WO2023063035A1 - Dispositif de traitement pour câble blindé multiconducteur - Google Patents

Dispositif de traitement pour câble blindé multiconducteur Download PDF

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Publication number
WO2023063035A1
WO2023063035A1 PCT/JP2022/035096 JP2022035096W WO2023063035A1 WO 2023063035 A1 WO2023063035 A1 WO 2023063035A1 JP 2022035096 W JP2022035096 W JP 2022035096W WO 2023063035 A1 WO2023063035 A1 WO 2023063035A1
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WO
WIPO (PCT)
Prior art keywords
shielded cable
core
wire
drain
multicore
Prior art date
Application number
PCT/JP2022/035096
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English (en)
Japanese (ja)
Inventor
丈彦 江崎
浩昭 白井
守弘 岡田
Original Assignee
新明和工業株式会社
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Filing date
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Publication of WO2023063035A1 publication Critical patent/WO2023063035A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]

Definitions

  • the present invention relates to a processing device for multicore shielded cables having drain wires and core wires.
  • the device disclosed in Patent Document 1 has two core wire position detection mechanisms, a tracing mechanism and a color sensor. Therefore, the device disclosed in Patent Document 1 has a complicated configuration.
  • the present invention has been made in view of such a point, and its object is to provide a multi-core shielded cable having a drain wire and a core wire, in which the rotational position of the drain wire can be adjusted with a simpler structure. It is to provide a processing device.
  • a processing apparatus for a multicore shielded cable holds a multicore shielded cable in which a drain wire and a core wire are exposed from a sheath along a predetermined axis, and rotates the multicore shielded cable around the axis.
  • an image acquisition device capable of acquiring an image of the drain line and the core line held by the holding device; and a lightness distribution in the image acquired by the image acquisition device,
  • a discriminating device that discriminates the drain wire, and a control device that controls the holding device based on the discrimination by the discriminating device and moves the drain wire to a predetermined rotational position about the axis.
  • the drain wire can be determined using the brightness distribution in the image acquired by the image acquisition device. Therefore, regarding the multicore shielded cable having the drain wire and the core wire, the rotational position of the drain wire can be adjusted with a simpler configuration.
  • the holding devices are capable of holding the multicore shielded cables and rotating them around the axis. It includes a first retainer and a second retainer arranged side by side.
  • a processing device for a multicore shielded cable includes a cutting device for forming a cut at a predetermined cutting position along the axis of the sheath, and at least one of the first holding device and the second holding device.
  • the first holding device holds the sheath on the distal end side of the multicore shielded cable from the cutting position.
  • the second holding device holds the sheath on the root side of the multicore shielded cable from the cutting position.
  • the control device causes the first holding device and the second holding device to hold the multicore shielded cable, and controls the cutting device in a state in which the multicore shielded cable is held to form the cut in the sheath. to form
  • the control device controls the moving device to expose a portion of the drain wire and the core wire after the cut is formed in the sheath and to expose the other portion of the drain wire and the core wire.
  • a semi-strip is performed to pull out the sheath on the distal side so that the sheath on the distal side remains partially.
  • the control device causes the image acquisition device to acquire images of the drain line and the core line after the semi-stripping.
  • the multi-core shielded cable processing device it is possible to prevent the drain wires from being separated and becoming difficult to discriminate when the discriminating device discriminates the drain wires.
  • the control device drives at least one of the first holding device and the second holding device in the semi-strip to move the distal end side of the cable.
  • the sheath is rotated with respect to the sheath on the root side to untwist the drain wire and the core wire.
  • the drain wire can be easily identified by untwisting the drain wire and the core wire.
  • the first holding device and the second holding device rotate in synchronization when the drain wire is moved to the predetermined rotational position.
  • the first gripping member and the second rotating gripping member grip the tip side and the root side of the multicore shielded cable and rotate synchronously, so that the multicore shielded cable rotates.
  • the axis of the is hard to shake, and the rotation is stable. Therefore, the certainty of adjusting the rotational position of the drain wire is also improved.
  • the multi-core shielded cable processing device is arranged radially outward of the multi-core shielded cable held by the holding device, and the drain It further comprises a gripping member for non-rotatably securing or rotatably releasing the wire and said core wire, and a drive for driving said gripping member.
  • the control device controls the driving device to fix the drain wire and the core wire to the holding member after the drain wire is moved to the predetermined rotational position. Further, the control device controls the moving device to rotate the distal end side sheath while controlling the first holding device to rotate the distal end side sheath in a state where the drain wire and the core wire are fixed. Detach the sheath from the multicore shielded cable.
  • the sheath on the tip side can be removed from the multi-core shielded cable while untwisting the drain wire and the core wire. Moreover, at that time, the drain wire and the core wire are fixed by the holding member so as not to be rotatable, so that the drain wire is held at a predetermined rotational position.
  • the multi-core shielded cable processing device moves the gripping member in a direction opposite to the direction corresponding to the predetermined rotational position when viewed in the axial direction. It further comprises a separating device that allows the The gripping member has a gap at the predetermined rotational position in a state in which the drain wire and the core wire are non-rotatably fixed.
  • the control device separates the core wire and the drain wire by controlling the separating device and moving the gripping member after separating the sheath on the distal end side from the multicore shielded cable.
  • the core wire is bent in the direction opposite to the direction corresponding to the rotational position of the drain wire by the gripping member, and the drain wire is not bent because it passes through the gap of the gripping device. Thereby, the drain line and the core line can be separated.
  • the multicore shielded cable is bent in a U shape so that both ends face the same direction, and the drain wire and the core are bent at both ends. Exposed lines.
  • the processing apparatus for a multicore shielded cable further includes a conveying device that conveys the multicore shielded cable in a conveying direction that intersects with the axis and sequentially transfers both ends of the multicore shielded cable to the holding device.
  • the multi-core shielded cable processing device it is possible to continuously adjust the rotational positions of the drain wires at both ends of the multi-core shielded cable.
  • the control device rotates one end of the multicore shielded cable in a first rotation direction to rotate the drain wire at the one end to the predetermined position.
  • the other end is rotated in a second rotational direction opposite to the first rotational direction to move the drain wire of the other end to the predetermined rotational position.
  • both ends of the multicore shielded cable are rotated in opposite directions, so that twisting of the U-bent multicore shielded cable can be suppressed.
  • the image acquisition device is provided in a direction corresponding to the predetermined rotational position with respect to the axis when viewed in the axial direction.
  • the control device reverses the rotation direction when the rotation angle of the multicore shielded cable reaches a predetermined angle of 90 degrees or more and the drain wire is not detected.
  • the image acquisition device is provided in the direction corresponding to the predetermined rotational position with respect to the axis. Therefore, the drain wire may not enter the image acquisition area of the image acquisition device before the rotation of the multicore shielded cable. If the drain wire is not detected even when the rotation angle of the multicore shielded cable reaches 90 degrees or more, if the rotation is continued as it is, the final rotation angle exceeds 180 degrees. However, if the direction of rotation is reversed, the final rotation angle will be within 180 degrees. Therefore, it is possible to reduce the angle at which the ends of the multicore shielded cable are rotated. As a result, twisting of the U-bent multicore shielded cable can be suppressed. However, if the multicore shielded cable is rotated in reverse, the time required to determine the position of the drain wire often increases. The angle may be appropriately set.
  • the rotation position about the axis in the image acquired by the image acquisition device is a first region set within a predetermined range in the circumferential direction. , and a second region set in a predetermined range in the circumferential direction so as to partially overlap the first region.
  • the predetermined rotational position is the overlapping portion of the first area and the second area.
  • the drain wire is rotated in a predetermined manner by the sum of simple image processing of detection of the drain wire in the first region and detection of the drain wire in the second region. can be stopped in position.
  • an outer region is set outside the first region and the second region.
  • the control device is configured to control the holding device to rotate the multicore shielded cable by a predetermined angle when the drain wire is detected in the outer region.
  • the predetermined angle is set to an angle at which the drain line reaches only up to this side of the predetermined rotational position.
  • the multicore shielded cable processing apparatus the multicore shielded cable is rotated by a predetermined angle in the outer region, so that the drain wire can be brought closer to the predetermined rotation position more quickly. Moreover, the multicore shielded cable is once positioned in the first area or the second area before reaching the predetermined rotational position. Therefore, from there, the drain wire can be stopped at a predetermined rotational position by the control described above.
  • the control device when the drain wire is detected in both the first region or the second region and the outer region, exists in the outer region, and the holding device rotates the multicore shielded cable.
  • the drain wire when the drain wire is detected in both the first region or the second region and the outer region, the drain wire is regarded as existing in the outer region. , the drain wire can be brought closer to a predetermined rotational position.
  • the image acquisition device includes: a light source that generates light to irradiate the drain line and the core line; and an image acquisition unit that acquires light reflected by the drain line and the core line.
  • the image acquisition device acquires the reflected light of the light it emits. Therefore, detection of the drain line is less susceptible to external light.
  • the light generated by the light source is infrared light.
  • the light emitted by itself is infrared light, so the detection of the drain wire is less susceptible to external visible light.
  • the image acquisition unit is off the optical axis of specularly reflected light from the drain line and the core line of the light generated by the light source. is provided as follows.
  • the multicore shielded cable processing device it is possible to reduce the possibility of erroneous detection of the drain wire due to strong specular reflection of the core wire.
  • the rotation position of the drain wire can be adjusted with a simpler configuration for the multicore shielded cable having the drain wire and the core wire.
  • FIG. 1 is a schematic cross-sectional view of a multicore shielded cable
  • FIG. FIG. 2 is a schematic plan view of a processing device for multicore shielded cables
  • FIG. 4 is a schematic perspective view of a station that separates a drain wire from a plurality of core wires
  • 1 is a block diagram of a processing device for a multicore shielded cable
  • FIG. 4 is a flow chart showing a process from holding a multicore shielded cable to separating core wires.
  • FIG. 4 is a schematic perspective view of the processing equipment during the semi-stripping process
  • FIG. 4 is a schematic perspective view of the processing equipment during the adjustment process
  • 1 is a schematic perspective view of the processing equipment during the entire stripping process;
  • FIG. 4 is a schematic front view of the processing equipment during the separation process;
  • FIG. 4 is a schematic diagram of an image obtained by an image acquisition device;
  • FIG. 4 is a schematic front view of the multicore shielded cable, showing division of the rotation area;
  • 4 is a flow chart showing an example of an adjustment process;
  • FIG. 1 is a schematic cross-sectional view of a multicore shielded cable 1 according to one example.
  • the multicore shielded cable 1 has a sheath 2 , a drain wire 3 and a plurality of core wires 4 inserted through the sheath 2 , and a shield 5 .
  • a multicore shielded cable 1 is an electric wire in which a drain wire 3 , a plurality of core wires 4 and a shield 5 are covered with a sheath 2 .
  • a plurality of core lines 4 are used, for example, as signal lines for transmitting electrical signals.
  • Each of the plurality of core wires 4 has a core wire 4a and an insulator covering 4b covering the core wire 4a.
  • the shield 5 is a conductor that shields the core wire 4 from external noise.
  • a shield 5 covers the outside of the plurality of core wires 4 .
  • Drain wire 3 is electrically connected to shield 5 .
  • the drain line 3 is grounded, thereby grounding the shield 5 .
  • the drain wire 3 is composed of a plurality of thin conductor strands and is not covered with an insulator. Although not shown, the drain wire 3 and a plurality of core wires 4 are twisted together inside the shield 5 .
  • the shield 5 is covered by an insulating sheath 2 .
  • FIG. 2 is a schematic plan view of a processing device 10 (hereinafter simply referred to as the processing device 10) for the multicore shielded cable 1 according to one embodiment.
  • the processing apparatus 10 includes a plurality of stations St each provided with a device for processing the multicore shielded cable 1, and a transfer apparatus 20 for transporting the multicore shielded cable 1 to the plurality of stations St. , is equipped with The conveying device 20 conveys the multicore shielded cable 1 in a predetermined conveying direction.
  • the conveying direction of the multicore shielded cable 1 is also referred to as the left-right direction.
  • a plurality of stations St are arranged in the horizontal direction along the transport path of the multicore shielded cable 1 .
  • each station St as seen from the transport device 20 is hereinafter referred to as the forward direction and denoted by symbol F.
  • F, Rr, L, R, U, and D represent front, back, left, right, up and down, respectively.
  • the conveying device 20 conveys the multicore shielded cable 1 from right to left.
  • the right side is the upstream side in the conveying direction of the multicore shielded cable 1 .
  • the left side is the downstream side in the conveying direction of the multicore shielded cable 1 .
  • these directions are for convenience of explanation, and do not limit the installation mode of the processing apparatus 10 in any way.
  • the front may change depending on the station St.
  • the multicore shielded cable 1 is bent in a U shape so that both ends face the same direction. Both ends of the multicore shielded cable 1 here face forward, ie, toward each station St.
  • the left end and right end of the multicore shielded cable 1 are hereinafter denoted by 1L and 1R, respectively.
  • the carrier device 20 includes a carrier clamp 21 that holds the multicore shielded cable 1 as described above.
  • the conveying device 20 further includes a clamp moving device 22 that moves the conveying clamp 21 in the left-right direction.
  • FIG. 3 is a schematic perspective view of a station St that separates the drain wire 3 and a plurality of core wires 4.
  • the processing of the multicore shielded cable 1 performed at each station St is not particularly limited, but in the present embodiment, at the station St of FIG. Adjustment of the rotational position of the drain wire 3 (hereinafter also referred to as an adjustment step) and separation of the drain wire 3 and the plurality of core wires 4 are performed by rotating in the direction.
  • the processing device 10 includes a holding device 30, a moving device 40 (see FIG. 4), a cutting device 50, an image acquiring device 60, and a core line separating device 70. I have.
  • the holding device 30 is a device that holds the multicore shielded cable 1 along a predetermined axis Ax and rotates the multicore shielded cable 1 around the axis Ax.
  • the axis Ax here extends substantially horizontally in the front-rear direction.
  • the axis Ax and the transport direction of the multicore shielded cable 1 by the transport device 20 intersect (orthogonal here).
  • the conveying device 20 is configured to convey the multicore shielded cable 1 in the conveying direction intersecting the axis Ax, and sequentially transfer both ends 1L and 1R of the multicore shielded cable 1 to the holding device 30 . As shown in FIG.
  • the holding device 30 comprises a first rotary clamp 31 , a second rotary clamp 32 and a fixed clamp 33 .
  • the first rotating clamp 31 and the second rotating clamp 32 are configured to hold the multicore shielded cable 1 and rotate it around the axis Ax.
  • the first rotating clamp 31 and the second rotating clamp 32 are arranged along the axis Ax and are arranged in the front-rear direction.
  • the front-rear direction is the axial direction of the holding device 30 .
  • the first rotary clamp 31 is arranged forward of the second rotary clamp 32 here.
  • the first rotating clamp 31 is a clamp that holds the sheath 2F on the distal side of the cut 2a after the cut 2a is formed in the sheath 2 (see FIG. 6).
  • the second rotating clamp 32 is a clamp that holds the sheath 2R on the root side of the cut 2a after the cut 2a is formed in the sheath 2 (also see FIG. 6).
  • the fixed clamp 33 is provided between the first rotary clamp 31 and the second rotary clamp 32, and non-rotatably grips the proximal sheath 2R when closed (see FIG. 6).
  • the fixed clamp 33 is separated from the proximal sheath 2R when opened.
  • the first rotating clamp 31, the second rotating clamp 32, and the fixed clamp 33 are all driven toward or away from the axis Ax by an actuator (not shown).
  • the actuator is, for example, an air cylinder. However, the type of actuator is not particularly limited.
  • the first rotating clamp 31 is configured to be able to control the rotating direction, rotating angle, and rotating speed of the held multicore shielded cable 1 .
  • the first rotary clamp 31 has, for example, a servomotor and gears (not shown). However, the configuration of the first rotary clamp 31 is not limited to the above.
  • the second rotating clamp 32 is also configured to be able to control the rotating direction, rotating angle, and rotating speed of the held multicore shielded cable 1 .
  • the moving device 40 moves at least one of the first rotating clamp 31 and the second rotating clamp 32 in the front-rear direction, thereby bringing the first rotating clamp 31 and the second rotating clamp 32 closer to or away from each other.
  • the moving device 40 moves the first rotary clamp 31 in the front-rear direction.
  • the moving device 40 may move the second rotating clamp 32 in the front-rear direction, or may move both the first rotating clamp 31 and the second rotating clamp 32 in the front-rear direction.
  • the moving device 40 includes, for example, a stepping motor (not shown), a ball screw, and a guide rail.
  • the cutting device 50 is a device that forms a cut 2a in the sheath 2. As shown in FIG. 3, the cutting device 50 forms a cut 2a at a predetermined position along the axis Ax of the sheath 2 (hereinafter also referred to as cutting position Pc).
  • the first rotating clamp 31 is provided forward of the cutting position Pc and holds the sheath 2 on the distal end side of the multicore shielded cable 1 from the cutting position Pc.
  • the second rotating clamp 32 is provided behind the cutting position Pc and holds the sheath 2 on the root side of the multicore shielded cable 1 relative to the cutting position Pc.
  • the first rotary clamp 31 holds the sheath 2F on the distal side of the cut 2a.
  • the second rotating clamp 32 holds the sheath 2R on the root side of the cut 2a.
  • the cutting device 50 here includes a plurality of cutting blades 51 arranged so as to surround the axis Ax of the holding device 30 .
  • the cutting device 50 is configured to rotate a plurality of cutting blades 51 around the axis Ax.
  • the cutting device 50 forms a cut 2a in the sheath 2 by bringing the cutting blade 51 closer to the axis Ax and rotating the cutting blade 51 with the multicore shielded cable 1 sandwiched therebetween.
  • the processing device 10 controls the moving device 40 to partially pull out the sheath 2F on the tip side of the cut 2a, thereby separating the drain wire 3 and the core wire. 4 are exposed from the sheath 2.
  • the image acquisition device 60 captures an image of the drain wire 3 and the core wire 4 held by the holding device 30 (the drain wire 3 and the core wire 4 held by the holding device 30 and exposed from the sheath 2). is configured to be able to obtain
  • image acquisition device 60 is a camera with a light source.
  • the image acquisition device 60 includes a light source 61 that generates light to irradiate the drain line 3 and the core line 4, and an image acquisition unit 62 that acquires reflected light from the light generated by the light source 61 by the drain line 3 and the core line 4. , is equipped with
  • the image acquisition device 60 is provided in the 0 o'clock direction (above) with respect to the axis line Ax when viewed in the front-rear direction.
  • the 0 o'clock position is a predetermined rotational position (hereinafter also referred to as a stop position 200, see FIG. 11) for moving the drain wire 3 in the step of adjusting the rotational position of the drain wire 3. be.
  • the image acquisition device 60 can accurately reflect the stop position 200 of the drain wire 3 in the image as the position in the left-right direction.
  • the image acquisition device 60 is provided with an inclination such that the optical axis L1 of the light source 61 is inclined in the front-rear direction. As shown in FIG.
  • the angle between the vertical direction and the optical axis L1 is ⁇ .
  • the angle ⁇ is preferably an angle of 15 degrees or less.
  • the inclination of the optical axis L1 is set so that specularly reflected light from the drain line 3 and the core line 4 of the light generated by the light source 61 does not directly irradiate the image acquisition section 62 . Therefore, the inclination ⁇ of the optical axis L1 is not particularly limited. All you have to do is For example, if the axis of the image acquisition unit 62 is set to be inclined with respect to the optical axis L1, the optical axis L1 may be set vertically.
  • the light generated by the light source 61 is infrared light.
  • the image acquisition unit 62 is configured to detect infrared light. By using infrared light as the light emitted by the light source 61 and the light detected by the image acquisition unit 62, the influence of natural light not emitted by the light source 61 can be reduced.
  • the core wire separating device 70 includes a pair of chucks 71 that open and close, a chuck opening/closing device 72, and a chuck moving device 73. As shown in FIG. 3 , the pair of chucks 71 are arranged radially outward of the multicore shielded cable 1 held by the holding device 30 . A pair of chucks 71 are provided here on the left and right sides of the axis Ax. Each of the pair of chucks 71 has a gripping arm 71a extending in the vertical direction, and a projecting portion 71b connected to the upper end of the gripping arm 71a and extending substantially horizontally toward the axis Ax. A pair of chucks 71 with gripping arms 71 a are provided so as to surround the multicore shielded cable 1 .
  • the chuck opening/closing device 72 is a driving device that drives and opens and closes the pair of chucks 71 .
  • the chuck opening/closing device 72 moves the pair of chucks 71 in the horizontal direction.
  • the chuck opening/closing device 72 has, for example, an air cylinder.
  • the configuration of the chuck opening/closing device 72 is not limited.
  • a pair of chucks 71 non-rotatably fix the drain wire 3 and the core wire 4 or rotatably release them.
  • the pair of chucks 71 are located on the tip side of the multicore shielded cable 1 from the imaging range of the image acquisition device 60 , or at least in front of the rear end of the imaging range of the image acquisition device 60 .
  • the image acquisition device 60 can capture an image of the root side of the multicore shielded cable 1 rather than the chuck 71 .
  • the pair of chucks 71 have a gap at the 0 o'clock position when the drain wire 3 and the core wire 4 are non-rotatably fixed. Even when the pair of chucks 71 fix the drain wire 3 and the core wire 4, the pair of protrusions 71b are separated from each other to form a gap therebetween.
  • the chuck moving device 73 moves the chuck 71 in the direction (upward) opposite to the direction (upward) corresponding to the stop position 200 of the drain wire 3 (0 o'clock position here, see FIG. 11) when viewed in the direction of the axis Ax.
  • the direction in which the chuck 71 is moved is also referred to as the bending direction of the core wire 4 or simply the bending direction.
  • the bending direction of the core wire 4 is the 6 o'clock direction (downward) when viewed in the direction of the axis Ax.
  • the bending direction of the core wire 4 is obliquely forward and downward.
  • the chuck moving device 73 has, for example, an air cylinder.
  • the configuration of the chuck moving device 73 is not limited.
  • the processing device 10 may include a device for heating the drain wire 3 by covering it with a heat-shrinkable tube, a terminal crimping device, etc., but the description thereof will be omitted.
  • the processing by the apparatus shown in FIG. 3 is first performed on the left end 1L, which is the forward end in the transport direction of the U-bent multicore shielded cable 1 .
  • the multicore shielded cable 1 is moved leftward by the conveying device 20, and the right end 1R of the multicore shielded cable 1 is subjected to the same processing.
  • the left end 1L of the multicore shielded cable 1 may be processed in the next station St. .
  • FIG. 4 is a block diagram of the processing device 10.
  • the processing device 10 includes a discrimination control device 80 that discriminates the drain line 3 based on the image of the image acquisition device 60 and controls the operation of each section.
  • the determination control device 80 includes a determination device 90 and a control device 100 .
  • the discrimination device 90 and the control device 100 are realized by one piece of hardware as the discrimination control device 80 .
  • the determination device 90 and the control device 100 may be realized by a plurality of interconnected hardware. As shown in FIG.
  • the determination control device 80 includes a transport clamp 21, a clamp moving device 22, a first rotating clamp 31, a second rotating clamp 32, a fixed clamp 33, a moving device 40, a cutting device 50, and an image acquisition device. 60, chuck opening/closing device 72, and chuck moving device 73 to control their operations.
  • the configurations of the determination device 90 and the control device 100 are not particularly limited.
  • the determination device 90 and the control device 100 may include, for example, a central processing unit (hereinafter referred to as a CPU), a ROM storing programs executed by the CPU, and a RAM.
  • a CPU central processing unit
  • ROM storing programs executed by the CPU
  • RAM random access memory
  • Each unit of the determination device 90 and the control device 100 may be configured by software or may be configured by hardware. Also, each unit may be a processor or a circuit.
  • Discrimination device 90 and control device 100 may be, for example, a programmable controller, a computer, or the like.
  • the discrimination device 90 discriminates the drain line 3 based on the brightness distribution in the image acquired by the image acquisition device 60 .
  • the discriminating device 90 determines that the drain line 3 exists in the region when a predetermined number or more of pixels having brightness higher than a predetermined threshold value exist in the region.
  • the image acquired by the image acquisition device 60 is divided into a plurality of virtual regions.
  • the drain wire 3 is made of a conductor element wire and has metallic luster. Therefore, if the drain line 3 exists in the region, the number of pixels whose lightness (intensity of reflected light) exceeds the threshold is equal to or greater than a predetermined number (threshold).
  • the multiple core wires 4 are covered with a covering 4b.
  • the discriminating device 90 discriminates between the drain wire 3 and the core wire 4 by such a method.
  • the discriminating device 90 includes a threshold registering section 91 and a discriminating section 92 .
  • the threshold registration unit 91 registers a brightness threshold and a threshold for the number of pixels having brightness exceeding the threshold.
  • the discrimination unit 92 discriminates the drain line 3 using the two thresholds registered in the threshold registration unit 91 .
  • the determination of the drain line 3 by the determination device 90 may be performed based on the distribution of brightness in the image acquired by the image acquisition device 60, and the method is not limited to the above.
  • the control device 100 includes a conveyance control unit 101, a holding control unit 102, a rotation control unit 103, a cutting control unit 104, a pull-out control unit 105, an image acquisition control unit 106, A grip control unit 107 , a separation control unit 108 and a rotation setting unit 109 are provided.
  • the control device 100 may have other control units, but illustration and description thereof are omitted here.
  • the transport control unit 101 controls the transport clamp 21 and clamp moving device 22 of the transport device 20 .
  • the holding control unit 102 controls opening and closing operations of the first rotary clamp 31 , the second rotary clamp 32 and the fixed clamp 33 .
  • the rotation control unit 103 controls rotation operations of the first rotary clamp 31 and the second rotary clamp 32 .
  • the rotation control unit 103 controls the rotation angle and the rotation speed determined by the rotation setting unit 109. to control the operation of the first rotary clamp 31 and the second rotary clamp 32 based on.
  • the rotation control unit 103 includes a rotation angle control unit 103A that controls the rotation angles of the first rotation clamp 31 and the second rotation clamp 32, and a rotation speed control unit 103B that controls the rotation speed. I have.
  • the cutting control unit 104 controls the operation of the cutting device 50 .
  • the pull-out control unit 105 controls the operation of the moving device 40 .
  • the image acquisition control unit 106 controls the image acquisition device 60 to acquire images of the drain wire 3 and the core wire 4 .
  • the image acquisition control unit 106 controls the light source 61 of the image acquisition device 60 to emit infrared light, and controls the image acquisition unit 62 to acquire an image.
  • the grip control unit 107 controls the operation of the chuck opening/closing device 72 of the core wire separating device 70 .
  • the separation control unit 108 controls the operation of the chuck moving device 73 of the core wire separating device 70 .
  • the rotation setting unit 109 determines the operations of the first rotary clamp 31 and the second rotary clamp 32 in the adjustment process. As shown in FIG. 4, the rotation setting unit 109 includes a position recognition unit 109A, a rotation angle determination unit 109B, and a rotation speed determination unit 109C. Although the details will be described later, the position recognizing unit 109A recognizes in which region of the plurality of virtual regions on the screen acquired by the image acquisition device 60 the drain line 3 exists. For example, when the drain line 3 exists across two regions, the position recognizing unit 109A recognizes in which region the drain line 3 exists based on a predetermined rule to be described later.
  • Rotation angle determination unit 109B and rotation speed determination unit 109C determine the rotation angle and rotation speed of first rotary clamp 31 and second rotary clamp 32, respectively, based on the region recognized by position recognition unit 109A where drain wire 3 exists. decide.
  • the rotation angle and rotation speed determined by the rotation angle determination unit 109B and the rotation speed determination unit 109C are the rotation angle and rotation speed predetermined according to the region.
  • FIG. 5 is a flow chart showing the process from holding the multicore shielded cable 1 to separating the core wire 4 .
  • the control device 100 causes the first rotating clamp 31 and the second rotating clamp 32 to hold the multicore shielded cable 1 .
  • Step S ⁇ b>01 is a step of transferring the multicore shielded cable 1 from the conveying device 20 to the holding device 30 .
  • the fixing clamp 33 also grips the multicore shielded cable 1 .
  • the control device 100 controls the cutting device 50 while the multicore shielded cable 1 is held by the holding device 30 to form a cut 2a in the sheath 2.
  • the cutting device 50 forms a cut 2a (see FIG. 6) at a predetermined cutting position Pc along the axis Ax of the sheath 2.
  • the first rotating clamp 31 holds the sheath 2F on the distal side of the cut 2a.
  • the second rotary clamp 32 and fixed clamp 33 hold the sheath 2R on the root side of the cut 2a.
  • FIG. 6 is a schematic perspective view of the processing apparatus 10 during the semi-stripping process. As shown in FIG. 6, the semi-strip is formed so that part of the drain wire 3 and the core wire 4 is exposed, and the other part of the drain wire 3 and the core wire 4 remains with the sheath 2F on the tip side. This is the step of pulling out the sheath 2F on the distal end side.
  • the sheath 2F on the distal end side remains at the distal end portions of the drain wire 3 and the core wire 4 .
  • the drain wire 3 and the core wire 4 are exposed from the sheath 2 by semi-stripping, and the holding device 30 holds the multicore shielded cable 1 with the drain wire 3 and the core wire 4 exposed from the sheath 2.
  • the semi-stripping process may be performed, for example, at another station St before the multicore shielded cable 1 is held by the holding device 30 .
  • the holding device 30 may hold the multicore shielded cable 1 in which the drain wire 3 and the core wire 4 are already exposed from the sheath 2 .
  • the control device 100 drives the first rotating clamp 31 to rotate the sheath 2F on the distal end side with respect to the sheath 2R on the root side, thereby twisting the drain wire 3 and the core wire 4.
  • the first rotating clamp 31 moves to the tip side of the multicore shielded cable 1 while rotating in the direction of untwisting the drain wire 3 and the core wire 4 .
  • the sheath 2F on the distal end side is partially pulled out, and the twists of the drain wire 3 and the core wire 4 are untwisted.
  • the rotation and movement of the first rotary clamp 31 are stopped before the sheath 2F on the distal end side is completely detached from the drain wire 3 and core wire 4 .
  • control device 100 rotates the first rotating clamp 31 in untwisting, but rotates the second rotating clamp 32 or both the first rotating clamp 31 and the second rotating clamp 32.
  • the control device 100 may be configured to drive at least one of the first rotating clamp 31 and the second rotating clamp 32 to rotate the sheath 2F on the distal side with respect to the sheath 2R on the root side.
  • the processing apparatus 10 moves the second rotating clamp 32 or both the first rotating clamp 31 and the second rotating clamp 32 in the front-rear direction so that the first rotating clamp 31 and the second rotating clamp 32 move in the front-rear direction.
  • the rotating clamp 32 may be separated.
  • the control device 100 After semi-stripping including untwisting in step S03, the control device 100 causes the image acquisition device 60 to acquire images of the drain wire 3 and the core wire 4 in the adjustment process of step S04.
  • the discrimination device 90 discriminates the drain line 3 based on the brightness distribution of the image acquired by the image acquisition device 60 .
  • the control device 100 controls the holding device 30 based on the determination by the determination device 90 to move the drain wire 3 to a predetermined stop position 200 around the axis Ax, here the 0 o'clock position.
  • FIG. 7 is a schematic perspective view of processing apparatus 10 during the adjustment process. As shown in FIG. 7 , the first rotating clamp 31 and the second rotating clamp 32 rotate synchronously when moving the drain wire 3 to the stop position 200 .
  • Fixation of the multicore shielded cable 1 by the fixing clamp 33 is released before the multicore shielded cable 1 is rotated. As shown in FIG. 7, the adjustment process moves the drain line 3 to a stop position 200 set at the 0 o'clock position. Further details of the adjustment process will be described later.
  • the controller 100 controls the chuck opening/closing device 72 to fix the drain wire 3 and the core wire 4 to the pair of chucks 71 in step S05. Thereby, the drain wire 3 and the core wire 4 on the root side of the chuck 71 are fixed so as not to rotate.
  • the control device 100 also controls the fixing clamp 33 and makes the fixing clamp 33 also grip the multicore shielded cable 1 .
  • the control device 100 controls the first rotary clamp 31 to rotate the sheath 2F on the distal end side while the drain wire 3 and the core wire 4 are fixed by the gripping step of step S05. At the same time, the control device 100 controls the moving device 40 to detach the sheath 2F on the distal end side from the multicore shielded cable 1 (step S06).
  • the process of step S06 is also referred to as a full strip process.
  • FIG. 8 is a schematic perspective view of processing apparatus 10 during the entire stripping process. As with the semi-stripping process, the full-stripping process includes an untwisting process, as shown in FIG.
  • the sheath 2F on the distal end side is completely detached from the multicore shielded cable 1 by all the strips including untwisting.
  • the portion of the drain wire 3 and the core wire 4 covered by the sheath 2F on the distal end side is untwisted.
  • the rotational positions of the drain wire 3 and the core wire 4 adjusted in step S04 are maintained.
  • the image acquisition device 60 acquires an image of a portion of the drain wire 3 and the core wire 4 that is non-rotatably fixed by the chuck 71 .
  • FIG. 9 is a schematic front view of processing apparatus 10 during the separation process. As shown in FIG. 9, this causes the processing device 10 to bend the core wire 4 and separate it from the drain wire 3 .
  • the control device 100 sequentially processes both ends 1L and 1R of the multicore shielded cable 1 while controlling the transport device 20 to intermittently transport the multicore shielded cable 1 in the transport direction. That is, the multicore shielded cable 1 as described above is held, the drain wire 3 and the core wire 4 are exposed, the drain wire 3 is moved to a predetermined rotational position (stop position 200), and the sheath 2F on the distal end side is closed. The process of pulling out and separating the core wire 4 is sequentially performed on both ends 1L and 1R of the multicore shielded cable 1.
  • FIG. 10 is a schematic diagram of an image obtained by the image acquisition device 60. As shown in FIG. In FIG. 10, illustration of the core wire 4 is omitted.
  • FIG. 11 is a schematic front view of the multicore shielded cable 1, showing sections of the rotation area. Note that the position of the drain line 3 in FIG. 10 does not match the position of the drain line 3 in FIG. As shown in FIG. 11, here, the rotational position around the axis Ax viewed toward the front (the position that does not depend on the state of the multicore shielded cable 1) is rotated clockwise with the 0 o'clock position being 0 degrees.
  • the 3 o'clock position is the 90 degree position.
  • the left-right direction and the rotation direction in the following description refer to directions when viewed forward unless otherwise specified. However, such representation of the rotational position is only for convenience of explanation.
  • the image The drain line 3 is reflected on the screen of the acquisition device 60 .
  • the discriminating device 90 discriminates the drain line 3 from the distribution of brightness (intensity of reflected infrared light) in the image.
  • the rotational position around the axis Ax in the image acquired by the image acquisition device 60 is divided into a plurality of virtual regions. As shown in FIG. 11 , the rotational position about the axis Ax is set in a predetermined circumferential range that partially overlaps the left low speed region 200L, which is set in a predetermined range in the circumferential direction, and the left low speed region 200L. and a right low speed region 200R.
  • the left low speed region 200L is a region from the left side to the right side of the 0 degree position and includes the 0 degree position. In the left low speed region 200L, the region on the right side of the 0 degree position is smaller than the region on the left side.
  • the right low speed region 200R is set symmetrically with the left low speed region 200L.
  • the stop position 200 of the drain line 3, which is set at approximately the 0 degree position, is, more specifically, the overlapping portion of the left low speed region 200L and the right low speed region 200R.
  • the control device 100 makes the rotational speed of the holding device 30 lower than before.
  • Control device 100 stops rotation of multicore shielded cable 1 by holding device 30 when drain wire 3 is detected in both left low speed region 200L and right low speed region 200R.
  • the stop position 200 has slight variations depending on the direction of rotation and the thickness of the drain wire 3 .
  • the threshold may be different for each region.
  • the threshold may be the area of the drain line 3 detected within the region.
  • a high speed region 210 is set outside the left low speed region 200L and the right low speed region 200R.
  • the high speed area 210 is further divided into a plurality of areas.
  • the high speed region 210 includes a left first high speed region 211L immediately outside (to the left of) the left low speed region 200L, a left second high speed region 212L immediately outside and adjacent to the left first high speed region 211L, and a left third high speed region 213L immediately outside and adjacent to the left second high speed region 212L.
  • the high speed region 210 further includes a first right high speed region 211R immediately outside (to the right of) the right low speed region 200R and a second right high speed region 212R immediately outside and adjacent to the first right high speed region 211R.
  • the high-speed area 210 also includes an area from the 90-degree position to the 270-degree position that is not captured by the image acquisition device 60 .
  • the area from the 90-degree position to the 270-degree position will also be referred to as the back side area 214 .
  • the above multiple areas are set so that their boundaries partially overlap. This prevents the occurrence of a portion where the drain line 3 is not detected. Specifically, the left low speed region 200L and the left first high speed region 211L partially overlap, the left first high speed region 211L and the left second high speed region 212L partially overlap, and the left second high speed region 212L and the third high-speed area 213L on the left partly overlap. The same applies to the area on the right side of the 0 degree position.
  • the set predetermined It is configured to rotate the multicore shielded cable 1 by an angle.
  • the predetermined angle is set for each high speed region.
  • the predetermined angle is set larger (at least the same as that of the inner region) in the outer high-speed region.
  • the rotation angle corresponding to the second high-speed area 212L on the left side is set to be greater than the rotation angle corresponding to the first high-speed area 211L on the left side.
  • the rotation angle corresponding to the left third high speed region 213L is set to be greater than or equal to the rotation angle corresponding to the left second high speed region 212L.
  • the rotation angle corresponding to the back side area 214 is set here to be the same as the rotation angle corresponding to the left and right third high speed areas 213L and 213R. However, the rotation angle corresponding to the back side area 214 may be set larger than the rotation angle corresponding to the left and right third high speed areas 213L and 213R.
  • the multicore shielded cable 1 When the drain wire 3 is detected in the high speed region 210, the multicore shielded cable 1 is rotated by the rotation angle set for each high speed region without stopping halfway.
  • the rotation speed of the multicore shielded cable 1 in the high speed region 210 is set higher than the rotation speed of the multicore shielded cable 1 in the left low speed region 200L and the right low speed region 200R.
  • the rotation angle corresponding to each high-speed region is set to an angle that allows the drain wire 3 to reach only before the stop position 200 even if the multicore shielded cable 1 is rotated by the angle.
  • the rotation angle corresponding to each high-speed region is the inner high-speed region or the low-speed region 200L or 200R on the front side of the stop position 200.
  • the angle is set such that the drain line 3 does not reach the terminal.
  • the multicore shielded cable 1 is once positioned in the low speed region 200L or 200R on the front side of the stop position 200, and then moves at low speed until it reaches the stop position 200.
  • the control device 100 detects that the drain line 3 is in the first high speed region 211L.
  • the multi-core shielded cable 1 is rotated assuming that it exists in 211R.
  • the processing apparatus 10 thereby shortens the time until the drain line 3 reaches the stop position 200 .
  • the rotation angle corresponding to each high-speed region is set to such an angle that the drain wire 3 does not reach the stop position 200 even if the multicore shielded cable 1 is rotated by an angle corresponding to the outer region. .
  • the first rotating clamp 31 and the second rotating clamp 32 grip the tip end side and the root side of the multicore shielded cable 1 and rotate synchronously.
  • the axis of rotation of the multicore shielded cable 1 is less likely to sway, and the rotation of the multicore shielded cable 1 is stabilized. Therefore, the certainty of position adjustment of the drain wire 3 is also improved.
  • the multicore shielded cable 1 is bent in a U shape so that both ends 1L and 1R face the same direction, and both ends 1L and 1R are rotated in the circumferential direction in the adjustment process. Therefore, in the present embodiment, the control device 100 rotates the left end 1L of the multicore shielded cable 1 in the first rotation direction (for example, clockwise when viewed from the front) to move the drain wire 3 of the left end 1L to the stop position 200. When it is moved, the right end 1R is rotated in a second direction opposite to the first direction (for example, counterclockwise when viewed from the front) to move the drain wire 3 at the right end 1R to the stop position 200. . The processing device 10 rotates both ends 1L and 1R of the multicore shielded cable 1 in opposite directions in the adjusting process. This suppresses twisting of the multicore shielded cable 1 .
  • control is performed so that the angle at which the multicore shielded cable 1 is rotated is 180 degrees or less in the adjustment process.
  • both ends 1L and 1R of the multicore shielded cable 1 bent in a U shape are rotated, so that the multicore shielded cable 1 tends to be twisted when the angle of rotation increases. Therefore, the maximum angle for rotating the multicore shielded cable 1 in the adjustment process is 180 degrees.
  • the angle for determining whether to rotate the multicore shielded cable 1 in the reverse direction may be appropriately set to an angle of 90 degrees or more. The angle is preferably, for example, 90 degrees or more and 120 degrees or less.
  • the control device 100 rotates the multicore shielded cable 1 clockwise. .
  • the angle at which the multicore shielded cable 1 is rotated can be 90 degrees or less.
  • the control device 100 reverses the multicore shielded cable 1. Rotate clockwise.
  • the control device 100 first rotates the multicore shielded cable 1 in a predetermined direction (for example, clockwise). If the drain wire 3 is not detected even when the rotation angle of the multicore shielded cable 1 reaches 90 degrees or more, the control device 100 reverses the rotation direction. For example, when the initial direction is clockwise, if the drain wire 3 is in the region between the 180-degree position and the 270-degree position (the region to the left of the 180-degree position), the drain wire 3 is rotated by 90 degrees or less.
  • the drain wire 3 can be positioned at the stop position 200 by rotating the multicore shielded cable 1 clockwise by an angle of 180 degrees or less.
  • the drain line 3 will not be detected even if the rotation angle exceeds 90 degrees.
  • the multicore shielded cable 1 is rotated counterclockwise, returned to the initial rotation position, and then rotated further counterclockwise.
  • the drain wire 3 can be positioned at the stop position 200 with a rotation of 180 degrees or less.
  • FIG. 12 is a flow chart showing an example of the adjustment process.
  • the rotation angle in the back side area 214 and the left and right third high speed areas 213L and 213R is 30 degrees.
  • the rotation angle in the left and right second high speed regions 212L and 212R is 12 degrees.
  • the rotation angle in the left and right first high speed regions 211L and 211R is 9 degrees.
  • step S11 it is determined whether or not the drain line 3 is detected in the left region 200L, 211L, 212L, or 213L. If the drain wire 3 is detected in the left region 200L, 211L, 212L, or 213L (if the result of step S11 is YES), clockwise is selected as the rotation direction of the multicore shielded cable 1 in step S12. . In step S13 following step S12, it is determined whether or not the drain line 3 has been detected in the left third high speed region 213L.
  • step S13 If the drain wire 3 is detected in the left third high-speed region 213L (if the result of step S13 is YES), the multicore shielded cable 1 is rotated 30 degrees clockwise in step S14. If the drain line 3 is not detected in the left third high speed region 213L (the result of step S13 is NO), it is determined in step S15 whether the drain line 3 is detected in the left second high speed region 212L. be done. If the drain wire 3 is detected in the second high-speed area 212L on the left side (if the result of step S15 is YES), the multicore shielded cable 1 is rotated clockwise by 12 degrees in step S16.
  • step S17 If the drain line 3 is not detected in the second high-speed area 212L on the left side (if the result of step S15 is NO), it is determined in step S17 whether the drain line 3 is detected in the first high-speed area 211L on the left side. be done. If the drain wire 3 is detected in the left first high speed area 211L (if the result of step S17 is YES), the multicore shielded cable 1 is rotated clockwise by 9 degrees in step S18.
  • step S19 the multicore shielded cable 1 is rotated clockwise at low speed.
  • step S20 it is determined whether the drain line 3 has reached the stop position 200 or not. The low-speed rotation of the multicore shielded cable 1 in step S19 is continued until the drain wire 3 reaches the stop position 200 (until the result of step S20 becomes YES).
  • step S13 As shown in FIG. 12, after the multicore shielded cable 1 is rotated 30 degrees clockwise in step S14, it is determined again in step S13 whether or not the drain wire 3 is detected in the left third high-speed region 213L. be done.
  • step S14 when the drain line 3 passes through the left third high-speed region 213L, the result of the second step S13 is NO.
  • step S16 after the multicore shielded cable 1 is rotated 12 degrees clockwise in step S16, it is determined again in step S15 whether the drain wire 3 has been detected in the left second high speed region 212L.
  • step S17 After the multicore shielded cable 1 is rotated clockwise by 9 degrees in step S18, it is determined again in step S17 whether or not the drain wire 3 has been detected in the left first high speed region 211L.
  • step S21 it is determined in step S21 whether the drain line 3 has been detected in the right region 200R, 211R, 212R, or 213R. If the drain wire 3 is detected in the right region 200R, 211R, 212R, or 213R (if the result of step S21 is YES), counterclockwise is selected as the rotation direction of the multicore shielded cable 1 in step S22. be. After that, except for the rotating direction of the multi-core shielded cable 1, it is the same as the case of clockwise rotation. Therefore, illustration and description of subsequent steps are omitted.
  • step S21 determines that the drain line 3 exists in the back side region 214.
  • clockwise rotation is selected as the direction of rotation of the multicore shielded cable 1 in step S23.
  • the initial rotation direction selected in step S23 may be counterclockwise.
  • step S24 the multicore shielded cable 1 is rotated clockwise by 30 degrees.
  • step S25 following step S24, it is determined whether or not the drain line 3 has been detected. If the result of step S25 is YES (drain line 3 is detected), then step S13 is performed. Thereafter, the same steps as when the drain line 3 is detected in the left region 200L, 211L, 212L, or 213L are performed.
  • step S26 it is determined whether the number of times of non-detection of the drain line 3 (excluding non-detection in step S21) has reached three. be judged. If the result of step S26 is NO (if the number of non-detections of the drain wire 3 is less than 3), again in step S24, the multicore shielded cable 1 is rotated clockwise by 30 degrees. In this loop, if the drain line 3 is detected within three times (in other words, if it is not detected within two times), step S13 is performed. In this case, the angle by which the multicore shielded cable 1 has been rotated clockwise is 90 degrees (30 degrees ⁇ 3 times) or less. Therefore, the rotation angle of the multicore shielded cable 1 until the drain wire 3 reaches the stop position 200 is within 180 degrees clockwise.
  • step S27 the multi-core shielded cable 1 rotates counterclockwise (that is, reverse rotation) 90 It is rotated by degrees and returned to the rotational position at the start of the adjustment process.
  • step S28 counterclockwise rotation is selected as the direction of rotation of the multicore shielded cable 1.
  • FIG. The subsequent steps are the same as those after step S24 (clockwise), except for the rotation direction of the multicore shielded cable 1 .
  • the drain line 3 is detected within three times unless there is a special problem such as the drain line 3 being lost. Therefore, the rotation angle of the multicore shielded cable 1 until the drain wire 3 reaches the stop position 200 is within 180 degrees counterclockwise.
  • the right end 1R of the multicore shielded cable 1 is rotated in a direction opposite to the direction of rotation of the left end 1L.
  • the drain line 3 at the right end 1R moves to or near the stop position 200 by rotating the right end 1R symmetrically with the left end 1L. Therefore, the right end 1R of the multi-core shielded cable 1 is first rotated by the same angle in the direction opposite to the rotation of the left end 1L in the treatment of the left end 1L. After that, the drain line 3 at the right end 1R can be moved to the stop position 200 by performing the same control as shown in FIG. In the case of the right end 1R, the drain wire 3 has moved to or near the stop position 200 in the initial movement. Therefore, in many cases, the adjustment process can be completed in less time than the left end 1L.
  • the adjustment process described above is merely an example, and the adjustment process is not particularly limited.
  • the rotation angle of the multi-core shielded cable 1 set in each high-speed region is merely a preferred example.
  • a processing apparatus 10 for a multicore shielded cable 1 holds the multicore shielded cable 1 in which the drain wire 3 and the core wire 4 are exposed from the sheath 2 along a predetermined axis Ax, and 1 around the axis Ax, an image acquisition device 60 capable of acquiring an image of the drain wire 3 and the core wire 4 held by the holding device 30, and an image acquired by the image acquisition device 60
  • a discriminating device 90 discriminating the drain wire 3 based on the lightness distribution in the inside, and a holding device 30 is controlled based on the discrimination by the discriminating device 90, and the drain wire 3 is placed at a predetermined stop position 200 around the axis line Ax.
  • the drain wire 3 having the exposed conductor element wire and the core wire 4 covered with the coating 4b utilizes the difference in overall brightness (intensity of reflected light) between the drain wire 3 and the core wire 4. can be determined. Therefore, as far as the multicore shielded cable 1 having the drain wire 3 and the core wire 4 is concerned, the rotational position of the drain wire 3 can be adjusted with a very simple configuration.
  • the holding device 30 includes a first rotary clamp 31 and a second rotary clamp which are arranged along the axis Ax and are capable of holding the multicore shielded cable 1 and rotating it around the axis Ax. 32.
  • the processing device 10 moves the cutting device 50 that forms the cut 2a at a predetermined cutting position Pc along the axis Ax of the sheath 2, the first rotating clamp 31 and the second rotating clamp 32 in the direction of the axis Ax, or and a moving device 40 for separating.
  • the first rotating clamp 31 holds the sheath 2 on the tip side of the multicore shielded cable 1 from the cutting position Pc.
  • the second rotating clamp 32 holds the sheath 2 on the root side of the multicore shielded cable 1 from the cutting position Pc.
  • the control device 100 causes the first rotating clamp 31 and the second rotating clamp 32 to hold the multicore shielded cable 1 , controls the cutting device 50 while the multicore shielded cable 1 is held, and cuts the sheath 2 . 2a is formed. After the cut 2 a is formed in the sheath 2 , the control device 100 controls the moving device 40 to expose a part of the drain wire 3 and the core wire 4 and remove the other part of the drain wire 3 and the core wire 4 . A semi-strip is performed to pull out the sheath 2F on the tip side so that the sheath 2F on the tip side remains partially.
  • the control device 100 After semi-stripping, the control device 100 causes the image acquisition device 60 to acquire images of the drain wire 3 and the core wire 4 . According to the processing apparatus 10, the drain wire 3 and the core wire 4 remain inserted in the sheath 2 on the distal end side, so the drain wire 3 is less likely to come apart. Therefore, when discriminating the drain wires 3 by the discriminating device 90, it is possible to prevent the drain wires 3 from being separated and becoming difficult to discriminate.
  • control device 100 is configured to rotate the sheath 2F on the distal end side with respect to the sheath 2R on the root side in the semi-strip to untwist the drain wire 3 and the core wire 4 .
  • the processing apparatus 10 by untwisting the drain wire 3 and the core wire 4, it is possible to easily identify the drain wire 3 in the adjustment process.
  • the cycle time for processing the multicore shielded cable 1 is shortened by simultaneously performing the semi-stripping of the sheath 2 and the untwisting of the drain wire 3 and the core wire 4 .
  • the first rotating clamp 31 and the second rotating clamp 32 rotate synchronously when moving the drain wire 3 to the stop position 200 .
  • the first rotating clamp 31 and the second rotating clamp 32 grip the tip side and the base side of the multicore shielded cable 1 and rotate synchronously, so that the rotation of the multicore shielded cable 1 is reduced. Rotation is stable because the axis is less likely to shake. Therefore, the certainty of position adjustment of the drain wire 3 is also improved.
  • the processing device 10 is arranged radially outward of the multicore shielded cable 1 held by the holding device 30, and fixes the drain wire 3 and the core wire 4 so as not to rotate or rotates.
  • a plurality of chucks 71 that can be released and a chuck opening/closing device 72 that drives the plurality of chucks 71 are provided.
  • the controller 100 controls the chuck opening/closing device 72 to fix the drain wire 3 and the core wire 4 to the plurality of chucks 71 .
  • control device 100 controls the first rotating clamp 31 to rotate the distal sheath 2F while the drain wire 3 and the core wire 4 are fixed, and controls the moving device 40 to rotate the distal sheath 2F.
  • 2F is separated from the multicore shielded cable 1.
  • the sheath 2F on the distal end side can be detached from the multicore shielded cable 1 while untwisting the drain wire 3 and the core wire 4.
  • FIG. 1 since the drain wire 3 and the core wire 4 are non-rotatably fixed by the chuck 71, the drain wire 3 is held at the stop position 200 despite the rotation of the sheath 2F on the distal end side.
  • the processing apparatus 10 moves the chuck 71 in the opposite direction (6 o'clock direction in this embodiment) to the direction corresponding to the stop position 200 (0 o'clock direction in this embodiment) when viewed in the direction of the axis Ax.
  • a moving device 73 is provided.
  • the chuck 71 has a gap at the stop position 200 when the drain wire 3 and the core wire 4 are non-rotatably fixed.
  • the control device 100 separates the core wire 4 and the drain wire 3 by controlling the chuck moving device 73 to move the chuck 71 after detaching the sheath 2F on the distal end side from the multicore shielded cable 1 .
  • the core wire 4 is bent in the bending direction opposite to the direction corresponding to the stop position 200, and the drain wire 3 passes through the gap of the chuck 71 and is not bent. Thereby, the drain line 3 and the core line 4 can be separated.
  • the separated drain wire 3 may be subjected to a different treatment than the core wire 4, such as covering with a heat-shrinkable tube.
  • the multicore shielded cable 1 is bent in a U shape so that both ends 1L and 1R face the same direction, and the drain wire 3 and the core wire 4 are exposed at both ends 1L and 1R.
  • the processing device 10 conveys the multicore shielded cable 1 in the conveying direction (here, left and right direction) intersecting the axis Ax of the holding device 30, and sequentially delivers both ends 1L and 1R of the multicore shielded cable 1 to the holding device 30.
  • a transport device 20 is further provided. According to the processing apparatus 10, both ends 1L and 1R of the multicore shielded cable 1 can be processed continuously.
  • the control device 100 rotates one end (for example, the left end 1L) of the multicore shielded cable 1 in the first rotation direction to move the drain wire 3 at the one end to the stop position 200, and For example, the right end 1R) is rotated in a second rotation direction opposite to the first rotation direction to move the drain wire 3 at the other end to the stop position 200.
  • FIG. According to the processing device 10, both ends 1L and 1R of the multicore shielded cable 1 are rotated in opposite directions, so that twisting of the multicore shielded cable 1 bent into a U shape can be suppressed.
  • the image acquisition device 60 is provided in a direction corresponding to the stop position 200 with respect to the axis Ax (here, the 0 o'clock direction) when viewed in the direction of the axis Ax. If the drain wire 3 is not detected even if the rotation angle of the multicore shielded cable 1 reaches a predetermined angle of 90 degrees or more (90 degrees in this embodiment, preferably 120 degrees or less), the control device 100 stops the rotation. reverse direction. In such a processing device 10, the drain wire 3 may not enter the image acquisition area of the image acquisition device 60 before the multicore shielded cable 1 is rotated. That is, the drain line 3 may be hidden behind the back side region 214 in some cases.
  • the angle for determining whether to rotate the multicore shielded cable 1 in the reverse direction may be appropriately set to an angle of 90 degrees or more in consideration of the average cycle time.
  • the rotational position around the axis Ax in the image acquired by the image acquisition device 60 is such that the left low speed region 200L set in a predetermined range in the circumferential direction partially overlaps the left low speed region 200L. and a right low speed region 200R set to a predetermined range of directions.
  • the stop position 200 is an overlapping portion between the left low speed area 200L and the right low speed area 200R.
  • Control device 100 stops rotation of multicore shielded cable 1 by holding device 30 when drain wire 3 is detected in both left low speed region 200L and right low speed region 200R.
  • the drain line can be easily detected by summing simple image processing of detection of the drain line 3 in the left low speed area 200L and detection of the drain line 3 in the right low speed area 200R. It can be stopped at the stop position 200 .
  • a high speed region 210 is set outside the left low speed region 200L and the right low speed region 200R.
  • the control device 100 is configured to control the holding device 30 to rotate the multicore shielded cable 1 by a predetermined angle when the drain wire 3 is detected in the high speed area 210 .
  • the predetermined angle is set such that the drain wire 3 reaches only a point short of the stop position 200 .
  • the multicore shielded cable 1 is rotated by a predetermined angle in the high speed region 210, so the drain wire 3 can be brought closer to the stop position 200 more quickly.
  • the multicore shielded cable 1 once decelerates in the left low speed region 200L or the right low speed region 200R.
  • the drain line 3 can be stopped at the stop position 200 by the control described above. Movement in the high-speed region 210 can shorten the time required for the adjustment process. Note that the multicore shielded cable 1 may temporarily stop in the left low speed region 200L or the right low speed region 200R before reaching the stop position 200. FIG.
  • the control device 100 regards the drain line 3 as existing in the high speed area 210.
  • the holding device 30 rotates the multicore shielded cable 1 .
  • the processing device 10 when the drain line 3 is detected in both the left low speed area 200L or the right low speed area 200R and the high speed area 210, it is assumed that the drain line 3 exists in the high speed area 210. Furthermore, the drain wire 3 can be brought closer to the stop position 200 more quickly.
  • the image acquisition device 60 acquires the light source 61 that generates light to irradiate the drain line 3 and the core line 4, and the light generated by the light source 61 reflected by the drain line 3 and the core line 4. and an image acquisition unit 62 .
  • the image acquisition device 60 acquires the reflected light of the light emitted by itself. Therefore, the detection of the drain line 3 is less likely to be affected by external light.
  • the light generated by the light source 61 is infrared light. Therefore, detection of the drain line is not particularly susceptible to external visible light.
  • the image acquisition unit 62 is provided so as to be off the optical axis L2 of the specularly reflected light from the drain line 3 and the core line 4 of the light generated by the light source 61 . According to such a processing apparatus 10, even when specularly reflected light from the core wire 4 is strong due to reasons such as the coating 4b being glossy, the possibility of erroneously detecting the drain wire 3 can be reduced.
  • the position of the drain wire 3 is adjusted after semi-stripping the sheath 2, and then the full stripping of the sheath 2 is performed.
  • the position of the drain wire 3 may be adjusted after the sheath 2 is completely stripped.
  • the untwisting of the drain wire 3 and the core wire 4 in the strip of the sheath 2 may not be performed.
  • the drain wire 3 and the core wire 4 do not need to be non-rotatably fixed by the chuck 71 during untwisting at the time of all stripping.
  • a member for non-rotatably fixing the drain wire 3 and the core wire 4 may be a dedicated gripping member instead of the chuck 71 for separating the core wire 4 .
  • each station St is not particularly limited. For example, the steps described above may be performed across multiple stations St. Other steps than those described above may be further performed in one station St. Moreover, the apparatus for performing one step may be divided into a plurality of units, or the apparatus for performing a plurality of steps may be integrated into one unit. There are no particular restrictions on how each device is integrated or divided as long as it performs its function.
  • the multicore shielded cable 1 was intermittently rotated in the high speed region 210 and continuously rotated in the low speed regions 200L and 200R.
  • the multicore shielded cable 1 may be rotated continuously in both the high speed region and the low speed region.
  • the rotation speed of the multicore shielded cable 1 in the high speed region may be higher than that in the low speed region.
  • the rotational speed of the multicore shielded cable 1 may be the same regardless of the area.
  • the multicore shielded cable 1 does not have to be bent in a U shape.
  • one end of the multicore shielded cable 1 may be processed after the processing of the other end is completed (for example, after the terminals are crimped).
  • the rotation angle of the multicore shielded cable 1 in the adjustment process may exceed 180 degrees.
  • the image acquisition device is not limited to having a light source or detecting infrared light.

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  • Manufacturing Of Electrical Connectors (AREA)

Abstract

Un dispositif de traitement (10) pour un câble blindé multiconducteur (1) selon la présente invention comprend : un dispositif de retenue (30) qui retient, le long de l'axe prescrit (Ax), le câble blindé multiconducteur (1) dans lequel une ligne de drain (3) et des lignes d'âme (4) sont exposées à partir d'une gaine (2), et qui fait tourner le câble blindé multiconducteur (1) autour de l'axe (Ax); un dispositif d'acquisition d'image (60) qui peut acquérir une image de la ligne de drain (3) et des lignes d'âme (4) qui sont dans un état de retenue par le dispositif de retenue (30); un dispositif d'identification (90) qui identifie la ligne de drain (3) sur la base de la distribution de luminosité dans l'image acquise par le dispositif d'acquisition d'image (60); et un dispositif de commande (100) qui commande le dispositif de retenue (30) sur la base de l'identification par le dispositif d'identification (90), et qui déplace la ligne de drain (3) vers une position de rotation prédéterminée (200) autour de l'axe (Ax).
PCT/JP2022/035096 2021-10-14 2022-09-21 Dispositif de traitement pour câble blindé multiconducteur WO2023063035A1 (fr)

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JP2021169028 2021-10-14
JP2021-169028 2021-10-14

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06276639A (ja) * 1993-03-17 1994-09-30 Hitachi Ltd ケーブルのシールド処理装置
US20150287180A1 (en) * 2014-04-08 2015-10-08 SLE quality engineering GmbH und Co. KG Method and device for determining or aligning the angular position of individual wires within a sheathed cable containing twisted wires
CN112435808A (zh) * 2020-10-30 2021-03-02 中国科学院长春光学精密机械与物理研究所 用于多芯线束的挑线装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06276639A (ja) * 1993-03-17 1994-09-30 Hitachi Ltd ケーブルのシールド処理装置
US20150287180A1 (en) * 2014-04-08 2015-10-08 SLE quality engineering GmbH und Co. KG Method and device for determining or aligning the angular position of individual wires within a sheathed cable containing twisted wires
CN112435808A (zh) * 2020-10-30 2021-03-02 中国科学院长春光学精密机械与物理研究所 用于多芯线束的挑线装置

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