JP2010172169A - Automatic wiring method of electric control board - Google Patents

Abstract

The present invention provides an automatic wiring method of an electric control panel that can realize automatic wiring of an electric control panel by supplying unprocessed electric wires at both ends to an operation area of a robot.
A chassis plate 31 is set in a common operating area of a first robot 10 having an electric screwdriver and an electric wire clamp and a second robot 20 having a roller unit with an electric wire feeding and gripping function. By driving and controlling the first and second robots 10 and 20, predetermined electric wires are automatically connected between the terminals of the electrical components 32, 32.
[Selection] Figure 1

Description

  The present invention relates to an automatic wiring method for an electrical control panel that can automatically wire terminals of electrical components for the electrical control panel.

  The electrical components to be incorporated in the electrical control panel are usually assembled to the chassis plate together with the duct for wiring, and wiring is made between the terminals of each electrical component through the duct to create the necessary electrical circuit to achieve the specified functional operation. is there.

  Such electrical wiring work is conventionally performed manually. That is, there are a wide variety of electrical components, and the wiring between the terminals is usually screwed to each terminal via the crimp terminals at both ends of the wire, and the middle path of the wire is usually stored in the duct, It is technically not easy to automate these series of operations. In addition, the technique which attaches a crimp terminal etc. to the both ends of the electric wire for electric wiring of an electric control panel, and carries out a terminal process automatically has been proposed by the applicant previously (patent documents 1-3).

JP-A-8-140233 Japanese Patent Laid-Open No. 9-282957 JP 2003-31335 A

  According to such a conventional technique, both ends of the electric wiring for the electric control panel can be automatically processed, but it is not yet developed to realize the automatic wiring of the electric control panel with the electric wire. is there.

  SUMMARY OF THE INVENTION Accordingly, in view of the actual state of the prior art, an object of the present invention is to realize automatic wiring for an electric control panel by supplying electric wires that have been subjected to both-end terminal processing to the operating areas of the first and second robots. An object of the present invention is to provide an automatic wiring method for an electric control panel.

  In order to achieve the above object, according to the present invention, an electrical component and a wiring duct are attached to a chassis plate housed in an electric control panel, a first robot having an electric driver and an electric wire clamp, and an electric wire is sent out. A chassis plate is set in a common operation area with a second robot having a roller unit with a gripping function, and the starting end of the electric wire is gripped and transported by the second robot, and the duct corresponding to the connection destination of the starting end Insert the start end into the hole, connect the start end to the terminal of the electrical component to be connected by the first robot waiting outside the duct, route the electric wire along the wiring path in the duct by the second robot, Insert the end into the duct hole corresponding to the end connection destination, connect the end to the terminal of the electrical component of the connection destination by the first robot waiting outside the duct, and repeat the same procedure below. As its gist to automatically route the wires needed Te.

  When the chassis plate is set in the operation area of the first and second robots, the screw position of the terminal of each electrical component can be specified based on the image captured by the camera, and the screw position of the terminal of each electrical component. Is specified, the duct hole corresponding to the connection destination of the start end and the end of each electric wire can be specified based on the image captured by the camera.

  According to the configuration of the invention, by appropriately driving and controlling the first and second robots, the electric wires are sequentially connected between the terminals of the predetermined electric parts on the chassis plate to which the electric parts and the wiring duct are attached. Connect and automatically route. The first robot has an electric screwdriver and an electric wire clamp, grasps the starting end or the terminal end of the electric wire subjected to both end treatment, and introduces the crimping terminal at the starting end or the terminal to a predetermined terminal of a predetermined electric component. The second robot has a roller unit with a wire feeding and gripping function, grips the starting end of the wire and conveys it into a duct near the connection destination of the starting end, After connecting the start end, by moving the inside of the duct along the wiring path while sending out the electric wire, the end is transported to the duct near the connection destination of the end while storing the electric wire in the duct, and the start end or end is Insert it into the duct hole and send it out of the duct.

  However, in the first and second robots, an electric driver and an electric wire clamp are attached to the tip of a three-dimensional multi-axis robot arm, and a roller unit is attached. In addition, data such as the type of each electrical component, part number, mounting position on the chassis plate, each terminal position, screw type, etc., includes the wire code of each wire, each connection destination of the start and end, wiring route in the duct, etc. Along with the data, a database is created in advance and reflected in the drive control of each robot.

  By identifying the screw positions of the terminals of each electrical component on the chassis plate, the first robot correctly introduces the crimp terminal at the beginning or end of the electric wire into the terminal of the electrical component to which it is connected, and accurately tightens the terminal screw. The electric wire can be connected by being rotationally driven and screwed at the start or end. Since the mounting position of the electrical parts on the chassis plate usually includes an error of about several tens of millimeters, the screw position of each terminal can be set to a target accuracy of 0. Specify about 1mm. However, the imaging camera may be attached to a dedicated robot arm, but may be attached to the robot arm of the first robot, for example, by replacing it with an electric wire clamp.

  The start and end of each electric wire correctly identifies the duct hole corresponding to the respective connection destination, so that when the start or end is inserted into the duct hole, the outer sheath of the electric wire contacts the periphery of the duct hole, As a result, there is no risk of damaging the jacket of the electric wire. In addition, since the duct is used by cutting a long material into a predetermined size, the duct hole on the side wall of the duct is about 15 to 20 mm corresponding to the pitch of the duct hole with respect to the screw position of the terminal of the connection destination. The maximum error is produced. Therefore, by processing the image captured by the camera on the robot arm, the duct hole corresponding to the connection destination of the start end or end is specified, the center position is specified with a target accuracy of about 1 mm, and the start end or end of the wire is determined. Target when inserting through duct hole.

  In specifying the duct hole, it is preferable to use the data of the screw position of each connection destination terminal that is obtained with high accuracy. The camera for identifying the duct hole is preferably a camera with a wider field of view than the camera for identifying the screw position, and may be mounted on a dedicated robot arm, but it may be replaced with a camera for identifying the screw position. Thus, it may be attached to the robot arm of the first robot.

Usage state perspective view 1 is an enlarged perspective view of the main part of FIG. Head partial perspective view for the first robot Head part perspective view of the second robot Overall block diagram Database data description diagram Program flow chart (1) Program flow chart (2) Program flow chart (3) Program flow chart (4) Program flow chart (5) Schematic configuration diagram of chassis plate Example illustration of model image and captured image Main part operation explanation schematic diagram (1) Main part operation explanation schematic diagram (2)

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The automatic wiring method of the electric control panel is performed on the chassis plate 31 set in the common operation area of the first robot 10 and the second robot 20 (FIGS. 1 and 2). However, on the chassis plate 31, various electrical components 32, 32... Are attached at predetermined positions together with the wiring ducts 33, 33. The chassis plate 31 is fixed on the gantry frame 40 on which the first and second robots 10 and 20 are loaded.

  The gantry frame 40 is configured by assembling a cross member 41, 41 with legs 41a, 41a ... and a plurality of vertical members 42, 42 ... connecting the cross members 41, 41 into a frame shape. However, in FIG. 1, only one longitudinal member 42 is shown. Between the cross members 41, 41, auxiliary members 43, 43,... In the horizontal direction for fixing the chassis plate 31 are disposed. A horizontal guide rail 44 common to the first and second robots 10 and 20 is mounted on each cross member 41. On the guide rails 44 and 44, for the first robot 10, Two vertical guide rails 45 for the robot 20 are combined. Therefore, the first and second robots 10 and 20 can be moved vertically and horizontally along the guide rails 44, 44 and 45, respectively. The gantry frame 40 omits the legs 41a, 41a, etc., so that the guide rails 44, 44 are arranged vertically or the guide rails 45, 45 are vertically arranged instead of being horizontally installed as shown in FIG. You may install vertically.

  The electrical components 32, 32,... On the chassis plate 31 are arranged and fixed in a horizontal row via mounting rails 34 called DIN rails. A single electrical component 32 on the mounting rail 34 is fixed via stoppers 34a, 34a on both sides, and a group of electrical components 32, 32... Arranged in close contact with each other are collectively connected via stoppers 34a, 34a on both sides. And fixed. Each electrical component 32 can be detached from one end of the mounting rail 34 by removing one stopper 34 a, and each stopper 34 a can be screwed to an arbitrary position of the mounting rail 34. An even number of stoppers 34 a is used for each mounting rail 34.

  The wiring duct 33 is formed in a bowl shape with side walls erected on both sides of the mounting bottom plate, and vertically long duct holes 33a, 33a,... The ducts 33, 33... Can cut the long material and cut out a part of the side wall of the intersecting portion, thereby accommodating the wires connected to the terminals of the electrical components 32 and forming a wiring path. . Each duct 33 is provided with a detachable lid member (not shown). The chassis plate 31 is used by being housed in an electric control panel (not shown) when necessary wires are wired between the terminals of each electrical component 32 and completed.

  The first robot 10 is configured by mounting an electric driver 12, an electric wire clamp 13, and a camera 14 on a three-dimensional multi-axis robot arm 11 (FIGS. 1 and 3). However, the electric screwdriver 12 is provided with a cross-shaped screwdriver bit 12a facing downward, and the electric wire clamp 13 has open / close claws 13a, 13a,. Built-in lighting for lighting. Moreover, the electric wire clamp 13 and the camera 14 are interchangeable. However, FIG. 1 shows the electric driver 12 and the camera 14, and FIG. 3 shows the electric driver 12 excluding the robot arm 11 and the electric wire clamp 13. Therefore, the first robot 10 positions the electric driver 12, the electric wire clamp 13 or the camera 14 at an arbitrary height at an arbitrary position on the chassis plate 31 in the operation area, and arbitrarily with respect to the chassis plate 31. Tilt and rotate arbitrarily.

  The second robot 20 is configured by mounting a roller unit 22 having a function of feeding and gripping an electric wire W on a three-dimensional multi-axis robot arm 21 (FIGS. 1 and 4). The roller unit 22 incorporates a pair of longitudinally parallel rollers (not shown) that can change the distance between the axes in order to feed the wire W in the length direction, and the direction of the crimp terminal W1 at the tip. In order to rotate the wire in the circumferential direction of the electric wire W, a rotation mechanism is incorporated. Note that FIG. 4 shows a case where the starting end of the electric wire W subjected to both ends is supplied from the terminal processing machine side (not shown) and is stretched between the guide block Wa and the holding block Wb of the electric wire W by the roller unit 22. The state which gripped the start end of W is shown in figure. The second robot 20 can position the roller unit 22 at an arbitrary height at an arbitrary position on the chassis plate 31 in the operation area, and can arbitrarily tilt and rotate the roller unit 22 with respect to the chassis plate 31.

  An electric wire tray Wc for drawing the electric wires W onto the chassis plate 31 by the second robot 20 is attached inside the vertical guide rail 45 for the second robot 20. In addition, a fork-shaped wire guide Wd is erected at the tip of the wire tray Wc on the guide block Wa and holding block Wb side so as to incline toward the supply side of the wire W. Another electric wire guide We hanging from the base 23 of the robot 20 is arranged.

  The first and second robots 10 and 20 are driven and controlled by the computer 50 (FIG. 5).

  The computer 50 is equipped with software screw position specifying means 51, duct hole specifying means 52, and automatic wiring means 53. The output of the screw position specifying means 51 is connected to the automatic wiring means 53 via the duct hole specifying means 52. The other outputs of the screw position specifying means 51 and the duct hole specifying means 52 are guided to the first robot 10 together with the output of the automatic wiring means 53, and the other outputs of the automatic wiring means 53 are the second robot. 20. The output of the camera 14 of the first robot 10 is fed back to the screw position specifying means 51 and the duct hole specifying means 52. However, as described above, the camera 14 can be replaced with the electric wire clamp 13, and the camera 14 itself, a narrow field of view for the screw position specifying means 51, and a wide field of view for the duct hole specifying means 52 are provided. You may exchange and use properly.

  A common database 54 is prepared in the computer 50 (FIGS. 5 and 6). The database 54 has electrical wires 32 to be wired between terminals of the electrical components 32, 32..., The mounting rails 34, 34. , W..., For example, data listed in FIG. 6 is prepared for each chassis plate 31 together with a predetermined model image. The database 54 can be created for each specification of the chassis plate 31 based on the design data of the chassis plate 31 and its constituent members. Further, the screw position and the screw type of each terminal for each electric component 32 can be made based on the outline drawing data of the electric component 32.

  The software in the computer 50 is, for example, as shown in the program flowcharts of FIGS. 7 is an overall control program, FIGS. 8 and 9 are control programs corresponding to the screw position specifying means 51 and the duct hole specifying means 52, respectively, and FIGS. 10 and 11 are both automatic wiring. These are two control programs corresponding to the means 53.

  When the chassis plate 31 is loaded and set at a predetermined position of the gantry frame 40 and a manual activation command is given, the overall control program shown in FIG. The program first checks whether or not the screw position specifying camera 14 is attached to the tip of the robot arm 11 of the first robot 10 (program step (1) in FIG. ). If the camera 14 is not attached to the tip of the robot arm 11 or the camera 14 is not appropriate, the camera 14 is replaced with an appropriate camera 14 (2) and a program corresponding to the screw position specifying means 51 in FIG. 8 is started. (3)

  8, when various electrical components 32, 32... And wiring ducts 33, 33... Are arranged and attached on the chassis plate 31, for example, the electrical components 32, 32. .. Are numbered in order from the top, and the first rail on the upper stage is selected first (program step (1) in FIG. 8, hereinafter simply referred to as (1)). . Subsequently, the program drives and controls the first robot 10 to move the camera 14 to the start end (for example, the left end) of the first rail (2) and capture an image ((3), an area of a one-dot chain line in FIG. A). When the captured image includes the stopper 34a (4), the position is recorded (5), and the camera 14 is moved along the first rail unless it is the end of the first rail (6). It moves (7), and the same operation is repeated thereafter ((7), (3) to (7)).

  In program step (4), in order to find the stopper 34a in the captured image, the model image (FIG. 13A) of the stopper 34a for the mounting rail 34 in the database 54 is collated. For example, a unique alphanumeric character indicating the manufacturer's model number is imprinted at a fixed position on the stopper 34a (FIG. 5B), so that the same alphanumeric pattern as the model image is searched for in the captured image. Thus, the presence or absence of the stopper 34a can be easily checked. However, FIG. 13B is an example of a captured image of the stopper 34a. Further, the moving distance of the camera 14 in the program step (7) may be moved while overlapping a range of about 1/2 of the captured image so that the stopper 34a can be reliably captured in the captured image.

  When the camera 14 reaches the end (right end) of the first rail (6), the positions of the stoppers 34a, 34a... On the first rail, that is, the upper mounting rail 34 in FIG. Therefore, after confirming that it is not the final rail (8), the next second rail (middle mounting rail 34 in FIG. 12) is selected (9), and the same procedure is repeated from the beginning of the second rail ( (9), (2) to (6), (7), (3) to (7)), when reaching the end of the second rail (6), the positions of the stoppers 34a and 34a on the second rail Can be recorded. Next, the third rail (lower mounting rail 34 in FIG. 12) is selected ((8), (9)), and the same procedure is repeated to set the positions of the stoppers 34a, 34a... On the third rail. Since all the data are recorded and the third rail is the final rail (8), the position coordinates of each stopper 34a are calculated based on the recorded data of the positions of all the stoppers 34a, 34a. (10).

  Thereafter, the program calculates center position coordinates of one or more electrical components 32 sandwiched between the pair of stoppers 34a, 34a based on the position coordinates of the stoppers 34a, 34a. Further, the coordinates of the screw position of each terminal of each electrical component 32 are calculated (11). In the series of calculations, the program refers to data on the electrical component 32 and the mounting rail 34 in the database 54 as needed.

  Subsequently, the program selects the first screw position (12), moves the camera 14 to the calculated screw position (13), and images (14). Therefore, the screw position is accurately identified by comparing the model image (for example, FIG. 13C) of the screw of each terminal in the database 54 with the captured image (FIG. 13D) to find the same image. Can be recorded (15). However, the model image of the screw of each terminal is properly used based on the position and type data of the screw of each terminal for each electrical component in the database 54.

  Note that the first screw referred to in the program step (12) refers to, for example, the screw of the terminal with the lowest terminal number of the leftmost electrical component 32 on the upper mounting rail 34 in FIG. Number the screws of all the terminals 32 in the order of the terminal numbers, and for the next electrical component 32, number the screws of all the terminals in the same way, and so on. .. Of the electrical components 32, 32... Can be numbered consecutively. Therefore, by repeating the same procedure until reaching the final screw ((16), (17), (13) to (16)), all the electrical components 32, 32,. The screw position can be specified.

  8 specifies the position coordinates of the even number of stoppers 34a, 34a,... On each mounting rail 34 based on the image captured by the camera 14 when specifying the screw positions of the terminals of each electrical component 32. Determination (10) The center position coordinate of each electrical component 32 sandwiched between the two stoppers 34a, 34a is determined to calculate the screw position of each terminal of the electrical component 32 (11), and imaging at each calculated screw position The true screw position is specified based on the image (15). Since it is known that the stoppers 34a on the mounting rail 34 have a fixed shape and an even number of stoppers 34a are on the mounting rail 34, extraction from the captured image is easy even if there is a mounting error of several tens of mm or more. is there. Further, the accuracy of the calculated screw position calculated on the basis of the coordinate positions of the stoppers 34a and 34a is about several millimeters at most, but the screw position is extracted and specified from the captured image at the calculated screw position. By doing so, the target accuracy of 0.1 mm can be easily realized.

  When the program of FIG. 8 is completed as described above (16), the process returns to the program step (4) of FIG. Therefore, the program of FIG. 7 checks whether or not the camera 14 on the first robot 10 is for specifying the next duct hole (program step (4) of FIG. 7; hereinafter, simply as (4). After replacing the camera 14 as necessary (5), a program corresponding to the duct hole specifying means 52 in FIG. 9 is started (6).

  The program of FIG. 9 is based on the data regarding each electric wire W in the database 54, and in order to connect the start end and the termination | terminus of each electric wire W to the predetermined | prescribed terminal of the predetermined | prescribed electrical component 32 of the wiring duct 33, 33 ... It is determined by searching which duct hole 33a should be inserted through the start and end. Note that the screw position specifying result data obtained by the program shown in FIG.

  In the program of FIG. 9, first, the first of the electric wires W, W... In the database 54 is selected as the first electric wire (program step (1) in FIG. 9, hereinafter simply described as (1)). . Subsequently, the program calculates the position in the duct 33 that is closest to the screw position of the connection destination of the starting end of the electric wire W (2), and drives the first robot 10 to move the camera 14 to that position. Then (3) and image (4). However, the camera 14 at this time takes an image from the inside of the duct 33 toward the screw 32b of the terminal 32a of the electrical component 32 corresponding to the connection destination of the starting end of the electric wire W (FIG. 14). Therefore, since the obtained captured image includes a plurality of duct holes 33a, 33a,... On one side wall of the duct 33 in a horizontal row, the program uses the data related to the duct 33 in the database 54 and uses the duct hole 33a. , 33a... And the side wall surface, the captured image is appropriately image-processed to identify the duct hole 33a into which the starting end of the electric wire W is to be inserted, that is, the duct hole 33a corresponding to the connection destination of the starting end. (5) The center coordinates of the duct hole 33a are recorded (6).

  Subsequently, the program confirms that the processing of the end of the electric wire W has not been completed (7), calculates the position in the duct 33 closest to the screw position of the connection destination of the end (8), and so on. According to the procedure ((8), (3) to (7)), the duct hole 33a corresponding to the end connection destination is specified and recorded. Thereafter, the program repeats the same procedure for all the wires W, W... In the database 54 ((9), (10), (2) to (9)), and the starting ends of all the wires W, W. The duct holes 33a, 33a,... Corresponding to the end connection destinations are specified and recorded. When the program of FIG. 9 is completed as described above, the process returns to the program step (7) of FIG.

  The program step (7) in FIG. 7 waits for the start end of the electric wire W to be supplied onto the guide block Wa and the holding block Wb from the terminal processing machine side (FIG. 4). Therefore, when the starting end of the electric wire W is supplied while being stretched between the guide block Wa and the holding block Wb, the program shown in FIG. 7 is executed by the program steps (7) and (8) according to the automatic wiring shown in FIGS. Two programs corresponding to the means 53 are started simultaneously. Note that the programs in FIGS. 10 and 11 define the contents of the cooperative operation when the first and second robots 10 and 20 are automatically wired, respectively.

  The program shown in FIG. 10 first confirms that the electric wire clamp 13 is correctly mounted on the first robot 10 (program step (11) in FIG. 10, hereinafter simply described as (11)). When the electric wire clamp 13 is not attached (11), the electric wire clamp 13 is attached (12), and the second robot 20 waits for the start end of the electric wire W to be gripped (13).

  On the other hand, the program in FIG. 11 first holds the starting end of the electric wire W via the roller unit 22 (program step (21) in FIG. 11, hereinafter simply expressed as (21)). Subsequently, the program drives and controls the second robot 20 to convey the starting end of the electric wire W (22), and finally the inside of the duct 33 with respect to the duct hole 33a corresponding to the connection destination of the starting end. The starting end is opposed to the outside. In addition, while the electric wire W in the middle of conveyance is hung on the electric wire guides Wd and We, the electric wire tray Wc is used to prevent the electric wire W from falling into an undesired duct 33 on the chassis plate 31. Thereafter, the program waits for completion of preparation of the first robot 10 (23).

  When the starting end of the electric wire W is gripped in the program step (21) of FIG. 11, the program of FIG. 10 detects it (13) and sets the electric driver 12 and the electric wire clamp 13 of the first robot 10 to the starting end. The second robot 20 is moved to the outside of the duct hole 33a corresponding to the connection destination (14a), takes an appropriate standby posture that does not interfere with the second robot 20 inside the duct hole 33a (15), and then the second robot 20 Thus, the process waits for the starting end of the electric wire W to be inserted into the duct hole 33a from the inside to the outside of the duct 33 (16). Therefore, when the program of FIG. 11 detects that the first robot 10 has taken a predetermined standby posture and is ready (23) by the program step (15) of FIG. The start end of W is sent out toward the duct hole 33a, the start end is inserted through the duct hole 33a (24), and the system waits for completion of automatic connection of the electric wire W by the first robot 10 (25).

  In the program of FIG. 10, when the start end of the electric wire W is inserted into the duct hole 33a (16), the tip of the electric wire W is gripped by the electric wire clamp 13 (17a), and the screw position of the terminal 32a of the electrical component 32 at the connection destination (17b), the crimp terminal W1 at the tip of the electric wire W is introduced into the terminal 32a and screwed to complete the connection ((17c) to (17e)). Note that the loosening operation and the tightening operation of the screw 32b of the terminal 32a during this period are performed by the bit 12a of the electric driver 12. Thereafter, the program of FIG. 10 releases the electric wire W (17f), prepares for the processing on the terminal end side of the electric wire W (18), and places the electric screwdriver 12 outside the other duct hole 33a corresponding to the connection destination of the terminal end. The electric wire clamp 13 is moved (14b) to take a predetermined standby posture (15), and waits for the end of the electric wire W to be inserted into the duct hole 33a (16).

  On the other hand, when the completion of the program step (17f) in FIG. 10 is detected, for example, in the program of FIG. Therefore, (26) and thereafter, by moving the roller unit 22 along a predetermined wiring path of the electric wire W in the duct 33, the electric wire W is routed while being accommodated in the ducts 33, 33... (27). . When the roller unit 22 is moved in this way, the roller unit 22 sends the electric wire W from the terminal end side toward the starting end side at the same speed as the moving speed of the roller unit 22, thereby terminating the terminal end from the starting end of the electric wire W. Thus, the electric wire W is not inadvertently released over the entire length, and unnecessary tension is not applied to the electric wire W. When the roller unit 22 moves along the wiring path of the electric wire W and reaches the position inside the duct hole 33a corresponding to the connection destination at the terminal end of the electric wire W (28), the first robot 10 thereafter performs the duct hole 33a. A predetermined waiting posture is taken outside and waiting for the completion of preparation (23).

  Then, the program of FIG. 10, FIG. 11 connects the terminal end side of the electric wire W to the terminal 32a of the electrical component 32 of a predetermined connection destination according to the procedure similar to the starting end side of the electric wire W, respectively. The wiring operation by the connection of the start and end points and the routing of the entire length is completed (respective program steps (18) and (26) in FIGS. 10 and 11), and the process returns to the program step (9) in FIG. 7 repeats the same procedure for all the wires W, W... Indicated by the database 54 (program steps (9), (7) to (9) in FIG. 7), and the chassis plate 31. All the above wiring can be completed automatically.

  In the program step (24) of FIG. 11, when the leading end or the terminal end of the electric wire W is inserted into the duct hole 33a, the crimping terminal W1 at the tip of the electric wire W is connected to the crimping portion on the electric wire W side according to the data of the database 54. The roller unit 22 sends the electric wire W toward the duct hole 33a after rotating the crimp terminal W1 in the specified direction. Therefore, the first robot 10 outside the duct hole 33a waits with the direction of the open / close claws 13a, 13a... Of the wire clamp 13 matched to the direction of the crimp terminal W1. Moreover, the sending direction of the electric wire W at this time shall point the center position of the duct hole 33a toward the outer side from the inside of the duct 33. As shown in FIG.

  The electric wire clamp 13 of the first robot 10 is configured by arranging downward open / close claws 13a, 13a,... In a line in the front-rear direction toward the tip of the bit 12a of the electric driver 12 (FIG. 3). The open / close claws 13a, 13a... Can be opened and closed individually, and the front open / close claw 13a closest to the bit 12a and the intermediate open / close claw 13a behind the bit are individually advanced and retracted toward the bit 12a. However, the rear opening / closing claw 13a farthest from the bit 12a is fixed so as not to move back and forth. Further, the opening / closing claws 13a, 13a,... Have a partition plate 13b integrated with the front opening / closing claws 13a in the front-rear direction. It is.

  The crimping terminal W1 at the tip of the electric wire W opens the rear opening / closing claw 13a and the intermediate opening / closing claw 13a, and slides the tightening portion along the upper or lower surface of the partition plate 13b into the opening / closing claw 13a, 13a. By inserting, it can be advanced to the front of the front opening / closing claw 13a regardless of opening / closing of the front opening / closing claw 13a. Further, the rear opening / closing claw 13a and the intermediate opening / closing claw 13a are closed to hold the electric wire W, respectively, and the front opening / closing claw 13a is opened together with the respective intermediate opening / closing claw 13a, 13a, so that the electrical component 32 is opened. The crimping terminal W1 after being screwed to the terminal 32a can be extracted downward to release the electric wire W. The intermediate opening / closing claw 13a can introduce the crimp terminal W1 into the terminal 32a of the electrical component 32 by grasping the electric wire W and moving it forward.

  On the other hand, in the program steps (17c) to (17e) in FIG. 10, when the crimp terminal W1 is a round terminal, the screw 32b of the terminal 32a is once completely removed from the terminal 32a and the crimp terminal W1 is then removed from the terminal 32a. It is necessary to mount the screw 32b again and tighten it. Therefore, the electric driver 12 has a screw holder for holding the extracted screw 32b in the vicinity of the tip of the bit 12a, and moves up and down while rotating the bit 12a in accordance with the raising and lowering of the screw 32b.

  8 does not necessarily have to be executed for the screws of all terminals of all the electrical components 32, 32... On the chassis plate 31. The program steps (11) to (16) shown in FIG. Since such a highly accurate screw position specification is necessary only for the connection of the electric wire W, it is actually designated as the connection destination of the starting end or the terminal end of the electric wire W based on the data relating to the electric wire W in the database 54. For only the terminal 32a of the electrical component 32, it is sufficient to specify the position of the screw 32b of the terminal 32a. Of the plurality of terminals 32a, 32a... Of each electrical component 32, for example, program steps (11) to (16) are applied only to two at the diagonal position (solid line in FIG. 15), and the other terminals 32a ( As for the dotted line in the figure, estimation calculation may be performed from data in the database 54 with reference to specific data of screw positions of the solid line terminals 32a and 32a.

  9 specifies the duct holes 33a and 33a corresponding to the start and end of each electric wire W for each electric wire W. Instead, the actual connection destination of the electric wires W, W. The duct holes 33a, 33a,... Corresponding to all the terminals 32a, 32a, etc. of each designated electrical component 32 may be specified for each electrical component 32. The moving distance of the camera 14 as a whole can be reduced, and the overall processing speed of the program of FIG. 9 can be improved.

  In the above description, each program in FIG. 8 and FIG. 9 is a preprocessing step for executing the automatic wiring program in FIG. 10 and FIG. Therefore, both of the programs in FIGS. 8 and 9 may be omitted, or only FIG. 9 may be omitted.

  According to the present invention, necessary wires are automatically wired between terminals of various electrical components on the chassis plate housed in the electric control panel, and workability can be improved instead of manual work.

W ... Electric wire 10 ... First robot 11 ... Robot arm 12 ... Electric driver 13 ... Electric wire clamp 14 ... Camera 20 ... Second robot 21 ... Robot arm 22 ... Roller unit 31 ... Chassis plate 32 ... Electrical component 32a ... Terminal 32b ... Screw 33 ... Duct 33a ... Duct hole

Patent Applicant Lion Power Co., Ltd.
5 others
Attorney Tadaaki Matsuda, Attorney

Claims (3)

  A first robot having an electric component and a wiring duct attached to a chassis plate housed in an electric control panel and having an electric driver and an electric wire clamp, and a second robot having a roller unit having a function of feeding and gripping electric wires Set the chassis plate in the common working area, and grip and transport the starting end of the wire by the second robot, insert the starting end into the duct hole corresponding to the connecting end of the starting end, and wait outside the duct The first robot is connected to the terminal of the electrical component of the connection destination by the first robot, the electric wire is routed along the wiring path in the duct by the second robot, and the termination is inserted into the duct hole corresponding to the connection destination of the termination The terminal is connected to the terminal of the electrical component to be connected by the first robot waiting outside the duct, and thereafter the same procedure is repeated to automatically wire the necessary wires. Automatic wiring method of the gas control panel.   2. The electric control panel according to claim 1, wherein when the chassis plate is set in the operation area of the first and second robots, the screw position of the terminal of each electrical component is specified based on the image captured by the camera. Automatic wiring method.   3. The electrical control panel according to claim 2, wherein when the screw position of the terminal of each electrical component is specified, a duct hole corresponding to a connection destination of a start end and a termination end of each electric wire is specified based on an image captured by the camera. Automatic wiring method.