JP4515985B2 - Harness component insertion device - Google Patents

Description

  The present invention relates to a harness component insertion device, and more particularly, to a device for inserting a harness component comprising a harness or a harness and a coupler connected to the tip of the harness component from an insertion port formed in an insertion object.

  For example, when attaching a rearview mirror to a door in an automobile assembly line, insert a harness component for electrical wiring consisting of a harness and a coupler extending from the rearview mirror through an insertion opening formed in the rearview mirror mounting portion of the door. To be done. Since this type of insertion port only needs to be opened to a size that allows at least the coupler to pass therethrough, the inner diameter of the insertion port is relatively small. For this reason, the operation of inserting the harness component into the insertion port is performed manually by the operator, and there is a disadvantage that the work efficiency is extremely poor.

  By the way, conventionally, there has been known one in which a hand device for holding a coupler is provided at the tip of a robot arm to perform a coupler connecting operation (see, for example, Patent Document 1). Therefore, it is conceivable to employ this kind of robot and hand device to perform the work of inserting the harness member into the door insertion port.

However, this type of hand device is larger than the coupler, and it is difficult to insert the hand device from the insertion port of the door while holding the coupler. Further, even if the hand device is miniaturized so that the coupler can be inserted through the door insertion port, the inside of the door is relatively narrow, and the coupler and harness can be pulled to a desired position inside the door. Have difficulty.
Japanese Patent No. 3361134

  The present invention eliminates such inconvenience, and the present invention is capable of reliably and quickly inserting a harness component from an insertion port formed in an object to be inserted and efficiently performing a harness component insertion operation. The purpose is to provide.

In order to achieve such an object, the present invention inserts a harness component comprising a harness and a coupler connected to the tip of the harness into an object to be inserted having an insertion opening in which the harness component is freely inserted. In the harness component insertion device to be inserted through the mouth, a coupler gripping means having a chuck portion for gripping the coupler releasably, and a plurality of rollers for holding the harness releasably and rotating in the harness feed direction. A harness holding means having a chuck portion, and a moving means for inserting at least a part of the coupler held by the coupler holding means into the insertion port of the object to be inserted by integrally moving the coupler holding means and the harness holding means. with the door, the chuck portion of the harness gripping means comprises a pair that sandwich the harness opposite each other on the downstream side feed A first roller, clamp the harness opposite each other on the upstream side feed, characterized in that it comprises a pair of second roller rotating at a faster speed than the pair of first rollers.

  When the harness component is inserted from the insertion port of the object to be inserted according to the present invention, first, the coupler is gripped by the chuck portion of the coupler gripping means and the harness is gripped by the chuck portion of the harness gripping means.

  Next, the coupler gripping means and the harness gripping means are integrally moved by the moving means, and at least a part of the coupler gripped by the coupler gripping means is inserted into the insertion port of the insertion object. The moving means may be, for example, a robot arm. By providing the coupler gripping means and the harness gripping means at the tip of the robot arm, the moving work of the harness parts can be automated with high accuracy and ease. .

Then, the gripping of the coupler by the chuck portion of the coupler gripping means is released, and then the harness is sent out by rotation of each roller of the chuck portion of the harness gripping means for gripping the harness. At this time, since at least a part of the coupler has already been inserted into the insertion port of the object to be inserted, the harness component can be reliably inserted from the insertion port to the inside of the object to be inserted only by feeding the harness by the rotation of each roller. It can be quickly inserted, and the harness component can be inserted efficiently.
In addition, the chuck portion of the harness gripping means includes a pair of first rollers that oppose each other on the downstream side of delivery and a pair of second rollers that sandwich the harness on the upstream side of delivery. However, when a fixing member such as a clip for fixing the harness inserted into the insert is attached to the harness of the harness component, the harness is rotated by rotation of each roller. When the harness is suddenly pulled by the delivery by the pair of first rollers during delivery, the fixing member such as a clip suddenly contacts the pair of second rollers and cannot pass between the pair of second rollers. There is a risk of clogging.
Therefore, by rotating the rotational speed of the pair of second rollers faster than that of the pair of first rollers, the pair of second rollers before the tension is applied to the harness by the pair of first rollers. Can send out the fixing member, and can send out the harness at high speed and with high accuracy.

  Moreover, fixing members, such as a clip which fixes the harness inserted in the said to-be-inserted object to this to-be-inserted object, may be attached to the harness of harness components. Since the fixing member protrudes in a direction intersecting with the longitudinal direction of the harness, when the harness to which the fixing member is attached is sent out by rotation of each roller, the fixing member cannot smoothly pass between the rollers. There is a fear.

  Therefore, as an aspect of the harness gripping means in the present invention, the chuck portion of the harness gripping means is opposed to each other on the delivery downstream side and the pair of first rollers that sandwich the harness and on the delivery upstream side. A pair of second rollers for sandwiching the harness, the pair of first rollers provided so as to be able to expand each other, and the pair of second rollers configured to hold the harness between the pair of first rollers. It is preferable that they are provided so as to be able to expand with respect to each other. Further, at this time, the first urging means for urging both the pair of first rollers and the pair of second rollers in the holding direction of the harness and the pair of second rollers in the holding direction of the harness. It is preferable to provide the 2nd biasing means to do.

  Accordingly, when a fixing member for fixing the harness inserted into the insert is attached to the harness of the harness component, first, the fixing member passes between the pair of second rollers. When doing, a pair of 2nd roller can expand and it can let a fixing member pass smoothly. At this time, since the holding of the harness by the pair of first rollers is maintained, the harness can be smoothly sent out without detaching from the chuck portion. Moreover, when a fixing member passes between a pair of 1st rollers, a pair of 1st roller can expand and it can let a fixing member pass smoothly.

  Since the pair of second rollers is always urged in the clamping direction by the second urging means, the fixing member passing between the pair of second rollers is clamped between the pair of second rollers. Thus, the harness is prevented from being detached from between the pair of second rollers. Similarly, the pair of first rollers and the pair of second rollers are always urged in the clamping direction by the first urging means. Therefore, the fixing member that passes between the pair of first rollers is sandwiched between the pair of first rollers, and the detachment of the harness from between the pair of first rollers is prevented.

  Further, when a fixing member such as a clip for fixing the harness inserted into the insertion object is attached to the harness of the harness component, the fixing member intersects the longitudinal direction of the harness. Since the fixing member protrudes in the direction, when the fixing member passes between the pair of rollers (between the pair of second rollers or the pair of first rollers), the protruding direction of the fixing member intersects the axis of the roller. It is conceivable that the direction in which the fixing member is directed and the case in which the protruding direction of the fixing member is directed in the direction along the axis of the roller. When the protruding direction of the fixing member is directed in a direction crossing the axis of the roller as compared with the case where the protruding direction of the fixing member is directed along the axis of the roller, between the pair of rollers Pass resistance increases.

  Therefore, as an aspect of the harness gripping means in the present invention, the harness is attached to the harness of the harness component on at least one outer peripheral surface of the plurality of rollers provided in the chuck portion of the harness gripping means to sandwich the harness. In order to direct the protruding direction of a fixing member such as a clip in a direction along the axis of the roller, it is preferable to provide a spiral groove that guides the fixing member in contact with the fixing member.

That is, in the present invention, a fixing member that protrudes in a direction intersecting the longitudinal direction of the harness is attached to the harness to be fixed to an insertion object, and at least one of the chucks of the harness gripping means is provided. The outer peripheral surface of the second roller is provided with a spiral groove that guides in contact with the fixing member so as to direct the protruding direction of the fixing member in a direction along the axis of the roller.
Thus, when the fixing member passes between the pair of rollers (between the pair of second rollers or the pair of first rollers), the fixing member is guided by the spiral groove and Since the posture is along the axial direction, it is possible to reduce the passage resistance of the fixing member between the pair of rollers.

  An embodiment of the present invention will be described with reference to the drawings. 1 is an explanatory view showing a rearview mirror mounting station provided with a harness part insertion device of the present embodiment, FIG. 2 is an explanatory perspective view showing a harness part, FIG. 3 is an explanatory view showing a rearview mirror mounting portion of a door, FIG. Is an explanatory side view of the harness component insertion device, FIG. 5 is a view of the arrow V in FIG. 4, FIG. 6 is a view of the arrow VI in FIG. 4, and FIG. 8 is an explanatory view showing the opening and closing operation of the roller, FIG. 9 is an explanatory view showing the operation of the second roller, and FIG. 10 is an explanatory view schematically showing an operation of inserting the harness component by inserting the harness component.

  As shown in FIG. 1, the harness component insertion device 1 of the present embodiment is provided in a rearview mirror mounting station 2 in an automobile production line. The rearview mirror mounting station 2 is provided with a plurality of robots 5 and 6 for attaching the rearview mirror 4 to the door 3. The robot 5 grips the rearview mirror 4 and, together with the tightening of nuts by another robot (not shown) facing the robot 5 through the door 3, the rearview mirror 4 is attached. The robot 6 performs an operation of inserting the harness component 7 into the door 3 prior to the attachment of the rearview mirror 4.

  The rearview mirror 4 incorporates a mirror drive means (not shown) for adjusting the angle of the mirror section. The mirror driving means is provided with an electric motor as a drive source, and a harness component 7 that transmits power to the electric motor extends from the rearview mirror 4 to the outside.

  As shown in FIG. 2, the harness component 7 includes a harness 8 and a coupler 9. The coupler 9 is inserted into the door 3 to be inserted and connected to another power feeding coupler. As shown in FIG. 3, a rearview mirror mounting portion 10 is formed at a position where the rearview mirror 4 of the door 3 is attached. A plurality of bolt holes 10 a for inserting attachment bolts (not shown) of the rearview mirror 4 are formed in the rearview mirror mounting portion 10, and an insertion port 11 for inserting the harness component 7 by the harness component insertion device 1 is formed. Has been. The insertion port 11 is formed to have a size that allows the coupler 9 of the harness component 7 to be inserted.

  The harness 8 inserted into the door 3 is fixed at a predetermined position inside the door 3 by a clip 12 as a fixing member in order to prevent inadvertent movement. As shown in FIG. 2, the clip 12 is attached to the harness 8 in advance.

  First, the structure of the harness component insertion apparatus 1 in this embodiment is demonstrated. As shown in FIGS. 4 and 5, the harness component insertion device 1 includes a coupler gripping means 13 for gripping the coupler 9 and a harness gripping means 14 for gripping the harness. The coupler gripping means 13 and the harness gripping means 14 are connected to the tip of the robot arm 17 of the robot 6 which is a moving means via a force sensor unit 15 and a connecting member 16. As shown in FIG. 4, the force sensor unit 15 includes a pin 15 a that can be inserted into the bolt hole 10 a (see FIG. 3) of the rearview mirror mounting portion 10. The pin 15a is inserted into the bolt hole 10a of the rearview mirror mounting portion 10 prior to insertion of the harness component 7 into the insertion port 11. At this time, if the pin 15a is displaced from the position of the bolt hole 15a, the force sensor unit 15 senses the reaction force, and the pin 15a approaches the position of the bolt hole 10a so that a predetermined reaction force is obtained. Move as you do. Finally, the pin 15a of the bolt hole 10a is inserted to position the entire harness component insertion apparatus 1 with respect to the door 3, and reflected in the subsequent movement of the harness component 7 to the attachment position.

  As shown in FIGS. 4 and 5, the coupler gripping means 13 includes a coupler chuck portion 20 composed of a pair of finger members 19 having a gripping claw portion 18 at the tip, and a first opening / closing (separating / approaching) both finger members 19. 1 open / close cylinder 21 and a fixed frame 22 for connecting and supporting the first open / close cylinder 21 to the connecting member 16. By driving the first opening / closing cylinder 21, both finger members 19 are closed and the gripping claw portion 18 sandwiches the coupler 9.

  As shown in FIGS. 4 to 6, the harness gripping means 14 includes a second opening / closing cylinder 23 fixed to the connecting member 16, and each of the pair of driving units 24 of the second opening / closing cylinder 23 includes a first opening / closing cylinder 23. The open / close frame 25 is connected. Each first open / close frame 25 is connected to a rail 26 extending along the open / close direction of the first open / close frames 25. Each rail 26 is provided with a second opening / closing frame 28 via a slidable slider 27. Further, both the second opening / closing frames 28 are urged by first urging means 29 provided on the first opening / closing frame 25 in the same direction as the direction in which the first opening / closing frame 25 is closed.

  A harness chuck portion 30 is provided at the distal end portions of the second opening / closing frames 28. The harness chuck portion 30 includes a pair of first rollers 31 adjacent to the gripping claw portion 18 of the coupler gripping means 13 and a pair of second rollers 32 adjacent to each first roller 31. The pair of first rollers 31 and the pair of second rollers 32 sandwich the harness 8 respectively.

  As shown in FIG. 4, the pair of first rollers 31 is opposed to each other in the radial direction and is rotatably supported at the tip of the second opening / closing frame 28, and a pair of sprockets 33 having the same diameter coaxially. 34 is provided. Further, a swing coupling member 35 swingable about the axis is supported on the shaft of each first roller 31. Each swing coupling member 35 has both second rollers 32 rotatably supported opposite to each other in the radial direction, and includes a sprocket 36 having a smaller diameter than the sprockets 33 and 34 of the first roller 31 coaxially. . Each swing connecting member 35 is urged by a second urging means 37 provided at the distal end of the second opening / closing frame 28 in a direction in which both the second rollers 32 abut against each other. Each of the second rollers 32 is supported by each of the swing connecting members 35, so that the second rollers 32 can be expanded apart from each other resiliently against the urging force of the second urging means 37. .

  A motor 38 is supported at the rear end of each second opening / closing frame 28. The shaft 39 of each motor 38 extends toward the tip of the second opening / closing frame 28, and the tip of each shaft 39 is rotatably supported by the tip of the second opening / closing frame 28. The shaft 39 of each motor 38 is provided with a sprocket 40 having the same diameter as the sprockets 33 and 34 of the first roller 31 coaxially.

  As shown schematically in FIG. 7 only on one side, the sprocket 40 of the motor 38 is connected to one sprocket 33 of the first roller 31 via a chain 41. Further, the other sprocket 34 of the first roller 31 is connected to a sprocket 36 of the second roller 32 via a chain 42. Thus, the first roller 31 and the second roller 32 are rotated by driving the motor 38. Further, as described above, the second roller 32 is rotated faster than the first roller 31 by including the sprocket 36 having a smaller diameter than the sprockets 33 and 34 of the first roller 31.

  As shown in FIGS. 4 to 6, the harness chuck portion 30 thus provided on the second opening / closing frame 28 is driven by the second opening / closing cylinder 23 so that both the second opening / closing frames 25 are connected via the first opening / closing frames 25. The opening / closing frame 28 is closed, and the harness 8 is sandwiched between the pair of first rollers 31 and the pair of second rollers 32. Further, the harness 8 is sent out by rotating the pair of first rollers 31 and the pair of second rollers 32 by driving the motor 38.

  At this time, since both the second rollers 32 can be elastically expanded via the swing coupling member 35, the harness 8 of the harness component 7 is attached to the harness 8 as schematically shown in FIG. The attached clip 12 passes between the second rollers 32 easily. Then, after the clip 12 has passed between both the second rollers 32, the harness 8 is resiliently returned to the holding state of the harness 8 by the second urging means 37. In addition, since both the second rollers 32 are expanded via the swing coupling member 35, the harness 8 is held between the first rollers 31 even when both the second rollers 32 are in the expanded state. Can be maintained.

  On the other hand, since both the first rollers 31 can be elastically expanded via the second opening / closing frame 28, the harness 8 of the harness component 7 is attached to the harness 8 as schematically shown in FIG. The attached clip 12 easily passes between the first rollers 31. Then, after the clip 12 passes between the first rollers 31, the harness 8 is elastically returned to the holding state of the harness 8.

  As shown in FIGS. 4 to 6, each first opening / closing frame 25 is connected to an extending member 43 extending along the second opening / closing frame 28. An opening / closing guide plate 44 is provided at the tip of each extending member 43. The opening / closing guide plate 44 includes a restricting portion 45 that covers ends of both the first rollers 31 and the second rollers 32, and a guide portion 46 that guides the coupler 9 in the feeding direction. Since the opening / closing guide plate 44 is connected to the first opening / closing frame 25 through the extending member 43, the opening / closing guide plate 44 is integrally opened and closed with the first opening / closing frame 25. And even if both the 2nd rollers 32 and both the 1st rollers 31 expand when the clip 12 passes, since both the control parts 45 will be in the closed state, both the 1st rollers 31 and both the 2nd rollers When the harness 8 is sent out by the roller 32, the detachment of the harness 8 from between the first roller 31 and the second roller 32 can be restricted by the restricting portion 45. Both guide portions 46 are provided so as to face each other with an interval not pressed against the coupler 9 even in the closed state in order to restrict inadvertent movement of the coupler 9 when the coupler 9 is sent out.

  As shown in FIGS. 4 and 5, a spiral groove 47 is formed on the outer peripheral surface of each second roller 32. As shown in FIG. 2, the harness component 7 has a clip 12 protruding to one side of the harness 8, but when the clip 12 passes between the second rollers 32, the clip 12 is connected to each second roller. The protruding direction of the clip 12 is directed in the axial direction of the second rollers 32 by the 32 spiral grooves 47. That is, when the harness 8 is sent out by rotation to both the second rollers 32 and the clip 12 comes into contact with both the second rollers 32, the edge of the clip 12 spirals regardless of the direction the clip 12 faces. Guided by the groove 47, the clip 12 is forcibly rotated around the harness 8 as an axis. As a result, as shown in FIG. 9, the protruding direction of the clip 12 is directed in the axial direction of the second rollers 32, and the clip 12 can be passed with the expanded width of the second rollers 32 being minimized. . As a result, the passage resistance of the clip 12 when passing between both the second rollers 32 becomes small, and the harness component 7 can be sent out smoothly and quickly.

  Further, as described above, since the rotation speed of the second roller 32 is higher than that of the first roller 31, the harness 8 is not pulled suddenly by the feeding by the first rollers 31, and the clip 12 is It is possible to prevent a situation in which clogging occurs due to sudden contact with the second roller 32, and the harness component 7 can be sent out at high speed and smoothly.

  Next, the insertion operation of the harness component 7 by the harness component insertion apparatus 1 having the above configuration will be described with reference to FIG. 10 (a) to 10 (e) schematically show only the main part for convenience of explanation, the configuration is the same as that shown in FIGS. 4 to 6. FIG.

  When gripping the harness component 7, as shown in FIG. 10A, both the gripping claws 18 of the coupler gripping means 13 are opened, and both the first rollers 31 and both of the harness gripping means 14 are set. The second roller 32 is opened. 4 to 6, both gripping claws 18 are opened by driving the first opening / closing cylinder 21, and both the first roller 31 and both second rollers 32 are connected to the second opening / closing cylinder 23. It is opened by driving. At this time, the opening / closing guide plate 44 is also opened by driving the first opening / closing cylinder 21. Then, as shown in FIG. 10A, the rear end portion of the coupler 9 is positioned between the gripping claws 18 and between the first rollers 31 and the second rollers 32. The harness 8 is positioned. Next, referring to FIGS. 4 to 6, both the gripping claws 18 are closed by driving the first opening / closing cylinder 21, and both the first rollers 31 and the second second are driven by driving the second opening / closing cylinder 23. The roller 32 and both opening / closing guide plates 44 (guide portions 46) are closed. Thereby, the coupler 9 and the harness 8 are gripped.

  Subsequently, the coupler gripping means 13 and the harness gripping means 14 are moved by driving the robot arm 17, and the tip end portion of the coupler 9 gripped by both gripping claw portions 18 is moved to the door 3 as shown in FIG. It is inserted into the insertion slot 11.

  Next, when both the gripping claws 18 are opened and the gripping of the coupler 9 by the coupler gripping means 13 is released, both the first roller 31 and the two second rollers 32 are rotated by the drive of the motor 38, and FIG. As shown in 10 (c), the harness 8 is sent out and the coupler 9 is inserted into the door 3. Further, when the harness 8 continues to be fed, the clip 12 comes into contact with both the second rollers 32, and the clip 12 extends along the axis of both the second rollers 32 by the spiral groove 47 provided in both the second rollers 32. It is pointed in the direction.

  Then, as shown in FIG. 10 (d), the clip 12 passes between the second rollers 32. Both the second rollers 32 are elastically expanded against the urging force of the second urging means 37 while being pushed open by the clip 12 as shown in FIG. Pass through. As shown in FIG. 9, the clip 12 is smoothly guided to the spiral groove 47 by both the second rollers 32 having a rotational speed faster than both the first rollers 31, and the clip 12 is moved in the axial direction of both the second rollers 32. The protruding direction is directed. Thereby, both the 2nd rollers 32 can let the clip 12 pass with a comparatively small expansion dimension. Moreover, as shown in FIG. 8 (a), even when the clip 12 passes between both the second rollers 32, both the first rollers 31 hold and send out the harness 8, so there is no stagnation. The operation of inserting the harness component 7 is continued.

  When the harness 8 continues to be fed, the clip 12 passes between the first rollers 31 as shown in FIG. Both the first rollers 31 are elastically expanded against the urging force of the first urging means 29 while being pushed open by the clip 12 as shown in FIG. Pass through.

  After that, when the harness component 7 is sufficiently accommodated in the door 3 by the feeding of the first rollers 31 and the second rollers 32, the rotational driving of the first rollers 31 and the second rollers 32 is performed. When the first opening / closing cylinder 21 of the harness holding means 14 is driven, both the first rollers 31 and the second rollers 32 are opened, and the holding of the harness 8 is released.

  In the present embodiment, the harness component insertion device 1 is provided in the rearview mirror mounting station 2 in the automobile production line and the vehicle door 3 is used as an insert. However, the harness component insertion device of the present invention is the door 3. It can employ | adopt suitably when inserting the harness components 7 not only from the insertion port of another to-be-inserted object.

Explanatory drawing which shows a rearview mirror mounting station provided with the harness components insertion apparatus of one Embodiment of this invention. An explanatory perspective view showing harness parts. Explanatory drawing which shows the rear-mirror mounting part of a door. The explanatory side view of a harness components insertion apparatus. The V arrow directional view of FIG. The VI arrow figure of FIG. Explanatory drawing which shows the rotation transmission mechanism of a roller typically. Explanatory drawing which shows the opening / closing operation | movement of a roller. Explanatory drawing which shows the action | operation of a 2nd roller. Explanatory drawing which shows typically the insertion operation | work of the harness components by harness component insertion.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Harness component insertion apparatus, 3 ... Door (object to be inserted), 7 ... Harness component, 8 ... Harness, 9 ... Coupler, 11 ... Insertion port, 12 ... Clip (fixing member), 13 ... Coupler gripping means, 14 ... Harness gripping means, 17 ... robot arm (moving means), 20 ... coupler chuck portion, 29 ... first biasing means, 30 ... harness chuck portion, 31 ... first roller, 32 ... second roller, 37 ... Second urging means, 47 ... spiral groove.

Claims (2)

In a harness component insertion device for inserting a harness component composed of a harness and a coupler connected to the tip of the harness into an object to be inserted having an insertion port in which the harness component is freely inserted, via the insertion port.
Coupler gripping means having a chuck portion for releasably gripping the coupler, harness gripping means having a chuck portion configured to hold the harness releasably and rotate in the feeding direction of the harness, and coupler gripping Moving means for inserting at least a part of the coupler gripped by the coupler gripping means into the insertion port of the insertion object by integrally moving the means and the harness gripping means ,
The chuck portion of the harness gripping means includes a pair of first rollers that sandwich the harness in opposition to each other on the downstream side of delivery, and a pair of first rollers that oppose each other in the upstream side of delivery. A harness component insertion device comprising a pair of second rollers rotating at a high speed . A fixing member that protrudes in a direction crossing the longitudinal direction of the harness is attached to the harness to be fixed to an object to be inserted,
Guide to the outer peripheral surface of at least one second roller provided in the chuck portion of the harness gripping means in contact with the fixing member so as to direct the protruding direction of the fixing member in a direction along the axis of the roller. The harness component insertion device according to claim 1, wherein a spiral groove is provided .

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