the connector 50A. Further, if the gripping force for gripping the electric wire 52A by the surfaces 3A and 3B is weak, the electric wire 52A slides with respect to the surfaces 3A and 3B when the electric wire 52A is inserted into the connector 50A. However, according to such an inspection device 100A, the gripping force when the terminal of the electric wire 52A is inserted into the connector 50A is detected by the three-axis sensor units 4A and 4B. Therefore, it can be confirmed whether the gripping force acts on the electric wire 52A as desired, and as a result, the electric wire 52A is prevented from slipping on the surfaces 3A and 3B. Therefore, manufacturing defects of the wire harness are reduced.
  • the force acting on the surfaces 3A and 3B from the electric wire 52A is detected in the insertion direction. Therefore, in parallel with the manufacture of the wire harness, it is possible to perform an insertion inspection as to whether or not the electric wire 52A is normally inserted into the connector 50A. Therefore, the manufacturing man-hours can be reduced. Further, after the terminal of the electric wire 52A is inserted into the connector 50A, a tensile inspection as to whether or not the terminal of the electric wire 52A is normally inserted into the connector 50A is performed by the inspection device 100 as in the above embodiment. Manufacturing defects in wire harnesses can be detected with higher accuracy.
  • the wire harness to be inspected can be determined to be a manufacturing defect without performing the tensile inspection. Therefore, the manufacturing man-hours including the tensile inspection can be shortened.
  • wire harness manufacturing, insertion inspection, and tensile inspection can be performed with a single inspection device. It can be said that such an inspection device is highly convenient.
  • the wire harness may be manufactured and the insertion inspection may be performed by the inspection device 100A, and the tensile inspection after the insertion inspection may be performed by the inspection device 100.
  • FIG. 7 illustrates the outline of the inspection device 100B according to the modified example.
  • the inspection device 100B according to the modified example includes a grip member 6A at the tip of the grip portion 2A in the + Z direction.
  • the inspection device 100B includes a grip member 6B at the tip of the grip portion 2B in the ⁇ Z direction.
  • the gripping members 6A and 6B are provided so as to face each other in the Z direction. Further, the gripping members 6A and 6B have planes parallel to the XY directions at the opposing portions. Further, the gripping members 6A and 6B are provided so as to cover the three-axis sensor units 4A and 4B, respectively.
  • FIG. 8 shows an example of a modification of the gripping member.
  • the portion that grips the electric wire 52 in the Z direction has an uneven shape. According to such a shape, the electric wire 52 can be easily gripped.
  • the gripping members 6A, 6B, and 6C are examples of the "predetermined members" of the present disclosure.
  • the three-axis sensor units 4A and 4B are protected from the impact generated by the direct and repeated direct contact with the electric wire 52. Therefore, since the failure of the three-axis sensor units 4A and 4B is prevented, the influence on the inspection is suppressed. Further, since a force acts substantially directly on the three-axis sensor units 4A and 4B from the electric wire 52, it is suppressed that the information detected by the three-axis sensor units 4A and 4B is attenuated or deteriorated from the original detected value. .. Further, in the case of the gripping member 6C, the electric wire 52 can be efficiently gripped even with a small gripping force.
  • the inspection device 100B is not limited to the form provided with the gripping member as described above, and may be a form in which a force substantially directly acts from the electric wire 52 on the three-axis sensor units 4A and 4B.
  • FIG. 9 illustrates the outline of the inspection device 100C according to the modified example.
  • the three-axis sensor units 4A and 4B are provided on the surfaces 15A and 15B of the fixing jig 5A that grips the connector 50, respectively.
  • the fixing jig 5A moves in the tensile direction (-X direction) of the electric wire 52 by transmitting a predetermined power controlled by the drive unit. Therefore, the electric wire 52 can be pulled in the ⁇ X direction. Even with such an inspection device 100C, the same effect as that of the inspection device 100 can be obtained.
  • the determination unit provided in the inspection device 100 may be provided in a device different from the inspection device 100. That is, the data detected by the 3-axis sensor units 4A and 4B may be transmitted to the server in which the inspection device 100 is provided with a communication module that can be connected to the network and is connected to the inspection device 100 via the network. Then, a determination unit may be provided in the server, and the server may determine whether or not the insertion of the electric wire 52 into the connector 50 is correct. Further, the portion for determining the gripping force and the portion for determining the force in the pulling direction may be executed separately.
  • the gripping and pulling of the electric wire 52 is automatically executed, but the gripping and pulling of the electric wire 52 may be manually executed.
  • the electric wire 52 may be manually gripped and pulled by an inspection jig such as a glove.
  • the inspection jig may be provided with a 3-axis sensor unit, and the gripping force (Fz) and the pulling direction force (Fx) detected by the 3-axis sensor unit may be detected.
  • the inspection jig may be provided with a communication module, and information on the gripping force and the pulling force detected by the three-axis sensor unit may be transmitted to the server by wireless communication.
  • the pass / fail judgment may be executed in the server based on the gripping force and the pulling force.
  • an inspection jig when the electric wire 52 is manually pulled, whether or not the electric wire 52 is pulled while being gripped with an appropriate force does not depend on the human sense, and the three-axis sensor units 4A and 4B It can be determined based on the gripping force Fz and the force Fx in the tensile direction detected by. Therefore, the inspection accuracy is improved.
  • the tactile sensor element is not limited to the embodiment disclosed above.
  • the portion that grips the electric wire 52 is not limited to the form of being sandwiched between the surfaces such as the surfaces 3A and 3B.
  • the portions of the grip portions 2A and 2B that come into contact with the electric wire 52 may be points or lines.
  • the fixing jig 5 is not limited to a form in which the connector 50 is sandwiched from the Z direction, and may be a form in which the connector 50 can be stopped in the X direction when the electric wire 52 is pulled.
  • the connector gripping portion (5) or the electric wire gripping portion (2A, 2B) is provided so that a tensile load can be applied to the electric wire (52) while gripping the connector (50) or the electric wire (52).
  • It has a force-tactile sensor element (4A, 4B) arranged so as to be able to detect the force (Fx) in the tensile direction received by the connector gripping portion (5) or the electric wire gripping portion (2A, 2B). Inspection equipment (100, 100A, 100B, 100C).
  • the force-tactile sensor element (4A, 4B) is the wire gripping portion in a direction orthogonal to the gripping direction in which the wire gripping portion (2A, 2B) grips the wire (52) and in a direction orthogonal to the tension direction. (2A, 2B) further detects the force (Fy) acting on the electric wire (52).
  • the electric wire gripping portions (2A, 2B) have two surfaces (3A, 3B) arranged so as to face each other with the electric wire (52) interposed therebetween.
  • the force-tactile sensor element (4A, 4B) is one of the two surfaces (3A, 3B) when the two surfaces (3A, 3B) are pressed against each other by the gripping force (Fz). Forces (Fx, Fy, Fz) acting from the electric wire (52) are detectably arranged on the surface of the wire.
  • the inspection device (100, 100A, 100B, 100C) according to Appendix 1 or 2.
  • Appendix 4> The force-tactile sensor elements (4A, 4B) are arranged between the force-tactile sensor elements (4A, 4B) and the electric wires (52) via predetermined members (6A, 6B, 6C).
  • the inspection device (100B) according to any one of Appendix 1 to 3.
  • ⁇ Appendix 5> When the connector gripping portion (5) or the electric wire gripping portion (2A, 2B) applies the tensile load to the electric wire (52), the force detected by the force-tactile sensor element (4A, 4B) ( A determination unit for determining whether or not the terminal of the electric wire (52) is normally inserted into the connector (50) based on Fx, Fy, Fz) is further provided.
  • the inspection device (100, 100A, 100B, 100C) according to any one of Appendix 1 to 4.
  • the determination unit makes the determination based on the force (Fx) in the tensile direction detected by the force / tactile sensor elements (4A, 4B) at a predetermined time.
  • the determination unit makes the determination based on the force (Fx) in the tensile direction continuously detected by the force / tactile sensor elements (4A, 4B) in a predetermined period from the second predetermined time.
  • the electric wire gripping portions (2A, 2B) are provided so that the electric wire (52) can be manually gripped, and the tensile load can be manually applied to the electric wire (52) while the electric wire (52) is gripped.
  • the inspection device according to any one of Appendix 5 to 8.
  • the force-tactile sensor element (4A, 4B) includes a force sensor element having three detectable load directions.
  • the inspection device (100, 100A, 100B, 100C) according to any one of Appendix 1 to 9.
  • the second electric wire (52A) having no terminal inserted in the second connector (50A) is gripped by the second gripping force, and the terminal of the second electric wire (52A) can be inserted into the second connector (50A).
  • 2nd electric wire gripping part (2A, 2B) The inspection device (100A) according to any one of Appendix 1 to 10, and which inspects the correctness of insertion of the terminal of the second electric wire (52A) into the second connector (50A) (100A).
  • the force-tactile sensor elements (4A, 4B) include the second electric wire (Fz) and the second electric wire (50A) when the terminals of the second electric wire (52A) are inserted into the second connector (50A).
  • 2A, 2B Grip 3A, 3B: Surface 4
  • 4A, 4B 3-axis sensor unit 5: Fixing jig 6A, 6B, 6C: Grip member 15A, 15B: Surface 50, 50A: Connector 52, 52A: Electric wire 100 , 100A, 100B, 100C: Inspection device

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

A detection device according to one aspect of the present invention detects whether or not a wire terminal has been correctly inserted into a connector. The detection device is provided with a connector holding unit which holds the connector into which the wire terminal has been inserted so as to be unmoving in the wire tension direction, and a wire holding unit which holds the wire from a direction perpendicular to the wire tension direction. The connector holding unit or the wire holding unit is provided so as to apply a tensile load to the wire in a state in which the connector or the wire is held, and has a tactile force sensor element which is arranged so as to enable detection of both the holding force with which the connector holding unit or the wire holding unit holds the connector or the wire, and the tension-direction force received by the connector holding unit or the wire holding unit from the connector or the wire.

Description

検査装置およびワイヤハーネス製造装置Inspection equipment and wire harness manufacturing equipment
　本発明は、検査装置およびワイヤハーネス製造装置に関する。 The present invention relates to an inspection device and a wire harness manufacturing device.
　電線の端部に圧着された圧着端子がコネクタのハウジングに挿入された状態のワイヤハーネスが開発されている（例えば特許文献１－４）。また、これらの文献には、圧着端子がコネクタのハウジングに正常に挿入されているか否かを検査する技術が開示されている。 A wire harness has been developed in which a crimp terminal crimped to the end of an electric wire is inserted into a connector housing (for example, Patent Documents 1-4). Further, these documents disclose a technique for inspecting whether or not the crimp terminal is normally inserted into the housing of the connector.
特開平９－１８０８５１号公報Japanese Unexamined Patent Publication No. 9-180851 特開２００４－１８５８５２号公報Japanese Unexamined Patent Publication No. 2004-185852 特開２０１７－１２６４１２号公報Japanese Unexamined Patent Publication No. 2017-126412 特許第５３３８６８５号公報Japanese Patent No. 5338685
　特許文献１－２に係る検査技術は、コネクタ保持部の他に複数の部材やバネを経由してコネクタへの電線の挿入の正否を検査している。よって、検査装置の構造は複雑となる。また、コネクタのハウジングに挿入された電線を手動で引っ張って検査する場合、電線を引っ張る力にばらつきが生じるものと考えられる。よって、引っ張り力が過大であるとコネクタ挿入部が劣化する不都合が生じる可能性がある。また、逆に、引っ張り力が過少であると例えば特許文献１においては、コネクタホルダの変位が過少となる。よって、コネクタホルダの移動を検知する位置検出部のスイッチが入らず、その結果として挿入状態が正常であったとしても異常があると誤判定される可能性がある。よって、再検査が必要となることがある。そこで、手動で正しく検査するためには、把持力が一定以上であることを確認することが考えられる。しかしながら、電線の把持を手動で行う場合、作業者の感覚に任せて電線に力を作用させることになる。よって、正確な把持力を電線に作用させたか否かを確認することは困難と考えられる。よって、このような検査技術による検査結果の精度は低いと考えられる。 The inspection technique according to Patent Document 1-2 inspects the correctness of inserting an electric wire into a connector via a plurality of members and springs in addition to the connector holding portion. Therefore, the structure of the inspection device becomes complicated. Further, when the electric wire inserted in the housing of the connector is manually pulled and inspected, it is considered that the pulling force of the electric wire varies. Therefore, if the pulling force is excessive, there is a possibility that the connector insertion portion is deteriorated. On the contrary, if the tensile force is too small, for example, in Patent Document 1, the displacement of the connector holder becomes too small. Therefore, the switch of the position detection unit that detects the movement of the connector holder is not turned on, and as a result, even if the insertion state is normal, it may be erroneously determined that there is an abnormality. Therefore, re-examination may be required. Therefore, in order to manually inspect correctly, it is conceivable to confirm that the gripping force is above a certain level. However, when the electric wire is manually gripped, the force is applied to the electric wire depending on the sense of the operator. Therefore, it is considered difficult to confirm whether or not an accurate gripping force is applied to the electric wire. Therefore, it is considered that the accuracy of the inspection result by such an inspection technique is low.
　本発明は、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、電線の端部に圧着された圧着端子がコネクタのハウジングに正常に挿入されているか否かの検査の精度を向上させ、かつ構造が簡易な検査技術を提供することである。 The present invention has been made in view of such circumstances on one side, and an object of the present invention is to inspect whether or not a crimp terminal crimped to an end of an electric wire is normally inserted into the housing of a connector. It is to improve the accuracy of the above and to provide the inspection technology with a simple structure.
　本発明は、上述した課題を解決するために、以下の構成を採用する。 The present invention adopts the following configuration in order to solve the above-mentioned problems.
　すなわち本発明の一側面に係る検査装置は、コネクタに電線の端子が正常に挿入されているか否かを検査する検査装置であって、前記電線の端子が挿入された前記コネクタを前記電線の引張方向に静止するように把持するコネクタ把持部と、前記電線の引張方向と直交する方向から前記電線を把持する電線把持部と、を備え、前記コネクタ把持部又は前記電線把持部は、前記コネクタまたは前記電線を把持した状態で前記電線に引張負荷を印加可能に設けられ、前記コネクタ把持部又は前記電線把持部が前記コネクタまたは前記電線を把持する把持力と、前記コネクタまたは前記電線から前記コネクタ把持部又は前記電線把持部が受ける引張方向の力と、を検出可能に配置される力触覚センサ素子を有する。 That is, the inspection device according to one aspect of the present invention is an inspection device that inspects whether or not the terminal of the electric wire is normally inserted into the connector, and the connector into which the terminal of the electric wire is inserted is pulled by the electric wire. The connector grip portion that grips the electric wire so as to be stationary in the direction and the electric wire grip portion that grips the electric wire from a direction orthogonal to the pulling direction of the electric wire, and the connector grip portion or the electric wire grip portion is the connector or the electric wire grip portion. A tension load can be applied to the electric wire while the electric wire is gripped, and a gripping force that the connector gripping portion or the electric wire gripping portion grips the connector or the electric wire and the connector gripping from the connector or the electric wire. It has a force-tactile sensor element that is arranged so as to be able to detect the force in the tensile direction received by the portion or the wire grip portion.
　当該構成によれば、把持力が触覚センサ素子によって検出される。よって、コネクタ把持部またはコネクタ又が所定の把持力でコネクタまたは電線を実際に把持しているか確認することができる。よって、例えば作業者の検査の習熟度が不足しているために、電線を把持する力が弱く、引張負荷が正しく電線に印加されないことは防止される。また、電線を引っ張った時に電線からコネクタ把持部又は電線把持部に作用する引張方向の力だけではなく、把持力を含めて合否判定を行うことができる。よって、検査精度は向上する。 According to the configuration, the gripping force is detected by the tactile sensor element. Therefore, it is possible to confirm whether the connector gripping portion or the connector or the connector actually grips the connector or the electric wire with a predetermined gripping force. Therefore, for example, it is prevented that the force for gripping the electric wire is weak and the tensile load is not correctly applied to the electric wire due to insufficient proficiency in the inspection of the operator. Further, it is possible to make a pass / fail judgment including not only the pulling force acting on the connector gripping portion or the wire gripping portion from the electric wire when the electric wire is pulled, but also the gripping force. Therefore, the inspection accuracy is improved.
　また、当該構成によれば、電線を引っ張った時にコネクタまたは電線からコネクタ把持部又は電線把持部に作用する引張方向の力を簡易な構造により検出することができる。よって、コネクタまたは電線からコネクタ把持部又は電線把持部に作用する引張方向の力に部品同士の摩擦や摺動抵抗、部品の劣化等による荷重ロスが混ざることは抑制される。よって、コネクタまたは電線からコネクタ把持部又は電線把持部に作用する引張方向の力の検出精度は向上する。よって、検査精度は向上する。また、構造が簡易となるため、検査装置の製造が容易となる。 Further, according to the configuration, the force in the tensile direction acting from the connector or the electric wire to the connector gripping portion or the electric wire gripping portion when the electric wire is pulled can be detected by a simple structure. Therefore, it is possible to prevent the force acting in the tensile direction from the connector or the electric wire on the connector gripping portion or the electric wire gripping portion from being mixed with the friction between the parts, the sliding resistance, the load loss due to the deterioration of the parts, and the like. Therefore, the accuracy of detecting the force in the tensile direction acting on the connector gripping portion or the wire gripping portion from the connector or the electric wire is improved. Therefore, the inspection accuracy is improved. In addition, since the structure is simple, the inspection device can be easily manufactured.
　また、当該構成によれば、把持力と引張負荷を制御することにより、コネクタ・電線・端子の種類に応じて電線を引っ張る力を簡易に変更することができる。つまり、コネクタ・電線・端子の種類に応じて検査装置を作り直すことは抑制されるため、ワイヤハーネスの製造ラインの構築に要する費用は節減される。また、コネクタ・電線・端子の種類に応じてコネクタまたは電線からコネクタ把持部又は電線把持部に作用する引張方向の力の大きさに関する判定基準を変更することで、コネクタ・電線・端子の種類の変更に簡易に対応して検査を行うことができる。 Further, according to the configuration, by controlling the gripping force and the tensile load, the pulling force of the electric wire can be easily changed according to the type of the connector, the electric wire, and the terminal. That is, since it is suppressed to remake the inspection device according to the types of connectors, electric wires, and terminals, the cost required for constructing the wire harness manufacturing line can be reduced. In addition, by changing the judgment criteria regarding the magnitude of the force in the tensile direction acting from the connector or electric wire to the connector gripping part or electric wire gripping part according to the type of connector, electric wire, or terminal, the type of connector, electric wire, or terminal can be changed. Inspection can be performed easily in response to changes.
　また、当該構成によれば、コネクタ把持部又は電線把持部によりコネクタ又は電線は把持される。そして、コネクタ把持部又は電線把持部は、電線に引張負荷を印加させることで、電線を引っ張ることができる。よって、引張負荷が例えば装置によって制御される場合、手動で電線を引っ張って電線がコネクタのハウジングに正常に挿入されているか否かを検査する場合と比較して、電線を引っ張る力の大きさのばらつきは抑制される。よって、検査精度は向上する。 Further, according to the configuration, the connector or the electric wire is gripped by the connector gripping portion or the electric wire gripping portion. Then, the connector gripping portion or the electric wire gripping portion can pull the electric wire by applying a tensile load to the electric wire. Therefore, when the tensile load is controlled by, for example, a device, the magnitude of the pulling force of the wire is greater than when manually pulling the wire and inspecting whether the wire is properly inserted into the connector housing. Variation is suppressed. Therefore, the inspection accuracy is improved.
　上記一側面に係る検査装置において、前記力触覚センサ素子は、前記電線把持部が前記電線を把持する把持方向と直交する方向、かつ前記引張方向と直交する方向に前記電線把持部が前記電線から作用する力をさらに検出してもよい。 In the inspection device according to the one side surface, in the force-tactile sensor element, the electric wire gripping portion is from the electric wire in a direction orthogonal to the gripping direction in which the electric wire gripping portion grips the electric wire and in a direction orthogonal to the pulling direction. The acting force may be further detected.
　当該構成によれば、電線が電線把持部の中央から外れて把持されていることを検出することができる。よって、電線の把持位置を電線把持部の中央に修正することができる。よって、電線に対して所望の通りの把持力及び引張負荷を作用させることができる。よって、検査精度は向上する。 According to this configuration, it is possible to detect that the electric wire is gripped off the center of the electric wire grip portion. Therefore, the gripping position of the electric wire can be corrected to the center of the electric wire gripping portion. Therefore, a desired gripping force and tensile load can be applied to the electric wire. Therefore, the inspection accuracy is improved.
　上記一側面に係る検査装置において、前記電線把持部は、前記電線を挟んで対向して配置される２つの面を有し、前記力触覚センサ素子は、前記２つの面が夫々前記把持力で押圧し合った場合に、前記２つの面のうちの片方の面に前記電線から作用する力を検出可能に配置されてもよい。 In the inspection device according to the one side surface, the electric wire gripping portion has two surfaces arranged so as to face each other with the electric wire interposed therebetween, and in the force-tactile sensor element, the two surfaces each have the gripping force. When pressed against each other, the force acting from the electric wire may be detectable on one of the two surfaces.
　当該構成によれば、装置をより簡易な構造とすることができる。 According to the configuration, the device can have a simpler structure.
　上記一側面に係る検査装置において、前記力触覚センサ素子は前記電線との間に所定部材を介して配置されてもよい。 In the inspection device according to the one side surface, the force-tactile sensor element may be arranged between the force and tactile sensor element via a predetermined member.
　当該構成によれば、電線を把持する際に電線と接触することにより生じる衝撃から力触覚センサ素子を保護することができる。よって、力触覚センサ素子の故障は防止されるため、検査に影響が及ぶことは抑制される。また、所定部材の形状を電線の把持が容易な形状へと変更するができる。よって、少ない把持力であっても効率的に電線の把持が可能となる。よって、把持力を生成する検査装置の動力は節減される。 According to this configuration, the force-tactile sensor element can be protected from the impact generated by contact with the electric wire when gripping the electric wire. Therefore, since the failure of the force-tactile sensor element is prevented, the influence on the inspection is suppressed. Further, the shape of the predetermined member can be changed to a shape that makes it easy to grip the electric wire. Therefore, it is possible to efficiently grip the electric wire even with a small gripping force. Therefore, the power of the inspection device that generates the gripping force is reduced.
　上記一側面に係る検査装置において、前記コネクタ把持部又は前記電線把持部が前記電線に前記引張負荷を印加させた場合に、前記力触覚センサ素子により検出された力に基づき、前記コネクタに前記電線の端子が正常に挿入されているか否かを判定する判定部を更に備えてもよい。 In the inspection device according to the one side surface, when the connector gripping portion or the electric wire gripping portion applies the tensile load to the electric wire, the electric wire is attached to the connector based on the force detected by the force-tactile sensor element. A determination unit for determining whether or not the terminal of is normally inserted may be further provided.
　当該構成によれば、人間の感覚に頼らず合否判定を行うことができる。よって、検査の安定性は向上する。 According to this configuration, pass / fail judgment can be performed without relying on human senses. Therefore, the stability of the inspection is improved.
　上記一側面に係る検査装置において、前記判定部は、所定時刻において前記力触覚センサ素子により検出された前記引張方向の力に基づいて前記判定を行ってもよい。 In the inspection device according to the one aspect, the determination unit may make the determination based on the force in the tensile direction detected by the force / tactile sensor element at a predetermined time.
　コネクタに対して正しく端子が挿入された電線を引っ張る場合、コネクタまたは電線からコネクタ把持部または電線把持部に作用する引張方向の力は、瞬間的に上昇することになる。よって、当該構成によれば、コネクタに対して正しく挿入されている電線を検出することができる。 When pulling an electric wire with a terminal inserted correctly with respect to the connector, the force in the tensile direction acting from the connector or the electric wire to the connector gripping portion or the electric wire gripping portion will increase momentarily. Therefore, according to the configuration, it is possible to detect the electric wire correctly inserted into the connector.
　上記一側面に係る検査装置において、前記判定部は、第２所定時刻からの所定期間において前記力触覚センサ素子により継続的に検出された前記引張方向の力に基づいて前記判定を行ってもよい。 In the inspection device according to the one aspect, the determination unit may make the determination based on the force in the tensile direction continuously detected by the force-tactile sensor element in a predetermined period from the second predetermined time. ..
　当該構成によれば、力触覚センサ素子により検出される引張方向の力の時間変化を含めて合否判定することができる。よって、瞬間的に上昇した引張方向の力に基づいて合否判定を行う場合と比較して誤検出は抑制される。 According to this configuration, pass / fail judgment can be made including the time change of the force in the tensile direction detected by the force-tactile sensor element. Therefore, erroneous detection is suppressed as compared with the case where the pass / fail judgment is performed based on the momentarily increased force in the tensile direction.
　上記一側面に係る検査装置において、前記判定部は、前記力触覚センサ素子により検出された前記把持力に基づいて前記判定を行ってもよい。 In the inspection device according to the one aspect, the determination unit may make the determination based on the gripping force detected by the force / tactile sensor element.
　当該構成によれば、引張方向の力だけではなく、把持力を含めて合否判定を行うことができる。よって、正しく電線を把持できていない状態で電線を引っ張ったことで電線がコネクタに正しく挿入されていないと誤判定されることは抑制される。よって、検査精度は向上する。 According to this configuration, it is possible to make a pass / fail judgment including not only the force in the tensile direction but also the gripping force. Therefore, it is possible to prevent an erroneous determination that the electric wire is not correctly inserted into the connector by pulling the electric wire in a state where the electric wire cannot be grasped correctly. Therefore, the inspection accuracy is improved.
　上記一側面に係る検査装置において、前記電線把持部は、手動により前記電線を把持可能に設けられ、前記電線を把持した状態で手動により前記引張負荷を前記電線に印加可能に設けられてもよい。 In the inspection device according to the one side surface, the electric wire gripping portion may be provided so that the electric wire can be manually gripped, and the tensile load can be manually applied to the electric wire while the electric wire is gripped. ..
　当該構成によれば、手動で電線を引っ張った場合に、適正な力で把持した状態で電線を引っ張ったか否かを人間の感覚に頼らず、力触覚センサ素子により検出された把持力および引張方向の力に基づいて判定することができる。よって、検査精度が向上する。 According to this configuration, when the electric wire is manually pulled, the gripping force and the pulling direction detected by the force-tactile sensor element do not depend on the human sense whether or not the electric wire is pulled while being gripped with an appropriate force. Can be judged based on the force of. Therefore, the inspection accuracy is improved.
　上記一側面に係る検査装置において、前記力触覚センサ素子は、検出可能な荷重方向が３方向である力センサ素子を含んでもよい。 In the inspection device according to the one aspect, the force / tactile sensor element may include a force sensor element having three detectable load directions.
　当該構成によれば、引張負荷が印加された電線から把持部に作用する引張方向の力と、把持力と、および把持方向と直交する方向及び引張方向と直交する方向の力との３方向の力を一つの素子で検出することができる。よって、検査装置をコンパクトにすることができる。 According to this configuration, there are three directions: a force in the tensile direction acting on the grip portion from the electric wire to which the tensile load is applied, a grip force, and a force in the direction orthogonal to the grip direction and the force orthogonal to the pull direction. The force can be detected by one element. Therefore, the inspection device can be made compact.
　また、本発明の一側面に係るワイヤハーネス製造装置は、第２コネクタに端子が挿入されていない第２電線を第２把持力で把持し、前記第２コネクタに前記第２電線の端子を挿入可能に設けられる第２電線把持部と、上記一側面に係る検査装置であって、前記第２コネクタに対する前記第２電線の端子の挿入の正否を検査する検査装置を備え、前記力触覚センサ素子は、前記第２把持力、および前記第２電線の端子が前記第２コネクタに挿入される場合の前記第２電線から前記第２電線把持部に作用する前記挿入方向の力をさらに検出してもよい。 Further, the wire harness manufacturing apparatus according to one aspect of the present invention grips the second electric wire having no terminal inserted in the second connector with the second gripping force, and inserts the terminal of the second electric wire into the second connector. The force-tactile sensor element is provided with a second electric wire grip portion that can be provided, and an inspection device that is an inspection device related to the one side surface and that inspects whether or not the terminal of the second electric wire is inserted into the second connector. Further detects the second gripping force and the force in the insertion direction acting on the second electric wire gripping portion from the second electric wire when the terminal of the second electric wire is inserted into the second connector. May be good.
　当該構成によれば、第２電線の端子が第２コネクタに挿入されることでワイヤハーネスを製造することができる。また、第２把持力が弱いと第２電線が第２コネクタに挿入される時に第２電線が第２把持部に対して滑ることになる。しかしながら、当該構成によれば、第２電線の端子が第２コネクタに挿入される場合の、第２把持力が力触覚センサ素子によって検出される。よって、第２把持力が所望の通り第２電線に作用しているか確認することができ、その結果として第２電線が第２把持部に対して滑ることは防止される。よって、ワイヤハーネスの製造不良は低減される。 According to this configuration, the wire harness can be manufactured by inserting the terminal of the second electric wire into the second connector. Further, if the second gripping force is weak, the second electric wire slips with respect to the second grip portion when the second electric wire is inserted into the second connector. However, according to this configuration, the second gripping force when the terminal of the second electric wire is inserted into the second connector is detected by the force-tactile sensor element. Therefore, it can be confirmed whether the second gripping force acts on the second electric wire as desired, and as a result, the second electric wire is prevented from slipping with respect to the second gripping portion. Therefore, manufacturing defects of the wire harness are reduced.
　また、当該構成によれば、ワイヤハーネスが製造されることと並行して、第２電線から第２把持部に作用する挿入方向の力が検出されることで、第２電線が第２コネクタに正常に挿入されているか否かの挿入検査を行うことができる。よって、製造工数は削減可能となる。また、第２電線の端子が第２コネクタに挿入された後に、第２電線の端子が第２コネクタに正常に挿入されているか否かの引張検査を検査装置により行うことで、ワイヤハーネスの製造不良はより高精度に検出可能となる。また、挿入検査において不合格と判定された場合、引張検査を実施せずに検査対象のワイヤハーネスを製造不良と判定することができる。よって、引張検査まで含めた製造工数は短縮可能となる。また、第２把持部を第１把持部で代替する場合、ワイヤハーネスの製造、挿入検査、及び引張検査を一台の検査装置で行うことができる。このような検査装置は利便性が高いといえる。 Further, according to the configuration, in parallel with the manufacture of the wire harness, the force acting on the second grip portion from the second electric wire in the insertion direction is detected, so that the second electric wire becomes the second connector. It is possible to perform an insertion inspection to see if the insertion is successful. Therefore, the manufacturing man-hours can be reduced. Further, after the terminal of the second electric wire is inserted into the second connector, the wire harness is manufactured by performing a tensile inspection by an inspection device to see if the terminal of the second electric wire is normally inserted into the second connector. Defects can be detected with higher accuracy. Further, when it is determined that the insertion inspection fails, the wire harness to be inspected can be determined to be a manufacturing defect without performing the tensile inspection. Therefore, the manufacturing man-hours including the tensile inspection can be shortened. Further, when the second grip portion is replaced with the first grip portion, the wire harness manufacturing, insertion inspection, and tensile inspection can be performed by one inspection device. It can be said that such an inspection device is highly convenient.
　上記一側面に係るワイヤハーネス装置において、前記力触覚センサ素子により検出された力に基づき、前記第２コネクタに対する前記第２電線の端子の挿入の正否を判定する第２判定部を更に備えてもよい。 The wire harness device according to the one side may further include a second determination unit that determines whether or not the terminal of the second electric wire is inserted into the second connector based on the force detected by the force / tactile sensor element. good.
　当該構成によれば、人間の感覚に頼らず挿入の正否判定を行うことができる。よって挿入検査の精度は向上する。 According to this configuration, it is possible to judge the correctness of insertion without relying on human senses. Therefore, the accuracy of the insertion inspection is improved.
　本発明によれば、電線の端部に圧着された圧着端子がコネクタのハウジングに正常に挿入されているか否かの検査の精度を向上させ、かつ構造が簡易な検査技術を提供することができる。 According to the present invention, it is possible to improve the accuracy of inspection of whether or not the crimp terminal crimped to the end of the electric wire is normally inserted into the housing of the connector, and to provide an inspection technique having a simple structure. ..
図１は、実施形態に係る検査装置の概要を示している。FIG. 1 shows an outline of an inspection device according to an embodiment. 図２は、電線の圧着端子がコネクタのハウジングに正常に挿入されているか否かを検査する場合の動作の概要を示している。FIG. 2 shows an outline of the operation when inspecting whether or not the crimp terminal of the electric wire is normally inserted into the housing of the connector. 図３は、検査方法のフローチャートの一例を示している。FIG. 3 shows an example of a flowchart of the inspection method. 図４は、３軸センサユニットにより検出される力の時間的変化の一例である。FIG. 4 is an example of a temporal change in the force detected by the 3-axis sensor unit. 図５は、変形例に係る検査装置の概要を例示している。FIG. 5 illustrates an outline of the inspection device according to the modified example. 図６は、電線がコネクタに正常に挿入される場合の３軸センサユニットにより検出される力の時間的変化の一例である。FIG. 6 is an example of a temporal change in the force detected by the 3-axis sensor unit when the electric wire is normally inserted into the connector. 図７は、変形例に係る検査装置の概要を例示している。FIG. 7 illustrates an outline of the inspection device according to the modified example. 図８は、把持部材の変形例の一例を示している。FIG. 8 shows an example of a modification of the gripping member. 図９は、変形例に係る検査装置の概要を例示している。FIG. 9 illustrates an outline of the inspection device according to the modified example.
　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。ただし、以下で説明する本実施形態は、あらゆる点において本発明の例示に過ぎない。本発明の範囲を逸脱することなく種々の改良や変形を行うことができることは言うまでもない。つまり、本発明の実施にあたって、実施形態に応じた具体的構成が適宜採用されてもよい。 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. However, the embodiments described below are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. That is, in carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted.
　§１　適用例
　図１を用いて、本発明が適用される場面の一例について説明する。図１は、実施形態に係る検査装置１００の概要を示している。図１に示されるように検査装置１００は、把持部２Ａ、２Ｂを備える。把持部２Ａ、２Ｂは、検査対象の電線５２を挟み込んで把持可能なように配置されている。また、把持部２Ａ、２Ｂは、電線５２を挟み込んだ状態で＋Ｘ方向へ移動可能である。把持部２Ａ、２Ｂにより電線５２を挟み込む力、すなわち電線５２の引張方向と直交する方向に電線を把持する力（本開示の「把持力」の一例）と、電線５２を挟み込んだ状態で＋Ｘ方向へ移動する動力は、駆動部（図示しない）により制御される。このようにして、電線５２の圧着端子がコネクタ５０のハウジングに正常に挿入されているか否かを確認するための引っ張り検査を行うことができる。また、検査装置１００は、３軸センサユニット４Ａ、４Ｂを備える。３軸センサユニット４Ａ、４Ｂは、検出可能な荷重方向が３方向である力センサ素子を備える。よって、３軸センサユニット４Ａ、４Ｂは、電線５２が＋Ｘ方向に引っ張られている場合に、自身に作用するＸ方向、Ｙ方向、及びＺ方向の力を検出することができる。 §1 Application example An example of a situation in which the present invention is applied will be described with reference to FIG. FIG. 1 shows an outline of the inspection device 100 according to the embodiment. As shown in FIG. 1, the inspection device 100 includes grip portions 2A and 2B. The grip portions 2A and 2B are arranged so that they can be gripped by sandwiching the electric wire 52 to be inspected. Further, the grip portions 2A and 2B can move in the + X direction with the electric wire 52 sandwiched therein. The force of pinching the electric wire 52 by the gripping portions 2A and 2B, that is, the force of gripping the electric wire in the direction orthogonal to the pulling direction of the electric wire 52 (an example of the "grasping force" of the present disclosure) and the + X direction with the electric wire 52 sandwiched. The power to move to is controlled by a drive unit (not shown). In this way, a tensile inspection can be performed to confirm whether or not the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50. Further, the inspection device 100 includes 3- axis sensor units 4A and 4B. The three- axis sensor units 4A and 4B include force sensor elements having three detectable load directions. Therefore, the three- axis sensor units 4A and 4B can detect the forces acting on themselves in the X, Y, and Z directions when the electric wire 52 is pulled in the + X direction.
　このような検査装置１００によれば、把持部２Ａ、２Ｂが電線５２を把持する把持力が３軸センサユニット４Ａ、４Ｂによって検出される。よって、把持部２Ａ、２Ｂが所定の把持力で電線５２を実際に把持しているか確認することができる。よって、電線５２を把持する力が弱く、引張負荷が正しく電線５２に印加されないことは防止される。また、電線５２を引っ張った時に電線５２から把持部２Ａ、２Ｂに作用する引張方向の力だけではなく、把持力を含めて合否判定を行うことができる。よって、検査精度は向上する。 According to such an inspection device 100, the gripping force at which the gripping portions 2A and 2B grip the electric wire 52 is detected by the three- axis sensor units 4A and 4B. Therefore, it can be confirmed whether the gripping portions 2A and 2B actually grip the electric wire 52 with a predetermined gripping force. Therefore, it is prevented that the force for gripping the electric wire 52 is weak and the tensile load is not correctly applied to the electric wire 52. Further, it is possible to make a pass / fail judgment including not only the force in the tensile direction acting on the grip portions 2A and 2B from the electric wire 52 when the electric wire 52 is pulled, but also the gripping force. Therefore, the inspection accuracy is improved.
　§２　構成例
　［ハードウェア構成］
　図１は、本実施形態に係る検査装置１００の概要を示している。なお、以降において、図１における縦方向をＸ方向、奥行き方向をＹ方向、横方向をＺ方向とする。図１に示されるように検査装置１００は、把持部２Ａ、２Ｂを備える。把持部２Ａ、２Ｂは、Ｘ方向に伸びる検査装置１００の中心軸に対して対称に設けられている。なお、把持部２Ａ、２Ｂは、本開示の「電線把持部」の一例である。 §2 Configuration example [Hardware configuration]
FIG. 1 shows an outline of the inspection device 100 according to the present embodiment. In the following, the vertical direction in FIG. 1 will be the X direction, the depth direction will be the Y direction, and the horizontal direction will be the Z direction. As shown in FIG. 1, the inspection device 100 includes grip portions 2A and 2B. The grip portions 2A and 2B are provided symmetrically with respect to the central axis of the inspection device 100 extending in the X direction. The grip portions 2A and 2B are examples of the "electric wire grip portion" of the present disclosure.
　また、検査装置１００は、３軸センサユニット４Ａ、４Ｂ（以降、３軸センサユニット４ともいう）を備える。３軸センサユニット４Ａ、４Ｂは、把持部２Ａ、２Ｂの夫々に設けられる。３軸センサユニット４Ａ、４Ｂは、自身に作用するＸ方向、Ｙ方向、及びＺ方向の力を検出する。なお、３軸センサユニット４Ａ、４Ｂのセンシング部は、例えばＭＥＭＳ（Ｍｉｃｒｏ　Ｅｌｅｃｔｒｏ　Ｍｅｃｈａｎｉｃａｌ　Ｓｙｓｔｅｍｓ）センサである。また、３軸センサユニット４Ａ、４Ｂの互いに対向する部分は、ＸＹ方向に平行な平面状の面３Ａ、３Ｂを有する。そして、面３Ａ、３Ｂに作用する力が３軸センサユニット４Ａ、４Ｂによって検出される。３軸センサユニット４Ａ、４Ｂのサイズは、電線５２の寸法と比べて大き過ぎない小型であることが望ましい。すなわち、例えば３軸センサユニット４Ａ、４Ｂのサイズは５ｍｍ以下が望ましい。なお、面３Ａ、３Ｂは、本開示の「電線を挟んで対向して配置される２つの面」の一例である。 Further, the inspection device 100 includes 3- axis sensor units 4A and 4B (hereinafter, also referred to as 3-axis sensor unit 4). The three- axis sensor units 4A and 4B are provided on the grip portions 2A and 2B, respectively. The three- axis sensor units 4A and 4B detect the forces acting on themselves in the X, Y, and Z directions. The sensing unit of the 3- axis sensor units 4A and 4B is, for example, a MEMS (Micro Electro Mechanical Systems) sensor. Further, the portions of the three- axis sensor units 4A and 4B facing each other have planar surfaces 3A and 3B parallel to the XY directions. Then, the forces acting on the surfaces 3A and 3B are detected by the three- axis sensor units 4A and 4B. It is desirable that the sizes of the three- axis sensor units 4A and 4B are small, not too large compared to the dimensions of the electric wire 52. That is, for example, the size of the 3- axis sensor units 4A and 4B is preferably 5 mm or less. The surfaces 3A and 3B are examples of the "two surfaces arranged so as to face each other with the electric wire interposed therebetween" of the present disclosure.
　また、検査装置１００は、把持部２Ａを＋Ｚ方向に、把持部２Ｂを－Ｚ方向に移動させる動力を生成し、当該動力を把持部２Ａ、２Ｂへ伝達する駆動部(図示しない)を備える。なお、駆動部としては例えばモータやロボットアームなどが挙げられる。このような動力が駆動部から把持部２Ａ、２Ｂへ伝達されると、把持部２Ａ、２Ｂは、３軸センサユニット４Ａと３軸センサユニット４Ｂとの間に配置される電線５２を所定の力で挟み込むことができる。また、駆動部は、把持部２Ａ及び２ＢをＸ方向に移動させる動力も生成し、当該動力を把持部２Ａ、２Ｂへ伝達する。このような動力が把持部２Ａ、２Ｂに伝達されると、把持部２Ａ、２Ｂは、把持している電線５２を＋Ｘ方向に引っ張ることができる。なお、Ｚ方向の駆動力を生む駆動部と、Ｘ方向の駆動力を生む駆動部は、別々の駆動部であってもよい。 Further, the inspection device 100 includes a drive unit (not shown) that generates power for moving the grip portion 2A in the + Z direction and the grip portion 2B in the −Z direction, and transmits the power to the grip portions 2A and 2B. Examples of the drive unit include a motor and a robot arm. When such power is transmitted from the drive unit to the grip portions 2A and 2B, the grip portions 2A and 2B force the electric wire 52 arranged between the 3-axis sensor unit 4A and the 3-axis sensor unit 4B to a predetermined force. Can be sandwiched between. The drive unit also generates power to move the grip portions 2A and 2B in the X direction, and transmits the power to the grip portions 2A and 2B. When such power is transmitted to the grip portions 2A and 2B, the grip portions 2A and 2B can pull the gripped electric wire 52 in the + X direction. The driving unit that generates the driving force in the Z direction and the driving unit that generates the driving force in the X direction may be separate driving units.
　また、検査装置１００は、固定治具５を備える。固定治具５は、Ｚ方向に対面する面１５Ａ、１５Ｂを備える。また、固定治具５は、例えば自身をＺ方向に貫通するボルト（図示しない）を有する。そして、ボルトが捻られることにより面１５Ａと面１５Ｂとの間の距離が調節される。このような構造により、当該面１５Ａ、１５Ｂの間に配置されるコネクタ５０（詳細は後述する）を所定の力により挟み込むことでコネクタ５０を固定治具５に固定することができる。なお、固定治具５は、本開示の「コネクタ把持部」の一例である。 Further, the inspection device 100 includes a fixing jig 5. The fixing jig 5 includes surfaces 15A and 15B facing in the Z direction. Further, the fixing jig 5 has, for example, a bolt (not shown) that penetrates itself in the Z direction. Then, the distance between the surface 15A and the surface 15B is adjusted by twisting the bolt. With such a structure, the connector 50 can be fixed to the fixing jig 5 by sandwiching the connector 50 (details will be described later) arranged between the surfaces 15A and 15B with a predetermined force. The fixing jig 5 is an example of the "connector grip portion" of the present disclosure.
　また、検査装置１００は、ＣＰＵ、メモリを備える。そして、メモリに記憶されるプログラムがロードされて実行されることにより、電線５２の挿入の正否を判定する判定部を備える。検査装置１００は、ＣＰＵ等のプロセッサ、ＲＡＭやＲＯＭ等の主記憶装置、ＥＰＲＯＭ、ハードディスクドライブ等の補助記憶装置を備える。補助記憶装置には、オペレーティングシステム（ＯＳ）、各種プログラム、各種テーブル形式の情報等が格納されている。また、検査装置１００は、補助記憶装置に格納されたプログラムが主記憶装置の作業領域にロードされて実行されることで、電線５２の挿入の正否を判定する判定部を備える。 Further, the inspection device 100 includes a CPU and a memory. Then, a determination unit for determining whether or not the insertion of the electric wire 52 is correct is provided by loading and executing the program stored in the memory. The inspection device 100 includes a processor such as a CPU, a main storage device such as a RAM or ROM, and an auxiliary storage device such as an EPROM or a hard disk drive. The auxiliary storage device stores information such as an operating system (OS), various programs, and various table formats. Further, the inspection device 100 includes a determination unit that determines whether or not the insertion of the electric wire 52 is correct or not by loading and executing the program stored in the auxiliary storage device in the work area of the main storage device.
　（動作例）
　図２は、検査対象の電線５２の圧着端子がコネクタ５０のハウジングに正常に挿入されているか否かを検査する検査装置１００の動作の概要を示している。また、図３は、検査方法のフローチャートの一例を示している。 (Operation example)
FIG. 2 shows an outline of the operation of the inspection device 100 that inspects whether or not the crimp terminal of the electric wire 52 to be inspected is normally inserted into the housing of the connector 50. Further, FIG. 3 shows an example of a flowchart of the inspection method.
　（Ｓ１０１）
　ステップＳ１０１では、ハウジングに電線５２の圧着端子が挿入されたコネクタ５０が固定治具５の面１５Ａ、１５Ｂの間に配置される。そして固定治具５のボルトが捻られることにより、コネクタ５０が所定の力によりＺ方向に挟み込まれる。このようにして検査装置１００に対してコネクタ５０は固定される。 (S101)
In step S101, the connector 50 in which the crimp terminal of the electric wire 52 is inserted into the housing is arranged between the surfaces 15A and 15B of the fixing jig 5. Then, by twisting the bolt of the fixing jig 5, the connector 50 is sandwiched in the Z direction by a predetermined force. In this way, the connector 50 is fixed to the inspection device 100.
　また、電線５２を面３Ａ、３Ｂにより所定の把持力で挟み込むために、駆動部により把持部２Ａを＋Ｚ方向に、把持部２Ｂを－Ｚ方向に移動させる動力が生成される。ここで、所定の把持力はコネクタの種類、電線や端子の種類などに応じて予め設定される。そして、当該動力が把持部２Ａ、２Ｂに伝達される。このようにして、電線５２は面３Ａ、３ＢによりＺ方向に挟み込まれる。また、所定の把持力で把持した状態は一定期間継続される。 Further, in order to sandwich the electric wire 52 by the surfaces 3A and 3B with a predetermined gripping force, a power for moving the gripping portion 2A in the + Z direction and the gripping portion 2B in the −Z direction is generated by the driving unit. Here, the predetermined gripping force is preset according to the type of the connector, the type of the electric wire, the terminal, and the like. Then, the power is transmitted to the grip portions 2A and 2B. In this way, the electric wire 52 is sandwiched in the Z direction by the surfaces 3A and 3B. In addition, the state of being gripped with a predetermined gripping force is continued for a certain period of time.
　ここで、３軸センサユニット４Ａ、４Ｂでは、互いに押圧し合う面３Ａ、３Ｂに作用するＺ方向の力が検出される。そして、検出されたＺ方向の力と所定の把持力との差異が許容範囲内であるか否かの判定が行われる。そして、検出されたＺ方向の力と所定の把持力との誤差が許容範囲外である場合、駆動部は当該誤差が縮小する方向に動力を調整する。このような工程により、予め設定された所定の把持力により電線５２を確実に挟み込むことができる。よって、検査精度は向上する。 Here, in the three- axis sensor units 4A and 4B, the force acting on the surfaces 3A and 3B that press against each other in the Z direction is detected. Then, it is determined whether or not the difference between the detected force in the Z direction and the predetermined gripping force is within the permissible range. Then, when the error between the detected force in the Z direction and the predetermined gripping force is out of the permissible range, the driving unit adjusts the power in the direction in which the error is reduced. By such a step, the electric wire 52 can be reliably sandwiched by a predetermined gripping force set in advance. Therefore, the inspection accuracy is improved.
　また、３軸センサユニット４Ａ、４Ｂでは、面３Ａ、３Ｂに作用するＹ方向の力が検出される。そして、検出されたＹ方向の力が許容範囲内であるか否かの判定が行われる。ここで、検出されたＹ方向の力が許容範囲外である場合、Ｙ方向において電線５２が面３Ａ、３Ｂの中央から外れて把持されていることになる。このような場合、電線５２の把持される位置が面３Ａ、３Ｂの中心となるような修正を行う。このような修正を行うと、所望の把持力が電線５２に作用することになるため検査精度は向上する。 Further, in the 3- axis sensor units 4A and 4B, the force acting on the surfaces 3A and 3B in the Y direction is detected. Then, it is determined whether or not the detected force in the Y direction is within the allowable range. Here, when the detected force in the Y direction is out of the permissible range, the electric wire 52 is gripped off the center of the surfaces 3A and 3B in the Y direction. In such a case, the position where the electric wire 52 is gripped is corrected so as to be the center of the surfaces 3A and 3B. When such a modification is performed, a desired gripping force acts on the electric wire 52, so that the inspection accuracy is improved.
　（Ｓ１０２）
　ステップＳ１０２では、駆動部は、把持部２Ａ及び把持部２ＢをＸ方向に規定の固定変位分（例えば１.５ｍｍ）移動させる動力を生成し、当該動力を把持部２Ａ、２Ｂへ伝達する。このような動力が把持部２Ａ、２Ｂに伝達されると、電線５２を把持している把持部２Ａ、２Ｂは、電線５２を＋Ｘ方向に引っ張ることになる。また、把持部２Ａ、２Ｂが電線５２を引っ張っている場合、電線５２から面３Ａ、３Ｂに作用するＸ方向の力が３軸センサユニット４Ａ、４Ｂによって検出される。なお、把持部２Ａ、２Ｂから電線５２への別の検査負荷の付与方法として、所定の引張荷重値になるまで徐々に引張荷重を上げていくような動力を駆動部は生成してもよい。 (S102)
In step S102, the driving unit generates a power for moving the grip portion 2A and the grip portion 2B in the X direction by a specified fixed displacement (for example, 1.5 mm), and transmits the power to the grip portions 2A and 2B. When such power is transmitted to the grip portions 2A and 2B, the grip portions 2A and 2B gripping the electric wire 52 pull the electric wire 52 in the + X direction. Further, when the grip portions 2A and 2B are pulling the electric wire 52, the force acting on the surfaces 3A and 3B from the electric wire 52 in the X direction is detected by the three- axis sensor units 4A and 4B. As another method of applying an inspection load from the grip portions 2A and 2B to the electric wire 52, the drive unit may generate a power that gradually increases the tensile load until a predetermined tensile load value is reached.
　（Ｓ１０３）
　ステップＳ１０３では、把持部２Ａ、２ＢがステップＳ１０１の初期状態から＋Ｘ方向に１.５ｍｍ移動した時に、把持部２Ａ、２Ｂの移動は停止される。なお、ステップＳ１０２において所定の引張荷重値になるまで徐々に引張荷重を上げていくような動力を駆動部が生成する場合、駆動部が生成する動力が所定の引張荷重となった場合に把持部２Ａ、２Ｂの移動は停止されてもよい。 (S103)
In step S103, when the grip portions 2A and 2B move 1.5 mm in the + X direction from the initial state of step S101, the movement of the grip portions 2A and 2B is stopped. In step S102, when the drive unit generates a power that gradually increases the tensile load until it reaches a predetermined tensile load value, the grip portion when the power generated by the drive unit reaches a predetermined tensile load. The movement of 2A and 2B may be stopped.
　（Ｓ１０４）
　ステップＳ１０４では、３軸センサユニット４Ａ、４Ｂにより検出された、電線５２から面３Ａ、３Ｂに作用するＸＹＺ方向の力情報が記憶装置に記憶される。このように記憶装置にＸＹＺ方向の力情報が記憶されることで、検査のトレーサビリティが向上する。よって、検査品質は向上する。また、判定部は、３軸センサユニット４Ａ、４Ｂにより検出されＸＹＺ方向の力情報を使用して電線５２の挿入の正否を判定する。 (S104)
In step S104, the force information in the XYZ directions acting on the surfaces 3A and 3B from the electric wire 52 detected by the three- axis sensor units 4A and 4B is stored in the storage device. By storing the force information in the XYZ directions in the storage device in this way, the traceability of the inspection is improved. Therefore, the inspection quality is improved. Further, the determination unit determines whether or not the insertion of the electric wire 52 is correct or not by using the force information in the XYZ directions detected by the three- axis sensor units 4A and 4B.
　ところで、図４は、電線５２の圧着端子が正常にコネクタ５０のハウジングに挿入されている場合と挿入されていない場合において、３軸センサユニット４Ａにより検出されるＸ方向の力Ｆｘの時間的変化の一例を示している。（Ａ）は、コネクタ５０のハウジングに電線５２の圧着端子が正常に挿入されている場合を示している。一方、（Ｂ）は、コネクタ５０のハウジングに電線５２の圧着端子が正常に挿入されていない場合を示している。 By the way, FIG. 4 shows a temporal change of the force Fx in the X direction detected by the 3-axis sensor unit 4A when the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50 and when it is not inserted. An example is shown. (A) shows the case where the crimp terminal of the electric wire 52 is normally inserted into the housing of the connector 50. On the other hand, (B) shows a case where the crimp terminal of the electric wire 52 is not normally inserted into the housing of the connector 50.
　図４（Ａ）に示されているように、圧着端子がハウジングに正常に挿入されている場合、面３Ａ、３Ｂで電線５２を所定の把持力で挟み込んだ状態で＋Ｘ方向に把持部２Ａ、２Ｂを移動させると、３軸センサユニット４Ａ、４Ｂにより検出されるＦｘは、ある時刻において急激に変化していることが認められる。このような理由として、正常に挿入できた場合はコネクタ５０のランスに電線５２の圧着端子の溝が引っかかることが挙げられる。よって電線５２を引っ張っても電線５２がコネクタ５０から抜けないため、面３Ａ、３Ｂにはコネクタ５０側の向きに（－Ｘ方向）大きなせん断力Ｆｘが作用することになる。また、このように急激に変化したＸ方向の力Ｆｘは、把持部２Ａ、２Ｂが＋Ｘ方向に電線５２を引っ張りながら移動している間も変化後の値を比較的維持していることが認められる。 As shown in FIG. 4A, when the crimp terminal is normally inserted into the housing, the grip portion 2A in the + X direction with the electric wire 52 sandwiched between the surfaces 3A and 3B with a predetermined grip force, When 2B is moved, it is recognized that the Fx detected by the 3- axis sensor units 4A and 4B changes rapidly at a certain time. The reason for this is that the groove of the crimp terminal of the electric wire 52 is caught in the lance of the connector 50 when it can be inserted normally. Therefore, even if the electric wire 52 is pulled, the electric wire 52 does not come out from the connector 50, so that a large shearing force Fx acts on the surfaces 3A and 3B in the direction of the connector 50 side (−X direction). Further, it is recognized that the force Fx in the X direction, which has changed rapidly in this way, relatively maintains the changed value while the grip portions 2A and 2B move while pulling the electric wire 52 in the + X direction. Be done.
　一方で、図４（Ｂ）に示されているように、圧着端子がハウジングに正常に挿入されていない場合、面３Ａ、３Ｂで電線５２を所定の把持力で挟み込んだ状態で＋Ｘ方向に把持部２Ａ、２Ｂを移動させると、３軸センサユニット４Ａ、４Ｂにより検出されるＸ方向の力Ｆｘは瞬間的にわずかに変化していることが認められる。このようにＦｘが瞬間的にわずかに変化する理由として、コネクタ５０のランスへの電線５２の引っ掛かりが不十分であり、電線５２がコネクタ５０から抜けることが考えられる。そして、このようにわずかに変化したＸ方向の力Ｆｘは、把持部２Ａ、２Ｂが＋Ｘ方向に電線５２を引っ張りながら移動するとすぐに元に戻ることが認められる。 On the other hand, as shown in FIG. 4B, when the crimp terminal is not normally inserted into the housing, the electric wire 52 is gripped in the + X direction with the electric wire 52 sandwiched between the surfaces 3A and 3B with a predetermined gripping force. When the parts 2A and 2B are moved, it is recognized that the force Fx in the X direction detected by the three- axis sensor units 4A and 4B changes slightly momentarily. It is conceivable that the reason why Fx changes slightly momentarily in this way is that the electric wire 52 is not sufficiently caught on the lance of the connector 50 and the electric wire 52 is disconnected from the connector 50. Then, it is recognized that the slightly changed force Fx in the X direction returns to the original state as soon as the grip portions 2A and 2B move while pulling the electric wire 52 in the + X direction.
　そこで、ステップＳ１０４における判定部は、把持部２Ａ、２Ｂが電線５２を＋Ｘ方向に引張することを開始（Ｓ１０２）してから所定時間後のＦｘの瞬間的な変化の大きさが所定以上である場合に、電線５２がコネクタ５０に正常に挿入されていると判定するものとする。 Therefore, in the determination unit in step S104, the magnitude of the momentary change in Fx after a predetermined time after the grip portions 2A and 2B start pulling the electric wire 52 in the + X direction (S102) is greater than or equal to the predetermined value. In this case, it is determined that the electric wire 52 is normally inserted into the connector 50.
　または、判定部は、把持部２Ａ、２Ｂが電線５２を＋Ｘ方向に引張（Ｓ１０２）した後、Ｆｘが引張前の値よりも所定値以上離れた状態を継続的に維持している場合（本開示の「第２所定時刻」の一例）に、電線５２がコネクタ５０に正常に挿入されていると判定してもよい。または、判定部は、把持部２Ａ、２Ｂが電線５２を＋Ｘ方向に引張を開始（Ｓ１０２）してから所定時間以内（本開示の「第２所定時刻からの所定期間」の一例）にＦｘが所定の値を超えた場合、電線５２がコネクタ５０に正常に挿入されていると判定してもよい。または、判定部は、把持部２Ａ、２Ｂが電線５２を引っ張る負荷が所定の値に到達するまでの間（本開示の「第２所定時刻からの所定期間」の一例）にＦｘが所定の値を超えた場合、電線５２がコネクタ５０に正常に挿入されていると判定してもよい。 Alternatively, the determination unit continuously maintains a state in which Fx is separated by a predetermined value or more from the value before tension after the grip portions 2A and 2B pull the electric wire 52 in the + X direction (S102) (this). At an example of the "second predetermined time" of the disclosure), it may be determined that the electric wire 52 is normally inserted into the connector 50. Alternatively, in the determination unit, Fx is set within a predetermined time (an example of the "predetermined period from the second predetermined time" of the present disclosure) after the grip portions 2A and 2B start pulling the electric wire 52 in the + X direction (S102). If it exceeds a predetermined value, it may be determined that the electric wire 52 is normally inserted into the connector 50. Alternatively, in the determination unit, Fx is a predetermined value until the load of the grip portions 2A and 2B pulling the electric wire 52 reaches a predetermined value (an example of the “predetermined period from the second predetermined time” of the present disclosure). If it exceeds, it may be determined that the electric wire 52 is normally inserted into the connector 50.
　また、判定部は、上記のようにＦｘの大きさにより電線５２がコネクタ５０に正常に挿入されていると判定した場合であっても、Ｆｚが所定の荷重値以上でない場合、又は所定の荷重範囲内でない場合には、電線５２がコネクタ５０に正常に挿入されていないと判定してもよい。なお、これらの判定基準は、記憶装置に予め記憶されておかれる。 Further, even if the determination unit determines that the electric wire 52 is normally inserted into the connector 50 based on the size of Fx as described above, if the Fz is not equal to or more than the predetermined load value, or the predetermined load. If it is not within the range, it may be determined that the electric wire 52 is not normally inserted into the connector 50. These determination criteria are stored in advance in the storage device.
　（Ｓ１０５）
　ステップＳ１０５では、ステップＳ１０４において電線５２がコネクタ５０に正常に挿入されていると判定部が判定した場合、コネクタ５０に挿入された状態の電線５２の引っ張り試験は合格と判定される。 (S105)
In step S105, when the determination unit determines in step S104 that the electric wire 52 is normally inserted into the connector 50, the tensile test of the electric wire 52 inserted into the connector 50 is determined to pass.
　（Ｓ１０６）
　ステップＳ１０６では、ステップＳ１０４において電線５２がコネクタ５０に正常に挿入されていないと判定部が判定した場合、コネクタ５０に挿入された状態の電線５２の引っ張り試験は不合格と判定される。 (S106)
In step S106, if the determination unit determines in step S104 that the electric wire 52 is not normally inserted into the connector 50, the tensile test of the electric wire 52 inserted into the connector 50 is determined to be unacceptable.
　［作用・効果］
　上記のような検査装置１００によれば、面３Ａ、３Ｂが電線５２を把持する把持力が３軸センサユニット４Ａ、４ＢによってＦｚとして検出される。よって、面３Ａ、３Ｂが所定の把持力で電線５２を実際に把持しているか確認することができる。よって、例えば作業者の検査の習熟度が不足しているために、電線５２を把持する力が弱く、引張負荷が正しく電線５２に印加されないことは防止される。また、電線５２を引っ張った時に電線５２から面３Ａ、３Ｂに作用する引張方向の力Ｆｘだけではなく、把持力に相当するＦｚを含めて合否判定を行うことができる。よって、検査精度は向上する。 [Action / Effect]
According to the inspection device 100 as described above, the gripping force with which the surfaces 3A and 3B grip the electric wire 52 is detected as Fz by the three- axis sensor units 4A and 4B. Therefore, it can be confirmed whether the surfaces 3A and 3B actually grip the electric wire 52 with a predetermined gripping force. Therefore, for example, it is prevented that the force for gripping the electric wire 52 is weak and the tensile load is not correctly applied to the electric wire 52 due to insufficient proficiency in the inspection of the operator. Further, the pass / fail judgment can be performed by including not only the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 when the electric wire 52 is pulled, but also the Fz corresponding to the gripping force. Therefore, the inspection accuracy is improved.
　また、上記のような検査装置１００によれば、電線５２を引っ張った時に電線５２から面３Ａ、３Ｂに作用する引張方向の力Ｆｘを簡易な構造により検出することができる。よって、電線５２から面３Ａ、３Ｂに作用する引張方向の力Ｆｘに部品同士の摩擦や摺動抵抗等による荷重ロスが混ざることは抑制される。よって、電線５２が引っ張られた時の引張方向の力Ｆｘの検出精度は向上する。また、構造が簡易となるため、検査装置１００の製造が容易となる。 Further, according to the inspection device 100 as described above, the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 when the electric wire 52 is pulled can be detected by a simple structure. Therefore, it is possible to prevent the load loss due to friction between parts, sliding resistance, etc. from being mixed with the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52. Therefore, the detection accuracy of the force Fx in the pulling direction when the electric wire 52 is pulled is improved. Further, since the structure is simplified, the inspection device 100 can be easily manufactured.
　また、上記のような検査装置１００によれば、把持力と引張負荷とが駆動装置により制御されているため、コネクタ５０・電線５２・端子の種類に応じて電線５２を引っ張る力を簡易に変更することができる。つまり、コネクタ５０・電線５２・端子の種類に応じて検査装置１００を作り直すことは抑制されるため、ワイヤハーネスの製造ラインの構築に要する費用は節減される。また、コネクタ５０・電線５２・端子の種類に応じて電線５２から面３Ａ、３Ｂに作用する引張方向の力Ｆｘの大きさに関する判定基準を変更することで、コネクタ５０・電線５２・端子の種類の変更に簡易に対応して検査を行うことができる。 Further, according to the inspection device 100 as described above, since the gripping force and the tensile load are controlled by the drive device, the force for pulling the electric wire 52 can be easily changed according to the type of the connector 50, the electric wire 52, and the terminal. can do. That is, since it is suppressed to remake the inspection device 100 according to the types of the connector 50, the electric wire 52, and the terminal, the cost required for constructing the wire harness manufacturing line can be reduced. Further, by changing the judgment criteria regarding the magnitude of the tensile force Fx acting on the surfaces 3A and 3B from the electric wire 52 according to the type of the connector 50, the electric wire 52, and the terminal, the type of the connector 50, the electric wire 52, and the terminal can be changed. The inspection can be performed easily in response to the change of.
　また、上記のような検査装置１００によれば、判定部により自動的に合否判定を行っている。よって、検査の安定性は向上する。また、コネクタ５０に対して正しく端子が挿入された電線を引っ張る場合、電線５２から面３Ａ、３Ｂに作用する引張方向の力Ｆｘは、図４（Ａ）に示されるように瞬間的に上昇することになる。よって、所定時刻において通常時よりも変化の大きさが所定以上である場合に、電線５２がコネクタ５０に正常に挿入されていると判定することができる。また、３軸センサユニット４Ａ、４Ｂにより検出される力は記憶装置に記憶される。よって、記憶装置に記憶された引張方向の力Ｆｘの時間変化を含めて合否判定することができる。よって、所定時刻の引張方向の力Ｆｘに基づいて合否判定を行う場合と比較して誤検出は抑制される。 Further, according to the inspection device 100 as described above, the pass / fail judgment is automatically performed by the judgment unit. Therefore, the stability of the inspection is improved. Further, when the electric wire having the terminal inserted correctly is pulled with respect to the connector 50, the force Fx in the tensile direction acting on the surfaces 3A and 3B from the electric wire 52 rises momentarily as shown in FIG. 4 (A). It will be. Therefore, it can be determined that the electric wire 52 is normally inserted into the connector 50 when the magnitude of the change is greater than or equal to the predetermined time at the predetermined time. Further, the force detected by the three- axis sensor units 4A and 4B is stored in the storage device. Therefore, the pass / fail judgment can be made including the time change of the force Fx in the tensile direction stored in the storage device. Therefore, erroneous detection is suppressed as compared with the case where the pass / fail judgment is performed based on the force Fx in the tensile direction at a predetermined time.
　また、上記のような検査装置１００によれば、固定治具５によりコネクタ５０はＸ方向に固定される。また、面３Ａ、３Ｂにより電線５２は把持される。そして、面３Ａ、３Ｂは、駆動装置から伝達された引張負荷を電線５２に印加させることで、電線５２を引っ張っている。よって、手動で電線５２を引っ張って電線５２がコネクタ５０のハウジングに正常に挿入されているか否かを検査する場合と比較して、電線５２を引っ張る力の大きさのばらつきは抑制される。よって、検査精度は向上する。 Further, according to the inspection device 100 as described above, the connector 50 is fixed in the X direction by the fixing jig 5. Further, the electric wire 52 is gripped by the surfaces 3A and 3B. The surfaces 3A and 3B are pulling the electric wire 52 by applying a tensile load transmitted from the driving device to the electric wire 52. Therefore, as compared with the case where the electric wire 52 is manually pulled to inspect whether or not the electric wire 52 is normally inserted into the housing of the connector 50, the variation in the magnitude of the force for pulling the electric wire 52 is suppressed. Therefore, the inspection accuracy is improved.
　また、上記のような検査装置１００によれば、面３Ａ、３Ｂに作用するＸＹＺ方向の力Ｆｘ、Ｆｙ、Ｆｚを一つの素子で検出することができる。よって、検査装置１００をコンパクトにすることができる。 Further, according to the inspection device 100 as described above, the forces Fx, Fy, and Fz in the XYZ directions acting on the surfaces 3A and 3B can be detected by one element. Therefore, the inspection device 100 can be made compact.
　なお、３軸センサユニット４は、把持部２Ａ、２Ｂのうちの片方に設けられてもよい。そして、３軸センサユニット４は、面３Ａ、３Ｂが夫々押圧し合った場合に、面３Ａ、３Ｂのうちの片方の面に電線５２から作用する力を検出してもよい。このような検査装置１００によれば、装置をより簡易な構造とすることができる。 The 3-axis sensor unit 4 may be provided on one of the grip portions 2A and 2B. Then, the 3-axis sensor unit 4 may detect a force acting on one of the surfaces 3A and 3B from the electric wire 52 when the surfaces 3A and 3B press each other. According to such an inspection device 100, the device can have a simpler structure.
　§３　変形例
　以上、本発明の実施の形態を詳細に説明してきたが、前述までの説明はあらゆる点において本発明の例示に過ぎない。本発明の範囲を逸脱することなく種々の改良や変形を行うことができることは言うまでもない。例えば、以下のような変更が可能である。なお、以下では、上記実施形態と同様の構成要素に関しては同様の符号を用い、上記実施形態と同様の点については、適宜説明を省略した。以下の変形例は適宜組み合わせ可能である。 §3 Modifications Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. For example, the following changes can be made. In the following, the same reference numerals will be used for the same components as those in the above embodiment, and the same points as in the above embodiment will be omitted as appropriate. The following modifications can be combined as appropriate.
　＜３．１＞
　図５は、変形例に係る検査装置１００Ａの概要を例示している。検査装置１００Ａは、検査装置１００と同様の構成・機能を有する。ただし、変形例に係る検査装置１００Ａは、電線５２Ａの圧着端子が挿入されていないコネクタ５０Ａ（本開示の「第２コネクタ」の一例）を固定治具５が保持している。そして、面３Ａ及び３Ｂにより電線５２Ａ（本開示の「第２電線」の一例）を所定の把持力（本開示の「第２把持力の一例」）で把持している。ここで、把持部２Ａ、２Ｂ（本開示の「第２電線把持部」の一例）は、コネクタ５０ＡからのＸ方向の距離が例えば１-１０ｍｍ程度離れた場所に設けられる。このような距離に把持部２Ａ、２Ｂが設けられることで、電線５２Ａをコネクタ５０Ａへ挿入させる場合に電線５２が屈曲して挿入が失敗することは抑制される。また、把持部２Ａ、２Ｂとコネクタ５０Ａの端子が干渉することも抑制される。なお、把持部２Ａ、２Ｂが設けられる位置は把持対象の電線５２Ａの太さなどに応じて変更されてもよい。そして、把持部２Ａ、２Ｂが－Ｘ方向に移動するように駆動部は動力を生成して該把持部２Ａ、２Ｂへ当該動力を伝達する。このような動作により、電線５２Ａの－Ｘ方向に位置する圧着端子はコネクタ５０Ａのハウジングに挿入される。そして、検査装置１００Ａに設けられる３軸センサユニット４Ａ、４Ｂは、面３Ａ、３Ｂにより電線５２Ａを把持する把持力（Ｆｚ）と、電線５２Ａの端子がコネクタ５０Ａに挿入される場合の電線５２Ａから面３Ａ、３Ｂに作用する挿入方向の力（Ｆｘ）を検出する。 <3.1>
FIG. 5 illustrates an outline of the inspection device 100A according to the modified example. The inspection device 100A has the same configuration and function as the inspection device 100. However, in the inspection device 100A according to the modified example, the fixing jig 5 holds the connector 50A (an example of the "second connector" of the present disclosure) in which the crimp terminal of the electric wire 52A is not inserted. Then, the electric wires 52A (an example of the "second electric wire" of the present disclosure) are gripped by the surfaces 3A and 3B with a predetermined gripping force ("an example of the" second gripping force "of the present disclosure). Here, the grip portions 2A and 2B (an example of the "second electric wire grip portion" of the present disclosure) are provided at a location where the distance in the X direction from the connector 50A is, for example, about 1-10 mm. By providing the grip portions 2A and 2B at such a distance, it is possible to prevent the electric wire 52 from bending and failing to be inserted when the electric wire 52A is inserted into the connector 50A. Further, it is possible to prevent the grip portions 2A and 2B from interfering with the terminals of the connector 50A. The position where the grip portions 2A and 2B are provided may be changed according to the thickness of the electric wire 52A to be gripped. Then, the drive unit generates power so that the grip portions 2A and 2B move in the −X direction, and transmits the power to the grip portions 2A and 2B. By such an operation, the crimp terminal located in the −X direction of the electric wire 52A is inserted into the housing of the connector 50A. The three- axis sensor units 4A and 4B provided in the inspection device 100A have a gripping force (Fz) for gripping the electric wire 52A by the surfaces 3A and 3B, and the electric wire 52A when the terminal of the electric wire 52A is inserted into the connector 50A. The force (Fx) in the insertion direction acting on the surfaces 3A and 3B is detected.
　図６は、電線５２Ａの圧着端子がコネクタ５０Ａのハウジングに正常に挿入される場合の３軸センサユニット４Ａ、４Ｂにより検出されるＦｘの時間的変化の一例である。図６に示されるように、電線５２Ａが正常にコネクタ５０Ａに挿入される時、Ｆｘの値が一旦減少し、再度上昇していることがわかる。そこで、検査装置１００Ａの判定部（本開示の「第２判定部」の一例）は、図６に示されるような特徴的なＦｘの波形が３軸センサユニット４Ａ、４Ｂにより検出された場合に電線５２Ａがコネクタ５０Ａに正常に挿入されたと判定するものとする。加えて、判定部は、３軸センサユニット４Ａ、４Ｂにより検出されたＦｚ（第２把持力に相当）が所定値以上である場合に、電線５２Ａがコネクタ５０Ａに正常に挿入されたと判定する。 FIG. 6 is an example of a temporal change of Fx detected by the 3- axis sensor units 4A and 4B when the crimp terminal of the electric wire 52A is normally inserted into the housing of the connector 50A. As shown in FIG. 6, it can be seen that when the electric wire 52A is normally inserted into the connector 50A, the value of Fx decreases once and then increases again. Therefore, the determination unit of the inspection device 100A (an example of the "second determination unit" of the present disclosure) is used when a characteristic Fx waveform as shown in FIG. 6 is detected by the three- axis sensor units 4A and 4B. It is assumed that the electric wire 52A is normally inserted into the connector 50A. In addition, the determination unit determines that the electric wire 52A has been normally inserted into the connector 50A when the Fz (corresponding to the second gripping force) detected by the three- axis sensor units 4A and 4B is equal to or greater than a predetermined value.
　［作用・効果］
　このような検査装置１００Ａによれば、電線５２Ａの端子がコネクタ５０Ａに挿入されることでワイヤハーネスを製造することができる。また、面３Ａ、３Ｂにより電線５２Ａを掴む把持力が弱いと、電線５２Ａがコネクタ５０Ａに挿入される時に電線５２Ａが面３Ａ、３Ｂに対して滑ることになる。しかしながら、このような検査装置１００Ａによれば、電線５２Ａの端子がコネクタ５０Ａに挿入される場合の把持力が３軸センサユニット４Ａ、４Ｂによって検出される。よって、把持力が所望の通り電線５２Ａに作用しているか確認することができ、その結果として電線５２Ａが面３Ａ、３Ｂに対して滑ることは防止される。よって、ワイヤハーネスの製造不良は低減される。 [Action / Effect]
According to such an inspection device 100A, a wire harness can be manufactured by inserting the terminal of the electric wire 52A into the connector 50A. Further, if the gripping force for gripping the electric wire 52A by the surfaces 3A and 3B is weak, the electric wire 52A slides with respect to the surfaces 3A and 3B when the electric wire 52A is inserted into the connector 50A. However, according to such an inspection device 100A, the gripping force when the terminal of the electric wire 52A is inserted into the connector 50A is detected by the three- axis sensor units 4A and 4B. Therefore, it can be confirmed whether the gripping force acts on the electric wire 52A as desired, and as a result, the electric wire 52A is prevented from slipping on the surfaces 3A and 3B. Therefore, manufacturing defects of the wire harness are reduced.
　また、このような検査装置１００Ａによれば、電線５２Ａから面３Ａ、３Ｂに作用する挿入方向の力が検出される。よって、ワイヤハーネスが製造されることと並行して、電線５２Ａがコネクタ５０Ａに正常に挿入されているか否かの挿入検査を行うことができる。よって、製造工数は削減可能となる。また、電線５２Ａの端子がコネクタ５０Ａに挿入された後に、電線５２Ａの端子がコネクタ５０Ａに正常に挿入されているか否かの引張検査を上記の実施形態のように検査装置１００により行うことで、ワイヤハーネスの製造不良はより高精度に検出可能となる。また、挿入検査において不合格と判定された場合、引張検査を実施せずに検査対象のワイヤハーネスを製造不良と判定することができる。よって、引張検査まで含めた製造工数は短縮可能となる。また、ワイヤハーネスの製造、挿入検査、及び引張検査を一台の検査装置で行うことができる。このような検査装置は利便性が高いといえる。なお、ワイヤハーネスの製造及び挿入検査を検査装置１００Ａで行い、挿入検査後の引張検査を検査装置１００で行ってもよい。 Further, according to such an inspection device 100A, the force acting on the surfaces 3A and 3B from the electric wire 52A is detected in the insertion direction. Therefore, in parallel with the manufacture of the wire harness, it is possible to perform an insertion inspection as to whether or not the electric wire 52A is normally inserted into the connector 50A. Therefore, the manufacturing man-hours can be reduced. Further, after the terminal of the electric wire 52A is inserted into the connector 50A, a tensile inspection as to whether or not the terminal of the electric wire 52A is normally inserted into the connector 50A is performed by the inspection device 100 as in the above embodiment. Manufacturing defects in wire harnesses can be detected with higher accuracy. Further, when it is determined that the insertion inspection fails, the wire harness to be inspected can be determined to be a manufacturing defect without performing the tensile inspection. Therefore, the manufacturing man-hours including the tensile inspection can be shortened. In addition, wire harness manufacturing, insertion inspection, and tensile inspection can be performed with a single inspection device. It can be said that such an inspection device is highly convenient. The wire harness may be manufactured and the insertion inspection may be performed by the inspection device 100A, and the tensile inspection after the insertion inspection may be performed by the inspection device 100.
　＜３．２＞
　図７は、変形例に係る検査装置１００Ｂの概要を例示している。変形例に係る検査装置１００Ｂは、把持部２Ａの＋Ｚ方向の先端に把持部材６Ａを備える。同様にして、検査装置１００Ｂは、把持部２Ｂの－Ｚ方向の先端に把持部材６Ｂを備える。把持部材６Ａ、６Ｂは、Ｚ方向において対向するように設けられる。また、把持部材６Ａ、６Ｂは、対向する部分にＸＹ方向に平行な平面を有する。また、把持部材６Ａ、６Ｂは、夫々３軸センサユニット４Ａ、４Ｂを覆うように設けられる。 <3.2>
FIG. 7 illustrates the outline of the inspection device 100B according to the modified example. The inspection device 100B according to the modified example includes a grip member 6A at the tip of the grip portion 2A in the + Z direction. Similarly, the inspection device 100B includes a grip member 6B at the tip of the grip portion 2B in the −Z direction. The gripping members 6A and 6B are provided so as to face each other in the Z direction. Further, the gripping members 6A and 6B have planes parallel to the XY directions at the opposing portions. Further, the gripping members 6A and 6B are provided so as to cover the three- axis sensor units 4A and 4B, respectively.
　また、図８は、把持部材の変形例の一例を示している。図８に示される把持部材６Ｃは、Ｚ方向において電線５２を把持する部分が凹凸状となっている。このような形状によれば、電線５２を容易に把持することができる。なお、把持部材６Ａ、６Ｂ、６Ｃは、本開示の「所定部材」の一例である。 Further, FIG. 8 shows an example of a modification of the gripping member. In the gripping member 6C shown in FIG. 8, the portion that grips the electric wire 52 in the Z direction has an uneven shape. According to such a shape, the electric wire 52 can be easily gripped. The gripping members 6A, 6B, and 6C are examples of the "predetermined members" of the present disclosure.
　＜作用・効果＞
　上記のような検査装置１００Ｂによれば、３軸センサユニット４Ａ、４Ｂは電線５２と直接繰り返し接触することにより生じる衝撃から保護される。よって、３軸センサユニット４Ａ、４Ｂの故障は防止されるため、検査に影響が及ぶことは抑制される。また、電線５２から３軸センサユニット４Ａ、４Ｂに実質的に直接力が作用するため、３軸センサユニット４Ａ、４Ｂにより検出される情報が本来の検出値から減衰・劣化することは抑制される。また、把持部材６Ｃの場合、少ない把持力であっても効率的に電線５２の把持が可能となる。よって、把持力を生成する検査装置１００Ｂの動力は節減される。また、検査装置１００Ｂは、上記のような把持部材を備える形態に限らず、３軸センサユニット４Ａ、４Ｂに電線５２から実質的に直接力が作用するような形態であればよい。 <Action / effect>
According to the inspection device 100B as described above, the three- axis sensor units 4A and 4B are protected from the impact generated by the direct and repeated direct contact with the electric wire 52. Therefore, since the failure of the three- axis sensor units 4A and 4B is prevented, the influence on the inspection is suppressed. Further, since a force acts substantially directly on the three- axis sensor units 4A and 4B from the electric wire 52, it is suppressed that the information detected by the three- axis sensor units 4A and 4B is attenuated or deteriorated from the original detected value. .. Further, in the case of the gripping member 6C, the electric wire 52 can be efficiently gripped even with a small gripping force. Therefore, the power of the inspection device 100B that generates the gripping force is reduced. Further, the inspection device 100B is not limited to the form provided with the gripping member as described above, and may be a form in which a force substantially directly acts from the electric wire 52 on the three- axis sensor units 4A and 4B.
　＜３．３＞
　図９は、変形例に係る検査装置１００Ｃの概要を例示している。変形例に係る検査装置１００Ｃは、コネクタ５０を把持する固定治具５Ａの面１５Ａ、１５Ｂにそれぞれ３軸センサユニット４Ａ、４Ｂが設けられる。また、固定治具５Ａは、駆動部により制御された所定の動力が伝達されることにより、電線５２の引張方向（－Ｘ方向）へ移動する。よって、電線５２を－Ｘ方向に引っ張ることができる。このような検査装置１００Ｃによっても、検査装置１００と同様の効果を奏する。 <3.3>
FIG. 9 illustrates the outline of the inspection device 100C according to the modified example. In the inspection device 100C according to the modified example, the three- axis sensor units 4A and 4B are provided on the surfaces 15A and 15B of the fixing jig 5A that grips the connector 50, respectively. Further, the fixing jig 5A moves in the tensile direction (-X direction) of the electric wire 52 by transmitting a predetermined power controlled by the drive unit. Therefore, the electric wire 52 can be pulled in the −X direction. Even with such an inspection device 100C, the same effect as that of the inspection device 100 can be obtained.
　＜その他変形例＞
　上記の検査装置１００に設けられる判定部は、検査装置１００とは異なる装置に設けられてもよい。つまり、検査装置１００がネットワークに接続可能な通信モジュールを備え、ネットワークを介して検査装置１００と接続するサーバに３軸センサユニット４Ａ、４Ｂにより検出されたデータが送信されてもよい。そして、サーバに判定部が設けられ、サーバにおいてコネクタ５０に対する電線５２の挿入の正否判定が行われてもよい。また、把持力を判定する部分と引っ張り方向の力を判定する部分とが別々に実行されてもよい。 <Other modifications>
The determination unit provided in the inspection device 100 may be provided in a device different from the inspection device 100. That is, the data detected by the 3- axis sensor units 4A and 4B may be transmitted to the server in which the inspection device 100 is provided with a communication module that can be connected to the network and is connected to the inspection device 100 via the network. Then, a determination unit may be provided in the server, and the server may determine whether or not the insertion of the electric wire 52 into the connector 50 is correct. Further, the portion for determining the gripping force and the portion for determining the force in the pulling direction may be executed separately.
　また、上記の検査装置１００では、電線５２の把持と引張は自動的に実行されていたが、電線５２の把持と引張は手動により実行されてもよい。例えば手袋のような検査治具により電線５２の把持と引張が手動で行われてもよい。そして、検査治具に３軸センサユニットが設けられ、３軸センサユニットによって検出された把持力（Ｆｚ）と引っ張り方向の力（Ｆｘ）が検出されてもよい。また、検査治具には通信モジュールが設けられ、３軸センサユニットによって検出された把持力と引っ張り方向の力の情報が無線通信によりサーバへ送信されてもよい。そして、サーバにおいて把持力と引っ張り方向の力に基づいて合否判定が実行されてもよい。このような検査治具によれば、手動で電線５２を引っ張った場合に、適正な力で把持した状態で電線５２を引っ張ったか否かを人間の感覚に頼らず、３軸センサユニット４Ａ、４Ｂにより検出された把持力Ｆｚおよび引張方向の力Ｆｘに基づいて判定することができる。よって、検査精度が向上する。また、触覚センサ素子は上記に開示された態様に限定されない。 Further, in the above-mentioned inspection device 100, the gripping and pulling of the electric wire 52 is automatically executed, but the gripping and pulling of the electric wire 52 may be manually executed. For example, the electric wire 52 may be manually gripped and pulled by an inspection jig such as a glove. Then, the inspection jig may be provided with a 3-axis sensor unit, and the gripping force (Fz) and the pulling direction force (Fx) detected by the 3-axis sensor unit may be detected. Further, the inspection jig may be provided with a communication module, and information on the gripping force and the pulling force detected by the three-axis sensor unit may be transmitted to the server by wireless communication. Then, the pass / fail judgment may be executed in the server based on the gripping force and the pulling force. According to such an inspection jig, when the electric wire 52 is manually pulled, whether or not the electric wire 52 is pulled while being gripped with an appropriate force does not depend on the human sense, and the three- axis sensor units 4A and 4B It can be determined based on the gripping force Fz and the force Fx in the tensile direction detected by. Therefore, the inspection accuracy is improved. Further, the tactile sensor element is not limited to the embodiment disclosed above.
　また、電線５２を把持する部分は、面３Ａ、３Ｂのように面同士で挟む形態に限定されない。例えば、電線５２と接触する把持部２Ａ、２Ｂの部分は、点や線であってもよい。また、固定治具５は、コネクタ５０をＺ方向から挟む形態に限定されず、電線５２を引っ張る時にコネクタ５０をＸ方向に静止させることのできるような形態であればよい。 Further, the portion that grips the electric wire 52 is not limited to the form of being sandwiched between the surfaces such as the surfaces 3A and 3B. For example, the portions of the grip portions 2A and 2B that come into contact with the electric wire 52 may be points or lines. Further, the fixing jig 5 is not limited to a form in which the connector 50 is sandwiched from the Z direction, and may be a form in which the connector 50 can be stopped in the X direction when the electric wire 52 is pulled.
　以上で開示した実施形態や変形例はそれぞれ組み合わせる事ができる。 The embodiments and modifications disclosed above can be combined with each other.
　なお、以下には本発明の構成要件と実施例の構成とを対比可能とするために、本発明の構成要件を図面の符号付きで記載しておく。
＜付記１＞
　コネクタ（５０）に電線（５２）の端子が正常に挿入されているか否かを検査する検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）であって、
　前記電線（５２）の端子が挿入された前記コネクタ（５０）を前記電線（５２）の引張方向に静止するように把持するコネクタ把持部（５）と、
　前記電線（５２）の引張方向と直交する方向から前記電線（５２）を把持する電線把持部（２Ａ、２Ｂ）と、を備え、
　前記コネクタ把持部（５）又は前記電線把持部（２Ａ、２Ｂ）は、前記コネクタ（５０）または前記電線（５２）を把持した状態で前記電線（５２）に引張負荷を印加可能に設けられ、
　前記コネクタ把持部（５）又は前記電線把持部（２Ａ、２Ｂ）が前記コネクタ（５０）または前記電線（５２）を把持する把持力（Ｆｚ）と、前記コネクタ（５０）または前記電線（５２）から前記コネクタ把持部（５）又は前記電線把持部（２Ａ、２Ｂ）が受ける引張方向の力（Ｆｘ）と、を検出可能に配置される力触覚センサ素子（４Ａ、４Ｂ）を有する、
　検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記２＞
　前記力触覚センサ素子（４Ａ、４Ｂ）は、前記電線把持部（２Ａ、２Ｂ）が前記電線（５２）を把持する把持方向と直交する方向、かつ前記引張方向と直交する方向に前記電線把持部（２Ａ、２Ｂ）が前記電線（５２）から作用する力（Ｆｙ）をさらに検出する、
　付記１に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記３＞
　前記電線把持部（２Ａ、２Ｂ）は、前記電線（５２）を挟んで対向して配置される２つの面（３Ａ、３Ｂ）を有し、
　前記力触覚センサ素子（４Ａ、４Ｂ）は、前記２つの面（３Ａ、３Ｂ）が夫々前記把持力（Ｆｚ）で押圧し合った場合に、前記２つの面（３Ａ、３Ｂ）のうちの片方の面に前記電線（５２）から作用する力（Ｆｘ、Ｆｙ、Ｆｚ）を検出可能に配置される、
　付記１又は２に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記４＞
　前記力触覚センサ素子（４Ａ、４Ｂ）は前記電線（５２）との間に所定部材（６Ａ、６Ｂ、６Ｃ）を介して配置される、
　付記１から３のうち何れか一項に記載の検査装置（１００Ｂ）。
＜付記５＞
　前記コネクタ把持部（５）又は前記電線把持部（２Ａ、２Ｂ）が前記電線（５２）に前記引張負荷を印加させた場合に、前記力触覚センサ素子（４Ａ、４Ｂ）により検出された力（Ｆｘ、Ｆｙ、Ｆｚ）に基づき、前記コネクタ（５０）に前記電線（５２）の端子が正常に挿入されているか否かを判定する判定部を更に備える、
　付記１から４のうち何れか一項に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記６＞
　前記判定部は、所定時刻において前記力触覚センサ素子（４Ａ、４Ｂ）により検出された前記引張方向の力（Ｆｘ）に基づいて前記判定を行う、
　付記５に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記７＞
　前記判定部は、第２所定時刻からの所定期間において前記力触覚センサ素子（４Ａ、４Ｂ）により継続的に検出された前記引張方向の力（Ｆｘ）に基づいて前記判定を行う、
　付記５に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記８＞
　前記判定部は、前記力触覚センサ素子（４Ａ、４Ｂ）により検出された前記把持力（Ｆｚ）に基づいて前記判定を行う、
　付記５から７のうち何れか一項に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記９＞
　前記電線把持部（２Ａ、２Ｂ）は、手動により前記電線（５２）を把持可能に設けられ、前記電線（５２）を把持した状態で手動により前記引張負荷を前記電線（５２）に印加可能に設けられる、
　付記５から８のうち何れか一項に記載の検査装置。
＜付記１０＞
　前記力触覚センサ素子（４Ａ、４Ｂ）は、検出可能な荷重方向が３方向である力センサ素子を含む、
　付記１から９のうち何れか一項に記載の検査装置（１００、１００Ａ、１００Ｂ、１００Ｃ）。
＜付記１１＞
　第２コネクタ（５０Ａ）に端子が挿入されていない第２電線（５２Ａ）を第２把持力で把持し、前記第２コネクタ（５０Ａ）に前記第２電線（５２Ａ）の端子を挿入可能に設けられる第２電線把持部（２Ａ、２Ｂ）と、
　付記１から１０のうち何れか一項に記載の検査装置（１００Ａ）であって、前記第２コネクタ（５０Ａ）に対する前記第２電線（５２Ａ）の端子の挿入の正否を検査する検査装置（１００Ａ）を備え、
　前記力触覚センサ素子（４Ａ、４Ｂ）は、前記第２把持力（Ｆｚ）、および前記第２電線（５２Ａ）の端子が前記第２コネクタ（５０Ａ）に挿入される場合の前記第２電線（５２Ａ）から前記第２電線把持部（２Ａ、２Ｂ）に作用する前記挿入方向の力（Ｆｘ）をさらに検出する、
　ワイヤハーネス製造装置（１００Ａ）。
＜付記１２＞
　前記力触覚センサ素子（４Ａ、４Ｂ）により検出された力に基づき、前記第２コネクタ（５０Ａ）に対する前記第２電線（５２Ａ）の端子の挿入の正否を判定する第２判定部を更に備える、
　付記１１に記載のワイヤハーネス製造装置（１００Ａ）。 In addition, in order to make it possible to compare the constituent requirements of the present invention with the configurations of the examples, the constituent requirements of the present invention are described below with reference numerals in the drawings.
<Appendix 1>
An inspection device (100, 100A, 100B, 100C) that inspects whether or not the terminal of the electric wire (52) is normally inserted into the connector (50).
A connector gripping portion (5) that grips the connector (50) into which the terminal of the electric wire (52) is inserted so as to be stationary in the tensile direction of the electric wire (52).
A wire gripping portion (2A, 2B) for gripping the wire (52) from a direction orthogonal to the pulling direction of the wire (52) is provided.
The connector gripping portion (5) or the electric wire gripping portion (2A, 2B) is provided so that a tensile load can be applied to the electric wire (52) while gripping the connector (50) or the electric wire (52).
The gripping force (Fz) at which the connector gripping portion (5) or the electric wire gripping portion (2A, 2B) grips the connector (50) or the electric wire (52), and the connector (50) or the electric wire (52). It has a force-tactile sensor element (4A, 4B) arranged so as to be able to detect the force (Fx) in the tensile direction received by the connector gripping portion (5) or the electric wire gripping portion (2A, 2B).
Inspection equipment (100, 100A, 100B, 100C).
<Appendix 2>
The force-tactile sensor element (4A, 4B) is the wire gripping portion in a direction orthogonal to the gripping direction in which the wire gripping portion (2A, 2B) grips the wire (52) and in a direction orthogonal to the tension direction. (2A, 2B) further detects the force (Fy) acting on the electric wire (52).
The inspection device (100, 100A, 100B, 100C) according to Appendix 1.
<Appendix 3>
The electric wire gripping portions (2A, 2B) have two surfaces (3A, 3B) arranged so as to face each other with the electric wire (52) interposed therebetween.
The force-tactile sensor element (4A, 4B) is one of the two surfaces (3A, 3B) when the two surfaces (3A, 3B) are pressed against each other by the gripping force (Fz). Forces (Fx, Fy, Fz) acting from the electric wire (52) are detectably arranged on the surface of the wire.
The inspection device (100, 100A, 100B, 100C) according to Appendix 1 or 2.
<Appendix 4>
The force-tactile sensor elements (4A, 4B) are arranged between the force-tactile sensor elements (4A, 4B) and the electric wires (52) via predetermined members (6A, 6B, 6C).
The inspection device (100B) according to any one of Appendix 1 to 3.
<Appendix 5>
When the connector gripping portion (5) or the electric wire gripping portion (2A, 2B) applies the tensile load to the electric wire (52), the force detected by the force-tactile sensor element (4A, 4B) ( A determination unit for determining whether or not the terminal of the electric wire (52) is normally inserted into the connector (50) based on Fx, Fy, Fz) is further provided.
The inspection device (100, 100A, 100B, 100C) according to any one of Appendix 1 to 4.
<Appendix 6>
The determination unit makes the determination based on the force (Fx) in the tensile direction detected by the force / tactile sensor elements (4A, 4B) at a predetermined time.
The inspection device (100, 100A, 100B, 100C) according to Appendix 5.
<Appendix 7>
The determination unit makes the determination based on the force (Fx) in the tensile direction continuously detected by the force / tactile sensor elements (4A, 4B) in a predetermined period from the second predetermined time.
The inspection device (100, 100A, 100B, 100C) according to Appendix 5.
<Appendix 8>
The determination unit makes the determination based on the gripping force (Fz) detected by the force / tactile sensor elements (4A, 4B).
The inspection device (100, 100A, 100B, 100C) according to any one of Appendix 5 to 7.
<Appendix 9>
The electric wire gripping portions (2A, 2B) are provided so that the electric wire (52) can be manually gripped, and the tensile load can be manually applied to the electric wire (52) while the electric wire (52) is gripped. Provided,
The inspection device according to any one of Appendix 5 to 8.
<Appendix 10>
The force-tactile sensor element (4A, 4B) includes a force sensor element having three detectable load directions.
The inspection device (100, 100A, 100B, 100C) according to any one of Appendix 1 to 9.
<Appendix 11>
The second electric wire (52A) having no terminal inserted in the second connector (50A) is gripped by the second gripping force, and the terminal of the second electric wire (52A) can be inserted into the second connector (50A). 2nd electric wire gripping part (2A, 2B)
The inspection device (100A) according to any one of Appendix 1 to 10, and which inspects the correctness of insertion of the terminal of the second electric wire (52A) into the second connector (50A) (100A). )
The force-tactile sensor elements (4A, 4B) include the second electric wire (Fz) and the second electric wire (50A) when the terminals of the second electric wire (52A) are inserted into the second connector (50A). 52A) further detects the force (Fx) in the insertion direction acting on the second electric wire grip portion (2A, 2B).
Wire harness manufacturing equipment (100A).
<Appendix 12>
A second determination unit for determining whether or not the terminal of the second electric wire (52A) is inserted into the second connector (50A) based on the force detected by the force-tactile sensor elements (4A, 4B) is further provided.
The wire harness manufacturing apparatus (100A) according to Appendix 11.
２Ａ、２Ｂ　　　　　　　　　　　　　　：把持部
３Ａ、３Ｂ　　　　　　　　　　　　　　：面
４、４Ａ、４Ｂ　　　　　　　　　　　　：３軸センサユニット
５　　　　　　　　　　　　　　　　　　：固定治具
６Ａ、６Ｂ、６Ｃ　　　　　　　　　　　：把持部材
１５Ａ、１５Ｂ　　　　　　　　　　　　：面
５０、５０Ａ　　　　　　　　　　　　　：コネクタ
５２、５２Ａ　　　　　　　　　　　　　：電線
１００、１００Ａ、１００Ｂ、１００Ｃ　：検査装置 2A, 2B: Grip 3A, 3B: Surface 4, 4A, 4B: 3-axis sensor unit 5: Fixing jig 6A, 6B, 6C: Grip member 15A, 15B: Surface 50, 50A: Connector 52, 52A: Electric wire 100 , 100A, 100B, 100C: Inspection device

Claims (12)

  1. 　コネクタに電線の端子が正常に挿入されているか否かを検査する検査装置であって、
    　前記電線の端子が挿入された前記コネクタを前記電線の引張方向に静止するように把持するコネクタ把持部と、
    　前記電線の引張方向と直交する方向から前記電線を把持する電線把持部と、を備え、
    　前記コネクタ把持部又は前記電線把持部は、前記コネクタまたは前記電線を把持した状態で前記電線に引張負荷を印加可能に設けられ、
    　前記コネクタ把持部又は前記電線把持部が前記コネクタまたは前記電線を把持する把持力と、前記コネクタまたは前記電線から前記コネクタ把持部又は前記電線把持部が受ける引張方向の力と、を検出可能に配置される力触覚センサ素子を有する、
    　検査装置。     It is an inspection device that inspects whether or not the terminal of the electric wire is normally inserted in the connector.
    A connector gripping portion that grips the connector into which the terminal of the electric wire is inserted so as to be stationary in the tensile direction of the electric wire.
    A wire gripping portion that grips the wire from a direction orthogonal to the pulling direction of the wire is provided.
    The connector gripping portion or the electric wire gripping portion is provided so that a tensile load can be applied to the electric wire while gripping the connector or the electric wire.
    The gripping force that the connector gripping portion or the electric wire gripping portion grips the connector or the electric wire and the tensile force that the connector gripping portion or the electric wire gripping portion receives from the connector or the electric wire are arranged so as to be detectable. Has a force-tactile sensor element
    Inspection equipment.
  2. 　前記力触覚センサ素子は、前記電線把持部が前記電線を把持する把持方向と直交する方向、かつ前記引張方向と直交する方向に前記電線把持部が前記電線から作用する力をさらに検出する、
    　請求項１に記載の検査装置。     The force-tactile sensor element further detects the force exerted by the electric wire gripping portion on the electric wire in a direction orthogonal to the gripping direction in which the electric wire gripping portion grips the electric wire and in a direction orthogonal to the tensile direction.
    The inspection device according to claim 1.
  3. 　前記電線把持部は、前記電線を挟んで対向して配置される２つの面を有し、
    　前記力触覚センサ素子は、前記２つの面が夫々前記把持力で押圧し合った場合に、前記２つの面のうちの片方の面に前記電線から作用する力を検出可能に配置される、
    　請求項１又は２に記載の検査装置。     The electric wire grip portion has two surfaces arranged so as to face each other across the electric wire.
    The force-tactile sensor element is arranged so that when the two surfaces are pressed against each other by the gripping force, the force acting on one of the two surfaces from the electric wire can be detected.
    The inspection device according to claim 1 or 2.
  4. 　前記力触覚センサ素子は前記電線との間に所定部材を介して配置される、
    　請求項１から３のうち何れか一項に記載の検査装置。     The force-tactile sensor element is arranged between the force and tactile sensor element via a predetermined member.
    The inspection device according to any one of claims 1 to 3.
  5. 　前記コネクタ把持部又は前記電線把持部が前記電線に前記引張負荷を印加させた場合に、前記力触覚センサ素子により検出された力に基づき、前記コネクタに前記電線の端子が正常に挿入されているか否かを判定する判定部を更に備える、
    　請求項１から４のうち何れか一項に記載の検査装置。     Whether the terminal of the electric wire is normally inserted into the connector based on the force detected by the force-tactile sensor element when the connector grip portion or the electric wire grip portion applies the tensile load to the electric wire. Further provided with a determination unit for determining whether or not
    The inspection device according to any one of claims 1 to 4.
  6. 　前記判定部は、所定時刻において前記力触覚センサ素子により検出された前記引張方向の力に基づいて前記判定を行う、
    　請求項５に記載の検査装置。     The determination unit makes the determination based on the force in the tensile direction detected by the force-tactile sensor element at a predetermined time.
    The inspection device according to claim 5.
  7. 　前記判定部は、第２所定時刻からの所定期間において前記力触覚センサ素子により継続的に検出された前記引張方向の力に基づいて前記判定を行う、
    　請求項５に記載の検査装置。     The determination unit makes the determination based on the force in the tensile direction continuously detected by the force-tactile sensor element in a predetermined period from the second predetermined time.
    The inspection device according to claim 5.
  8. 　前記判定部は、前記力触覚センサ素子により検出された前記把持力に基づいて前記判定を行う、
    　請求項５から７のうち何れか一項に記載の検査装置。     The determination unit makes the determination based on the gripping force detected by the force / tactile sensor element.
    The inspection device according to any one of claims 5 to 7.
  9. 　前記電線把持部は、手動により前記電線を把持可能に設けられ、前記電線を把持した状態で手動により前記引張負荷を前記電線に印加可能に設けられる、
    　請求項５から８のうち何れか一項に記載の検査装置。     The electric wire gripping portion is provided so that the electric wire can be manually gripped, and the tensile load can be manually applied to the electric wire while the electric wire is gripped.
    The inspection device according to any one of claims 5 to 8.
  10. 　前記力触覚センサ素子は、検出可能な荷重方向が３方向である力センサ素子を含む、
    　請求項１から９のうち何れか一項に記載の検査装置。     The force / tactile sensor element includes a force sensor element having three detectable load directions.
    The inspection device according to any one of claims 1 to 9.
  11. 　第２コネクタに端子が挿入されていない第２電線を第２把持力で把持し、前記第２コネクタに前記第２電線の端子を挿入可能に設けられる第２電線把持部と、
    　請求項１から１０のうち何れか一項に記載の検査装置であって、前記第２コネクタに対する前記第２電線の端子の挿入の正否を検査する検査装置を備え、
    　前記力触覚センサ素子は、前記第２把持力、および前記第２電線の端子が前記第２コネクタに挿入される場合の前記第２電線から前記第２電線把持部に作用する前記挿入方向の力をさらに検出する、
    　ワイヤハーネス製造装置。     A second electric wire gripping portion provided so as to grip the second electric wire having no terminal inserted in the second connector with a second gripping force and to insert the terminal of the second electric wire into the second connector.
    The inspection device according to any one of claims 1 to 10, further comprising an inspection device for inspecting the correctness of insertion of the terminal of the second electric wire into the second connector.
    The force-tactile sensor element has the second gripping force and the force in the insertion direction acting on the second electric wire gripping portion from the second electric wire when the terminal of the second electric wire is inserted into the second connector. Further detect,
    Wire harness manufacturing equipment.
  12. 　前記力触覚センサ素子により検出された力に基づき、前記第２コネクタに対する前記第２電線の端子の挿入の正否を判定する第２判定部を更に備える、
    　請求項１１に記載のワイヤハーネス製造装置。     A second determination unit for determining whether or not the terminal of the second electric wire is inserted into the second connector based on the force detected by the force-tactile sensor element is further provided.
    The wire harness manufacturing apparatus according to claim 11.
PCT/JP2020/046864 2020-03-31 2020-12-16 Detection device and wire harness manufacturing device WO2021199514A1 (en)

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Citations (2)

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JPH01107933A (en) * 1987-10-20 1989-04-25 Fujitsu Ltd Automatic forming/inserting system for wire rod
JP2014220212A (en) * 2013-05-10 2014-11-20 矢崎総業株式会社 Terminal inserting device and terminal insertion method

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Publication number Priority date Publication date Assignee Title
JPH01107933A (en) * 1987-10-20 1989-04-25 Fujitsu Ltd Automatic forming/inserting system for wire rod
JP2014220212A (en) * 2013-05-10 2014-11-20 矢崎総業株式会社 Terminal inserting device and terminal insertion method

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