WO2018116786A1 - Gripping structure, wire harness production device, and wire harness production method - Google Patents

Abstract

Provided is a gripping structure suitable for a wire-grouping operation and a branch-forming operation. A hand 1 comprises a first finger part 10, a second finger part 20, a third finger part 30, a fourth finger part 40, and a fifth finger part 50. An overall moving mechanism 14 moves the entirety of the first finger part 10 through a region sandwiched by the second finger part 20 and the third finger part 30. A grip moving mechanism 62 moves the fourth finger part 40 and the fifth finger part 50 towards or away from the second finger part 20 and the third finger part 30 in the out-of-plane direction D2.

Description

Grip structure, wire harness manufacturing apparatus, and wire harness manufacturing method

This invention relates to a technique for gripping a flexible linear object.

One of the manufacturing processes of a wire harness is a concentrator that collects a plurality of electric wires (linear objects). In the wire concentrating work, the wires extending apart are assembled into a wire bundle and maintained in the assembled state. Further, after the wire concentrating work, work such as bundling is usually performed.

In addition, the wire harness manufacturing process may include a branch forming operation for forming a branch. The branch forming operation is formed by binding each of the two electric wire groups that are individually bundled into one.

In recent years, automation of the above-described line concentrating work and branch forming work has been promoted. For this purpose, it is necessary to optimize a gripping structure for gripping a flexible linear object. Here, Patent Documents 1 and 2 disclose a hand that holds an object.

Patent Document 1 discloses a robot hand that can move three fingers around a range of 180 ° or more around a position where each of the fingers is supported. According to this robot hand, it is possible to grip various objects including different shapes and dimensional differences with various hand gripping postures.

Patent Document 2 discloses a robot hand in which three fingers are attached to the palm. When the object to be grasped is large, it is assumed that the object is grasped between the three fingers and the palm. If the object to be gripped is small, one finger moves to a position facing one of the other fingers, and the two fingers facing each other approach to hold the object. It is said that.

JP 2013-146798 A JP 2011-240421 A

In the case of the robot hand described in Patent Document 1, with one finger part placed in the center and two electric wire groups arranged on both sides thereof, by bringing each of the two finger parts closer to the center finger part, It is possible to collect two wire groups individually. However, when two electric wire groups are bundled into one, there is a problem that the central finger part becomes an obstacle and branching work is difficult. Further, in the case of the robot hand described in Patent Document 2, it is difficult to collect the two electric wire groups individually, so that the branching operation cannot be performed.

Therefore, an object of the present invention is to provide a technique of a gripping structure suitable for a concentrating operation and a branch forming operation.

In order to solve the above-described problem, the first aspect is a gripping structure for gripping a plurality of flexible linear objects, and includes a first finger part, a second finger part, and a third finger part formed in a bar shape, A first relative movement mechanism for relatively moving the first finger part and the second finger part so as to approach and separate in an in-plane direction parallel to the first plane; and the first finger part and the third finger part And a second relative movement mechanism that relatively moves so as to approach and separate in the in-plane direction, and one end of the first finger portion is the second finger portion when viewed from an out-of-plane direction orthogonal to the first plane. And an overall movement mechanism for moving the entirety of the first finger portion so as to pass through a region sandwiched between the third finger portion, and a separation in the out-of-plane direction with respect to the second finger portion and the third finger portion. A fourth finger portion and a fifth finger portion, which are arranged in a position to be formed in a rod shape, and the fourth finger portion and the fifth finger portion are arranged on the surface. A third relative movement mechanism for relative movement so as to approach and separate in the direction, and the fourth finger part and the fifth finger part with respect to the second finger part and the third finger part, in the out-of-plane direction. And a sandwiching portion relative movement mechanism that relatively moves so as to approach and separate.

The second aspect is the gripping structure according to the first aspect, wherein each of the first relative movement mechanism and the second relative movement mechanism includes the second finger part and the third finger part, A rotation drive unit that rotates about an axis that intersects the in-plane direction as a rotation center is provided.

Further, the third aspect is the holding structure of the first or second aspect, and an intermediate part of the second finger part has a shape bent in a direction away from the first finger part.

Further, the fourth aspect is the holding structure of the third aspect, and has an intermediate part of the first finger part bent in a direction away from the second finger part.

Further, a fifth aspect is the gripping structure according to any one of the first aspect to the fourth aspect, wherein the entire moving mechanism is arranged along the path that matches the shape of the first finger part. Move the part.

Further, a sixth aspect is the gripping structure according to any one of the first aspect to the fifth aspect, wherein the entire moving mechanism is combined with a rack formed on the first finger part, A rotation drive unit that rotates the gear unit about a predetermined axis as a rotation center.

Moreover, a 7th aspect is a wire harness manufacturing apparatus, Comprising: By controlling operation | movement of any one holding structure of a 1st aspect to a 6th aspect, and the said clamping part relative movement mechanism, said 2nd finger part And the third finger part, and the fourth finger part and the fifth finger part in a state in which each of the fourth finger part and the fifth finger part sandwiches a plurality of linear objects. A control unit that handles the plurality of linear objects separately from the part and the third finger part, the second finger part and the third finger part, the fourth finger part and the fifth finger part In the plurality of handled linear objects, between a portion sandwiched between the second finger portion and the third finger portion and a portion sandwiched between the fourth finger portion and the fifth finger portion. A bundling mechanism for bundling the intermediate portion with a bundling member.

Further, the eighth aspect is a gripping structure for gripping a plurality of flexible linear objects, the first finger part, the second finger part and the third finger part formed in a rod shape, the first finger part and A first relative movement mechanism for relatively moving the second finger portion so as to approach and separate in an in-plane direction parallel to the first plane; and the first finger portion and the third finger portion in the in-plane direction. And a second relative movement mechanism for relative movement so as to approach and separate from each other, and one end of the first finger portion is the second finger portion and the third finger portion when viewed from an out-of-plane direction perpendicular to the first plane. An overall movement mechanism for moving the entire first finger part so as to pass through an area sandwiched between the first finger part, the second finger part, and the third finger part in the out-of-plane direction. The fourth finger portion disposed in a position and formed in a rod shape, and the first finger portion and the fourth finger portion approach and separate in the in-plane direction. The first finger part and the fourth finger part to approach and separate in the out-of-plane direction with respect to the third relative movement mechanism for relative movement and the second finger part and the third finger part. And a clamping part relative movement mechanism for relative movement.

The ninth aspect is a method for manufacturing a wire harness, wherein (a) the first finger portion and the second finger portion approach each other in the in-plane direction of the first plane by the first relative movement mechanism; A first clamping step of sandwiching one electric wire group; (b) a first binding step of binding the first electric wire group with a binding member after the first clamping step; and (c) a second relative movement mechanism. A second clamping step in which the first finger portion and the third finger portion approach in the in-plane direction and sandwich the second wire group; and (d) the second wire group after the second clamping step. A second bundling step of bundling with a bundling member; and (e) after the first bundling step and the second bundling step, the whole moving mechanism is configured such that one end of the first finger portion is the second finger portion and the second bundling step. Move the whole of the first finger part so as to pass through the region sandwiched between the three finger parts, the first finger part between the first electric wire group and the second electric wire group And (f) after the extraction step, the third relative movement mechanism causes the fourth finger portion and the fifth finger portion to approach in the in-plane direction, whereby the first electric wire group and the first electric wire group In a two-wire group, a third clamping step of clamping a position away from the position where the second finger part and the third finger part are clamped in an out-of-plane direction perpendicular to the first plane, and (g) a clamping part The moving mechanism is configured such that the fourth finger portion and the fifth finger portion in a state where the first electric wire group and the second electric wire group are held in the third holding step, the second finger portion and the third finger Relative to the portion, in the out-of-plane direction, and handling the first wire group and the second wire group, and (h) in the wire handling step, the first wire group and the wire A portion of the second electric wire group sandwiched between the second finger portion and the third finger portion; and the fourth finger. And an intermediate portion between the portion which is sandwiched the fifth finger, and a third binding step of binding at the binding member.

According to the gripping structure of the first aspect, the first linear object group is concentrated and held between the first finger part and the second finger part, and between the first finger part and the third finger part. A second group of linear objects can be collected and held. That is, each of the first linear object group and the second linear object group can be bundled by the three fingers. Then, by moving the entire first finger part between the second finger part and the third finger part, the first finger part can be extracted from between the first linear object group and the second linear object group. it can. Thereby, the first linear object group and the second linear object group can be bound together. Further, the fourth finger portion and the fifth finger portion are sandwiched between the first finger wire group and the second finger wire group, and the fourth finger portion and the fifth finger portion are connected to the second finger portion and the third finger. The first linear object group and the second linear object group can be handled by relative movement in the direction away from the part. By this, since the deflection of the first linear object group and the second linear object group can be removed, when the treated portion of the first linear object group and the second linear object group is bound by the binding member, It can suppress that the dimensional error between linear objects generate | occur | produces.

According to the gripping structure of the second aspect, each of the second finger part and the third finger part can approach or separate from the first finger part by rotating. Accordingly, the electric wire group can be held between the first finger portion and the second finger portion and between the first finger portion and the third finger portion.

According to the gripping structure of the third aspect, the electric wire group can be sandwiched and held by the second finger portion by bringing the second finger portion closer to the first finger portion.

According to the gripping structure of the fourth aspect, by holding the second finger part close to the first finger part, the electric wire group is sandwiched between the intermediate part of the first finger part and the intermediate part of the second finger part. Can do.

According to the gripping structure of the fifth aspect, the entire first finger portion can be moved while reducing the pressing force applied to the first linear object group and the second linear object group.

According to the gripping structure of the sixth aspect, the entire first finger portion can be moved along the extending direction of the rack provided on the first finger portion by rotating the gear.

According to the wire harness manufacturing apparatus of the seventh aspect, the first linear object group is gathered and held between the first finger part and the second finger part, and the first finger part and the third finger part A second group of linear objects can be gathered between them. That is, each of the first linear object group and the second linear object group can be bundled by the three fingers. Then, by moving the entire first finger part between the second finger part and the third finger part, the first finger part can be extracted from between the first linear object group and the second linear object group. it can. Thereby, the first linear object group and the second linear object group can be bound together. Further, the fourth finger portion and the fifth finger portion are sandwiched between the first finger wire group and the second finger wire group, and the fourth finger portion and the fifth finger portion are connected to the second finger portion and the third finger. The first linear object group and the second linear object group can be handled by relative movement in the direction away from the part. Thereby, the deflection of the first linear object group and the second linear object group can be removed. Therefore, when the part by which the 1st electric wire group and the 2nd electric wire group were handled was bound by the binding member by the binding mechanism, it can suppress that the dimensional error between electric wires generate | occur | produces.

According to the gripping structure of the eighth aspect, the first linear object group is collected and held between the first finger part and the second finger part, and between the first finger part and the third finger part. A second group of linear objects can be collected and held. That is, each of the first linear object group and the second linear object group can be bundled by the three fingers. Then, by moving the entire first finger part between the second finger part and the third finger part, the first finger part can be extracted from between the first linear object group and the second linear object group. it can. Thereby, the first linear object group and the second linear object group can be bound together. Further, in a state where the first linear object group and the second linear object group are sandwiched between the extracted first finger part and fourth finger part, the first finger part and the fourth finger part are The first linear object group and the second linear object group can be handled by relative movement in the direction away from the third finger part. Thereby, since the deflection of the first linear object group and the second linear object group can be removed, when the first linear object group and the second linear object group are bound by the binding member, between the linear objects Occurrence of dimensional errors can be suppressed.

According to the manufacturing method of the wire harness of the ninth aspect, the first electric wire group is concentrated and held between the first finger portion and the second finger portion, and between the first finger portion and the third finger portion. The second electric wire group can be collected and held. That is, the first electric wire group and the second electric wire group can be bundled by the three fingers. And when the whole 1st finger part moves between the 2nd finger part and the 3rd finger part, the 1st finger part can be extracted from between the 1st electric wire group and the 2nd electric wire group. Thereby, the first electric wire group and the second electric wire group can be bundled together. Further, in a state where the first electric wire group and the second electric wire group are sandwiched between the fourth finger portion and the fifth finger portion, the fourth finger portion and the fifth finger portion are separated from the second finger portion and the third finger portion. The first electric wire group and the second electric wire group can be handled by relative movement. Thereby, since the deflection of the first electric wire group and the second electric wire group can be removed, it is possible to suppress the occurrence of a dimensional error between the electric wires when the first electric wire group and the second electric wire group are bound by the binding member.

It is a schematic perspective view which shows the hand 1 of 1st Embodiment. It is a schematic plan view of the 1st finger part 10 and the whole moving mechanism 14 with which the hand 1 of 1st Embodiment is provided. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic plan view which shows the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 of 1st Embodiment. It is a schematic perspective view which shows the hand 1 of 1st Embodiment. It is a schematic perspective view which shows the hand 1 of 1st Embodiment. It is a schematic side view of the wire harness manufacturing apparatus 3 containing the hand 1 and the bundling mechanism 2 of 1st Embodiment. It is a schematic side view which shows the hand 1a of 2nd Embodiment. It is a schematic side view which shows the hand 1a of 2nd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the component described in this embodiment is an illustration to the last, and is not a thing of the meaning which limits the scope of the present invention only to them. In the drawings, the size and number of each part may be exaggerated or simplified as necessary for easy understanding.

<1. First Embodiment>
FIG. 1 is a schematic perspective view showing the hand 1 of the first embodiment. FIG. 2 is a schematic plan view of the first finger unit 10 and the entire moving mechanism 14 included in the hand 1 of the first embodiment. In FIG. 2, a partial configuration of the entire moving mechanism 14 is shown in a sectional view.

The hand 1 has a gripping structure suitable for collecting a plurality of linear objects and forming a branch. In the following description, the case where the object gripped by the hand 1 is an electric wire or a plurality of electric wires (hereinafter referred to as “electric wire group”) will be described, but the object is not limited to this.

The hand 1 includes a first finger part 10, a second finger part 20, a third finger part 30, a fourth finger part 40, and a fifth finger part 50. The hand 1 includes a first finger drive mechanism 12, an entire movement mechanism 14, a second finger drive mechanism 22, a third finger drive mechanism 32, a fourth finger drive mechanism 42, and a fifth finger drive mechanism 52. The clamping unit moving mechanism 62 and the control unit 70 are provided.

Each finger 10, 20, 30, 40, 50 is made of a resin material (for example, a thermoplastic resin such as a polyamide resin or a thermosetting resin such as an epoxy resin or a silicon resin) in order to reduce the weight. However, it is not limited to resin materials.

Each finger part 10, 20, 30, 40, 50 is a rod-like member extending along an in-plane direction D1 parallel to the plane P1. The “in-plane direction D1” does not mean a specific direction parallel to the plane P1, but refers to an arbitrary direction parallel to the plane P1. Each finger part 10, 20, 30, 40, 50 is arrange | positioned in a different position regarding the out-of-plane direction D2 orthogonal to the plane P1. Here, the third finger part 30, the second finger part 20, the first finger part 10, the fifth finger part 50, and the fourth finger part 40 are arranged in this order from the negative side to the positive side in the out-of-plane direction D2. Has been. However, the arrangement order of the first finger part 10, the second finger part 20, and the third finger part 30 may be arbitrarily changed. Moreover, you may change the arrangement order of the 4th finger part 40 and the 5th finger part 50 in these. However, the 4th finger part 40 and the 5th finger part 50 are arrange | positioned in the position spaced apart from the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 in the out-of-plane direction D2.

In addition, you may make the position (height position) of the out-of-plane direction D2 of each of the 1st finger part 10, the 2nd finger part 20, and the 3rd finger part 30 correspond. In this case, the axes Q1, Q2, and Q3 may be arranged so that the positions in the in-plane direction D1 are different and the positions in the out-of-plane direction D2 are matched. Moreover, you may make the position of the out-of-plane direction of each of the 4th finger part 40 and the 5th finger part 50 correspond. In this case, the axes Q4 and Q5 may be arranged by shifting the position in the in-plane direction D1 and matching the position in the out-of-plane direction D2.

The first finger portion 10 extends in parallel with the plane P1, and is formed in an arc shape bent in a direction away from the second finger portion 20 in the in-plane direction D1. The second finger portion 20 extends in parallel with the plane P <b> 1 and is formed in an arc shape bent in a direction away from the first finger portion 10. The third finger portion 30 extends in parallel with the plane P1, and is formed in an arc shape that is bent in a direction away from the first finger portion 10 in the in-plane direction D1.

Each of the first finger unit 10, the second finger unit 20, and the third finger unit 30 is rotatably supported by the first finger unit driving mechanism 12, the second finger unit driving mechanism 22, and the third finger unit driving mechanism 32. ing.

The first finger part drive mechanism 12 supports the base end part of the first finger part 10, and a motor 121 (rotation drive part) that rotates the first finger part 10 about an axis Q1 parallel to the out-of-plane direction D2. ). The motor 121 rotates the first finger part 10 forward and backward around the axis Q1. As a result, the first finger 10 moves in the in-plane direction D1, and approaches and separates from the second finger 20 in the in-plane direction D1.

Here, in the present application, “moving the moving body in a specific direction” means that the moving body is moved in parallel to the specific direction, and the moving body is moved in a direction parallel to the specific direction and perpendicular to the specific direction. It is also included to move in the direction of synthesis with the correct direction. For example, in this example, the first finger unit drive mechanism 12 moves the first finger unit 10 in parallel with the in-plane direction D1 to approach or separate from the second finger unit 20 in the in-plane direction D1. Yes. However, the first finger unit drive mechanism 12 approaches the second finger unit 20 in the in-plane direction D1 by moving the first finger unit 10 in the synthesis direction of the in-plane direction D1 and the out-of-plane direction D2. It may be separated.

The second finger part drive mechanism 22 includes an axis Q2 extending in parallel to the out-of-plane direction D2 and a motor 221 (rotation drive part) that rotates the axis Q2. The axis Q2 is fixed to the proximal end portion of the second finger portion 20. When the motor 221 rotates the axis Q2, the second finger portion 20 rotates about the axis Q2. As a result, the intermediate portion of the second finger portion 20 approaches and separates from the first finger portion 10 in the in-plane direction D1.

The axis Q1 and the motor 121 of the first finger drive mechanism 12 and the axis Q2 and the motor 221 of the second finger drive mechanism 22 approach and separate the first finger 10 from the second finger 20. It is an example of the 1st relative movement mechanism made to move relatively. Note that it is not essential for the hand 1 to include both the first finger portion drive mechanism 12 and the second finger portion drive mechanism 22 as the first relative movement mechanism, and either one may be omitted.

The third finger part drive mechanism 32 includes an axis Q3 extending in parallel with the out-of-plane direction D2 and a motor 321 for rotating the axis Q3. The axis Q3 is fixed to the proximal end portion of the third finger portion 30. As the motor 321 rotates the axis Q3, the third finger 30 rotates about the axis Q3. As a result, the intermediate part of the third finger part 30 approaches and separates from the first finger part 10.

In this example, the axes Q1, Q2, and Q3 are arranged on the coaxial line along the out-of-plane direction D2, but this is not essential. For example, each of the axes Q1, Q2, and Q3 may be arranged at different positions with respect to the direction parallel to the plane P1.

The first finger part drive mechanism 12 including the axis Q1 and the motor 121 and the third finger part drive mechanism 32 including the axis Q3 and the motor 321 move the first finger part 10 and the third finger part 30 in the in-plane direction D1. It is an example of the 2nd relative movement mechanism which carries out relative movement so that it may approach and space apart. In addition, it is not essential for the hand 1 to include both the first finger part drive mechanism 12 and the third finger part drive mechanism 32 as the second relative movement mechanism, and either one may be omitted.

<Overall moving mechanism 14>
As shown in FIG. 2, the entire moving mechanism 14 moves the entire first finger unit 10. When viewed along the out-of-plane direction D <b> 2, the entire moving mechanism 14 passes through a region where the distal end portion 10 </ b> E (one end) of the first finger portion 10 is sandwiched between the second finger portion 20 and the third finger portion 30. The entire first finger part 10 is moved. In this application, "the whole object moves" means that all points on the object move, and it is distinguished from rotational movement that only rotates with an axis passing through one point on the object as a stationary rotation axis. Is done. The out-of-plane direction D2 corresponds to an orthogonal direction orthogonal to the direction in which the first finger portion 10 and the third finger portion 30 rotate.

The whole moving mechanism 14 includes a gear portion 141, a motor 142, and a guide portion 143. The gear portion 141 is a pinion combined with a saw-like groove 11 (rack) formed on the side surface of the first finger portion 10. The motor 142 is a drive unit that rotates the gear unit 141 forward and backward about an axis parallel to the out-of-plane direction D2. The guide portion 143 is formed with a through hole 143H having a size that allows the first finger portion 10 to pass through. The inner peripheral surface of the through hole 143 </ b> H is in contact with the outer peripheral surface of the first finger portion 10, thereby defining the moving direction of the first finger portion 10. The gear portion 141 is fixed inside the through hole 143H.

As the gear portion 141 rotates, the gear portion 141 relatively moves on the groove 11. Then, as shown in FIG. 2, the entire first finger portion 10 moves through the through hole 143 </ b> H. At this time, as shown in FIG. 2, the distal end portion 10 </ b> E of the first finger portion 10 moves in a direction passing through between the second finger portion 20 and the third finger portion 30. In this example, the groove 11 extends in an arc shape that matches the shape of the first finger portion 10. For this reason, the distal end portion 10E passes through the arcuate path T1 that matches the shape of the first finger portion 10, and finally moves into the through hole 143H.

It should be noted that it is not essential that the shape of the path T1 of the distal end portion 10E that is moved by the entire moving mechanism 14 matches the shape of the first finger portion 10 (here, arc shape). For example, it is conceivable that the path T1 of the distal end portion 10E is made linear by extending the groove 11 in a straight line instead of an arc. Moreover, it is not essential to employ the entire moving mechanism 14 that is a rack and pinion gear as the entire moving mechanism. For example, a linear drive mechanism including a motor and a ball screw, a fluid cylinder, a linear motor, and the like may be employed.

The fourth finger part 40 and the fifth finger part 50 extend in parallel with the plane P1. An intermediate portion between the fourth finger portion 40 and the fifth finger portion 50 is formed in an arc shape that bends in a direction away from each other with respect to the in-plane direction D1.

The fourth finger part drive mechanism 42 supports the base part of the fourth finger part 40, and rotates the fourth finger part 40 about an axis Q4 parallel to the out-of-plane direction D2 (rotation drive part). It has. The motor 421 rotates the fourth finger 40 forward and backward around the axis Q4. As a result, the fourth finger portion 40 rotates in the in-plane direction D <b> 1 and approaches and separates from the fifth finger portion 50.

The fifth finger part drive mechanism 52 supports the base part of the fifth finger part 50, and a motor 521 (rotation drive part) that rotates the fifth finger part 50 about a shaft Q5 parallel to the out-of-plane direction D2. It has. 521 rotates the fifth finger portion 50 forward and backward around the axis Q5. As a result, the fifth finger portion 50 rotates in the in-plane direction D <b> 1 and approaches and separates from the fourth finger portion 40.

The fourth finger drive mechanism 42 including the shaft Q4 and the motor 421, and the fifth finger drive mechanism 52 including the shaft Q5 and the motor 521, move the fourth finger 40 and the fifth finger 50 in the in-plane direction. It is an example of the 3rd relative movement mechanism made to move relatively so that it may approach and leave | separate to D1. Note that it is not essential for the hand 1 to include both the fourth finger portion drive mechanism 42 and the fifth finger portion drive mechanism 52 as the third relative movement mechanism, and either one may be omitted.

Here, the axes Q4 and Q5 are arranged on a coaxial straight line along the out-of-plane direction D2, but this is not essential. For example, the axes Q4 and Q5 may be arranged at different positions with respect to the in-plane direction D1. Here, the axes Q4 and Q5 are arranged on a straight line coaxial with the axes Q1 to Q3, but this is not essential.

The clamping part moving mechanism 62 moves the fourth finger part 40 and the fifth finger part 50 relative to the second finger part 20 and the third finger part 30 so as to approach and separate in the out-of-plane direction D2. Here, the clamping part moving mechanism 62 includes a motor 621, and the fourth finger part 40 and the fifth finger part 50 move in parallel with the out-of-plane direction D2 by receiving the driving force of the motor 621. Thereby, the fourth finger part 40 and the fifth finger part 50 approach and separate from the second finger part 20 and the third finger part 30. The clamping part moving mechanism 62 is an example of a clamping part relative movement mechanism.

The control unit 70 has the same configuration as a general computer. That is, the control unit 70 stores a CPU that performs various arithmetic processes, a ROM that is a read-only memory that stores basic programs, a RAM that is a readable and writable memory that stores various information, and a control application or data. A storage unit is provided.

The control unit 70 controls the operations of the first finger unit driving mechanism 12, the entire moving mechanism 14, the second finger unit driving mechanism 22, and the third finger unit driving mechanism 32, so that the first finger unit 10, the second finger unit 10, The movement of the part 20 and the third finger part 30 is controlled. Further, the control unit 70 controls the movement of the fourth finger unit 40 and the fifth finger unit 50 by controlling the operations of the fourth finger unit driving mechanism 42, the fifth finger unit driving mechanism 52, and the holding unit moving mechanism 62. Control.

As will be described later, the control unit 70 controls the operation of the second finger unit drive mechanism 22 and the third finger unit drive mechanism 32 to cause the second finger unit 20 and the third finger unit 30 to hold the electric wire group. . Further, by controlling the operations of the fourth finger part drive mechanism 42 and the fifth finger part drive mechanism 52, the electric wire group is held between the fourth finger part 40 and the fifth finger part 50. In addition, the control unit 70 controls the operation of the holding unit moving mechanism 62 so that the fourth finger unit 40 and the fifth finger unit 50 holding the wire group are connected to the second finger holding the wire group. Separated from the part 20 and the third finger part 30 in the out-of-plane direction D2. As described above, the control unit 70 handles the electric wire group by separating the fourth finger part 40 and the fifth finger part 50 from the second finger part 20 and the third finger part 30. As a result, tension is applied to the portion of the wire group between the portion gripped by the second finger portion 20 and the third finger portion 30 and the portion gripped by the fourth finger portion 40 and the fifth finger portion 50. Therefore, the deflection of the electric wire can be removed.

<Wire harness manufacturing method>
Next, a method for manufacturing a wire harness will be described with reference to FIGS. 3 to 8 are schematic plan views showing the first finger part 10, the second finger part 20, and the third finger part 30 of the first embodiment. 9 and 10 are schematic perspective views showing the hand 1 of the first embodiment. FIG. 11 is a schematic side view of the wire harness manufacturing apparatus 3 including the hand 1 and the bundling mechanism 2 of the first embodiment.

The wire harness includes a plurality of electric wires for supplying power or communicating signals, and is used as a wiring material for connecting electrical devices in a vehicle such as an automobile. Here, out of a plurality of steps included in the manufacture of the wire harness, the step of collecting the first electric wire group 91 and the second electric wire group 92 shown in FIG. 1 using the hand 1, and further using the hand 1. A process of performing branch formation will be described. However, the use of the hand 1 is not limited to the process of concentration and branch formation in the production of a wire harness.

The first electric wire group 91 is a linear object group composed of a plurality of electric wires (flexible linear objects) extending in the same direction. The 1st electric wire group 91 shall be comprised with the some electric wire which should be bundled into one. The first electric wire group 91 is sandwiched between intermediate portions of the first finger portion 10 and the second finger portion 20 that move in a direction approaching each other, and is held in a bundled state.

The second electric wire group 92 is a linear object group composed of a plurality of electric wires (flexible linear objects) extending in the same direction. The second electric wire group 92 is composed of a plurality of electric wires to be bundled together. In addition, the second electric wire group 92 is bundled together with the first electric wire group 91 so as to branch to a different path from the first electric wire group 91.

As shown in FIG. 3, at least the binding target portion of the unbound first electric wire group 91 and at least the binding target portion of the unbound second electric wire group 92 are arranged to extend in the out-of-plane direction D2 ( Preparation step). At this time, the first electric wire group 91 is gathered so as to be sandwiched between the first finger portion 10 and the second finger portion 20, and the second electric wire group 92 is formed between the first finger portion 10 and the third finger portion 30. It is assumed that they are gathered together so as to be sandwiched between them. Furthermore, the first electric wire group 91 and the second electric wire group 92 are separated to such an extent that the first finger portion 10 can enter. That is, the gap between the first electric wire group 91 and the binding target portion of the second electric wire group 92 is larger than the gap into which the first finger portion 10 can enter, that is, the thickness of the first finger portion 10. A gap is provided.

Subsequently, as shown in FIG. 4, the first wire group 91 is placed between the first finger portion 10 and the second finger portion 20. Specifically, the hand 1 may be moved toward the first electric wire group 91 by a hand moving mechanism (not shown). Alternatively, the first wire group 91 may be brought close to the hand 1.

Subsequently, as shown in FIG. 5, the first finger portion 10 and the second finger portion 20 are rotated and moved in directions approaching each other, thereby holding the first electric wire group 91 (first clamping step). Thereby, the first electric wire group 91 is collected. At this time, each of the first finger part 10 and the second finger part 20 sandwiches and holds the first electric wire group 91 between inner portions of the arc-shaped intermediate part that protrudes outward. For this reason, it becomes easy to gather the 1st electric wire group 91 in one place, and it can reduce that each electric wire is unevenly distributed in the 1st electric wire group 91 at the time of collecting.

Subsequently, as shown in FIG. 5, the first electric wire group 91 sandwiched between the first finger portion 10 and the second finger portion 20 is bound by a binding member 81 such as an adhesive tape (vinyl tape) or a binding band. (First binding step). Binding may be performed manually or using a binding device such as an automatic tape winding device. The binding position of the binding member 81 is a negative position in the out-of-plane direction D2 with respect to the second finger portion 20, a positive position in the out-of-plane direction D2 with respect to the first finger portion 10, or a first position in the out-of-plane direction D2. Any of the positions between the first finger part 10 and the second finger part 20 may be used.

Subsequently, as shown in FIG. 6, the second electric wire group 92 is brought close to the first finger portion 10 by the third finger portion 30 rotating and moving in a direction approaching the first finger portion 10. Thereby, the 1st finger part 10 and the 3rd finger part 30 pinch the 2nd electric wire group 92 (2nd clamping process). And the 2nd electric wire group 92 is bundled. For convenience of illustration, in FIG. 6, a portion of the second electric wire group 92 with which the third finger portion 30 abuts is schematically illustrated.

Subsequently, as shown in FIG. 6, the second wire group 92 sandwiched between the first finger portion 10 and the third finger portion 30 is bound by the binding member 82 (second binding step). Binding may be performed manually or using a binding device such as an automatic tape winding device. The binding position may be, for example, binding at a position on the negative side in the out-of-plane direction D2 with respect to the third finger portion 30 (a position opposite to the second finger portion 20 side when viewed from the third finger portion 30).

Subsequently, as shown in FIG. 7, when the gear portion 141 of the entire moving mechanism 14 rotates, the entire first finger portion 10 moves while being guided by the through hole 143H. Further, when viewed from the out-of-plane direction D2, the tip portion 10E of the first finger portion 10 moves so as to pass through a region sandwiched between the second finger portion 20 and the third finger portion 30 facing each other. Thereby, the 1st finger part 10 is extracted from between the 1st electric wire group 91 and the 2nd electric wire group 92 (extraction process). At this time, as shown in FIG. 7, the entire first finger portion 10 moves along an arcuate path T <b> 1 that matches the shape of the first finger portion 10. For this reason, the 1st finger | toe part 10 can be pulled out reasonably, suppressing that pressing force is added to the 1st electric wire group 91 and the 2nd electric wire group 92. FIG.

Subsequently, as shown in FIG. 8, when the third finger portion 30 approaches the second finger portion 20, the first electric wire group 91 and the second electric wire group 92 become the second finger portion 20 and the third finger portion. 30. As a result, the first electric wire group 91 and the second electric wire group 92 that are bound by the binding members 81 and 82 are collected by the second finger portion 20 and the third finger portion 30.

Subsequently, as shown in FIG. 9, the fourth finger portion 40 and the fifth finger portion 50 disposed at the position L1 in the out-of-plane direction D2 sandwich the first electric wire group 91 and the second electric wire group 92 (the first electric wire group 92). Three clamping process). Then, as shown in FIG. 10, the fourth finger part 40 and the fifth finger part 50 holding the first electric wire group 91 and the second electric wire group 92 are separated from the second finger part 20 and the third finger part 30. It is isolated in the out-of-plane direction D2 and moved to the position L2 in the out-of-plane direction D2. Thereby, the part between the position L1 and the position L2 of the 1st electric wire group 91 and the 2nd electric wire group 92 is handled (electric wire handling process).

In the wire handling process, the fourth finger portion 40 and the fifth finger portion 50 sandwich the first wire group 91 and the second wire group 92 with a weaker force than the second finger portion 20 and the third finger portion 30. It is desirable. Accordingly, it is possible to prevent the first electric wire group 91 and the second electric wire group 92 from being extended or twisted more than necessary due to the clamping force of the fourth finger portion 40 and the fifth finger portion 50.

Each of the fourth finger part 40 and the fifth finger part 50 sandwiches and holds the first electric wire group 91 and the second electric wire group 92 between the inner portions of the arc-shaped intermediate part that protrudes outward. For this reason, since it can clamp comparatively uniformly regarding the circumferential direction of the 1st electric wire group 91 and the 2nd electric wire group 92, tension | tensile_strength can be provided comparatively uniformly with respect to each electric wire.

Subsequently, as shown in FIG. 11, the first electric wire group 91 and the second electric wire group 92 handled in the electric wire handling process are bundled by the bundling member 83 (third bundling process). The binding member 83 is an adhesive tape that is wound around the outer peripheral surfaces of the first electric wire group 91 and the second electric wire group 92 by the binding mechanism 2.

The binding mechanism 2 includes a tape winding body around which an adhesive tape is wound, and a rotation mechanism that rotates the tape winding body around a linear binding object. With the tip of the adhesive tape fed out from the tape winding body attached to the outer periphery of the object to be bound (here, the first electric wire group 91 and the second electric wire group 92), the rotating mechanism is the tape winding body. Rotate around the binding object. As a result, while the adhesive tape is being unwound from the tape winding body, the unfolded adhesive tape is wound around the outer periphery of the object to be bound.

In the first electric wire group 91 and the second electric wire group 92, the position where the binding member 83 is attached (the binding position) has moved to the position sandwiched between the second finger portion 20 and the third finger portion 30 and the position L2. The intermediate portion 900 is located between the fourth finger portion 40 and the fifth finger portion 50.

As shown in FIG. 11, the first finger part 10, the second finger part 20, and the third finger part 30 are supported by the first support part 4a, and the fourth finger part 40 and the fifth finger part 50 are It is good to support with the 2nd support part 4b different from a support part. And the 1st support part 4a and the 2nd support part 4b are good to form a clearance gap in the out-of-plane direction D2. As described above, since the binding mechanism 2 rotates the adhesive tape around the binding target object, it is necessary to provide a space for allowing the rotation around the binding target object. By providing an interval in the out-of-plane direction D2 between the first support portion 4a and the second support portion 4b, a space can be provided around the binding site of the first electric wire group 91 and the second electric wire group 92. Therefore, the bundling mechanism 2 can perform the tape winding without any trouble.

When supporting the 4th finger part 40 and the 5th finger part 50 by the 2nd support part 4b, it is good for the clamping part moving mechanism 62 to move the 2nd support part 4b to the out-of-plane direction D2.

In addition, it is not essential to bind the first electric wire group 91 and the second electric wire group 92 using the bundling mechanism 2, and the operator may bind the bundling member 83 manually.

As described above, according to the hand 1 according to the present embodiment, the first electric wire group 91 and the second finger portion 20, and the first finger portion 10 and the third finger portion 30, respectively, Each of the second electric wire groups 92 can be individually collected. Further, the tip portion 10E of the first finger portion 10 is moved between the second finger portion 20 and the third finger portion 30 so as to be sandwiched between the first electric wire group 91 and the second electric wire group 92. The first finger 10 can be extracted. Thereby, the 1st electric wire group 91 and the 2nd electric wire group 92 can be bundled, without the 1st finger part 10 becoming obstruction. Therefore, the wire harness which has a branch can be manufactured favorably.

Further, according to the hand 1, the first electric wire group 91 and the second electric wire group 92 can be bound by the binding members 81 and 82, and these electric wire groups can be bound by the binding member 83. Thereby, the wire harness which the 1st electric wire group 91 and the 2nd electric wire group 92 branch as a branch line can be manufactured by using the part (bundling position) to which the binding member 83 was attached as a branch point.

Further, according to the hand 1, after the first electric wire group 91 and the second electric wire group 92 are handled by the fourth finger portion 40 and the fifth finger portion 50, these electric wire groups can be bound by the binding member 83. By handling the first electric wire group 91 and the second electric wire group 92, the deflection of the electric wires can be removed by tension. Thereby, when the first electric wire group 91 and the second electric wire group 92 are bound by the binding member 83, it is possible to suppress the occurrence of a dimensional error between the electric wires.

In addition, you may make it remove the bending of an electric wire by performing an electric wire handling process not only once but repeatedly several times. In this case, the fourth finger part 40 and the fifth finger part 50 holding the first electric wire group 91 and the second electric wire group 92 at the position L2 are held between the fourth finger part 40 and the fifth finger part 50. It is good to cancel | release, return to the position L1, and to perform an electric wire handling process again.

In the present embodiment, the clamping part moving mechanism 62 moves the fourth finger part 40 and the fifth finger part 50 in the out-of-plane direction D2, but moves the second finger part 20 and the third finger part 30 in the out-of-plane direction. You may move to D2. That is, the sandwiching portion moving mechanism 62 moves the second finger portion 20 and the third finger portion 30 sandwiching the first wire group 91 and the second wire group 92 into the fourth finger portion 40 and the fourth finger portion 40 in the out-of-plane direction D2. You may make it move so that it may separate from the five finger | toe part 50. FIG. Also in this case, the first electric wire group 91 and the second electric wire group 92 are held between the second finger portion 20 and the third finger portion 30, and the fourth finger portion 40 and the fifth finger portion 50. Since tension can be applied to the intermediate portion between the two parts, the slack of the electric wire can be removed.

<2. Second Embodiment>
Next, a second embodiment will be described. In the following description, elements having the same functions as the elements already described may be denoted by the same reference numerals or symbols added with alphabetic characters, and detailed description may be omitted.

12 and 13 are schematic side views showing the hand 1a of the second embodiment. The hand 1a is different from the hand 1 of the first embodiment in that it does not include the fifth finger part 50. The hand 1a moves the first finger part 10 and the fourth finger part 40 relative to the second finger part 20 and the third finger part 30 so as to approach or separate from each other. Moreover, the clamping part moving mechanism 62a of this embodiment approaches or separates the first finger part 10 and the fourth finger part 40 in the out-of-plane direction D2 with respect to the second finger part 20 and the third finger part 30. Move relative.

In the case of the hand 1a, after the first finger 10 is pulled out from between the first electric wire group 91 and the second electric wire group 92 in the extraction step, the extracted first finger 10 and the fourth finger 40 The first electric wire group 91 and the second electric wire group 92 are sandwiched between them. This clamping process corresponds to the third clamping process described above.

Subsequently, as illustrated in FIG. 13, the clamping unit moving mechanism 62 a is configured to connect the first finger unit 10 and the fourth finger unit 40 that clamp the first wire group 91 and the second wire group 92, the second finger unit 20, and the second finger unit 20. The third finger portion 30 is moved relative to the third finger portion 30 so as to be separated in the out-of-plane direction D2. Thus, the first electric wire group 91 and the second electric wire group 92 are handled (electric wire handling process). And after an electric wire handling process, in the 1st electric wire group 91 and the 2nd electric wire group 92, the part pinched by the 2nd finger part 20 and the 3rd finger part 30, and the 1st finger part 10 and the 4th finger part 40 The intermediate portion 900 between the portion sandwiched between the two is bound by the binding member (third binding step).

The hand 1a of the present embodiment has a simplified configuration because the fifth finger 50 is omitted as compared with the hand 1 of the first embodiment. Thus, the apparatus cost can be reduced by simplifying the configuration.

<3. Modification>
Although the embodiment has been described above, the present invention is not limited to the above, and various modifications are possible.

For example, in the above embodiment, it is not essential that each of the first finger part 10, the second finger part 20, and the third finger part 30 is formed in an arc shape. For example, a part or all of the first finger part 10, the second finger part 20, and the third finger part 30 may be a rod-like member that extends substantially linearly. In addition, a joint structure may be provided in the intermediate portion so that a portion on the distal end side with respect to the joint portion can be bent with respect to a portion on the proximal end side with respect to the joint, and the bending amount is controlled. The unit 70 may be electrically controlled. The same applies to the fourth finger part 40 and the fifth finger part 50.

In the above-described embodiment, the second finger portion 20 and the third finger portion 30 are configured to approach or separate from the first finger portion 10 by rotational movement. You may make it isolate | separate. The same applies to the fourth finger part 40 and the fifth finger part 50.

Although the present invention has been described in detail, 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. In addition, the configurations described in the above embodiments and modifications can be appropriately combined or omitted as long as they do not contradict each other.

1, 1a Hand 2 Bundling mechanism 3 Wire harness manufacturing apparatus 10 First finger 10E Tip (one end)
11 Groove (rack)
12 First finger drive mechanism (first relative movement mechanism)
DESCRIPTION OF SYMBOLS 14 Whole moving mechanism 141 Gear part 142 Motor 143 Guide part 143H Through-hole 20 Second finger part 22 Second finger part drive mechanism (first relative movement mechanism)
30 Third finger 32 Second finger drive mechanism (second relative movement mechanism)
40 Fourth finger part 42 Fourth finger part drive mechanism (third relative movement mechanism)
50 Fifth finger part 52 Fifth finger part drive mechanism (third relative movement mechanism)
62, 62a Holding part moving mechanism 70 Control part 81, 82, 83 Bundling member 91 1st electric wire group (1st linear object group)
92 Second wire group (second wire group)
900 Intermediate part D1 In-plane direction D2 Out-of-plane direction P1 plane (first plane)

Claims (9)

A gripping structure for gripping a plurality of flexible linear objects,
A first finger, a second finger, and a third finger formed in a rod shape;
A first relative movement mechanism for relatively moving the first finger part and the second finger part so as to approach and separate in an in-plane direction parallel to the first plane;
A second relative movement mechanism for relatively moving the first finger part and the third finger part so as to approach and separate in the in-plane direction;
When viewed from the out-of-plane direction perpendicular to the first plane, the entire first finger part is so arranged that one end of the first finger part passes through a region sandwiched between the second finger part and the third finger part. An overall movement mechanism to move,
A fourth finger portion and a fifth finger portion, which are disposed in positions away from the second finger portion and the third finger portion in the out-of-plane direction, and are formed in a rod shape;
A third relative movement mechanism for relatively moving the fourth finger part and the fifth finger part so as to approach and separate in the in-plane direction;
A sandwiching part relative movement mechanism for moving the fourth finger part and the fifth finger part relative to the second finger part and the third finger part so as to approach and separate in the out-of-plane direction;
A gripping structure. The gripping structure according to claim 1,
Each of the first relative movement mechanism and the second relative movement mechanism includes a rotation drive unit that rotates each of the second finger part and the third finger part about an axis that intersects the in-plane direction. A gripping structure. The gripping structure according to claim 1 or claim 2,
The gripping structure, wherein an intermediate part of the second finger part has a shape bent in a direction away from the first finger part. The gripping structure according to claim 3,
The gripping structure, wherein an intermediate part of the first finger part has a shape bent in a direction away from the second finger part. The holding structure according to any one of claims 1 to 4,
The overall movement mechanism is a gripping structure that moves the first finger along a path that matches the shape of the first finger. The gripping structure according to any one of claims 1 to 5,
The overall movement mechanism is
A gear portion combined with a rack formed on the first finger portion;
A rotation drive unit that rotates the gear unit around a predetermined axis as a rotation center;
A gripping structure. A wire harness manufacturing apparatus,
The holding structure according to any one of claims 1 to 6,
By controlling the operation of the sandwiching portion relative movement mechanism, each of the second finger portion and the third finger portion, and the fourth finger portion and the fifth finger portion sandwiches a plurality of linear objects. In a state, the control unit that handles the plurality of linear objects by separating the fourth finger part and the fifth finger part from the second finger part and the third finger part,
The plurality of linear objects handled by the second finger portion and the third finger portion and the fourth finger portion and the fifth finger portion are sandwiched between the second finger portion and the third finger portion. A binding mechanism that binds the intermediate portion between the portion that is and the portion that is sandwiched between the fourth finger portion and the fifth finger portion with a binding member;
A wire harness manufacturing apparatus comprising: A gripping structure for gripping a plurality of flexible linear objects,
A first finger, a second finger, and a third finger formed in a rod shape;
A first relative movement mechanism for relatively moving the first finger part and the second finger part so as to approach and separate in an in-plane direction parallel to the first plane;
A second relative movement mechanism for relatively moving the first finger part and the third finger part so as to approach and separate in the in-plane direction;
When viewed from the out-of-plane direction perpendicular to the first plane, the entire first finger part is so arranged that one end of the first finger part passes through a region sandwiched between the second finger part and the third finger part. An overall movement mechanism to move,
A fourth finger portion disposed in a position spaced in the out-of-plane direction with respect to the first finger portion, the second finger portion and the third finger portion, and formed in a rod shape;
A third relative movement mechanism for relatively moving the first finger part and the fourth finger part so as to approach and separate in the in-plane direction;
A sandwiching portion relative movement mechanism for moving the first finger portion and the fourth finger portion relative to the second finger portion and the third finger portion so as to approach and separate in the out-of-plane direction;
A gripping structure. A method of manufacturing a wire harness,
(a) by the first relative movement mechanism, the first finger portion and the second finger portion approach in the in-plane direction of the first plane, the first clamping step of sandwiching the first wire group,
(b) after the first clamping step, a first binding step of binding the first electric wire group with a binding member;
(c) by a second relative movement mechanism, the first finger part and the third finger part approach in the in-plane direction, and sandwich the second wire group, a second clamping step,
(d) after the second clamping step, a second binding step of binding the second electric wire group with a binding member;
(e) After the first bundling step and the second bundling step, the whole moving mechanism is configured so that one end of the first finger portion passes through a region sandwiched between the second finger portion and the third finger portion. An extraction step of moving the entire first finger portion and extracting the first finger portion from between the first electric wire group and the second electric wire group,
(f) After the extraction step, the third relative movement mechanism causes the fourth finger portion and the fifth finger portion to approach in the in-plane direction, thereby the first wire group and the second wire group, A third clamping step of clamping a position away from the position where the second finger part and the third finger part are clamped in an out-of-plane direction perpendicular to the first plane;
(g) The sandwiching portion moving mechanism is configured such that the fourth finger portion and the fifth finger portion in a state where the first wire group and the second wire group are sandwiched in the third sandwiching step, the second finger portion And, relative to the third finger part, move relative to the out-of-plane direction, and handle the first electric wire group and the second electric wire group,
(h) In the electric wire handling step, the first and second electric wire groups in the first electric wire group and the second electric wire group are sandwiched between the second finger portion and the third finger portion, the fourth finger portion and the fifth electric wire portion. A third bundling step of bundling the intermediate part between the parts sandwiched between the fingers with a bundling member;
The manufacturing method of a wire harness containing.

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