JP2018006309A - Wire harness manufacturing method and wire terminal processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique suited for gathering a plurality of linear members.SOLUTION: The wire harness manufacturing method manufactures a wire harness 10 by concentrating a plurality of wires 11 extending from a connector 14 and binding them at a position distant from the connector 14 by using a robot hand 34. At this time, routing information W1 of the plurality of wires 11 extending from the connector 14 is acquired. Next, based on the acquired routing information W1 of the plurality of wires 11 and a current open/close amount W2 of a pawl part 36 of the robot hand 34, an open/close driving amount of the pawl part 36 is acquired. Then, the pawl part 36 is open/close driven with the acquired open/close driving amount to concentrate the wires 11.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a processing apparatus used for processing a wire harness or the like.

  Due to the global increase in labor costs, there is a growing need to replace robotic tasks with conventional robots in the wire harness manufacturing process. As such an operation, for example, there is a squeezing operation while collecting and holding a plurality of electric wires and holding them.

  Here, Patent Documents 1 to 4 disclose a mechanism for gripping and moving an electric wire when the electric wire is pressed against a pressure contact terminal or when the terminal is inserted into a connector housing.

JP 2000-173367 A JP 2000-353437 A JP 2002-95127 A JP-A-4-259976

  However, since the mechanism for gripping and moving the electric wires described in Patent Documents 1 to 4 is intended for moving one electric wire, and for moving the electric wires, it is necessary to collect a plurality of electric wires. It is unsuitable.

  Then, an object of this invention is to provide the technique suitable for the operation | work which collects a some linear member.

  In order to solve the above-described problem, a wire harness manufacturing method according to a first aspect is a wire that manufactures a wire harness by bundling a plurality of electric wires extending from a connector with a robot hand at a position away from the connector. A method for manufacturing a harness, wherein (a) a step of setting a connector from which a plurality of electric wires extend to a connector holder, (b) a step of acquiring route information of the plurality of electric wires extending from the connector, (C) acquiring the opening / closing drive amount of the claw part based on the path information of the plurality of electric wires acquired in the step (b) and the current opening / closing amount of the claw part of the robot hand; d) a step of opening / closing the claw portion with the opening / closing drive amount acquired in the step (c) and collecting the plurality of electric wires; and (e) grasping the plurality of electric wires concentrated in the step (d). And It includes Ku and step.

  The method for manufacturing the wire harness according to the second aspect is the method for manufacturing the wire harness according to the first aspect, wherein the step (b) is a step of imaging the plurality of electric wires extending from the connector. Obtaining the existence ranges of the plurality of electric wires based on the captured images.

  The method for manufacturing the wire harness according to the third aspect is the method for manufacturing the wire harness according to the first or second aspect, wherein the step (a) includes a step of setting a plurality of connectors in the connector holder. And the step (b) obtains route information of the plurality of electric wires extending from the connector to be collected among the plurality of connectors, and the step (d) includes a plurality of centers of the claw portions. A step of concentrating the plurality of electric wires in accordance with the center of the electric wire, and a step of aligning the center of the collected claw portion with the center of the connector.

  The manufacturing method of the wire harness which concerns on a 4th aspect is a manufacturing method of the wire harness which concerns on any one 1st-3rd aspect, Comprising: The said nail | claw part is driven to open and close with a motor.

  A method for manufacturing a wire harness according to a fifth aspect is the method for manufacturing a wire harness according to any one of the first to fourth aspects, wherein the nails are obtained by collecting the plurality of electric wires in the step (d). The portion grips and squeezes the plurality of electric wires in the step (e).

  An electric wire end processing device according to a sixth aspect includes a drive source, a claw portion provided so as to be openable and closable, and a transmission mechanism that transmits a driving force of the drive source to the claw portion, and opens and closes the claw portion. A robot hand that opens and closes the claw portion so that the amount can be adjusted, a moving mechanism that can move the robot hand in a first direction that connects the opening and bottom of the claw portion when the claw portion is opened, and a connector Based on the route information acquisition unit that acquires the route information of the plurality of electric wires extending from, the route information of the plurality of electric wires acquired by the route information acquisition unit, and the current opening and closing amount of the claw portion, A machining control unit that acquires an opening / closing drive amount of the claw unit.

  The electric wire terminal processing device according to a seventh aspect is the electric wire terminal processing device according to the sixth aspect, wherein the route information acquisition unit is an imaging unit that images the plurality of electric wires extending from the connector. The processing control unit acquires the opening / closing drive amount of the claw unit by acquiring the existence range of the plurality of electric wires based on the image captured by the imaging unit.

  The electric wire terminal processing device according to an eighth aspect is the electric wire terminal processing device according to the sixth or seventh aspect, wherein the moving mechanism is a direction intersecting the robot hand with the first direction, and It can move in a second direction which is a direction intersecting the central axis direction of the closed space of the claw portion.

  The wire terminal processing device according to a ninth aspect is the wire terminal processing device according to any one of the sixth to eighth aspects, wherein the drive source includes a motor, and determines a driving amount of the motor. Thus, the opening / closing amount of the claw portion is determined.

  The wire terminal processing device according to a tenth aspect is the wire terminal processing device according to the ninth aspect, wherein the transmission mechanism is provided on the motor side gear connected to the shaft of the motor and the claw portion. A claw side gear meshing with the motor side gear.

  The electric wire terminal processing device according to an eleventh aspect is the electric wire terminal processing device according to the ninth aspect, wherein the transmission mechanism includes a gear coupled to a shaft of the motor, the gear, and the claw portion. The rack includes an intervening rack that meshes with the gear, and the rack is reciprocally driven to open and close the claw portion.

  The wire terminal processing device according to a twelfth aspect is the wire terminal processing device according to any one of the sixth to eleventh aspects, wherein the moving mechanism moves the robot hand to the center of the closed space of the claw portion. It can move in the direction of extension of the shaft.

  The wire terminal processing device according to a thirteenth aspect is the wire terminal processing device according to any one of the sixth to twelfth aspects, wherein the claw portion is a pair of claw bodies that are driven to open and close by the drive source. And at least one of the pair of nail body portions includes a distal end portion disposed on a distal end side of the nail body portion and a proximal end portion disposed on a proximal end side of the nail body portion. The outer surface of the tip has an inclined surface that inclines toward the tip of the nail main body toward the other nail main body, and the tip in the opening / closing direction of the nail Is shorter than the base end.

  The electric wire terminal processing device according to the fourteenth aspect is the electric wire terminal processing device according to the thirteenth aspect, wherein an inner surface of the distal end portion and an inner surface of the proximal end portion form an angle of less than 180 degrees.

  The wire terminal processing device according to the fifteenth aspect is the wire terminal processing device according to the thirteenth or fourteenth aspect, wherein the tip end portion is formed in a tapered shape.

  The electric wire terminal processing device according to a sixteenth aspect is the electric wire terminal processing device according to any one of the thirteenth to fifteenth aspects, wherein the drive source and the transmission mechanism are included in the pair of claw body portions. , One of the claw body portions is translated in a direction approaching and separating from the other claw body portion.

  The electric wire terminal processing device according to a seventeenth aspect is the electric wire terminal processing device according to any one of the thirteenth to sixteenth aspects, wherein the claw portion is formed by stacking a plurality of the claw body portions in multiple stages. The multistage nail body portion is provided.

  The electric wire terminal processing device according to an eighteenth aspect is the electric wire terminal processing device according to the seventeenth aspect, wherein the claw portion includes a pair of the multistage claw body portions, and the claw portion is closed. One of the nail body portions of the pair of multi-stage nail body portions is a state in which one of the plurality of nail body portions of the pair of multi-stage nail body portions is overlapped with the other nail body portion. It becomes.

  According to the first to fifth aspects, in order to acquire the opening / closing drive amount of the claw part based on the acquired path information of the plurality of electric wires and the current opening / closing amount of the claw part, a plurality of opening / closing amounts of the claw part Can be adjusted to an amount necessary and sufficient to collect the wires.

  In particular, according to the second aspect, it is possible to acquire the opening / closing drive amount of the claw part relatively easily based on the captured image.

  In particular, according to the 3rd aspect, the increase of the opening amount of a nail | claw part can be suppressed by adjusting the center of a nail | claw part to the center of a some electric wire, and collecting a some electric wire. Thereby, even when the space | interval between adjacent connectors is narrow, when collecting the electric wire extended from one of the adjacent connectors, it can suppress entraining the electric wire extended from the other connector. Further, by aligning the centers of the collected claws with the center of the connector, the ironing operation can be easily performed in accordance with the center of the connector.

  In particular, according to the fourth aspect, since the claw part is opened and closed by the motor, the opening / closing amount of the claw part can be adjusted with a simple structure.

  In particular, according to the fifth aspect, since the ironing operation can be performed with the claw portion that has performed the concentrating operation, it is not necessary to provide a separate robot hand for ironing.

  According to the sixth to twelfth aspects, the nail portion opening / closing drive amount is obtained based on the plurality of wire route information obtained by the route information obtaining portion and the current opening / closing amount of the nail portion. The opening / closing amount of the section can be adjusted to a necessary and sufficient amount for collecting a plurality of electric wires in a relatively short time.

  In particular, according to the seventh aspect, the opening / closing drive amount of the claw portion can be acquired relatively easily based on the image captured by the imaging unit.

  In particular, according to the eighth aspect, when the center of the electric wire and the center of the connector are misaligned, the claws can be aligned with the center of the connector after the claws are aligned with the center of the electric wire. Thereby, it is possible to squeeze the collected wires in accordance with the center of the connector while suppressing the amount of opening of the claw portion when collecting the wires.

  In particular, according to the ninth aspect, since the opening / closing amount of the claw portion can be determined by determining the driving amount of the motor, the opening / closing amount of the claw portion can be adjusted with a simple structure.

  In particular, according to the tenth aspect, the opening / closing amount of the claw portion can be adjusted by two gears.

  In particular, according to the eleventh aspect, the opening / closing amount of the claw portion can be adjusted by a combination of a gear and a rack.

  In particular, according to the twelfth aspect, it is possible to perform the concentrating operation and the ironing operation with the same robot hand.

In particular, according to the thirteenth aspect, the outer surface of the tip of the nail body is inclined inward,
The distal end portion can be easily inserted between a wire to be collected or gripped and a wire not to be gripped or gripped on the side thereof. As a result, the electric wires to be collected or grasped can be suitably grasped. Further, by making the length of the distal end portion in the opening and closing direction shorter than the base end portion, it becomes easy to enter between the electric wire to be grasped and the electric wire to be ungripped.

  In particular, according to the fourteenth aspect, when the claw portion is closed, a plurality of electric wires can be concentrated at an intermediate position between the distal end portion and the proximal end portion. Thereby, a some electric wire can be hold | gripped suitably.

  In particular, according to the fifteenth aspect, it is possible to facilitate the tip portion of the claw body portion entering between the electric wires.

  In particular, according to the sixteenth aspect, since one nail body portion is translated in a direction approaching and separating from the other nail body portion, a widely dispersed group of wires can be easily collected.

  In particular, according to the seventeenth aspect, it is possible to reduce the bending of the electric wire at the holding portion when the electric wire is held.

  In particular, according to the eighteenth aspect, it is possible to reduce the bending of the electric wire at the holding portion when the electric wire is held.

It is a figure which shows an example of a wire harness. It is the schematic which shows an electric wire terminal processing apparatus. It is a block diagram which shows a process control part. It is a flowchart which shows the inspection process by an inspection unit. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows a mode that the opening / closing amount of a nail | claw part is acquired from a captured image. It is explanatory drawing which shows a mode that the opening / closing amount of a nail | claw part is acquired from a captured image. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows the example of a bundling operation | work of an electric wire. It is explanatory drawing which shows a mode that center alignment of a nail | claw part is carried out. It is explanatory drawing which shows a mode that center alignment of a nail | claw part is carried out. It is explanatory drawing which shows a mode that center alignment of a nail | claw part is carried out. It is explanatory drawing which shows the modification of a robot hand. It is explanatory drawing which shows the modification of a robot hand. It is explanatory drawing which shows another modification of a robot hand. It is explanatory drawing which shows another modification of a robot hand. It is a schematic plan view which shows the robot hand 34A of 2nd Embodiment. It is a schematic perspective view of the robot hand 34A of the second embodiment. It is a schematic plan view showing a robot hand 34A in a closed state. It is a figure which shows the some electric wire 11 currently supported by the connector holding | maintenance part 70 in the state hung down. It is a figure which shows 34 A of robot hands which concentrate the electric wire group 11G in area | region AR1. It is a figure which shows 34 A of robot hands which hold | grip the electric wire group 11G which is a collection object in area | region AR2. It is a schematic plan view which shows the robot hand 34B of 3rd Embodiment. It is a schematic sectional drawing of the robot hand 34B seen from the position which follows the AA line shown in FIG. It is a figure which shows the robot hand 34B which concentrates the electric wire group 11G.

{First embodiment}
Hereinafter, the manufacturing method of the wire harness and the electric wire terminal processing apparatus according to the embodiment will be described.

<About wire harness>
First, the wire harness 10 to be inspected or processed will be described. FIG. 1 is an expanded view of an example of the wire harness 10. In FIG. 1, the electric wire 11 passing through the same path is drawn with a single line. For this reason, in FIG. 1, the electric wire 11 drawn with one line may actually be a bundle of a plurality of electric wires 11.

  In the wire harness 10 to be processed, a plurality of connectors 14 are connected via a plurality of electric wires 11. More specifically, the wire harness 10 has a configuration in which a plurality of electric wires 11 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 11 is inserted and connected to the connector 14. FIG. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle. The electric wires 11 included in the wire harness 10 are bundled while being branched in a form corresponding to the laying route in the vehicle.

  As described above, the connector 14 is connected to the end of the electric wire 11. For example, the electric wire 11 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.

  The main body of the connector 14 is integrally formed of, for example, an insulating resin material. In the main body of the connector 14, a plurality of cavities in which the terminals at the end of the electric wire 11 can be inserted and held are formed. When the terminals of the plurality of electric wires 11 are inserted and held in the cavities, the plurality of electric wires 11 are extended from each connector 14.

<About wire end processing equipment>
The electric wire terminal processing apparatus 20 is demonstrated. FIG. 2 is a schematic view showing the electric wire terminal processing apparatus 20. The wire terminal processing apparatus 20 includes a first robot 30 and a second robot 40 as a binding mechanism that binds a plurality of wires 11, an imaging unit 50, and a processing control unit 60. The machining control unit 60 controls the operation of the first robot 30 and the second robot 40. At this time, the processing control unit 60 has a function of acquiring the opening / closing amount of the claw unit 36 based on the image captured by the imaging unit 50.

  Here, the wire terminal processing apparatus 20 includes a connector holding unit 70. The connector holding portion 70 is configured to be able to hold the connector 14 in a state where the electric wire 11 is suspended from the connector 14. More specifically, the connector holding part 70 includes a frame part 72 and a connector holder 76. The frame unit 72 includes a horizontal frame 73 and a vertical frame 74. The vertical frame 74 is supported in a standing state on the floor. The horizontal frame 73 is supported in a horizontal posture at a position on the floor by a vertical frame 74. The connector holder 76 is supported at a position on the floor by the horizontal frame 73. The connector holder 76 detachably supports the connector 14 in a state where the back portion of the connector 14 on the side where the electric wire 11 extends is exposed to the outside. For example, the connector holder 76 has a recess into which the connector 14 can be fitted, and the connector holder 76 can be detachably fitted into the recess. Here, a plurality of connector holders 76 are supported on the horizontal frame 73 at intervals. The connector 14 supports the connector 14 in a posture in which the back portion of the connector 14 on the side where the electric wire 11 extends is directed downward by the connector holder 76. The connector holder 76 may be configured to hold the back portion of the connector 14 on the side where the electric wire 11 extends in a lateral orientation.

  And each connector 14 is supported by each said connector holder 76 in the state which inserted and hold | maintained the terminal of each edge part of the some electric wire 11 to each connector 14 corresponding. In this state, the electric wires 11 are not bundled. For this reason, each electric wire 11 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a position below each connector 14. The insertion of the end portion of the electric wire 11 into each connector 14 may be performed in a state where the connector 14 is set in the connector holder 76, or may be performed before the connector 14 is set in the connector holder 76.

  As described above, in a state where the connector 14 and the electric wire 11 are held, the plurality of electric wires 11 extending from the connector 14 are collected and squeezed (see a rectangular region E1 in FIG. 2). In addition, below the region E1, the plurality of electric wires 11 are bound with, for example, the adhesive tape 80 (see the circular planned binding portion E2 in FIG. 2 and FIG. 11). In addition, the member which binds the some electric wire 11 is not restricted to the adhesive tape 80, Other binding members, such as a band, may be sufficient. Thereby, the some electric wire 11 is bound so that the form of the said wire harness 10 may be made. The plurality of electric wires 11 may be bound between the planned binding location E2 and the connector 14, between the planned binding locations E2, and the like.

  The 1st robot 30 and the 2nd robot 40 as a binding mechanism are comprised so that the some electric wire 11 can be bundled. As the robot arms 32 and 42 of the first robot 30 and the second robot 40, general industrial robots can be used. In FIG. 2, general vertical articulated robots are illustrated as the robot arms 32 and 42 of the first robot 30 and the second robot 40.

  The first robot 30 includes a robot arm 32 and a robot hand 34 provided at the tip of the robot arm 32. The robot hand 34 can be moved to each work position by driving the robot arm 32. The robot hand 34 can collect a plurality of electric wires 11. Further, here, the robot hand 34 grips the plurality of collected electric wires 11, squeezes the plurality of electric wires 11 by moving in the extending direction while holding the plurality of electric wires 11, The electric wires 11 can be held in a bundled state. In particular, the plurality of electric wires 11 can be collected by closing the robot hand 34 in a state where the robot hand 34 is moved to a position below the connector 14 by driving the robot arm 32. Then, the plurality of collected wires 11 are held lightly by the same robot hand 34, and in this state, the robot hand 34 is moved downward by driving the robot arm 32, whereby the wires 11 extending from the connector 14 are moved. I can do it. That is, the first robot 30 is used as an electric wire concentration mechanism that collects the plurality of electric wires 11 and an electric wire correction mechanism that corrects the plurality of electric wires 11 to be as straight as possible. By maintaining the state in which the robot hand 34 holds the plurality of electric wires 11 while the robot hand 34 moves downward from the connector 14, the plurality of electric wires 11 can be kept in a bundled state.

  Here, the robot hand 34 will be described.

  The robot hand 34 includes a drive source 35, a claw portion 36, and a transmission mechanism 37 (see FIG. 7). These are supported by the fixing member 34a. In the robot hand 34, the claw portion 36 is driven to open and close using the driving force of the driving source 35. At this time, the opening / closing amount of the claw portion 36 can be adjusted.

  The drive source 35 includes a motor 35a. By determining the driving amount of the motor 35a, the opening / closing amount of the claw portion 36 is determined. For example, a motor suitable for positioning control such as a stepping motor may be used as the motor 35a.

  The nail | claw part 36 is provided so that opening and closing is possible. Here, a pair of claw portions 36 is provided. The claw portion 36 includes a proximal end portion 36a and a distal end portion 36e each formed in a bar shape, and the proximal end portion 36a and the distal end portion 36e extend in different directions. The base end portions 36a of the pair of claw portions 36 are provided so that the distance gradually increases as going to the tip. The distal end portion 36e extends in a direction inclined toward the other claw portion 36 with respect to the proximal end portion 36a. The pair of tip portions 36e are formed so as to be able to cross each other (see FIG. 9). Accordingly, the closed space can be reduced by further closing the claw portion 36 from the state where the pair of claw portions 36 initially formed the closed space.

  The transmission mechanism 37 transmits the driving force of the driving source 35 to the claw portion 36. The transmission mechanism 37 includes a motor side gear 38a and a claw side gear 38b. The motor side gear 38a is connected to the shaft of the motor 35a. The claw side gear 38 b is provided in the claw portion 36. The claw side gear 38b meshes with the motor side gear 38a.

  Here, one of the pair of claw portions 36 is directly connected to the shaft of the motor 35a. And the other of a pair of nail | claw part 36 is connected with the shaft of the nail | claw side gear 38b. Thereby, a pair of nail | claw part 36 receives the driving force of the motor 35a, and rotates mutually reversely.

  The robot arm 32 as a moving mechanism for moving the robot hand 34 is movable in the first direction D1 connecting the opening and the bottom of the claw portion 36 when the claw portion 36 is opened. Further, the robot arm 32 can move the robot hand 34 in a second direction D2, which is a direction intersecting the first direction D1 and intersecting the central axis direction of the closed space of the claw portion 36. The robot arm 32 can move the robot hand 34 in the extending direction D3 of the central axis of the closed space. As described above, here, a vertical articulated robot is used as the robot arm 32. As the vertical articulated robot, for example, one having 4 to 6 drive axes is used. Thereby, the robot arm 32 can operate as described above.

  The second robot 40 includes a robot arm 42 and a bundling device 44 provided at the distal end portion 36e of the robot arm 42. The bundling device 44 can be moved to each work position by driving the robot arm 42. The binding device 44 is a device that binds the plurality of electric wires 11 with an adhesive tape or the like. As such a binding device 44, for example, a tape winding body in which an adhesive tape is wound is rotated around the plurality of electric wires 11 so that the adhesive tape is wound around the plurality of electric wires 11. An apparatus can be used. In particular, in a state where the plurality of electric wires 11 are bundled by the robot hand 34 at a lower position away from the connector 14, the bundling device 44 is connected to the upper side or the lower side of the robot hand 34 by driving the robot arm 42. In the state moved to the position, the binding device 44 can wind the adhesive tape around the plurality of electric wires 11 to bind the plurality of electric wires 11 together.

  Here, the example in which the first robot 30 and the second robot 40 are provided separately has been described, but the robot hand 34 and the binding device 44 may be moved by a common robot arm.

  The imaging unit 50 is used as a route information acquisition unit that acquires route information of the plurality of electric wires 11 extending from the connector 14. Here, the imaging unit 50 is configured to be able to image the plurality of electric wires 11 extending from the connector 14. Has been. That is, the imaging unit 50 is an imaging camera configured by a CCD camera or the like. As the imaging unit 50, a two-dimensional camera may be used, or a stereo camera may be used. Here, the former example will be described.

  The processing control unit 60 is connected to the first robot 30, the second robot 40, and the imaging unit 50. The image picked up by the image pickup unit 50 is given to the processing control unit 60, whereby the opening / closing drive amount of the claw unit 36 is acquired by the processing control unit 60. Further, the first robot 30 and the second robot 40 perform a bundling operation under the control of the processing control unit 60.

  FIG. 3 is a block diagram showing the machining control unit 60. The processing control unit 60 is configured by a general computer in which a CPU 62, a ROM 63, a RAM 64, an external storage device 65, and the like are interconnected via a bus line 61. The ROM 63 stores basic programs and the like, and the RAM 64 is used as a work area when the CPU 62 performs processing according to a predetermined procedure. The external storage device 65 is configured by a nonvolatile storage device such as a flash memory or a hard disk device. The external storage device 65 stores an OS (operation system) 66 and a machining program 67 including a line concentrating program 67a for concentrating terminals of the electric wires 11. As will be described in detail later, the CPU 62 as the main control unit performs arithmetic processing in accordance with the procedure described in the machining program 67, thereby controlling the operations of the first robot 30 and the second robot 40.

  In the processing control unit 60, an image signal input interface 68 and an input / output interface 69 are also connected to the bus line 61. Then, the imaging signal of the imaging unit 50 is input to the main processing control unit 60 through the image signal input interface 68, and used for the acquisition processing of the opening / closing drive amount of the claw unit 36. Further, a control signal from the machining control unit 60 is given to the first robot 30 and the second robot 40 via the input / output interface 69, and the first robot 30 and the second robot 40 are driven and controlled.

  Note that an input unit (not shown) configured by various switches, a touch panel, and the like is connected to the main processing control unit 60 so that various instructions to the main processing control unit 60 can be received.

  Moreover, the electric wire terminal processing apparatus 20 may be provided with the electric wire terminal inspection apparatus which test | inspects the state of an electric wire terminal. The electric wire terminal inspection device includes, for example, the imaging unit and an inspection unit that inspects the state of the electric wire terminal from the obtained imaging data. For example, it is conceivable that the processing control unit has a function as an inspection unit. More specifically, in the processing control unit 60, the imaging signal of the imaging unit 50 is input to the main processing control unit 60 through the image signal input interface 68, and is used for the terminal state determination process of the electric wire 11. In this case, the processing control unit 60 may be configured to be connected to a display device configured by a liquid crystal display device, a lamp, or the like as necessary so that various information such as a determination result can be displayed.

  Note that some or all of the functions performed by the machining control unit 60 may be realized by hardware using a dedicated logic circuit or the like.

  FIG. 4 is a flowchart showing inspection processing by the processing control unit 60.

  First, in step S <b> 1, the processing control unit 60 acquires images of the terminals of the plurality of electric wires 11 extending from one connector 14 through the imaging unit 50 (an image including the region E <b> 1).

  In next step S <b> 2, the processing control unit 60 acquires the existence ranges of the plurality of electric wires 11. Specifically, first, a connector and a wire image are extracted from the captured image. The extraction of the connector and the electric wire image is performed by executing processing for extracting a pixel that exhibits a connector and electric wire image different from the background. Next, an interval between the outermost electric wires 11 at a position away from the connector 14 in the captured image is acquired. For example, in the extracted captured image, the wire image pixel located on the outermost side among the pixels of the wire image extending from the connector image pixel to be collected at a predetermined distance from the pixel of the connector image to be collected. Get the interval. Then, by multiplying the pixel interval of the electric wire image in the captured image by using a magnification obtained by comparing the pixel size of the connector image with a given magnification or a given actual size, etc. The actual size between the outermost electric wires 11 is obtained. Whether or not the pixel of the wire image used to acquire the interval in the captured image is extended from the pixel of the connector image to be collected is determined based on whether the pixel of the wire image is extracted from the extracted wire image. Judgment is made based on whether or not the pixel extends from the pixel. Thereby, even when the electric wire 11 extending from the connector 14 different from the connector 14 to be collected is reflected in the captured image, the existence ranges of the plurality of electric wires 11 can be acquired more accurately. Note that the interval between the pixels of the outermost electric wire image may be obtained at a constant pitch from the connector image pixels.

  In the next step S <b> 3, the processing control unit 60 opens and closes the claw portion 36 based on the path information (wire image portion) of the plurality of wires 11 included in the captured image and the current claw portion 36 opening and closing amount. To get. Specifically, the actual size between the outermost electric wires 11 is obtained in step S2. Thereby, the quantity which should open and close the nail | claw part 36 is acquirable. For example, the opening / closing amount of the claw portion 36 can be set as an amount obtained by adding the additional length α to the interval between the electric wires 11 positioned on the outermost side. The additional length α can be set experimentally and empirically as a value that is considered so that there is no leakage at the time of concentration. The current opening / closing amount of the claw portion 36 is known. Therefore, the opening / closing drive amount of the claw portion 36 can be acquired by taking these differences. Here, the opening / closing drive amount of the claw portion 36 is acquired as the rotation drive amount of the motor 35a.

  In next step S <b> 4, the processing control unit 60 instructs the first robot 30 to collect the plurality of electric wires 11 at the base of the connector 14. Specifically, the processing control unit 60 instructs the first robot 30 to open and close the claw portion 36 by the opening / closing drive amount acquired in step S3. Further, the processing control unit 60 instructs the first robot 30 to move the robot hand 34 to the base of the connector 14. Then, the processing control unit 60 instructs the first robot 30 to close the claw portion 36. Thereby, the first robot 30 collects the plurality of electric wires 11 by the robot hand 34. Note that the work position of the robot hand 34 at this time is determined by extracting the position of the connector 14 and the electric wire 11 extending from the connector 14 in the coordinates taught in advance or the image obtained by the imaging unit 50. Is done. In addition, here, the processing control unit 60 gives an instruction to the first robot 30 so as to hold it after concentrating. The gripping is performed by closing the claw portion 36 to such an extent that the robot hand 34 can be moved along the extending direction of the plurality of electric wires 11. The closing amount of the claw portion 36 at this time is determined by, for example, the planned wire bundle diameter that has been taught in advance.

  In next step S <b> 5, the processing control unit 60 instructs the first robot 30 to perform the ironing operation. Specifically, the processing control unit 60 gives an instruction to move the robot hand 34 downward while the robot hand 34 holds the plurality of electric wires 11. Then, the robot hand 34 moves downward while pulling the plurality of electric wires 11 from the connector 14. The robot hand 34 is lowered to the planned binding point E2 or a position adjacent to the upper side or the lower side thereof. As a result, the plurality of electric wires 11 are pulled by the robot hand 34 in a state where the plurality of wires 11 are linearly hung from the connector 14.

  In step S6, the processing control unit 60 instructs the second robot 40 to bind the plurality of electric wires 11 at the planned binding location E2. Thereby, the 2nd robot 40 binds the some electric wire 11 by the binding apparatus 44 by the scheduled binding location E2. The work position of the bundling device 44 at this time is a position along the electric wire 11 in a coordinate taught in advance or an image obtained by the imaging unit 50 and a position away from the connector 14 by a predetermined distance. Determined by etc.

  The above processing is performed for each connector 14 and the plurality of electric wires 11 extending from the connector 14.

<Operation>
The wire harness manufacturing method will be described on the premise of the electric wire terminal processing apparatus 20.

  First, each of the plurality of connectors 14 is prepared by connecting the ends of the plurality of wires 11, and each connector 14 from which the plurality of wires 11 extends is set in the connector holder 76 (see FIG. 2, step ( a)). In this state, as shown in FIG. 5, the plurality of electric wires 11 are suspended from the connector 14.

  In this state, as shown in FIG. 6, route information of the plurality of electric wires 11 extending from the connector 14 is acquired (step (b)). Here, the route information of the plurality of electric wires 11 extending from the connector 14 to be collected among the plurality of connectors 14 is acquired. That is, the imaging unit 50 images the region E1 including the terminals of the plurality of wires 11 extending from the connector 14 to be collected. Furthermore, the presence range of the plurality of electric wires 11 is acquired based on the captured image.

  For example, the captured image G illustrated in FIG. 6 includes a connector 14 and a plurality of electric wires 11 extending from the connector 14. In this captured image G, the distance between the outermost electric wires 11 is acquired at a position away from the connector 14 by a predetermined distance. For example, the interval W1 between the electric wires 11 in the captured image G is used as a magnification obtained by, for example, comparing the imaging magnification given in advance or the size of the connector 14 in the captured image G with a given actual size. To obtain the actual size between the outermost electric wires 11. Whether or not the electric wire 11 used to acquire the interval W1 is extended from the electric wire 11 to be collected is determined from whether or not the electric wire 11 is extended from the connector 14 from the extracted electric wire image. . Thereby, even when the electric wire 11 extending from the connector 14 different from the connector 14 to be collected appears in the captured image G, the existence ranges (intervals W1) of the plurality of electric wires 11 can be acquired more accurately.

  Next, the opening / closing drive amount of the claw portion 36 is acquired based on the path information of the plurality of electric wires 11 acquired in the step (b) and the current opening / closing amount of the claw portion 36 of the robot hand 34 (step (c) )). Specifically, the actual size between the outermost electric wires 11 is obtained in the step (b). Thereby, the quantity which should open and close the nail | claw part 36 is acquirable. For example, the amount to be opened and closed of the claw portion 36 can be set as an amount obtained by adding the additional length α to the interval between the outermost electric wires 11. The additional length α can be set experimentally and empirically as a value that is considered so that there is no leakage at the time of concentration. The current opening / closing amount W2 of the claw portion 36 is known (see FIG. 7). Therefore, the opening / closing drive amount of the claw portion 36 can be acquired by taking these differences. Here, the opening / closing drive amount of the claw portion 36 is acquired as the rotation drive amount of the motor 35a.

  Next, the claw portion 36 is driven to open / close with the acquired opening / closing drive amount, and the wires 11 are concentrated (step (d)). Specifically, the claw portion 36 is opened / closed by the opening / closing drive amount acquired in the previous step (c) by driving the motor 35a by the opening / closing drive amount acquired in the previous step (c) (see FIG. 8). . Further, the robot hand 34 is moved to the base of the connector 14 and the claw portion 36 is closed. For example, the robot hand 34 is moved in the first direction connecting the opening and the bottom of the claw portion 36 when the claw portion 36 is opened, and the robot hand 34 is moved to the planned concentration position at the base of the connector 14. Accordingly, the plurality of electric wires 11 are collected by the robot hand 34 (see FIG. 9). Note that the work position of the robot hand 34 at this time is determined by extracting the position of the connector 14 and the electric wire 11 extending from the connector 14 in the coordinates taught in advance or the image obtained by the imaging unit 50. Is done.

  Here, in determining the work position of the robot hand 34, for example, when the center C1 of the pair of claws 36 is aligned with the center C2 of the connector 14 (see FIG. 12) and when aligned with the centers C3 of the plurality of electric wires 11 (see FIG. (See FIG. 13). Below, the case where the some electric wire 11 has spread to one side of the width direction in both cases is examined. FIG. 12 to FIG. 14 are explanatory views showing how the claw portions are centered. 12 to 14, for convenience, the connector 14 and the electric wire 11 extending from the connector 14 are shown in a front view, and the robot hand 34 is shown in a plan view.

  As shown in FIG. 12, when the center C1 of the pair of claws 36 is aligned with the center C2 of the connector 14, since the position of the connector 14 is known, the robot hand 34 can be directed to the coordinates taught in advance. . Further, when the electric wire 11 is to be ironed after the wire concentrating work, an excessive force is not easily applied to the electric wire 11 by aligning the center C1 of the pair of claws 36 with the center C2 of the connector 14, and therefore the pair of claws is used in the wire collecting work. When the center C1 of the portion 36 is aligned with the center C2 of the connector 14, the ironing operation is facilitated. However, when the plurality of electric wires 11 are spread in one side in the width direction, the opening / closing amount W3 of the claw portion may be excessively larger than the existence range W1 of the electric wires 11. For this reason, when the some connector 14 is near, there exists a possibility that the electric wire 11 extended from the adjacent connector 14 may be caught at the time of a concentrating.

  On the other hand, as shown in FIG. 13, when the center C1 of the pair of claws 36 is aligned with the center C3 of the plurality of electric wires 11, the opening / closing amount W4 of the pair of claws 36 is set to a necessary and sufficient amount. it can. Thereby, even when the some connector 14 is near, the possibility that the electric wire 11 extended from the adjacent connector 14 at the time of concentration may be wound can be reduced. Further, even when the workable area of the robot hand 34 is narrow due to the presence of an interference object nearby, the robot hand 34 can work. In addition, when acquiring the presence range of the electric wire 11 from the captured image G, the center C1 of the pair of claws 36 is set to the center of the plurality of electric wires 11 by acquiring the center C3 position of the electric wire 11 together. Can be adjusted to C3.

  At this time, as shown in FIG. 14, the center C <b> 1 of the collected claws 36 is aligned with the center C <b> 2 of the connector 14, so that the next ironing operation can be easily performed. The robot arm 32 moves the robot hand 34 in the second direction D2, which is a direction intersecting the first direction D1 and intersecting the central axis direction of the closed space of the claw portion 36, and the center C3 of the electric wire 11 is moved. The center C1 of the claw portion 36 that is aligned with the center of the connector 14 is aligned with the center C2 of the connector 14. When the center C1 of the collected claw portion 36 is aligned with the center C2 of the connector 14, the center C1 of the claw portion 36 may start to be aligned with the center C2 of the connector 14 after completion of the concentration. C1 may start to be aligned with the center C2 of the connector 14. If the center C1 of the claw portion 36 is started to be aligned with the center C2 of the connector 14 during the concentration, the time required to align the center C1 of the claw portion 36 with the center C2 of the connector 14 can be shortened.

  Here, the pair of claw portions 36 grips the plurality of electric wires 11 after collecting the wires 11. The gripping is performed by closing the claw portion 36 to such an extent that the robot hand 34 can be moved along the extending direction of the plurality of electric wires 11. When the gripping operation is performed with the same claw portion 36 as that for the concentrating operation, the claw portion 36 is closed to the amount that can be gripped when the claw portion 36 is closed for the concentrating operation. Concentration and gripping can be performed by operation.

  Next, the plurality of collected electric wires 11 are gripped and squeezed (step (e)). Here, as described above, the robot hand 34 of the first robot 30 related to the concentrating operation grips a portion close to the connector 14 among the plurality of electric wires 11. In this state, the robot hand 34 is lowered to perform the ironing operation. This ironing may be performed manually by the operator. Moreover, the ironing work is not essential.

  After that, as shown in FIG. 10, the robot hand 34 moved to a lower position away from the connector 14 by a predetermined distance, and moved to or near the planned binding location E2 (here, the position above the planned binding location E2). It becomes a state. In this state, the plurality of electric wires 11 are pulled in a straight line between the connector 14 and the robot hand 34. Then, the plurality of electric wires 11 extending from the connector 14 and subjected to the ironing operation are bundled by the bundling device 44.

  By performing the above for each of the plurality of connectors 14, the wire harness 10 in which the plurality of electric wires 11 extending from each connector 14 are bundled is manufactured.

  According to the wire harness manufacturing method and the wire terminal processing apparatus 20 configured as described above, based on the route information of the plurality of wires 11 acquired by the route information acquisition unit and the current opening / closing amount of the claw portion 36. Since the opening / closing drive amount of the claw portion 36 is acquired, the opening / closing amount of the claw portion 36 can be adjusted to an amount necessary and sufficient to collect the plurality of electric wires 11.

  Further, the opening / closing drive amount of the claw portion 36 can be acquired relatively easily based on the image captured by the imaging unit 50.

  In addition, when the center C3 of the electric wire 11 and the center C2 of the connector 14 are shifted, the centers C1 of the claw portions 36 are aligned with the center C3 of the electric wire 11, and then the claw portions 36 are moved to the center C2 of the connector 14. Can be matched. By concentrating the plurality of electric wires 11 with the center C1 of the claw portion 36 aligned with the centers C3 of the plurality of electric wires 11, an increase in the opening amount of the claw portion 36 can be suppressed. Thereby, even when the space | interval between the adjacent connectors 14 is narrow, when collecting the electric wire 11 extended from one of the adjacent connectors 14, it can suppress that the electric wire 11 extended from the other connector 14 is wound. . Further, by aligning the center C1 of the collected claws 36 with the center C2 of the connector 14, the ironing operation can be easily performed according to the center C2 of the connector 14.

  Further, since the claw portion 36 is driven to open and close by the motor 35a, the opening / closing amount of the claw portion 36 can be adjusted with a simple structure. At this time, the opening / closing amount of the claw portion 36 can be adjusted by the two gears 38a and 38b.

  Further, since the ironing operation can be performed with the claw portion 36 that has performed the wire concentration work, the same robot hand 34 can perform the wire concentration operation and the ironing operation, and it is not necessary to provide a separate robot hand for the ironing operation.

{Modifications}
A modification of the robot hand 34 will be described.

  In the embodiment, the transmission mechanism 37 has been described as including the motor side gear 38a and the claw side gear 38b, but this is not essential. The transmission mechanism 37 may include a motor side gear 38a and a rack 39a as in the robot hands 134 and 234 according to the modification. FIG. 15 and FIG. 16 are explanatory views showing modifications of the robot hand 34. FIGS. 17 and 18 are explanatory views showing another modification of the robot hand 34. 15 and 17 show a state where the robot hands 134 and 234 are opened, respectively, and FIGS. 16 and 18 show a state where the robot hands 134 and 234 are closed, respectively.

  In the robot hands 134 and 234 according to the modification, the motor side gear 38a is connected to the shaft of the motor 35a. The rack 39a is interposed between the motor side gear 38a and the claw portions 136 and 236. The rack 39a meshes with the motor side gear 38a. The rack 39a is formed on a member 39 that can reciprocate with respect to the motor side gear 38a (here, with respect to the fixed member 34a), and the claw portions 136 and 236 are driven to open and close when the rack 39a reciprocates. To do.

  Specifically, in the robot hand 134, the member 39 on which the rack 39a is formed is provided with two connecting members 134c extending in different directions at one end. The distal ends of the connecting members 134c support the base end portions 136a of the different claw portions 136, respectively. The base end portion 136a of the claw portion 136 is formed in an L shape. One end portion 136b of the L-shaped base end portion 136a is connected to the connecting member 134c. A long hole 136h that is long in the extending direction of the one end 136b is formed in the one end 136b, and the tip of the connecting member 134c is fitted in the long hole 136h so as to be movable relative to the claw 136 along the long hole 136h. Yes. An intermediate corner portion 136d of the L shape is pivotally supported by the fixing member 34a. The corner portions 136d of the two claw portions 136 are pivotally supported at the same position. The base end portion 136a has an L-shaped convex portion directed in the retracting direction. Further, the tip end portion 136e of the claw portion 136 is provided at the other end portion 136c of the L-shaped base end portion 136a.

  In the robot hand 134, when the member 39 on which the rack 39a is formed moves, the state is changed between the state where the claw portion 136 is opened as shown in FIG. 15 and the state where the claw portion 136 is closed as shown in FIG. . Specifically, when the member 39 on which the rack 39a is formed is pulled from the state of FIG. 15, the two connecting members 134c are also pulled. The tip of the connecting member 134c abuts on the inner peripheral surface of the long hole 136h on the rack 39a side while being pulled. By pulling in as it is, the distal end of the connecting member 134c presses the inner peripheral surface, and the base end portion 136a of the claw portion 136 rotates around the corner portion 136d. At this time, the distal end of the connecting member 134c moves relative to the corner portion 136d side along the inner peripheral surface with respect to the proximal end portion 136a of the claw portion 136. Thus, the claw portion 136 is closed as shown in FIG. On the contrary, when the claw 136 is opened from the closed state, the member 39 on which the rack 39a is formed and the connecting member 134c are pushed out, and the tip of the connecting member 134c is the inner side of the elongated hole 136h on the opposite side to the rack 39a side. The inner peripheral surface is pushed by abutting on the peripheral surface and being pushed out as it is, and the base end portion 136a of the claw portion 136 rotates around the corner portion 136d. At this time, the distal end of the connecting member 134c moves relative to the distal end side along the inner peripheral surface with respect to the proximal end portion 136a of the claw portion 136. Thus, the claw portion 136 is opened as shown in FIG.

  In the robot hand 234, the base end portion 236a of the claw portion 236 is formed in an L shape. One end 236b of the L-shaped base end 236a is supported by a member 39 on which a rack 39a is formed. A long hole 236h that is long in the extending direction of the one end 236b is formed in the one end 236b, and the tip of the member 39 in which the rack 39a is formed in the long hole 236h is relative to the claw 236 along the long hole 236h. Fits movable. An intermediate corner portion 236d of the L-shaped base end portion 236a is pivotally supported by the fixing member 34a. The corner portions 236d of the two claw portions 236 are pivotally supported at different positions. The base end portion 236a has an L-shaped convex portion directed in the retracting direction. The other end 236c of the L-shaped base end portion 236a is provided with a tip end portion 236e of the claw portion 236.

  In the robot hand 234, when the member 39 on which the rack 39a is formed moves, the state is changed between the state where the claw portion 236 is opened as shown in FIG. 17 and the state where the claw portion 236 is closed as shown in FIG. . Specifically, when the member 39 on which the rack 39a is formed is pulled from the state shown in FIG. 17, the tip of the member 39 on which the rack 39a is formed is in the middle of being pulled in the inner periphery of the long hole 236h on the rack 39a side. Contact the surface. By being pulled in as it is, the member 39 in which the rack 39a is formed pushes the inner peripheral surface, and the base end portion 236a of the claw portion 236 rotates around the corner portion 236d. At this time, the distal end of the member 39 on which the rack 39a is formed moves relative to the base end portion 236a of the claw portion 236 toward the corner portion 236d along the inner peripheral surface. Thus, the claw portion 236 is closed as shown in FIG. On the contrary, when the claw portion 236 is opened from the closed state, the member 39 on which the rack 39a is formed is pushed out, and the tip of the member 39 on which the rack 39a is formed is on the side opposite to the rack 39a side of the long hole 236h. Abutting the inner peripheral surface and pushing the inner peripheral surface as it is, the inner peripheral surface is pressed, and the base end portion 236a of the claw portion 236 rotates around the corner portion 236d. At this time, the distal end of the member 39 on which the rack 39a is formed moves relative to the proximal end portion 236a of the claw portion 236 toward the distal end side along the inner peripheral surface. Thus, the claw portion 236 is opened as shown in FIG.

  According to such robot hands 134 and 234, the opening / closing amounts of the claw portions 136 and 236 can be adjusted by a combination of the gear 38a and the rack 39a.

  Further, although the description has been made so far that the pair of claw portions 36, 136, and 236 are driven to open and close, this is not essential. One claw portion may be driven to open and close.

{Second Embodiment}
Next, a second embodiment of the present invention will be described. FIG. 19 is a schematic plan view showing a robot hand 34A of the second embodiment. FIG. 20 is a schematic perspective view of the robot hand 34A of the second embodiment. FIG. 21 is a schematic plan view showing the robot hand 34A in the closed state.

  The robot hand 34A includes a drive unit 35A, a claw unit 36A, and a transmission mechanism 37A.

  The drive part 35A constitutes a drive source that supports the claw part 36A and opens and closes the claw part 36A. The drive unit 35A may be configured by, for example, a linear motor, a ball screw, or a pinion gear.

  The claw portion 36A includes a pair of claw body portions 360. Each of the pair of nail main body portions 360 is connected to the drive portion 35A via the support portion 370 of the transmission mechanism 37A. The drive unit 35A translates the pair of claw body portions 360 and 360 in directions toward and away from each other by independently translating the pair of support portions 370 along the second direction D2.

  The nail body 360 is a member formed in a plate shape. The nail body 360 includes a base end portion 36aA and a tip end portion 36eA. In the following description, in the present embodiment, in the nail body 360, the distal end portion 36eA side is the distal end side of the nail body portion 360, and the proximal end portion 36aA side is the proximal end side of the nail body portion 360.

  The inner side surface 362S of the distal end portion 36eA forms an inclined surface that inclines toward the other claw main body portion 360 side toward the distal end side of the claw main body portion 360. The inner side surface 362S is a surface facing the other claw main body portion 360 and is a surface for gripping the electric wire 11 between the other claw main body portion 360.

  The outer side surface 364 </ b> S of the distal end portion 36 e </ b> A forms an inclined surface that is inclined toward the other nail body portion 360 as it goes toward the distal end side of the nail body portion 360. In this example, the distal end portion 36eA is formed in a tapered shape, and the distal end of the distal end portion 36eA is angled to form an acute angle.

  The inner side surface 366S of the base end portion 36aA forms an inclined surface that inclines toward the other nail body portion 360 side toward the distal end side of the nail body portion 360. The inner side surface 366S is a surface facing the other nail body portion 360 side, and is a surface for gripping the electric wire 11 with the other nail body portion 360.

  The inner side surface 362S of the distal end portion 36eA and the inner side surface 366S of the base end portion 36aA form an angle of less than 180 degrees, and here, an obtuse angle is formed. In this example, the inner side surface 362S and the inner side surface 366S366S are formed to be V-shaped when viewed from the third direction.

  The length L1 of the distal end portion 36eA in the second direction D2 is longer than the length L2 of the proximal end portion 36aA in the second direction D2 (L1 <L2). By making the distal end portion 36eA shorter than the proximal end portion 36aA, the distal end portion 36eA can be easily entered between the dense wires 11. Further, by making the base end portion 36aA longer than the tip end portion 36eA, it is possible to suppress the electric wire 11 entering the inside of the claw portion 36A from coming out to the base end side of the claw portion 36A.

  The support portion 370 of the transmission mechanism 37 </ b> A has a proximal end side connected to the drive portion 35 </ b> A and a distal end side connected to the claw body portion 360. In this example, the support portion 370 is connected to the drive portion 35A at the base end side, extends from the connection portion along the first direction D1, and bends in the second direction D2 in the middle to extend the claw body portion 360. It is connected to the. The drive part 35A moves the support part 370 along the second direction D2, so that the entire claw body part 360 moves along the second direction D2.

  Of the pair of nail body portions 360, 360, one nail body portion 360 is supported by being shifted in the third direction D3 by the thickness of the nail body portion 360 relative to the other nail body portion 360. As shown in FIG. 3, by bringing the pair of nail body portions 360 and 360 closer to each other, they can be overlapped in the third direction D3. As a result, a closed space CR1 is formed in which the four sides are surrounded by the inner side surfaces (inner side surfaces 362S, 366S) of the pair of claw body portions 360.

  As described above, the drive unit 35A translates the pair of claw body portions 360 and 360 along the second direction D2, thereby changing the opening / closing amount of the claw portion 36A (the distance between the pair of tip portions 36eA and 36eA). The claw portion 36A is opened / closed so as to be adjustable. The second direction D2 corresponds to the opening / closing direction of the claw portion 36A.

<Description of operation>
FIG. 22 is a diagram showing a plurality of electric wires 11 supported by the connector holding portion 70 in a suspended state. In the following description, a case will be described in which the robot hand 34A holds a plurality of electric wires 11 (hereinafter referred to as an electric wire group 11G) to be concentrated that exist in each of the areas AR1 and AR2. Note that the robot hand 34 </ b> A can also be applied to the case of gripping one electric wire 11.

<When the wire group 11G to be concentrated is spread over a relatively wide range>
FIG. 23 is a diagram illustrating a robot hand 34A that collects the wire group 11G in the area AR1. In this area AR1, the electric wire group 11G to be concentrated is distributed in a relatively wide range. In this case, first, the drive part 35A moves the pair of claw body parts 360, thereby making the gap G1 between the pair of tip parts 36eA larger than the spread E1 in the second direction D2 of the wire group 11G.

  Subsequently, when the robot arm 42 moves the robot hand 34 </ b> A in the first direction D <b> 1, the electric wire group 11 </ b> G is disposed inside the pair of claw body portions 360 and 360. And as shown in FIG. 23, by making a pair of nail | claw main-body parts 360 and 360 approach mutually, closed space CL1 is formed and the electric wire group 11G is concentrated in the closed space CL1. For example, when the bundle of the wire group 11G to be collected becomes thick, the closed space CL1 may not be formed because the pair of tip portions 36eA do not overlap.

  As described above, in the case of the claw portion 36A of the robot hand 34A, even when the wire group 11G to be collected is widely dispersed in the lateral direction, the distance between the pair of tip portions 36eA and 36eA is increased. The group 11G can be gripped.

  Further, the inner side surface 362S of the distal end portion 36eA and the inner side surface 366S of the base end portion 36aA form an angle of less than 180 degrees. For this reason, when the nail | claw part 36 is closed, the electric wire group 11G can be collected in the intermediate position between front-end | tip part 36eA and proximal end part 36aA.

<When there is a non-concentration target electric wire 11 around the collection target electric wire group 11G>
FIG. 24 is a diagram showing a robot hand 34A that holds the wire group 11G to be concentrated in the area AR2. In the area AR2, the electric wires 11 that are not the target of concentration exist close to both sides of the electric wire group 11G that is the target of concentration. In this case, the drive part 35A moves the pair of claw body parts 360 so that the gap G1 between the pair of tip parts 36eA is larger than the spread E2 of the wire group 11G and the wires on both sides of the wire group 11G. It is good to make it smaller than the space | interval E3 between 11 and 11.

  Subsequently, the robot arm 42 moves the robot hand 34 </ b> A in the first direction D <b> 1, whereby the wire group 11 </ b> G to be concentrated is arranged inside the pair of claw body portions 360 and 360. And as shown in FIG. 24, the closed space CL1 is formed by making a pair of nail | claw main-body parts 360 and 360 mutually approach, and the electric wire group 11G is hold | gripped inside this closed space CL1. For example, when the bundle of wire groups 11G to be collected is relatively thick, the closed space CL1 may not be formed because the pair of tip portions 36eA do not overlap.

  As shown in FIG. 24, the outer side surface 364S of the tip 36eA of the claw body 360 is inclined inward (the other claw body 360 side). For this reason, the front-end | tip of front-end | tip part 36eA can be easily approached between the electric wire 11 which is a concentrating object (or holding object), and the electric wire 11 which is not a non-concentrating object (or non-holding object). Further, by forming the distal end portion 36eA in a tapered shape, the entry between the electric wires 11 is further facilitated.

  Further, when the claw portion 36A goes to grasp the electric wire group 11G, the pair of base end portions 36aA partially overlap, so that the electric wire group 11G moves relatively to the base end side from the base end portion 36aA. Can be suppressed. Thereby, the electric wire group 11G can be easily gripped between the pair of claw body portions 360, 360.

  As described above, by adopting the claw portion 36A of the robot hand 34A, when the wire group 11G to be grasped extends in the second direction, and the wires not to be held on the side of the wire group 11G to be collected. It is possible to easily cope with both cases where 11 is present.

{Third embodiment}
FIG. 25 is a schematic plan view showing a robot hand 34B of the third embodiment. FIG. 26 is a schematic cross-sectional view of the robot hand 34B as viewed from the position along the line AA shown in FIG.

  The robot hand 34B includes a drive unit 35A, a claw unit 36B, and a transmission mechanism 37A. The claw portion 36B includes a pair of multi-stage claw body portions 360A and 360A. The multi-stage claw body 360A includes three claw body parts 360 arranged in multiple stages (here, 3 stages) in the third direction D3, and a connecting part 362 that connects the three claw body parts 360 to each other.

  The three claw body portions 360 are connected so that the distance between them in the third direction D3 is slightly larger than the thickness (length in the third direction D3) of one claw body portion 360 of the other multistage claw body portion 360A. The part 362 connects the three claw body parts 360.

  The support part 370 of the transmission mechanism 37A is connected to the intermediate claw body part 360 among the three claw body parts 360 of the multistage claw body part 360A. The drive unit 35A translates the multistage claw body 360A along the second direction by translating the support unit 370 along the second direction D2.

  FIG. 27 is a diagram showing a robot hand 34B that collects the wire group 11G. When the robot hand 34B collects and holds the wire group 11G, the claw body portions 360A of the pair of multistage claw body portions 360A and 360A alternately overlap in the third direction D3. That is, the multistage claw body portions 360A and 360A have a structure of engaging each other. This can reduce the bending of the wire group 11G collected by the robot hand 34B at the gripped portion.

{Modifications}
In the robot hand 34 </ b> A of the second embodiment, the drive unit 35 </ b> A and the transmission mechanism 37 </ b> A are configured to translate the pair of claw body units 360 and 360. However, you may make it rotate a pair of nail | claw main-body parts 360 and 360 by applying the drive part 35A and transmission mechanism 37A of 1st Embodiment. Similarly, the driving unit 35A and the transmission mechanism 37 of the first embodiment may be adopted for the robot hand 34C of the third embodiment.

  You may form the front-end | tip part 36eA and the base end part 36aA of the nail | claw main-body part 360 like a rod like the front-end | tip part 36e and the base end part 36a of 1st Embodiment.

  The claw portion 36A of the second embodiment includes a pair of claw body portions 360 having the same shape. However, one may be the nail body 360 and the other may be a nail body having a shape different from that of the nail body 360. For example, the other nail body portion may be a rod-like member extending linearly. Moreover, it is not essential to make the other nail body portion movable. For example, it may be fixed to the other drive unit 35A. The same applies to the claw portion 36B of the third embodiment.

  In the claw portion 36B, the multi-stage claw body portion 360A constituted by the three claw body portions 360 is integrally moved, but the three claw body portions 360 may be individually moved. In this case, it is preferable that the support part 370 is connected to each of the claw body parts 360 and the drive part 35A moves each of the support parts 370 independently.

  In addition, each structure demonstrated by the said embodiment and modification can be suitably combined unless it mutually contradicts.

  As described above, the present invention has been described in detail. However, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Wire harness 11 Electric wire 14 Connector 20 Electric wire terminal processing apparatus 30 1st robot 32 Robot arm 34, 134, 234 Robot hand 35 Drive source 35A Drive part 35a Motor 36, 136, 236, 36A, 36B Claw part 360 Claw body part 360A Multi-stage claw body 36a, 36aA Base end 36e, 36eA Tip 362S (tip) inner surface 364S (tip) outer surface 366S (base end) inner surface 37, 37A Transmission mechanism 38a Motor side gear 38b Claw-side gear 39a Rack 40 Second robot 44 Bundling device 50 Imaging unit 60 Processing control unit 67 Processing program 67a Concentration program 70 Connector holding unit 76 Connector holder E2 Scheduled binding location

Claims (18)

A wire harness manufacturing method of manufacturing a wire harness by bundling a plurality of electric wires extending from a connector at a position away from the connector while collecting with a robot hand,
(A) a step of setting a connector from which a plurality of electric wires extend to a connector holder;
(B) obtaining route information of the plurality of electric wires extending from the connector;
(C) acquiring the opening / closing drive amount of the claw portion based on the path information of the plurality of electric wires acquired in the step (b) and the current opening / closing amount of the claw portion of the robot hand;
(D) a step of opening and closing the claw portion with the opening and closing drive amount acquired in the step (c) and collecting the plurality of electric wires;
(E) a step of gripping and squeezing the plurality of electric wires collected in the step (d);
A method for manufacturing a wire harness. It is a manufacturing method of the wire harness of Claim 1, Comprising:
The method (b) includes a step of imaging the plurality of electric wires extending from the connector, and a step of acquiring an existence range of the plurality of electric wires based on the captured images. It is a manufacturing method of the wire harness according to claim 1 or 2,
The step (a) includes a step of setting a plurality of connectors in a connector holder,
The step (b) obtains route information of the plurality of electric wires extending from the connector to be concentrated among the plurality of connectors,
The step (d) includes a step of concentrating the plurality of electric wires by aligning the centers of the claw portions with the centers of the plurality of electric wires, and a step of aligning the centers of the collected claw portions with the centers of the connectors. A method for manufacturing a wire harness. It is a manufacturing method of the wire harness according to any one of claims 1 to 3,
The manufacturing method of a wire harness which opens and closes the said nail | claw part with a motor. It is a manufacturing method of the wire harness according to any one of claims 1 to 4,
The method of manufacturing a wire harness, wherein the claw portion that has collected the plurality of electric wires in the step (d) grips and squeezes the plurality of electric wires in the step (e). A driving source; a claw portion provided so as to be openable and closable; and a transmission mechanism that transmits a driving force of the driving source to the claw portion, and the claw portion is driven to open and close so that an opening / closing amount of the claw portion can be adjusted. Robot hand,
A movement mechanism capable of moving in the first direction connecting the opening and bottom of the claw when the claw is opened on the robot hand;
A route information acquisition unit that acquires route information of a plurality of electric wires extending from the connector;
Based on the path information of the plurality of electric wires acquired by the path information acquisition unit and the current opening / closing amount of the claw unit, a processing control unit that acquires the opening / closing drive amount of the claw unit,
An electric wire terminal processing apparatus. It is an electric wire terminal processing apparatus of Claim 6, Comprising:
The route information acquisition unit is an imaging unit that images the plurality of electric wires extending from the connector,
The said process control part is an electric wire terminal processing apparatus which acquires the opening / closing drive amount of the said nail | claw part by acquiring the presence range of these electric wires based on the image imaged by the said imaging part. The wire terminal processing device according to claim 6 or 7,
The said moving mechanism is an electric wire terminal processing apparatus which can move the said robot hand to the 2nd direction which is a direction which cross | intersects the said 1st direction, and is a direction which cross | intersects the central axis direction of the closed space of the said nail | claw part. The wire terminal processing apparatus according to any one of claims 6 to 8,
The wire terminal processing apparatus, wherein the drive source includes a motor, and the opening / closing amount of the claw portion is determined by determining a driving amount of the motor. The wire terminal processing device according to claim 9,
The said transmission mechanism is an electric wire terminal processing apparatus containing the motor side gear connected with the shaft of the said motor, and the nail | claw side gear which is provided in the said nail | claw part and meshes with the said motor side gear. The wire terminal processing device according to claim 9,
The transmission mechanism includes a gear coupled to a shaft of the motor, a rack interposed between the gear and the claw portion, and meshing with the gear,
An electric wire terminal processing device in which the claw portion is driven to open and close as the rack reciprocates. It is an electric wire terminal processing apparatus of any one of Claims 6-11,
The said moving mechanism is an electric wire terminal processing apparatus which can move the said robot hand to the extension direction of the central axis of the closed space of the said nail | claw part. The wire terminal processing device according to any one of claims 6 to 12,
The claw portion includes a pair of claw body portions that are opened and closed by the drive source,
At least one of the pair of nail body portions is
A tip portion disposed on the tip side of the nail body portion;
A proximal end portion disposed on the proximal end side of the claw body portion;
With
The outer surface of the tip has an inclined surface that is inclined toward the other nail body as it goes toward the tip of the nail body.
The electric wire terminal processing apparatus in which the length of the front-end | tip part in the opening / closing direction of the said nail | claw part is shorter than the said base end part. It is an electric wire terminal processing apparatus of Claim 13, Comprising:
The electric wire terminal processing apparatus in which the inner surface of the said front-end | tip part and the inner surface of the said base end part make an angle less than 180 degree | times. It is an electric wire terminal processing apparatus of Claim 13 or Claim 14,
The electric wire end processing apparatus in which the said front-end | tip part is formed in the taper shape. The wire terminal processing device according to any one of claims 13 to 15,
The wire terminal processing apparatus, wherein the drive source and the transmission mechanism translate one of the pair of claw main body portions in a direction approaching and separating from the other claw main body portion. The wire terminal processing device according to any one of claims 13 to 16,
The said nail | claw part is an electric wire terminal processing apparatus provided with the multistage nail | claw main-body part comprised by laminating | stacking the said some nail | claw main-body part in multiple stages. The wire terminal processing device according to claim 17,
The claw part includes a pair of the multistage claw body parts,
When the claw portion is closed, one of the nail body portions of the pair of multi-stage nail body portions is one of the plurality of nail body portions of the pair of multi-stage nail body portions, and the other nail. An electric wire terminal processing device that is placed on the main body.

Images