JPH0714446A - Automatic wiring device - Google Patents

Abstract

PURPOSE:To automate the work of a wire feeding device perfectly, by providing a detecting device to detect a joint of wire, and an exhausting device to exhaust a cut wire including the joint. CONSTITUTION:While a detecting device 3 to detect the joint of a wire 1 is provided on the way of a wire feeding route prior to the cutting of the wire 1, an exhausting device 4 to exhaust a cut wire 1 including a joint is provided at the side to send the wire 1 from the cutting part 15. And the joint of the wire 1 is detected by the device 3, and when the joint part is sent from the cutting part 15, the wire 1 including the joint part is exhausted by the device 4. By providing the device 3 and the device 4 in such a way, a cut wire including the joint part can be exhausted automatically, and the work of the wire feeding device can be automated perfectly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic wiring device for cutting an electric wire into a predetermined length and automatically wiring the electric wire in a work as an object of wiring, and particularly to an electric wire supply device at a joint portion of the electric wire. Is related to the processing of.

[0002]

2. Description of the Related Art Recently, with the development of industrial robot technology, automatic wiring of electric wires has been automated.
An example of this type of automatic wiring device is shown in FIG. In the automatic wiring device of FIG. 4, two articulated work robots 11 installed on the workbench 10, an electric wire supply device 12 for supplying electric wires 1 for wiring to the work robot 11, and a work The control device 13 controls the robot 11.

The electric wire supply device 12 draws the electric wire 1 from the drum 14 on which the electric wire 1 is wound and cuts the electric wire 1 into a predetermined length, and a working robot for the electric wire 1 supplied from the cutting portion 15. 11 is provided with a pair of clamping chucks 17 for holding the electric wire 1 cut into a predetermined length at a position and in a state where the work robot 11 can easily grasp the electric wire 1. .

The electric wire 1 used for wiring in the above-mentioned automatic wiring device is of a single core, and the terminal portion 18 is provided on the work A to be wired (FIG. 5 (d)) so that the wiring can be carried out in a quick-linking manner. There is. Here, the quick connection method is a method in which the electric wires are connected only by inserting the core wire portion of the electric wire 1 into the insertion hole 18a (FIG. 7) of the terminal portion 18. The wiring operation of this automatic wiring device will be described. A schematic flow of the work is shown in FIG. First, the cutting unit 15 of the electric wire supply device 12
The electric wire 1 is connected to the drum 1 by a roller or the like provided inside the
Take from 4. The electric wire 1 thus taken is the cutting portion 1
It is sent to one of the holding chucks 17 on the supply table 16 via the No. 5. At this time, the sandwiching chuck 17 moves the cutting portion 15
The tip of the electric wire 1 supplied from is grasped (it may be held by press fitting or the like), and the electric wire 1 is moved along the longitudinal direction of the supply table 16 according to the electric wire feeding speed of the cutting portion 15. Then, when the holding chuck 17 moves to a predetermined position, the cutting unit 15 cuts the electric wire 1 into a predetermined length. At this time, the cutting unit 15 performs a terminal process for exposing the core wire.
The cut end of the electric wire 1 is pinched by the other holding chuck 17. In this state, the electric wire 1 for wiring is prepared below the work robot 11. Figure 6
Shown in.

The electric wire 1 is grasped at both ends of the electric wire 1 by a chuck 11b attached to the lower end of the arm 11a at the end of the work robot 11, and the electric wire 1 is conveyed to the work A. This state is shown in FIG. And the terminal portion 18
The wiring work is completed by inserting the core portion of the electric wire 1 into the insertion hole 18a. In the case of the above-mentioned automatic wiring device, two supply stands 16 are installed side by side on the electric wire supply device 12, and when the work robot 11 is performing wiring work,
The electric wire 1 to be wired next is prepared in a predetermined state. The work robot 11 is surrounded by a safety fence 19.

By the way, in the above-described automatic wiring device, it is difficult to pass the starting end of a new drum 1 through the wire supply path of the wire supply device 12 every time the drum 1 around which the wire 1 is wound is replaced. Therefore, when the drum 14 on which the electric wire 1 is wound is replaced, the end of the electric wire 1 wound on the drum 14 to be replaced and the start end of the electric wire 1 on the new drum 14 are joined.

As a method of joining the electric wires 1, as shown in FIG. 8, the core wires at the beginning and the end of each of the electric wires 1 are exposed, and the tubes 2 are connected between the core wire portions 1a.
Here, when the length of the tube 2 is L and the lengths of the core portions 1a of the electric wires 1 are l ₁ and l ₂ , respectively, L> l ₁ + l
₂ , so that the core portion 1a does not contact the inside of the tube 2 at the same time. As a result, even if wiring is erroneously made in the portion including the seam, it is detected as a defect by the continuity test.

The reason why the core wire portion 1a is exposed and the electric wire 1 is connected is that the electric wire 1 can be easily connected. Therefore, it is not always necessary to expose the core wire portion 1a.

[0009]

By the way, it is not preferable that the wiring is formed in the portion including the seam as described above. Therefore, conventionally, a person monitors the joint and removes the portion. However, in this case, it is confirmed that the part including the seam reaches a position where it is easy to take out, and at least the electric wire supply device 12 is stopped,
It is necessary to remove the cut electric wire 1 including the seam portion. Therefore, conventionally, there is a problem that the work of the electric wire supply device 12 cannot be completely automated (unmanned).

The present invention has been made in view of the above points, and an object of the present invention is to provide an automatic wiring device capable of completely automating the work of an electric wire supply device.

[0011]

According to the present invention, in order to achieve the above object, a detection device for detecting a seam of an electric wire,
And a discharge device for discharging the cut electric wire including the seam.

[0012]

The present invention has the above-mentioned configuration,
It is possible to automatically discharge the cut electric wire including the seam portion without human involvement, and the work of the electric wire supply device is fully automated.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described with reference to FIGS. In the automatic wiring device of the present embodiment, a schematic diagram of FIG.
As shown in, the detection device 3 for detecting the seam of the electric wire 1 is provided in the electric wire supply path before the electric wire 1 is cut,
A discharge device 4 for discharging the electric wire 1 including the cut seam is provided on the side from which the electric wire 1 is sent out from the cutting portion 15, the seam of the electric wire 1 is detected by the detection device 3, and the seam portion is sent out from the cutting part 15. At this time, the discharging device 4 discharges the electric wire 1 including the joint portion.

FIG. 2 shows a more detailed structure of the automatic wiring device, and FIG. 3 shows a configuration related to the structure of FIG. In addition,
2 and 3, the cutting unit 1 of the electric wire supply device 12
Structures and configurations after 5 are omitted. In the automatic wiring device of the present embodiment, the electric wire 1 is supplied from the drum 14 to the cutting portion 15 in correspondence with the state of the electric wire 1 taken by the cutting portion 15. Therefore, the drum 1 is
Drive roller 22 of a drum drive device 21 for rotationally driving
A tension pulley 25 that supplies the electric wire 1 to the cutting portion 15 with a constant tensile force and a rotation detection sensor 26 that monitors the supply state of the electric wire 1 from the drum 14 to the cutting portion 15 are provided.

At the time of normal wiring work, the rotation detecting sensor 26 is moved from the position of the tension pulley 25 located below to the drum 14 in accordance with the state of the wire 1 of the cutting portion 15 being taken.
It is detected whether or not is rotating, and the drum driving device 21 is controlled so as to match the take-up state of the electric wire 1 of the cutting unit 15, and the electric wire 1 is continuously supplied from the drum 14 to the cutting unit 15.

The cutting portion 15 includes a feed roller 27 for drawing the electric wire 1 into the inside, a wire drawing device 28 for straightening the shape of the electric wire 1, a cutting cutter 29 for cutting the electric wire 1, and core wires at both ends of the electric wire 1. Terminal processing device 3 for performing terminal processing to be exposed
It is composed of 0 and. In the cutting section 15, while straightening the shape of the electric wire 1, the electric wire 1 is sent to the terminal processing device 30 by the feed roller 27 and cut by the cutting cutter 29 to a predetermined length. Then, terminal processing is performed by the terminal processing device 30 of the electric wire 1 after cutting. After that, the wiring work is automatically performed by the work robot 11 in the same manner as described in the section of the prior art.

The drum 14 is provided with a winding amount detection sensor 20 for detecting the winding amount of the electric wire 1 so as to notify the operator of the automatic wiring device that the winding amount of the electric wire 1 has decreased. Here, an alarm is issued by the alarm device 23 to inform the operator that the winding amount of the electric wire 1 has decreased. The winding amount detection sensor 20 detects the winding amount as follows. Since the color of the coating of the electric wire 1 used for wiring in this embodiment is white, the color of the winding drum of the drum 14 around which the electric wire 1 is wound is black. In this case, when the electric wire 1 is sufficiently wound on the drum 1, the body portion is covered with the electric wire 1 and is entirely white, and when the winding amount of the electric wire 1 around the drum 14 is small, the body portion is black. Appears. Therefore, by using a visual sensor as the winding amount detection sensor 20, the winding amount is reduced and black is detected on the body portion, so that it is detected that the winding amount is reduced. At this time, the alarm device 23 issues an alarm.

The automatic wiring apparatus of this embodiment is provided with a manual switch 24 operated by an operator when an alarm is issued, and when the operator operates the manual switch 24 when the above alarm is issued, the alarm is stopped. I am doing it. At this time, the rotation of the drum driving device 21 is simultaneously stopped by operating the manual switch 24. At this time, the operator removes all the remaining electric wires 1 from the drum 14, prepares a new drum 14, and connects the electric wires 1 by the method described above. Then, the remaining electric wire 1 is wound around the new drum 14. The above work is performed without stopping the wiring work. In this way, it is necessary for the operator to be involved in the work before supplying the electric wire.

A detection device 3 for detecting the seam of the electric wire 1 is provided at the portion where the electric wire 1 is introduced into the cutting portion 15. Since the color of the coating of the electric wire 1 is white as described above, the color of the tube 2 as the joint is black. With this configuration, a visual sensor can be used as the detection device 3 to detect the seam of the electric wire 1. Electric wire 1 of the cutting part 15
A discharge device 4 for discharging the electric wire 1 including the cut seam is provided on the supply side of the electric wire. In the case of this embodiment,
A work robot is used as the discharging device 4, and the work robot conveys the electric wire 1 including the seam to the discharging roller 5, and the discharging roller 5 discards the electric wire 1 in the waste box 31. The work robot may directly discard the electric wire 1 in the waste box 31.

The operation when the seam portion is supplied to the cutting portion 15 will be described. It is detected by the detection device 3 that the electric wire 1 at the joint portion is supplied to the cutting portion 15. At this time, the detection device 3 gives a work command to the discharge device 4 and discharge work to the terminal processing device 30. An interrupt instruction for performing Note that the terminal processing in the terminal processing device 30 is stopped by the interrupt instruction.

During normal wiring work, an operation command is given from the terminal processing device 30 to the feed roller 27 and the cutting cutter 29, but during the discharging work, the discharging device 4 gives the feed roller 27 and the cutting cutter 29. Operation command is given. That is, during the discharging work, the discharging device 4 discharges the electric wire 1 sent from the cutting unit 15 without performing the terminal treatment work.

The work robot, which is the discharging device 4, grasps the electric wire 1 with a chuck, conveys the cut electric wire 1 to the discharging roller 5, and inserts the tip of the electric wire 1 between a pair of rollers forming the discharging roller 5. . Then, a rotation command is given to the discharge roller 5 and the electric wire 1 is released to dispose the electric wire 1 in the waste box 31. When the electric wire 1 is discarded, the rotation of the discharge roller 1 is stopped.

Here, the work of discharging the electric wire 1 is set with a margin in consideration of the position of the detection device 3,
The discharging operation is repeated until the specified number of times is reached. Then, when the discharging operation reaches the specified number of times, the discharging device 4 sends a work completion signal to the terminal processing device 30.
As a result, the automatic wiring device returns to the normal operation. The installation location and the number of the detection devices 3 are not limited to the above cases, and the discharging method may be a method other than the above method. Further, the work robot 11 is used as the discharging device 4.
It is also possible to use.

[0024]

As described above, the present invention is provided with the detection device for detecting the seam of the electric wire and the discharging device for discharging the cut electric wire including the seam. The cut electric wire including the joint portion can be discharged, and the work of the electric wire supply device can be fully automated.

[Brief description of drawings]

1A and 1B are schematic explanatory views of a discharging work method according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing a specific structure of a portion related to the above discharge work.

FIG. 3 is a block diagram showing a configuration of a relevant part of a discharging operation.

FIG. 4 is an explanatory diagram showing an overall structure of an automatic wiring device.

FIG. 5 is an explanatory diagram of a wiring work method.

FIG. 6 is an explanatory diagram showing a holding state of electric wires on a supply base.

FIG. 7 is an explanatory diagram of an electric wire wiring method.

8A and 8B are explanatory views of a method for connecting electric wires.

[Explanation of symbols]

 1 wire 2 tube 3 detector 4 discharge device 11 work robot 12 wire supply device

Claims (1)

[Claims] 1. An automatic wiring device for cutting an electric wire into a predetermined length and automatically wiring the electric wire in a work as a wiring object. A detection device for detecting a seam of the electric wire and a cutting process including the seam. And an ejecting device for ejecting the electric wire.