WO2018105375A1 - Wire harness manufacturing method - Google Patents

Wire harness manufacturing method Download PDF

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Publication number
WO2018105375A1
WO2018105375A1 PCT/JP2017/041773 JP2017041773W WO2018105375A1 WO 2018105375 A1 WO2018105375 A1 WO 2018105375A1 JP 2017041773 W JP2017041773 W JP 2017041773W WO 2018105375 A1 WO2018105375 A1 WO 2018105375A1
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WO
WIPO (PCT)
Prior art keywords
holding
connector
wiring member
wire harness
wire
Prior art date
Application number
PCT/JP2017/041773
Other languages
French (fr)
Japanese (ja)
Inventor
遠藤　智
英昭 伊藤
利幸 居原
由利　英隆
Original Assignee
株式会社オートネットワーク技術研究所
住友電装株式会社
住友電気工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社オートネットワーク技術研究所, 住友電装株式会社, 住友電気工業株式会社 filed Critical 株式会社オートネットワーク技術研究所
Publication of WO2018105375A1 publication Critical patent/WO2018105375A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01B—CABLES; CONDUCTORS; INSULATORS; SELECTION OF MATERIALS FOR THEIR CONDUCTIVE, INSULATING OR DIELECTRIC PROPERTIES
    • H01B13/00—Apparatus or processes specially adapted for manufacturing conductors or cables
    • H01B13/012—Apparatus or processes specially adapted for manufacturing conductors or cables for manufacturing wire harnesses

Definitions

  • This invention relates to a method for manufacturing a wire harness.
  • Patent Document 1 discloses a harness wiring device for arranging several wires in a required form and a tape winding unit for bundling a plurality of wires of the harness wiring device by tape winding in a desired direction.
  • the manufacturing apparatus of the wire harness comprised with a winding apparatus is disclosed.
  • a harness wiring device a harness shaping device is disclosed in which the plurality of electric wires are routed along a plurality of vertical rails.
  • the connector of the sub-wire harness is set on a receiving jig that slides along the vertical rail, and the electric wire portion of the sub-wire harness hangs down to the lower frame. Thereafter, the wire harness is shaped by moving the connector, and the main line portion and the branch line portion are bound.
  • an object of the present invention is to provide a technique suitable for a manufacturing method for manufacturing a wire harness by moving a connector.
  • a manufacturing method of a wire harness includes (a) arranging the wiring member in a holding hole having an opening area larger than a cross-sectional area of the wiring member extending from the connector. (B) a step of moving the connector by a predetermined dimension with respect to the holding hole in a state where the wiring member is disposed in the holding hole, and pulling out the wiring member; And a step of processing the wiring member.
  • the method for manufacturing the wire harness according to the second aspect is the method for manufacturing the wire harness according to the first aspect, wherein the step (b) is provided at a position away from the predetermined dimension with respect to the holding hole.
  • a method for manufacturing a wire harness according to a third aspect is the method for manufacturing a wire harness according to the first or second aspect, wherein the step (b) moves the connector while moving the predetermined dimension by a robot. A step of maintaining the state in which it is allowed to enter.
  • the manufacturing method of the wire harness which concerns on a 4th aspect is a manufacturing method of the wire harness which concerns on any one 1st to 3rd aspect, Comprising: In the said process (c), the said connector differs from the extraction
  • a method for manufacturing a wire harness according to a fifth aspect is a method for manufacturing a wire harness according to any one of the first to fourth aspects, wherein the step (c) includes a step of binding the wiring members. Including.
  • the method for manufacturing a wire harness according to a sixth aspect is the method for manufacturing a wire harness according to the fifth aspect, wherein the step (c) includes a step of binding a plurality of the wiring members to form a branch. Including.
  • a method for manufacturing a wire harness according to a seventh aspect is a method for manufacturing a wire harness according to any one of the first to sixth aspects, wherein the step (c) attaches an exterior member to the wiring member. Process.
  • the wiring member is held without being sandwiched.
  • the wiring member can be held in such a manner that the wiring member extending from the connector can be pulled out and in which the connector can be rotated.
  • the wiring member is pulled out without being entangled.
  • the dimension before processing can be taken out by moving the connector by a predetermined dimension with respect to the holding hole.
  • the dimension can be determined by holding the connector on the connector holding jig. As a result, the dimensions can be easily determined.
  • the robot can perform drawing and dimensioning at the same time.
  • the branch when a plurality of wiring members are bound to form a branch, the branch can be formed in a state where the plurality of connectors face each other in an appropriate direction.
  • the wiring members can be easily bundled.
  • a branch can be easily formed.
  • the exterior member can be easily attached.
  • FIG. 5 is a cross-sectional view taken along line VV in FIG. 4. It is explanatory drawing which shows a mode that a holding main-body part is opened. It is a perspective view which shows a drawing board. It is explanatory drawing which shows a mode that a wiring member is arrange
  • FIG. 1 is an expanded view of an example of the wire harness 10.
  • the electric wires 12 passing through the same path are drawn with a single line.
  • the electric wire 12 drawn with one line may actually be a bundle of a plurality of electric wires 12.
  • the wire harness 10 to be manufactured has a plurality (four in this case) of connectors 14 connected via a plurality of electric wires 12. More specifically, the wire harness 10 is configured such that a plurality of electric wires 12 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 12 is inserted and connected to the connector 14. FIG. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle. The electric wires 12 included in the wire harness 10 are bundled while being branched in a form corresponding to a laying route in the vehicle.
  • the connector 14 is connected to the end of the electric wire 12.
  • the electric wire 12 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.
  • the main body of the connector 14 is integrally formed of, for example, an insulating resin material.
  • a plurality of cavities capable of inserting and holding terminals at the end of the electric wire 12 are formed.
  • the electric wires 12 are extended from the connectors 14.
  • the linear member including the electric wire 12 extending from the connector 14 is referred to as a wiring member 13.
  • the exterior member 18 may be attached to the electric wire 12 extending from the connector 14.
  • an exterior member is attached to the electric wire 12 extending from the connector 14d.
  • an adhesive tape is spirally wound.
  • a sheet-like member is wound around the electric wire 12.
  • the exterior member 18 may be a resin molded product such as a corrugated tube or a protector.
  • FIG. 2 is a schematic view showing the wire harness assembling apparatus 20.
  • FIG. 3 is a schematic plan view showing the electric wire holding jig 30.
  • FIG. 4 is a schematic rear view showing the electric wire holding jig 30.
  • FIG. 5 is a cross-sectional view taken along line VV in FIG.
  • FIG. 6 is an explanatory diagram showing a state in which the holding main body 33 is opened.
  • FIG. 7 is a perspective view showing the drawing plate 60.
  • the wire harness assembling apparatus 20 is used to perform processing such as bundling on the wiring member 13 extending from the connector 14.
  • the binding process is a process of binding the wiring member 13 extending from the connector 14 at a position away from the connector 14.
  • the wire harness assembling apparatus 20 includes an electric wire holding jig 30, a support member 50 that supports the electric wire holding jig 30, and a drawing board 60.
  • the wire harness assembling apparatus 20 further includes a first robot 70 as a wire drawing mechanism, a second robot 80 as a bundling mechanism, an imaging unit 90 as a state information acquisition unit, and a processing control unit 100. Prepare.
  • the electric wire holding jig 30 includes a jig main body 31 in which a plurality of holding holes 35 are formed.
  • the jig main body 31 includes a plurality (six here) of holding main bodies 33.
  • Each holding main body 33 is formed with a holding hole 35 in which the wiring member 13 is disposed.
  • the opening area along the axial direction of the holding hole 35 is larger than the cross-sectional area of the wiring member 13 inserted through the holding hole 35. Therefore, the holding main body 33 can hold the wiring member 13 without holding the wiring member 13 by arranging the wiring member 13 in the holding hole 35.
  • the six holding main body portions 33 are arranged in a direction intersecting the axial direction of the holding hole 35 in which the wiring member 13 is disposed.
  • the holding main body portion 33 includes a receiving portion 34 and a guide portion 38.
  • the holding hole 35 in which the wiring member 13 can be disposed is formed in the receiving portion 34.
  • the holding hole 35 is partially open in the circumferential direction.
  • the receiving portion 34 has a C-shaped portion 36 formed in a C-shape and an outer portion of the C-shaped portion 36 while approaching each other from both end edges along the circumferential direction of the C-shaped portion 36.
  • an extending piece 37 extending in the direction.
  • the ends of the extension pieces 37 are not connected to each other, and form an opening in the circumferential direction of the holding hole 35.
  • between the tips of the extended pieces 37 they are the closest portions of the extended pieces 37.
  • tips of the extension piece 37 is smaller than the diameter of the electric wire 12 arrange
  • the circumferential opening in this specification refers to a portion that is discontinuous and discontinuous in the circumferential direction of the holding hole 35, and is not necessarily spaced. Therefore, the tips of the extension pieces 37 may be in contact with each other.
  • the guide portion 38 extends from both edge portions of the circumferential opening in the receiving portion 34.
  • the guide portion 38 is inclined outward as it is away from the circumferential opening.
  • the guide portion 38 extends from the tip of the extending piece 37.
  • the distance between the two guide portions 38 extending from the two extended pieces 37 increases as the distance from the two extended pieces 37 increases.
  • guide surfaces 39 the surfaces of the two guide portions 38 facing each other are referred to as guide surfaces 39.
  • the holding body 33 is elastically deformable so as to widen the opening in the circumferential direction by pressing the wiring member 13 against the guide surface 39 toward the holding hole 35. Thereby, the wiring member 13 pressed against the guide surface 39 can be inserted into the holding hole 35 as it is through the opening in the circumferential direction. Further, in the state in which the wiring member 13 is disposed in the holding hole 35, the holding main body portion 33 is arranged on the inner peripheral surface of the extending piece 37 or in the vicinity thereof on the inner peripheral surface of the receiving portion 34 toward the outside. When the wiring member 13 is pressed, it can be elastically deformed so as to widen the opening in the circumferential direction.
  • the wiring member 13 pressed against the inner peripheral surface of the extending piece 37 or the vicinity thereof in the inner peripheral surface of the receiving portion 34 can be discharged directly to the outside of the holding hole 35 through the circumferential opening.
  • the force required for elastic deformation varies depending on the shape of the holding body 33 and the material constituting the holding body 33 such as resin or metal.
  • the plurality of holding main body portions 33 include those having different holding hole 35 shapes. More specifically, the holding holes 35A and 35B of the four holding main body portions 33A and 33B out of the six holding main body portions 33 are circular, and the holding holes 35C of the two holding main body portions 33C are elliptical. . Of the four holding body portions 33A and 33B having the circular holding holes 35A and 35B, the holding holes 35A of the two holding body portions 33A are formed larger than the holding holes 35B of the remaining two holding body portions 33B. ing. As described above, the holding holes 35A, 35B, and 35C of the plurality of holding main body portions 33A, 33B, and 33C include those having different shapes and sizes.
  • the wiring member 13 can be appropriately held according to the difference in the number of wires 12 included in the wiring member 13 due to the difference in the shape of the connector 14 or the like, or the difference in the set position of the wires 12 in the connector 14. .
  • the holding main body portion 33C having the elliptical holding hole 35C is suitable for disposing the wiring member 13 extending from the connector 14.
  • a small circular holding hole 35B is provided when the wiring member 13 extending from the connector 14 is disposed.
  • the holding main body part 33B having is preferable.
  • a large circular holding hole 35A is provided when the wiring member 13 extending from the connector 14 is disposed.
  • a holding main body 33A having the above is suitable.
  • the plurality of holding main body portions 33 include different shapes of the holding holes 35, and the holding holes 35 of all the holding main body portions 33 may be formed in the same shape.
  • the six holding main body portions 33 each constitute a part of the wire holding member 32 formed separately. Therefore, the jig body 31 includes six wire holding members 32.
  • the six wire holding members 32 are arranged in a line, and the adjacent wire holding members 32 are united with each other.
  • Each wire holding member 32 includes the holding main body portion 33 and the combined portion 40.
  • the description will be made assuming that one holding body portion 33 is formed on one wire holding member 32, but a plurality of holding body portions 33 may be formed on one wire holding member 32. That is, the number of holding main body portions 33 included in the jig main body portion 31 and the number of wire rod holding members 32 may not match.
  • two holding body portions 33 may be provided on one wire holding member 32.
  • the shape of the holding holes 35 of the two holding main body portions 33 included in one wire holding member 32 may be the same or different.
  • the united part 40 is formed continuously with the holding main body part 33.
  • the united portion 40 has a rectangular parallelepiped base 41 formed so as to protrude outward from the outer surface of the bottom of the C-shaped portion 36, and a plurality (two in this case) protruding from both side surfaces of the base 41.
  • a fixed piece 42 protrudes in a direction intersecting the axial direction of the holding hole 35 with respect to the base 41 and intersecting the opening direction of the holding hole 35.
  • a plurality of wire holding members 32 are arranged in the protruding direction of the fixed piece 42.
  • the thickness dimension of the fixed piece 42 is set smaller than the thickness dimension of the base portion 41 (here, half).
  • One of the two fixed pieces 42 extends from one side along the thickness direction of the base 41.
  • the other of the two fixed pieces 42 extends from the other side along the thickness direction of the base 41.
  • the insertion hole 43 is formed in the position (here center position of the fixed piece 42) corresponding when it overlaps among the fixed pieces 42. As shown in FIG.
  • the insertion hole 43 is formed so that a rod-shaped fastener 44 can be inserted. Then, in a state where the fixing pieces 42 of the adjacent wire holding members 32 overlap with each other, the rod-like fasteners 44 are passed through the insertion holes 43 of the two fixing pieces 42 so that the adjacent wire holding members 32 are combined.
  • a plurality of fasteners 44 (here, five) are provided. Each fastener 44 is formed in a long bar shape and is inserted through five sets of insertion holes 43.
  • a screw 44 a and a nut that fastens the tip of the screw 44 a as a fastener 44 that holds four sets of adjacent wire holding members 32 located outside of the five sets of adjacent wire holding members 32. 44c is provided.
  • a screw 44b is provided as a fastener 44 for holding a pair of adjacent wire holding members 32 located in the center among the five sets of adjacent wire holding members 32, and the tip of 44b is formed on a slider 56 described later. It is fastened to the screw hole.
  • the fastener 44 is not limited to the above.
  • the fastener 44 may be composed of a pin and a cap provided at the end of the pin.
  • the holding body portion 33 there are three types of holding body portions 33A, 33B, and 33C having different shapes of the holding holes 35A, 35B, and 35C. Therefore, here, as the wire holding member 32, there are three types of wire holding members 32A, 32B, and 32C having different holding main body portions 33A, 33B, and 33C.
  • the three types of wire rod holding members 32A, 32B, and 32C all the united portions 40 have the same shape.
  • the united portion 40 is formed point-symmetrically when viewed from the direction in which the wiring member 13 is taken in and out of the holding hole 35.
  • the holding body 33 is also formed point-symmetrically when viewed from the same direction. Therefore, the wire rod holding member 32 exhibits the same shape even if it is rotated by 180 degrees around the axis along the direction in which the wiring member 13 is taken in and out of the holding hole 35. For this reason, when connecting the wire holding members 32, the effort which considers direction can be saved.
  • the wire holding jig 30 is supported by the support member 50.
  • the support member 50 includes a vertical frame 52 and a horizontal frame 54.
  • the vertical frame 52 is supported in a standing state on the floor.
  • the horizontal frame 54 is supported in a horizontal posture at a position on the floor by the vertical frame 52.
  • the electric wire holding jig 30 is supported in a horizontal posture at a position on the floor by the horizontal frame 54.
  • the electric wire holding jig 30 is supported in a posture in which the axial center direction of the holding hole 35 is along the extending direction of the vertical frame 52.
  • the horizontal frame 54 is formed in a long bar shape.
  • the electric wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54. More specifically, the horizontal frame 54 is formed with a concave groove 54h extending along the longitudinal direction thereof. A slider 56 that can slide along the concave groove 54h is disposed in the concave groove 54h.
  • the electric wire holding jig 30 is attached to the slider 56.
  • the wire holding jig 30 is attached to the slider 56 by screwing the screw 44 b into a screw hole formed in the slider 56.
  • the concave groove 54h is formed to open upward in the vertical direction, but this is not essential.
  • the concave groove 54h may be formed so as to open in the horizontal direction or may be formed so as to open downward in the vertical direction.
  • the wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54.
  • the electric wire holding jig 30 may be fixed to the support member 50 so as not to move.
  • the direction along the longitudinal direction of the horizontal frame 54 is referred to as an x-axis direction, and two directions orthogonal to the direction are referred to as a y-axis direction and a z-axis direction. Therefore, as shown in FIG. 3, the holding holes 35 are arranged along the x-axis direction. Further, the opening of the holding hole 35 faces the y-axis direction. For this reason, the wiring member 13 is taken in and out along the y-axis direction with respect to the holding hole 35 (see FIGS. 6 and 8). Further, the extending direction of the vertical frame 52 is a direction along the z-axis direction, and here is a direction along the vertical direction.
  • the wiring member 13 extending from each connector 14 is held by the holding main body 33 in a state where the terminals at each end of the plurality of electric wires 12 are inserted and held in the corresponding connectors 14.
  • the wiring member 13 extending from the connector 14 is inserted through the holding hole 35 of the holding main body 33 so that the connector 14 is positioned above the holding main body 33 and extends in the vertical direction.
  • description will be made assuming that the wiring member 13 extending from one connector 14 is inserted into one holding hole 35.
  • a plurality of wiring members 13 respectively extending from the plurality of connectors 14 may be inserted into one holding hole 35.
  • each wiring member 13 is not bundled.
  • each wiring member 13 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a lower position between the connectors 14.
  • each wiring member 13 extending from each connector 14 hangs down from each holding main body 33 and is curved toward the other holding main body 33 at a position below each holding main body 33.
  • the drawing board 60 includes a drawing board main body 62 and a connector holding jig 64.
  • the drawing plate 60 is supported at a fixed position with respect to the holding hole 35.
  • the drawing plate 60 may be supported by the support member 50, or may be supported by a member different from the support member 50.
  • the board main body 62 is formed in a rectangular flat plate shape.
  • the main surface of the drawing board main body 62 extends along a plane including the axial direction of the holding hole 35 and the direction in which the plurality of holding holes 35 are arranged. Accordingly, here, the main surface of the drawing board main body 62 extends along a plane including the x-axis direction and the z-axis direction. But the figure board main-body part 62 may be installed in the direction rotated around the x-axis or the z-axis.
  • At least one (four in this case) connector holding jig 64 is erected on the board main body 62.
  • the board main body 62 extends along a plane including the x-axis direction and the z-axis direction, so that the connector holding jig 64 extends along the y-axis direction.
  • the four connector holding jigs 64 can hold the four connectors, respectively.
  • the connector holding jig 64 is in a state where the wiring board 13 extending from the connector 14 to be held is held with respect to the holding hole 35 in which the board main body 62 is located at a fixed position with respect to the electric wire holding jig 30. So as to be positioned at a predetermined distance.
  • the connector holding jig 64 has a figure board attaching part 65 and a connector holding part 66 extending from the figure board attaching part 65.
  • the figure board attaching portion 65 may be selectively attachable to a plurality of positions in the figure board main body part 62.
  • the figure board attaching portion 65 is formed in a rod shape and a male screw is cut at the tip thereof. Further, a plurality of through-holes through which the figure plate attaching part 65 can be inserted are formed in the figure board main body part 62. Then, one through hole is selected from the plurality of through holes of the figure board main body 62, and the figure board attaching part 65 is inserted into the one through hole from the one main surface side of the figure board main body 62.
  • the connector holding jig 64 is attached to the figure board main body part 62 by tightening a nut or the like from the other main surface side of the figure board main part 62 to the male screw at the tip that has passed through the through hole of the figure board attachment part 65.
  • the figure board attaching part 65 can be selectively attached to a plurality of positions in the figure board main body part 62, so that the figure board 60 can cope with the production of a plurality of types of wire harnesses.
  • the connector holding portion 66 is formed so as to hold the connector 14.
  • the connector holding portion 66 is formed in a C shape.
  • the board attachment part 65 is connected with the outer surface of the center part of C character.
  • the connector holding jig 64 is provided in the figure board main body 62 so that the C-axis axial direction is along the z-axis direction. Accordingly, the connector holding portion 66 can hold the connector 14 when the wiring member 13 is inserted into the C-shaped portion and the wiring member 13 or the connector 14 is hooked around the C-shaped periphery (see FIG. 12). .
  • the connector holding portion 66 can hold the connector 14 by hooking the connector 14 on the periphery of the C-shape, that is, by placing it on the upper surface of the C-shape.
  • the connector holding portion 66 may be provided so as to have a different size according to the connector 14 as with the holding main body portion 33, or may be the same size.
  • the wire drawing mechanism pulls out the plurality of wiring members 13 held without being held by the wire holding jig 30.
  • the wire drawing mechanism includes a holding unit and a moving mechanism.
  • the holding portion holds a portion of the wiring member 13 between the connector 14 and the wire holding jig 30 or the connector 14 in a state where the wiring member 13 is held by the wire holding jig 30.
  • the moving mechanism moves the holding unit away from the electric wire holding jig 30.
  • the first robot 70 is employed as the wire drawing mechanism.
  • the first robot 70 includes a robot arm 72 as the moving mechanism and a robot hand 74 as the holding unit provided at the tip of the robot arm 72.
  • the robot hand 74 can be moved to each work position by driving the robot arm 72.
  • the posture of the robot hand 74 can be changed by driving the robot arm 72.
  • the robot hand 74 includes a plurality of fingers, and the connector 14 or the wiring member 13 extending from the connector 14 can be held by the plurality of fingers.
  • the robot hand 74 holds the wiring member 13 extending from the connector 14 or the connector 14 in a state where the robot hand 74 is moved to the position of the connector 14 or a position below the connector 14 by driving the robot arm 72. In this state, the wiring member 13 can be pulled out from the wire holding jig 30 by moving the robot hand 74 upward by driving the robot arm 72 (see FIGS. 11 and 12).
  • the robot hand 74 will be described as gripping the connector 14.
  • the portion between the connector 14 and the wire holding jig 30 in the drawn wiring member 13 may include a bent portion.
  • the portion of the wiring member 13 between the connector 14 and the wire holding jig 30 is corrected to be as straight as possible by an operator or a wire correction mechanism before being bound later.
  • the wiring member 13 is held as straight as possible by gripping the connector 14 side portion of the wiring member 13 and sliding the gripping portion toward the wire holding jig 30 side. Can be corrected.
  • Such a correction operation of the electric wire 12 is also referred to as an ironing operation.
  • the bundling mechanism binds the plurality of wiring members 13 drawn by the wire drawing mechanism. As described above, here, the second robot 80 is employed as the bundling mechanism.
  • the second robot 80 includes a robot arm 82 and a bundling device 84 provided at the tip of the robot arm 82.
  • the bundling device 84 can be moved to each work position by driving the robot arm 82.
  • the binding device 84 is a device that binds the wiring member 13 with a binding member such as an adhesive tape or a binding band.
  • a known tape winding device that winds the adhesive tape around the wiring member 13 by rotating a tape winding body around which the adhesive tape is wound around the wiring member 13. Can be used.
  • the bundling device 84 is moved above or below the electric wire holding jig 30 by driving the robot arm 82.
  • the wiring member 13 can be bound by winding the adhesive tape T around the wiring member 13 by the binding device 84 (see FIG. 13).
  • FIG. 13 it demonstrates as what binds the wiring member 13 in the upper position (henceforth a planned binding location) of the electric wire holding jig 30 with the binding apparatus 84.
  • robot arms 72 and 82 of the first robot 70 and the second robot 80 general industrial robots can be used.
  • general vertical articulated robots are illustrated as the robot arms 72 and 82 of the first robot 70 and the second robot 80.
  • a general orthogonal robot constituted by a plurality of orthogonal slide axes may be used as the robot arm.
  • the robot hand 74 and the bundling device 84 may be moved by a common robot arm. Good.
  • the state information acquisition unit acquires state information of the connector 14 and the wiring member 13 in a state where the wiring member 13 is held by the electric wire holding jig 30.
  • the imaging unit 90 is provided as a state information acquisition unit.
  • the imaging unit 90 is configured to be able to image the connector 14 and the wiring member 13 extending from the connector 14. That is, the imaging unit 90 is an imaging camera configured by a CCD camera or the like. As the imaging unit 90, a two-dimensional camera may be used, or a stereo camera may be used. When the posture of the robot hand 74 is changed three-dimensionally according to the posture of the connector 14 to be grasped, a stereo camera is preferably used as the imaging unit 90. Here, an example in which a stereo camera is used as the imaging unit 90 will be described.
  • the machining control unit 100 determines the holding position of the holding unit based on the state information acquired by the state information acquisition unit. At this time, the machining control unit 100 has a function of performing operation control of the first robot 70 and the second robot 80.
  • the machining control unit 100 is connected to the first robot 70, the second robot 80, and the imaging unit 90.
  • the image picked up by the image pickup unit 90 is given to the processing control unit 100, whereby the processing control unit 100 acquires the holding position of the robot hand 74. Further, under the control of the processing control unit 100, the first robot 70 performs the wire 12 drawing operation, and the second robot 80 performs the binding operation.
  • the machining control unit 100 is configured by a general computer in which a CPU, a ROM, a RAM, an external storage device, and the like are interconnected via a bus line.
  • the ROM stores basic programs and the like, and the RAM is used as a work area when the CPU performs processing according to a predetermined procedure.
  • the external storage device is configured by a nonvolatile storage device such as a flash memory or a hard disk device.
  • the external storage device stores an OS (operation system), a machining program including a holding position determination program for determining the holding position of the robot hand 74, and the like. Operation control of the first robot 70 and the second robot 80 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program.
  • an image signal input interface and an input / output interface are also connected to the bus line. Then, the image pickup signal of the image pickup unit 90 is input to the main processing control unit 100 through the image signal input interface, and used for the process of acquiring the holding position of the robot hand 74. In addition, a control signal from the machining control unit 100 is given to the first robot 70 and the second robot 80 via the input / output interface, and the first robot 70 and the second robot 80 are driven and controlled.
  • an input unit configured by various switches, a touch panel, and the like is connected to the main processing control unit 100, and the wire harness assembling apparatus 20 is configured to receive various instructions to the main processing control unit 100 through the input unit. It is possible that
  • machining control unit 100 may be realized by hardware using a dedicated logic circuit or the like.
  • a plurality of connectors 14 each having an end of a plurality of wires 12 connected thereto is prepared. And the wiring member 13 extended from each connector 14 is arrange
  • a portion of the wiring member 13 extending from the connector 14 and in the vicinity of the connector 14 is held by the holding body 33.
  • the wiring member 13 extending from the connector 14 is pressed against the guide portion 38 of the wire holding member 32 to widen the opening. Then, the pressed wiring member 13 is disposed in the holding hole 35 through the opened opening. At this time, the wiring member 13 has a cross-sectional area smaller than the opening area of the holding hole 35 provided. As a result, the wiring member 13 is held without being held between the holding main body portion 33. In this state, the connector 14 can rotate around the axis along the axial direction of the holding hole 35. Further, in this state, the plurality of electric wires 12 hang down from the holding main body portion 33.
  • the wiring members 13 extending from the plurality of connectors 14 are respectively held by separate holding main body portions 33.
  • the wiring member 13 may be disposed in the holding hole 35 by an operator or a robot. When the robot performs, the first robot 70 may perform it.
  • the holding hole 35 that is not used in the electric wire holding jig 30 is preferably closed by a closing portion 49 as shown in FIG.
  • a block member is disposed in the holding hole 35 as the closing portion 49 to fill the holding hole 35.
  • positioned in the holding hole 35 sponge or rubber
  • the closing portion 49 may be disposed outside the holding hole 35 to close the opening of the holding hole 35.
  • the closing portion 49 disposed outside the holding hole 35 may be a plate material, for example.
  • a configuration in which the base end portion of the plate material is fastened to the united portion 40 with a screw and the tip end portion extends from the base end portion toward the opening can be considered.
  • an adhesive tape or the like is attached.
  • the sand 49 is hatched on the closing portion 49 for easy reading. The same applies to FIGS. 10 to 14 below.
  • the wiring members 13 extending from the four connectors 14 are held by the separate holding main body portions 33, they are as shown in FIG.
  • six holding main body portions 33 are provided, and the wiring members 13 are respectively disposed on the four holding main body portions 33.
  • the two holding holes 35A1 and 35B1 are closed by the closing portion 49, it is possible to prevent the wiring member 13 from being erroneously disposed in the holding holes 35A1 and 35B1.
  • wire rod holding members 32 are attached to one slider 56 as one set, but a plurality of wiring members 13 are divided into a plurality of wire rod holding members 32 attached to different sliders 56 from each other. May be arranged.
  • two wire holding member 32 groups each including three wire holding members 32 are attached to different sliders 56.
  • the two wiring members 13 are held by the two wire holding member 32 groups, respectively.
  • the wiring member 13 that forms a branch at a position close to the connector 14 may be held by the same wire holding member 32 group.
  • the wiring member 13 extending from the connectors 14a and 14b is held by one wire rod holding member 32 group
  • the wiring member 13 extending from the connectors 14c and 14d is held by the other wire rod holding member 32 group.
  • the branch forming operation is facilitated by sliding the group of wire holding members 32 along the horizontal frame 54 and changing the interval between the two groups of wire holding members 32.
  • step (b) the wiring member 13 is pulled out.
  • the connector 14 is moved by a predetermined dimension with respect to the holding hole 35.
  • the connector 14 is held by the connector holding jig 64 provided at a position away from the holding hole 35 by a predetermined dimension.
  • the robot hand 74 is lifted in this state.
  • the portion of the wiring member 13 that is held by the holding main body 33 and the portion that is positioned below the ascending portion rise, and are sequentially pulled out to the connector 14 side from the wire holding jig 30 while passing through the holding main body 33. It is. Thereafter, the robot hand 74 holds the connector 14 on the connector holding jig 64.
  • the wiring member 13 is inserted through the C-shaped portion of the connector holding portion 66 and the connector 14 is placed on the upper surface of the C-shaped portion. Thereby, the drawn wiring member 13 is maintained in this state.
  • the two wiring members 13 constituting the branch are pulled out, they are as shown in FIG.
  • the connector 14 or the wiring member 13 when the connector 14 or the wiring member 13 is held by the robot hand 74, a holding error may occur if the position and posture of the connector 14 are not constant. Further, the connector 14 or the wiring member 13 may be held from an undesired direction and the connector 14 or the wiring member 13 may be damaged. In particular, here, since the connector 14 can rotate around the axis of the holding hole 35, the position and posture of the connector 14b may not be constant. In order to hold the connector 14 or the wiring member 13 more reliably by the robot hand 74 even when the position and posture of the connector 14 are unstable in this way, here, the wiring member extending from the connector 14 and the connector 14 is used. 13 state information is acquired.
  • the imaging unit 90 images an area including the terminal of the wiring member 13. For example, a region including the connector 14 to be held and a member that is likely to be an interference when the connector 14 is held by the robot hand 74 around the connector 14 is imaged. Then, the processing control unit 100 acquires the holding position and the like of the robot hand 74 based on the state information of the connector 14 and the wiring member 13 in the captured image captured by the imaging unit 90. For example, the processing control unit 100 performs pattern recognition on the connector 14 by comparing it with the shape of the connector 14 input in advance in the captured image, and determines the position and orientation of the connector 14.
  • the robot hand 74 holds the wiring member 13
  • the background may be acquired in advance from a captured image captured without the wiring member 13.
  • the machining control unit 100 controls the operation of the robot hand 74. It is preferable that the acquisition of the imaging and the holding position is performed every time before the connector 14 or the wiring member 13 is held.
  • step (c) the drawn wiring member 13 is processed (step (c)).
  • step (c) it demonstrates as a process (c) performing the process of binding the wiring member 13 performed.
  • the step (c) will be described on the assumption that a step of binding a plurality of wiring members 13 to form a branch is performed.
  • the wiring member 13 extending from one connector 14 may be bundled.
  • the planned binding location is moved to the vicinity of the electric wire holding jig 30 (here, the position adjacent to the upper side of the electric wire holding jig 30).
  • the bundling device 84 is moved to the planned bundling position, and the wiring member 13 extending from the connector 14 is bundled.
  • the wiring members 13 extending from the two connectors 14a and 14b are bundled together by the adhesive tape T.
  • the bound portion forms a branching portion.
  • the connector 14c and 14d are also shown in FIG. 14 by performing the drawing process and the machining process.
  • the connectors 14 c and 14 d are moved by the robot hand 74 and are held by the connector holding portion 66. Then, the adhesive tape T is wound and bound by the binding device 94 around the two wiring members 13 extending from the connectors 14c and 14d.
  • the wire harness 10 in which the wiring members 13 extending from each connector 14 are bundled is manufactured by performing the bundling process on each of the plurality of connectors 14 or the branch points.
  • the exterior member 18 is attached to the wiring member 13 extending from the connector 14d.
  • the exterior member 18 for example, it is conceivable that an adhesive tape is spirally wound.
  • the exterior member 18, for example, a member around which a sheet-like member is wound may be used.
  • the exterior member 18 may be a resin molded product such as a corrugated tube or a protector, for example. The attaching process of the exterior member 18 may be performed by an operator or a robot.
  • the description has been given on the assumption that a part of the wiring members 13 is pulled out and processed to the part of the wiring members 13 and then the other wiring members 13 are pulled out to process the other wiring members 13. But this is not essential. After all the wiring members 13 are pulled out, the drawn wiring members 13 may be sequentially processed.
  • the wiring member 13 is sandwiched by disposing the wiring member 13 in the holding hole 35 having an opening area larger than the cross-sectional area of the wiring member 13. It is held without. As a result, the wiring member 13 can be held in such a manner that the wiring member 13 extending from the connector 14 can be pulled out and the connector 14 can be rotated. Then, by pulling out the wiring member 13 in a state where the wiring member 13 is disposed in the holding hole 35, the wiring member 13 is pulled out without being entangled. At this time, by moving the connector 14 by a predetermined dimension with respect to the holding hole 35, the dimension before processing can be determined.
  • Dimensioning can be performed by holding the connector 14 on a connector holding jig 64 provided at a position away from the holding hole 35 by a predetermined dimension. As a result, the dimensions can be easily determined.
  • the drawn wiring member 13 is bundled, the wiring member 13 can be easily bundled. At this time, since the plurality of drawn wiring members 13 are bundled to form a branch, the branch can be easily formed.
  • the exterior member 18 is attached to the drawn wiring member 13, the exterior member 18 can be easily attached.
  • the C-shaped axis of the connector holding portion 66 of the connector holding jig 64 is described as being oriented in the vertical direction, but this is not essential.
  • the C-shaped axis of the connector holding portion 66 may face the direction intersecting the vertical direction. In this case, the connector 14 is held in a state facing a predetermined direction different from the drawing direction, and the processing is performed in this state.
  • the connector holding portion 66A of the connector holding jig 64A may be formed in a frame shape as shown in FIG.
  • a concave portion 67 having an inner surface corresponding to the outer surface of the connector 14 is formed in the connector holding portion 66A. Then, by inserting the connector 14 into the recess 67, the orientation of the connector 14 is defined by the connector holding jig 64A.
  • the branches 14 can be formed in a state in which the connectors 14 are oriented in appropriate directions.
  • the processing step is performed with the connector holding jig 64 holding the connector 14, but this is not essential.
  • the machining process may be performed in a state where the robot hand 74 used when pulling out the wiring member 13 keeps holding the connector 14 as it is. That is, the connector 14 may be moved by a predetermined dimension and maintained in a moved state by the robot.
  • the electric wire drawing mechanism for pulling out the wiring member 13 has been described as the robot arm 72 that moves in the multi-axis direction, such as an articulated arm, but this is not essential.
  • the wire drawing mechanism may move only in one axial direction.
  • FIG. 16 shows a first robot 70A having such a wire drawing mechanism.
  • the wire drawing mechanism of the first robot 70A is configured by a linear actuator 72A including a rail 73a extending in the z-axis direction and a slider 73b movable along the rail 73a.
  • a robot hand 74 is provided on the slider 73b.
  • the slider 73b is driven by a drive unit such as a cylinder or a linear motor.
  • the machining control unit 100 controls the drive unit, whereby the position of the slider 73b is controlled by the machining control unit 100.
  • the position of the lower end of the slider 73b is a position where the robot hand 74 can grip the connector 14 set on the wire holding jig 30 as shown in FIG.
  • the slider 73b is raised as shown in FIG. 18, whereby the connector 14 held by the robot hand 74 is raised and the wiring member 13 is pulled out.
  • dimensioning can be performed by moving the slider by a predetermined dimension.
  • the wiring member 13 is maintained in the drawn-out state, and the drawn-out portion of the wiring member 13 can be processed.
  • the rail 73a is supported by the support plate 73c. But the rail 73a may be supported by the electric wire holding jig 30, and may be supported by the support member 50.
  • the first robot 70A including the linear actuator 72A as described above is provided to be equal to or more than the number of wiring members 13 constituting one branch.
  • the first robot 70 and 70A can simultaneously perform the drawing and dimensioning without providing the connector holding jig 64 or the like. Can do.
  • the jig main body 31 has been described as being formed into a shape in which the holding hole 35 is opened and the electric wire 12 can be inserted by pressing the electric wire 12 against the opening periphery of the holding hole 35.
  • the jig body part may have a holding hole that is opened and closed by the opening and closing part.
  • FIG. 19 shows an example of such a jig body 131.
  • the jig main body 131 shown in FIG. 19 includes three wire holding members 132 and an opening / closing member 140.
  • the wire holding member 132 includes two claw members 134 that are connected around the shaft portion 135 so as to be openable and closable, and a biasing member 138 that biases the two claw members 134 in the closing direction.
  • the wire holding member 132 will be described as being formed in a so-called laundry scissors shape.
  • Each of the two claw members 134 has a shaft portion 135, a divided holding main body portion 136, and an opening / closing portion 137.
  • the two claw members 134 are formed in the same shape and are connected to each other in opposite directions.
  • the shaft portion 135 is a portion that serves as a rotation fulcrum for the two claw members 134.
  • the two claw members 134 are rotatably connected around the shaft portion 135.
  • the split holding main body 136 extends from the shaft 135 to one side.
  • the divided holding main body 136 is formed with a divided holding hole 136a obtained by dividing the holding hole 133a.
  • the two divided holding holes 136a formed by combining the two claw members 134 form a holding hole 133a through which the wiring member 13 can be inserted, and the two divided holding main body parts 136 form a holding main body part 133.
  • the opening / closing part 137 extends from the shaft part 135 to the other side.
  • Each opening / closing part 137 of the two claw members 134 is formed so as to be located at a position away from each other with the holding hole 133a closed. Then, by bringing the open / close portions 137 of the two claw members 134 closer to each other, the two claw members 134 rotate around the shaft portion 135 and the holding hole 133a is opened.
  • the biasing member 138 is formed in a ring spring shape in which a part in the circumferential direction is interrupted.
  • One end portion of the urging member 138 in the circumferential direction is connected to the outer surface side of the divided holding main body portion 136 of the one claw member 134.
  • the other end in the circumferential direction of the biasing member 138 is connected to the outer surface side of the divided holding main body 136 of the other claw member 134.
  • Each claw member 134 is formed with a through hole 137h through which an intermediate portion of the biasing member 138 passes (see FIG. 21).
  • a central portion between the two through holes 137 h in the urging member 138 is disposed on the opposite side of the shaft portion 135 from the holding hole 133 a with a space from the shaft portion 135.
  • the opening / closing member 140 includes two combined members 141.
  • Each uniting member 141 includes a flat plate portion 142 and three pressing pieces 143 protruding from the flat plate portion 142.
  • the flat plate portion 142 is formed in a rectangular flat plate shape.
  • the three pressing pieces 143 are formed in a manner extending along the short direction toward the end in the short direction of the flat plate portion 142. Further, the three pressing pieces 143 are formed at regular intervals (here, at equal intervals) from the one end side in the longitudinal direction of the flat plate portion 142.
  • the two united members 141 are formed in the same shape.
  • the two coalescing members 141a and 141b are arranged so that the flat plate portion 142 faces each other and so that the pressing piece 143 thereof is abutted against the mating flat plate portion 142 (see FIG. 21). That is, the united member 141b takes a posture in which the united member 141a is rotated 180 degrees around the axis along the short direction of the flat plate part 142a.
  • Three wire rod holding members 132 are arranged in parallel in the longitudinal direction of the flat plate portion 142 between the flat plate portion 142a of the combined member 141a and the flat plate portion 142b of the combined member 141b.
  • the three wire holding members 132 are arranged in such a manner that the two opening / closing portions 137 of the wire holding members 132 are positioned between the pressing piece 143a of the uniting member 141a and the pressing piece 143b of the uniting member 141b. .
  • the two united members 141 slide, the three wire holding members 132 are collectively opened and closed. More specifically, from the state in which the flat plate portions 142a and 142b overlap in a plan view (the state shown in FIG. 19), the two united members 141 are mutually aligned along the direction in which the pressing pieces 143 are arranged as shown in FIGS. When the relative movement is performed in the opposite direction, the intervals between the three sets of pressing pieces 143a and 143b located on opposite sides of the opening / closing portion 137 are changed.
  • the three sets of pressing pieces 143a and 143b move so as to approach together, and the opening / closing portions 137a and 137b of the three wire holding members 132 are simultaneously pressed by the corresponding sets of pressing pieces 143a and 143b.
  • the two claw members 134 in each wire holding member 132 rotate around the shaft portion 135 so that the two opening / closing portions 137a and 137b come close to each other, and the holding holes 133a in each wire holding member 132 are simultaneously opened. It becomes.
  • the opening / closing member 140 further includes a fastener 144.
  • the wire holding member 132 is held by the fastener 144 and the two combined members 141.
  • each flat plate portion 142 is formed with three insertion holes 142h into which the rod-like fasteners 144 can be inserted.
  • Each insertion hole 142h is formed in a long hole shape.
  • the longitudinal direction of the insertion hole 142h is a direction in which the plurality of pressing pieces 143 are arranged, that is, a direction in which the two combined members 141 are relatively moved. Accordingly, the two flat plate portions 142 can be relatively moved in the direction in which the pressing pieces 143 are arranged in a state in which the fastener 44 is inserted into the insertion hole 142h.
  • Each fastener 144 is formed in a long bar shape and is inserted through three sets of insertion holes 142h. Each fastener 144 is inserted into a portion between the urging member 138 and the shaft portion 135 with respect to each wire holding member 132.
  • the wire rod holding member 132 moves in the direction along the plane of the flat plate portion 142. Is regulated. Further, the movement of the wire holding member 132 in the direction orthogonal to the plane of the flat plate portion 142 is restricted by the flat plate portion 142. Further, the rotation of the wire holding member 132 around the fastener 144 is restricted by the pressing piece 143 around the fastener 144. As described above, the wire holding member 132 is held by the two united members 141 and the fasteners 144.
  • a screw 144 a and a nut 144 c that fastens the tip of the screw 144 a are provided as a fastener 144 that holds the two wire holding members 132 positioned outside of the three wire holding members 132.
  • a screw 144 b is provided as a fastener 144 that holds the wire holding member 132 located at the center of the three wire holding members 132, and the tip of the screw 144 b is fastened to a screw hole formed in the slider 56. .
  • the closing portion 149 is preferably formed so as not to hinder the opening and closing operation of the holding holes 133a.
  • an outer closing member is provided as such a closing portion 149.
  • the outer closing member is formed in a rectangular plate shape, and a base end portion is disposed between the head portion of the screw 44a and the flat plate portion 142a.
  • tip part has block
  • the connector holding jig 64 is described as being supported by the drawing board main body 62, but this is not essential.
  • a plurality of horizontal frames 54 are provided on the vertical frame 52 in parallel with each other, and the connector holding jig 64 is supported by the horizontal frame 54 located above the horizontal frame 54 provided with the wire holding jig 30. It may be a thing.
  • a connector holding jig 64 having a C-shaped connector holding part 66 or a connector holding jig 64A having a frame-like connector holding part 66A is not essential.
  • a connector holding jig having a U-shaped connector holding portion (so-called U jig) or the wire holding members 32 and 132 may be used.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Installation Of Indoor Wiring (AREA)
  • Manipulator (AREA)

Abstract

The purpose of the present invention is to provide a favorable technique in a manufacturing method for manufacturing a wire harness involving moving a connector. This wire harness manufacturing method comprises steps (a), (b) and (c) below. In step (a), a wiring member extending from a connector is arranged in a retaining hole which has an opening area greater than the cross-sectional area of the wiring member. In step (b), in a state in which the wiring member has been arranged in the retaining hole, the connector is moved a prescribed distance with respect to the retaining hole to draw out the wiring member. In step (c), the drawn out wiring member is processed.

Description

ワイヤーハーネスの製造方法Manufacturing method of wire harness
　この発明は、ワイヤーハーネスの製造方法に関する。 This invention relates to a method for manufacturing a wire harness.
　特許文献１は、数本の電線を所要形態に配索するハーネス布線装置と、該ハーネス布線装置の複数本の電線をテープ巻きで束ねるテープ巻きユニットを所望の方向に移動自在としたテープ巻き装置とで構成されるワイヤーハーネスの製造装置を開示している。ハーネス布線装置としては、複数の縦レールに沿って前記複数本の電線を配索するハーネス整形装置が開示されている。サブワイヤーハーネスのコネクタは、縦レールに沿って摺動する受け治具にセットされ、サブワイヤーハーネスの電線部分は下部フレームまでの間で垂れ下がる。この後、コネクタを移動させることによってワイヤーハーネスの整形が行われ、幹線部や分岐線部が結束される。 Patent Document 1 discloses a harness wiring device for arranging several wires in a required form and a tape winding unit for bundling a plurality of wires of the harness wiring device by tape winding in a desired direction. The manufacturing apparatus of the wire harness comprised with a winding apparatus is disclosed. As a harness wiring device, a harness shaping device is disclosed in which the plurality of electric wires are routed along a plurality of vertical rails. The connector of the sub-wire harness is set on a receiving jig that slides along the vertical rail, and the electric wire portion of the sub-wire harness hangs down to the lower frame. Thereafter, the wire harness is shaped by moving the connector, and the main line portion and the branch line portion are bound.
特開２００８－１９２４５６号公報JP 2008-192456 A
　しかしながら、特許文献１に記載の技術では、受け治具にセットされたコネクタから垂れ下がる電線が遊んでしまっているため、受け治具を縦レールに沿って摺動させる際に、電線が絡まる恐れがある。このとき、電線が遊ばないように挟持部材によって電線を挟持してしまうと、挟持部材に対して電線を引き出すこと、及び挟持部材に対してコネクタを回転させることが難しくなる。 However, in the technique described in Patent Document 1, since the electric wire hanging from the connector set in the receiving jig is idle, there is a risk that the electric wire may be tangled when the receiving jig is slid along the vertical rail. is there. At this time, if the electric wire is pinched by the holding member so that the electric wire does not play, it becomes difficult to pull out the electric wire from the holding member and rotate the connector with respect to the holding member.
　そこで、本発明は、コネクタを移動させてワイヤーハーネスを製造する製造方法に好適な技術を提供することを目的とする。 Therefore, an object of the present invention is to provide a technique suitable for a manufacturing method for manufacturing a wire harness by moving a connector.
　上記課題を解決するため、第１の態様に係るワイヤーハーネスの製造方法は、（ａ）コネクタから延出する配線部材の横断面積よりも大きい開口面積を有する保持孔に、前記配線部材を配設する工程と、（ｂ）前記保持孔に前記配線部材が配設された状態で前記コネクタを前記保持孔に対して所定寸法移動させて、前記配線部材を引き出す工程と、（ｃ）引き出された前記配線部材を加工する工程と、を備える。 In order to solve the above-described problem, a manufacturing method of a wire harness according to a first aspect includes (a) arranging the wiring member in a holding hole having an opening area larger than a cross-sectional area of the wiring member extending from the connector. (B) a step of moving the connector by a predetermined dimension with respect to the holding hole in a state where the wiring member is disposed in the holding hole, and pulling out the wiring member; And a step of processing the wiring member.
　第２の態様に係るワイヤーハーネスの製造方法は、第１の態様に係るワイヤーハーネスの製造方法であって、前記工程（ｂ）は、前記保持孔に対して前記所定寸法離れた位置に設けられ前記コネクタを保持可能なコネクタ保持治具に前記コネクタを保持させる工程を含む。 The method for manufacturing the wire harness according to the second aspect is the method for manufacturing the wire harness according to the first aspect, wherein the step (b) is provided at a position away from the predetermined dimension with respect to the holding hole. A step of holding the connector on a connector holding jig capable of holding the connector.
　第３の態様に係るワイヤーハーネスの製造方法は、第１又は第２の態様に係るワイヤーハーネスの製造方法であって、前記工程（ｂ）は、ロボットによって前記コネクタを前記所定寸法移動させると共に移動させた状態に維持する工程を含む。 A method for manufacturing a wire harness according to a third aspect is the method for manufacturing a wire harness according to the first or second aspect, wherein the step (b) moves the connector while moving the predetermined dimension by a robot. A step of maintaining the state in which it is allowed to enter.
　第４の態様に係るワイヤーハーネスの製造方法は、第１から第３のいずれか１つの態様に係るワイヤーハーネスの製造方法であって、前記工程（ｃ）において、前記コネクタが引出方向とは異なる所定の向きを向いた状態に保持された状態で加工を行う。 The manufacturing method of the wire harness which concerns on a 4th aspect is a manufacturing method of the wire harness which concerns on any one 1st to 3rd aspect, Comprising: In the said process (c), the said connector differs from the extraction | drawer direction. Processing is performed in a state of being held in a predetermined direction.
　第５の態様に係るワイヤーハーネスの製造方法は、第１から第４のいずれか１つの態様に係るワイヤーハーネスの製造方法であって、前記工程（ｃ）は、前記配線部材を結束する工程を含む。 A method for manufacturing a wire harness according to a fifth aspect is a method for manufacturing a wire harness according to any one of the first to fourth aspects, wherein the step (c) includes a step of binding the wiring members. Including.
　第６の態様に係るワイヤーハーネスの製造方法は、第５の態様に係るワイヤーハーネスの製造方法であって、前記工程（ｃ）は、複数の前記配線部材を結束して分岐を形成する工程を含む。 The method for manufacturing a wire harness according to a sixth aspect is the method for manufacturing a wire harness according to the fifth aspect, wherein the step (c) includes a step of binding a plurality of the wiring members to form a branch. Including.
　第７の態様に係るワイヤーハーネスの製造方法は、第１から第６のいずれか１つの態様に係るワイヤーハーネスの製造方法であって、前記工程（ｃ）は、前記配線部材に外装部材を取付ける工程を含む。 A method for manufacturing a wire harness according to a seventh aspect is a method for manufacturing a wire harness according to any one of the first to sixth aspects, wherein the step (c) attaches an exterior member to the wiring member. Process.
　第１から第７の態様によると、配線部材を配線部材の横断面積よりも大きい開口面積を有する保持孔に配設することによって、配線部材が挟持されることなく保持される。これにより、コネクタから延出する配線部材を引き出し可能な態様で、且つコネクタを回転可能な態様で当該配線部材を保持することができる。そして、保持孔に配線部材が配設された状態で配線部材を引き出すことによって、配線部材が絡まることなく引き出される。この際、コネクタを保持孔に対して所定寸法移動させることで、加工前の寸法だしを行うことができる。 According to the first to seventh aspects, by arranging the wiring member in the holding hole having an opening area larger than the cross-sectional area of the wiring member, the wiring member is held without being sandwiched. As a result, the wiring member can be held in such a manner that the wiring member extending from the connector can be pulled out and in which the connector can be rotated. Then, by pulling out the wiring member in a state where the wiring member is disposed in the holding hole, the wiring member is pulled out without being entangled. At this time, the dimension before processing can be taken out by moving the connector by a predetermined dimension with respect to the holding hole.
　特に、第２の態様によると、コネクタをコネクタ保持治具に保持させることによって、寸法出しを行うことができる。これにより容易に寸法出しを行うことができる。 Particularly, according to the second aspect, the dimension can be determined by holding the connector on the connector holding jig. As a result, the dimensions can be easily determined.
　特に、第３の態様によると、ロボットによって、引出しと寸法出しとを同時に行うことができる。 In particular, according to the third aspect, the robot can perform drawing and dimensioning at the same time.
　特に、第４の態様によると、例えば、複数の配線部材を結束して分岐を形成するときなどに複数のコネクタがそれぞれ適切な向きを向いた状態で分岐を形成できる。 Particularly, according to the fourth aspect, for example, when a plurality of wiring members are bound to form a branch, the branch can be formed in a state where the plurality of connectors face each other in an appropriate direction.
　特に、第５の態様によると、簡易に配線部材を結束できる。 Particularly, according to the fifth aspect, the wiring members can be easily bundled.
　特に、第６の態様によると、簡易に分岐を形成できる。 In particular, according to the sixth aspect, a branch can be easily formed.
　特に、第７の態様によると、簡易に外装部材を取付けることができる。 Particularly, according to the seventh aspect, the exterior member can be easily attached.
ワイヤーハーネスの一例を示す図である。It is a figure which shows an example of a wire harness. ワイヤーハーネス組立用装置を示す概略図である。It is the schematic which shows the apparatus for wire harness assembly. 電線保持治具を示す概略平面図である。It is a schematic plan view which shows an electric wire holding jig. 電線保持治具を示す概略背面図である。It is a schematic rear view which shows an electric wire holding jig. 図４のＶ－Ｖ線に沿って切断した断面図である。FIG. 5 is a cross-sectional view taken along line VV in FIG. 4. 保持本体部を開く様子を示す説明図である。It is explanatory drawing which shows a mode that a holding main-body part is opened. 図板を示す斜視図である。It is a perspective view which shows a drawing board. 配線部材を保持孔に配設する様子を示す説明図である。It is explanatory drawing which shows a mode that a wiring member is arrange | positioned in a holding hole. 保持孔に配線部材が配設された様子を示す説明図である。It is explanatory drawing which shows a mode that the wiring member was arrange | positioned by the holding hole. 保持孔に配線部材が配設された様子を示す説明図である。It is explanatory drawing which shows a mode that the wiring member was arrange | positioned by the holding hole. 配線部材を引き出す様子を示す説明図である。It is explanatory drawing which shows a mode that a wiring member is pulled out. 配線部材を引き出した様子を示す説明図である。It is explanatory drawing which shows a mode that the wiring member was pulled out. 配線部材を結束した様子を示す説明図である。It is explanatory drawing which shows a mode that the wiring member was bundled. 別の配線部材を引き出して加工した様子を示す説明図である。It is explanatory drawing which shows a mode that another wiring member was pulled out and processed. コネクタ保持治具の変形例を示す正面図である。It is a front view which shows the modification of a connector holding jig. 変形例に係る電線引出機構を示す正面図である。It is a front view showing an electric wire drawer mechanism concerning a modification. 電線引出機構を用いて配線部材を引き出す様子を示す説明図である。It is explanatory drawing which shows a mode that a wiring member is pulled out using an electric wire extraction mechanism. 電線引出機構を用いて配線部材を引き出した様子を示す説明図である。It is explanatory drawing which shows a mode that the wiring member was pulled out using the electric wire drawing-out mechanism. 変形例に係る電線保持治具を示す平面図である。It is a top view which shows the electric wire holding jig which concerns on a modification. 変形例に係る電線保持治具を開く様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire holding jig which concerns on a modification is opened. 変形例に係る電線保持治具を開く様子を示す説明図である。It is explanatory drawing which shows a mode that the electric wire holding jig which concerns on a modification is opened.
　｛実施形態｝
　以下、実施形態に係るワイヤーハーネスの製造方法について説明する。 {Embodiment}
Hereinafter, the manufacturing method of the wire harness which concerns on embodiment is demonstrated.
　＜ワイヤーハーネスについて＞
　まず、製造対象となるワイヤーハーネス１０について説明する。図１はワイヤーハーネス１０の一例を平面に展開した図である。なお、図１において、同じ経路を通る電線１２は、１本の線で描かれている。このため、図１において、１本の線で描かれた電線１２は、実際には、複数の電線１２の束であることがあり得る。 <About wire harness>
First, the wire harness 10 to be manufactured will be described. FIG. 1 is an expanded view of an example of the wire harness 10. In FIG. 1, the electric wires 12 passing through the same path are drawn with a single line. For this reason, in FIG. 1, the electric wire 12 drawn with one line may actually be a bundle of a plurality of electric wires 12.
　製造対象となるワイヤーハーネス１０は、複数（ここでは４つ）のコネクタ１４が複数の電線１２を介して接続されている。より詳細には、ワイヤーハーネス１０は、複数の電線１２が分岐しつつ結束された構成とされている。そして、ワイヤーハーネス１０の各分岐先では、複数の電線１２の端部がコネクタ１４に挿入接続されている。本ワイヤーハーネス１０が車両に組込まれた状態で、各コネクタ１４が車両に搭載された各種電気部品に接続される。これにより、ワイヤーハーネス１０は、車両に搭載された各種電気部品を電気的に接続する役割を果す。ワイヤーハーネス１０に含まれる電線１２は、車両における敷設経路に応じた形態で分岐されつつ結束される。 The wire harness 10 to be manufactured has a plurality (four in this case) of connectors 14 connected via a plurality of electric wires 12. More specifically, the wire harness 10 is configured such that a plurality of electric wires 12 are bundled while being branched. And in each branch destination of the wire harness 10, the edge part of the some electric wire 12 is inserted and connected to the connector 14. FIG. In a state where the wire harness 10 is incorporated in the vehicle, each connector 14 is connected to various electrical components mounted on the vehicle. Thereby, the wire harness 10 plays the role which electrically connects the various electrical components mounted in the vehicle. The electric wires 12 included in the wire harness 10 are bundled while being branched in a form corresponding to a laying route in the vehicle.
　上述したように、電線１２の端部には、コネクタ１４が接続される。電線１２は、例えば、その端部に圧着又は溶接などによって接続された端子を介してコネクタ１４に接続される。 As described above, the connector 14 is connected to the end of the electric wire 12. For example, the electric wire 12 is connected to the connector 14 via a terminal connected to the end thereof by crimping or welding.
　コネクタ１４の本体部は、例えば、絶縁性の樹脂材料で一体成型されている。コネクタ１４の本体部には、電線１２の端部の端子を挿入保持可能な複数のキャビティが形成されている。電線１２の端子がキャビティに挿入保持されることで、各コネクタ１４から電線１２が延出した状態となる。以下では、コネクタ１４から延出する電線１２を含む線状部材を配線部材１３と称する。 The main body of the connector 14 is integrally formed of, for example, an insulating resin material. In the main body portion of the connector 14, a plurality of cavities capable of inserting and holding terminals at the end of the electric wire 12 are formed. When the terminals of the electric wires 12 are inserted and held in the cavities, the electric wires 12 are extended from the connectors 14. Hereinafter, the linear member including the electric wire 12 extending from the connector 14 is referred to as a wiring member 13.
　なお、コネクタ１４から延出する電線１２には外装部材１８が取付けられることがある。図１に示す例では、コネクタ１４ｄから延出する電線１２に外装部材が取付けられている。かかる外装部材１８としては、例えば、粘着テープがらせん状に巻回されたものであることが考えられる。また例えば、外装部材１８としては、シート状部材が電線１２周りに巻付けられたものであることが考えられる。また例えば、外装部材１８としては、コルゲートチューブ又はプロテクタ等の樹脂成形品であることが考えられる。 In addition, the exterior member 18 may be attached to the electric wire 12 extending from the connector 14. In the example shown in FIG. 1, an exterior member is attached to the electric wire 12 extending from the connector 14d. As this exterior member 18, it can be considered that, for example, an adhesive tape is spirally wound. Further, for example, as the exterior member 18, it is conceivable that a sheet-like member is wound around the electric wire 12. For example, the exterior member 18 may be a resin molded product such as a corrugated tube or a protector.
　＜ワイヤーハーネス組立用装置について＞
　次に、本ワイヤーハーネスの製造方法で用いるワイヤーハーネス組立用装置２０について説明する。図２は、ワイヤーハーネス組立用装置２０を示す概略図である。図３は、電線保持治具３０を示す概略平面図である。図４は、電線保持治具３０を示す概略背面図である。図５は、図４のＶ－Ｖ線に沿って切断した断面図である。図６は、保持本体部３３を開く様子を示す説明図である。図７は、図板６０を示す斜視図である。 <About wire harness assembly equipment>
Next, the wire harness assembling apparatus 20 used in the method for manufacturing the wire harness will be described. FIG. 2 is a schematic view showing the wire harness assembling apparatus 20. FIG. 3 is a schematic plan view showing the electric wire holding jig 30. FIG. 4 is a schematic rear view showing the electric wire holding jig 30. FIG. 5 is a cross-sectional view taken along line VV in FIG. FIG. 6 is an explanatory diagram showing a state in which the holding main body 33 is opened. FIG. 7 is a perspective view showing the drawing plate 60.
　ワイヤーハーネス組立用装置２０は、コネクタ１４から延出する配線部材１３に対して結束加工等の加工を施すのに用いられる。結束加工とは、コネクタ１４から延出する配線部材１３をコネクタ１４から離れた位置で結束する加工である。ワイヤーハーネス組立用装置２０は、電線保持治具３０と、電線保持治具３０を支持する支持部材５０と、図板６０とを備える。ここでは、ワイヤーハーネス組立用装置２０は、電線引出機構としての第１ロボット７０と、結束機構としての第２ロボット８０と、状態情報取得部としての撮像部９０と、加工制御部１００とをさらに備える。 The wire harness assembling apparatus 20 is used to perform processing such as bundling on the wiring member 13 extending from the connector 14. The binding process is a process of binding the wiring member 13 extending from the connector 14 at a position away from the connector 14. The wire harness assembling apparatus 20 includes an electric wire holding jig 30, a support member 50 that supports the electric wire holding jig 30, and a drawing board 60. Here, the wire harness assembling apparatus 20 further includes a first robot 70 as a wire drawing mechanism, a second robot 80 as a bundling mechanism, an imaging unit 90 as a state information acquisition unit, and a processing control unit 100. Prepare.
　電線保持治具３０は、複数の保持孔３５が形成された治具本体部３１を備える。 The electric wire holding jig 30 includes a jig main body 31 in which a plurality of holding holes 35 are formed.
　治具本体部３１は、複数（ここでは６つ）の保持本体部３３を備える。各保持本体部３３には、配線部材１３が配設される保持孔３５が形成されている。保持孔３５の軸心方向に沿った開口面積は、当該保持孔３５に挿通される配線部材１３の横断面積よりも大きくなっている。従って当該保持孔３５に配線部材１３が配設されることにより、保持本体部３３は、配線部材１３を挟持せずに保持可能である。６つの保持本体部３３は、配線部材１３が配設される保持孔３５の軸心方向と交差する方向に並ぶ。具体的には、保持本体部３３は、受部３４とガイド部３８とを含む。 The jig main body 31 includes a plurality (six here) of holding main bodies 33. Each holding main body 33 is formed with a holding hole 35 in which the wiring member 13 is disposed. The opening area along the axial direction of the holding hole 35 is larger than the cross-sectional area of the wiring member 13 inserted through the holding hole 35. Therefore, the holding main body 33 can hold the wiring member 13 without holding the wiring member 13 by arranging the wiring member 13 in the holding hole 35. The six holding main body portions 33 are arranged in a direction intersecting the axial direction of the holding hole 35 in which the wiring member 13 is disposed. Specifically, the holding main body portion 33 includes a receiving portion 34 and a guide portion 38.
　受部３４には、配線部材１３を配設可能な上記保持孔３５が形成されている。保持孔３５は、周方向の一部が開口している。より詳細には、受部３４はＣ字状に形成されたＣ字状部分３６と、Ｃ字状部分３６の周方向に沿った両端縁部から相互に接近しつつＣ字状部分３６の外方に延出する延出片３７とを有している。そして、延出片３７の先端同士は、連結しておらず、保持孔３５の周方向の開口をなしている。また、延出片３７の先端同士の間は、延出片３７における最も近接した部分となっている。延出片３７の先端同士の間隔は、配設される電線１２径よりも小さいことが好ましい。なお、本明細書における周方向の開口とは、保持孔３５の周方向において途切れて不連続となっている部分を指すものであり、必ずしも間隔があいている必要はない。従って、延出片３７の先端同士は接していてもよい。 The holding hole 35 in which the wiring member 13 can be disposed is formed in the receiving portion 34. The holding hole 35 is partially open in the circumferential direction. More specifically, the receiving portion 34 has a C-shaped portion 36 formed in a C-shape and an outer portion of the C-shaped portion 36 while approaching each other from both end edges along the circumferential direction of the C-shaped portion 36. And an extending piece 37 extending in the direction. The ends of the extension pieces 37 are not connected to each other, and form an opening in the circumferential direction of the holding hole 35. In addition, between the tips of the extended pieces 37, they are the closest portions of the extended pieces 37. It is preferable that the space | interval of the front-end | tips of the extension piece 37 is smaller than the diameter of the electric wire 12 arrange | positioned. Note that the circumferential opening in this specification refers to a portion that is discontinuous and discontinuous in the circumferential direction of the holding hole 35, and is not necessarily spaced. Therefore, the tips of the extension pieces 37 may be in contact with each other.
　ガイド部３８は、受部３４における周方向の開口の両縁部分から延出する。ガイド部３８は、周方向の開口から離れるに従って外向き傾斜する。ここでは、ガイド部３８は、延出片３７の先端から延出している。そして、２つの延出片３７からそれぞれ延出する２つのガイド部３８は、２つの延出片３７から遠ざかるに従い、相互の間隔が広くなっている。以下では、２つのガイド部３８の相互に対向する面をガイド面３９と称する。 The guide portion 38 extends from both edge portions of the circumferential opening in the receiving portion 34. The guide portion 38 is inclined outward as it is away from the circumferential opening. Here, the guide portion 38 extends from the tip of the extending piece 37. The distance between the two guide portions 38 extending from the two extended pieces 37 increases as the distance from the two extended pieces 37 increases. Hereinafter, the surfaces of the two guide portions 38 facing each other are referred to as guide surfaces 39.
　保持本体部３３は、保持孔３５に向けてガイド面３９に配線部材１３が押し付けられることにより周方向の開口を広げるように弾性変形可能とされている。これにより、ガイド面３９に押し付けられた配線部材１３が周方向の開口を通じてそのまま保持孔３５内に挿入可能となっている。また、保持孔３５に配線部材１３が配設された状態で、保持本体部３３は、外方に向けて受部３４の内周面のうち延出片３７の内周面又はその近傍に当該配線部材１３が押し付けられることにより周方向の開口を広げるように弾性変形可能とされている。これにより、受部３４の内周面のうち延出片３７の内周面又はその近傍に押し付けられた配線部材１３が周方向の開口を通じてそのまま保持孔３５の外方に排出可能となっている。なお、保持本体部３３の形状および樹脂又は金属等の保持本体部３３を構成する材質等によって弾性変形に要する力は変わる。 The holding body 33 is elastically deformable so as to widen the opening in the circumferential direction by pressing the wiring member 13 against the guide surface 39 toward the holding hole 35. Thereby, the wiring member 13 pressed against the guide surface 39 can be inserted into the holding hole 35 as it is through the opening in the circumferential direction. Further, in the state in which the wiring member 13 is disposed in the holding hole 35, the holding main body portion 33 is arranged on the inner peripheral surface of the extending piece 37 or in the vicinity thereof on the inner peripheral surface of the receiving portion 34 toward the outside. When the wiring member 13 is pressed, it can be elastically deformed so as to widen the opening in the circumferential direction. Thereby, the wiring member 13 pressed against the inner peripheral surface of the extending piece 37 or the vicinity thereof in the inner peripheral surface of the receiving portion 34 can be discharged directly to the outside of the holding hole 35 through the circumferential opening. . The force required for elastic deformation varies depending on the shape of the holding body 33 and the material constituting the holding body 33 such as resin or metal.
　ここでは、複数の保持本体部３３は保持孔３５の形状が異なるものを含む。より詳細には、６つの保持本体部３３のうち４つの保持本体部３３Ａ、３３Ｂの保持孔３５Ａ、３５Ｂが円形状とされ、２つの保持本体部３３Ｃの保持孔３５Ｃが楕円状とされている。また、円形状の保持孔３５Ａ、３５Ｂを有する４つの保持本体部３３Ａ、３３Ｂのうち２つの保持本体部３３Ａの保持孔３５Ａは残りの２つの保持本体部３３Ｂの保持孔３５Ｂよりも大きく形成されている。このように、ここでは複数の保持本体部３３Ａ、３３Ｂ、３３Ｃの保持孔３５Ａ、３５Ｂ、３５Ｃは形、大きさが異なるものを含んでいる。これにより、コネクタ１４の形状の違い等に起因する配線部材１３に含まれる電線１２本数の違い又はコネクタ１４における電線１２のセット位置の違い等に応じて適切に配線部材１３を保持することができる。例えば、コネクタ１４の縦横比が比較的大きい場合には、当該コネクタ１４から延出する配線部材１３を配設するに当たり楕円状の保持孔３５Ｃを有する保持本体部３３Ｃが好適である。また、コネクタ１４の縦横比が比較的小さい場合であってコネクタ１４の大きさも比較的小さい場合には、当該コネクタ１４から延出する配線部材１３を配設するに当たり小さい円形状の保持孔３５Ｂを有する保持本体部３３Ｂが好適である。また、コネクタ１４の縦横比が比較的小さい場合であってコネクタ１４の大きさが比較的大きい場合には、当該コネクタ１４から延出する配線部材１３を配設するに当たり大きい円形状の保持孔３５Ａを有する保持本体部３３Ａが好適である。 Here, the plurality of holding main body portions 33 include those having different holding hole 35 shapes. More specifically, the holding holes 35A and 35B of the four holding main body portions 33A and 33B out of the six holding main body portions 33 are circular, and the holding holes 35C of the two holding main body portions 33C are elliptical. . Of the four holding body portions 33A and 33B having the circular holding holes 35A and 35B, the holding holes 35A of the two holding body portions 33A are formed larger than the holding holes 35B of the remaining two holding body portions 33B. ing. As described above, the holding holes 35A, 35B, and 35C of the plurality of holding main body portions 33A, 33B, and 33C include those having different shapes and sizes. Thereby, the wiring member 13 can be appropriately held according to the difference in the number of wires 12 included in the wiring member 13 due to the difference in the shape of the connector 14 or the like, or the difference in the set position of the wires 12 in the connector 14. . For example, when the aspect ratio of the connector 14 is relatively large, the holding main body portion 33C having the elliptical holding hole 35C is suitable for disposing the wiring member 13 extending from the connector 14. Further, when the aspect ratio of the connector 14 is relatively small and the size of the connector 14 is also relatively small, a small circular holding hole 35B is provided when the wiring member 13 extending from the connector 14 is disposed. The holding main body part 33B having is preferable. When the aspect ratio of the connector 14 is relatively small and the size of the connector 14 is relatively large, a large circular holding hole 35A is provided when the wiring member 13 extending from the connector 14 is disposed. A holding main body 33A having the above is suitable.
　もっとも、複数の保持本体部３３が保持孔３５の形状が異なるものを含むことは必須ではなく、すべての保持本体部３３の保持孔３５の形状が同一に形成されていてもよい。 However, it is not essential that the plurality of holding main body portions 33 include different shapes of the holding holes 35, and the holding holes 35 of all the holding main body portions 33 may be formed in the same shape.
　ここでは、６つの保持本体部３３は、それぞれ別体に形成された線材保持部材３２の一部をなしている。従って、治具本体部３１は、６つの線材保持部材３２を備える。６つの線材保持部材３２は、１列に並んでおり、そのうち隣り合う線材保持部材３２同士は、相互に合体している。 Here, the six holding main body portions 33 each constitute a part of the wire holding member 32 formed separately. Therefore, the jig body 31 includes six wire holding members 32. The six wire holding members 32 are arranged in a line, and the adjacent wire holding members 32 are united with each other.
　各線材保持部材３２は、上記保持本体部３３と、合体部４０とを含む。なお、ここでは、１つの線材保持部材３２に保持本体部３３が１つ形成されているものとして説明するが、１つの線材保持部材３２に保持本体部３３が複数形成されていてもよい。つまり、治具本体部３１に含まれる保持本体部３３の数と線材保持部材３２の数とは一致していない場合もあり得る。例えば、１つの線材保持部材３２に２つの保持本体部３３が設けられることもあり得る。この場合、１つの線材保持部材３２に含まれる２つの保持本体部３３の保持孔３５の形状は同一であってもよいし、異なるものであってもよい。 Each wire holding member 32 includes the holding main body portion 33 and the combined portion 40. Here, the description will be made assuming that one holding body portion 33 is formed on one wire holding member 32, but a plurality of holding body portions 33 may be formed on one wire holding member 32. That is, the number of holding main body portions 33 included in the jig main body portion 31 and the number of wire rod holding members 32 may not match. For example, two holding body portions 33 may be provided on one wire holding member 32. In this case, the shape of the holding holes 35 of the two holding main body portions 33 included in one wire holding member 32 may be the same or different.
　合体部４０は、保持本体部３３に連なって形成されている。ここでは、合体部４０は、Ｃ字状部分３６の底の外面から外方に突出するように形成された直方体状の基部４１と、基部４１の両側面から突出する複数（ここでは２つ）の固定片４２とを有する。ここでは固定片４２は、基部４１に対して保持孔３５の軸心方向と交差する方向であって、保持孔３５の開口の向きと交差する方向に突出している。そして固定片４２の突出方向に複数の線材保持部材３２が並んでいる。 The united part 40 is formed continuously with the holding main body part 33. Here, the united portion 40 has a rectangular parallelepiped base 41 formed so as to protrude outward from the outer surface of the bottom of the C-shaped portion 36, and a plurality (two in this case) protruding from both side surfaces of the base 41. And a fixed piece 42. Here, the fixed piece 42 protrudes in a direction intersecting the axial direction of the holding hole 35 with respect to the base 41 and intersecting the opening direction of the holding hole 35. A plurality of wire holding members 32 are arranged in the protruding direction of the fixed piece 42.
　固定片４２の厚み寸法は、基部４１の厚み寸法より小さく（ここでは半分に）設定されている。２つの固定片４２のうち一方は、基部４１の厚み方向に沿った一方側から延出している。２つの固定片４２のうち他方は基部４１の厚み方向に沿った他方側から延出している。このため、２つの線材保持部材３２を隣設させた際に、一方の線材保持部材３２の一方の固定片４２と、他方の線材保持部材３２の他方の固定片４２とが重なることが可能とされている。そして、固定片４２のうち重なった際に対応する位置（ここでは固定片４２の中央の位置）には挿通孔４３が形成されている。 The thickness dimension of the fixed piece 42 is set smaller than the thickness dimension of the base portion 41 (here, half). One of the two fixed pieces 42 extends from one side along the thickness direction of the base 41. The other of the two fixed pieces 42 extends from the other side along the thickness direction of the base 41. For this reason, when two wire rod holding members 32 are provided adjacent to each other, one fixed piece 42 of one wire rod holding member 32 and the other fixed piece 42 of the other wire rod holding member 32 can overlap. Has been. And the insertion hole 43 is formed in the position (here center position of the fixed piece 42) corresponding when it overlaps among the fixed pieces 42. As shown in FIG.
　挿通孔４３は、棒状の留具４４を挿通可能に形成されている。そして隣り合う線材保持部材３２の固定片４２が重なった状態で２つの固定片４２の挿通孔４３に棒状の留具４４が通されて隣り合う線材保持部材３２が合体している。 The insertion hole 43 is formed so that a rod-shaped fastener 44 can be inserted. Then, in a state where the fixing pieces 42 of the adjacent wire holding members 32 overlap with each other, the rod-like fasteners 44 are passed through the insertion holes 43 of the two fixing pieces 42 so that the adjacent wire holding members 32 are combined.
　留具４４は、複数（ここでは５つ）設けられている。各留具４４は、長尺棒状に形成されて５組の挿通孔４３にそれぞれ挿通されている。 A plurality of fasteners 44 (here, five) are provided. Each fastener 44 is formed in a long bar shape and is inserted through five sets of insertion holes 43.
　なお、図４に示す例では、５組の隣り合う線材保持部材３２のうち外側に位置する４組の隣り合う線材保持部材３２を保持する留具４４としてネジ４４ａ及びネジ４４ａの先端を留めるナット４４ｃが設けられている。また、５組の隣り合う線材保持部材３２のうち中央に位置する１組の隣り合う線材保持部材３２を保持する留具４４としてネジ４４ｂが設けられ、４４ｂの先端は、後述するスライダ５６に形成されたネジ穴に留められている。 In the example shown in FIG. 4, a screw 44 a and a nut that fastens the tip of the screw 44 a as a fastener 44 that holds four sets of adjacent wire holding members 32 located outside of the five sets of adjacent wire holding members 32. 44c is provided. Also, a screw 44b is provided as a fastener 44 for holding a pair of adjacent wire holding members 32 located in the center among the five sets of adjacent wire holding members 32, and the tip of 44b is formed on a slider 56 described later. It is fastened to the screw hole.
　もっとも留具４４は、上記したものに限られない。例えば、留具４４は、ピンとピンの端部に設けられるキャップとで構成されるものであってもよい。 However, the fastener 44 is not limited to the above. For example, the fastener 44 may be composed of a pin and a cap provided at the end of the pin.
　上述したように、ここでは保持本体部３３としては、保持孔３５Ａ、３５Ｂ、３５Ｃの形状の異なる３種類の保持本体部３３Ａ、３３Ｂ、３３Ｃが存在している。従って、ここでは、線材保持部材３２としては、保持本体部３３Ａ、３３Ｂ、３３Ｃの形状の異なる３種類の線材保持部材３２Ａ、３２Ｂ、３２Ｃが存在している。なお、ここでは３種類の線材保持部材３２Ａ、３２Ｂ、３２Ｃにおいて合体部４０は、すべて同じ形状とされている。 As described above, as the holding body portion 33, there are three types of holding body portions 33A, 33B, and 33C having different shapes of the holding holes 35A, 35B, and 35C. Therefore, here, as the wire holding member 32, there are three types of wire holding members 32A, 32B, and 32C having different holding main body portions 33A, 33B, and 33C. Here, in the three types of wire rod holding members 32A, 32B, and 32C, all the united portions 40 have the same shape.
　ここで図４に示すように、保持孔３５に配線部材１３を出し入れする方向から見て合体部４０は点対称に形成されている。また、同方向から見て保持本体部３３も、点対称に形成されている。従って、線材保持部材３２は、保持孔３５に配線部材１３を出し入れする方向に沿った軸周りに１８０度回転させても同じ形状を呈する。このため、線材保持部材３２同士を連結させる際に、向きを考慮する手間を省くことができる。 Here, as shown in FIG. 4, the united portion 40 is formed point-symmetrically when viewed from the direction in which the wiring member 13 is taken in and out of the holding hole 35. Further, the holding body 33 is also formed point-symmetrically when viewed from the same direction. Therefore, the wire rod holding member 32 exhibits the same shape even if it is rotated by 180 degrees around the axis along the direction in which the wiring member 13 is taken in and out of the holding hole 35. For this reason, when connecting the wire holding members 32, the effort which considers direction can be saved.
　ここでは、電線保持治具３０は、支持部材５０に支持されている。図２に示すように、支持部材５０は、縦フレーム５２と、横フレーム５４とを備える。縦フレーム５２は、床上に立設状態で支持されている。横フレーム５４は、縦フレーム５２によって床上の位置に水平姿勢で支持されている。電線保持治具３０は、横フレーム５４によって床上の位置に水平姿勢で支持されている。このとき電線保持治具３０は、保持孔３５の軸心方向が縦フレーム５２の延在方向に沿った姿勢で支持される。 Here, the wire holding jig 30 is supported by the support member 50. As shown in FIG. 2, the support member 50 includes a vertical frame 52 and a horizontal frame 54. The vertical frame 52 is supported in a standing state on the floor. The horizontal frame 54 is supported in a horizontal posture at a position on the floor by the vertical frame 52. The electric wire holding jig 30 is supported in a horizontal posture at a position on the floor by the horizontal frame 54. At this time, the electric wire holding jig 30 is supported in a posture in which the axial center direction of the holding hole 35 is along the extending direction of the vertical frame 52.
　横フレーム５４は、長尺棒状に形成されている。電線保持治具３０は横フレーム５４の長手方向に摺動可能に横フレーム５４に支持されている。より詳細には、横フレーム５４には、その長手方向に沿って延在する凹溝５４ｈが形成されている。そして凹溝５４ｈには、凹溝５４ｈに沿って摺動可能なスライダ５６が配設されている。電線保持治具３０は当該スライダ５６に取付けられている。ここでは、スライダ５６に形成されたネジ穴に上記ネジ４４ｂが螺合されることによって、電線保持治具３０がスライダ５６に取付けられている。なお、図３に示す例では、凹溝５４ｈは、鉛直方向上方に開口するように形成されているが、このことは必須ではない。凹溝５４ｈは水平方向に開口するように形成されていてもよいし、鉛直方向下方に開口するように形成されていてもよい。 The horizontal frame 54 is formed in a long bar shape. The electric wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54. More specifically, the horizontal frame 54 is formed with a concave groove 54h extending along the longitudinal direction thereof. A slider 56 that can slide along the concave groove 54h is disposed in the concave groove 54h. The electric wire holding jig 30 is attached to the slider 56. Here, the wire holding jig 30 is attached to the slider 56 by screwing the screw 44 b into a screw hole formed in the slider 56. In the example shown in FIG. 3, the concave groove 54h is formed to open upward in the vertical direction, but this is not essential. The concave groove 54h may be formed so as to open in the horizontal direction or may be formed so as to open downward in the vertical direction.
　もっとも、電線保持治具３０は横フレーム５４の長手方向に摺動可能に横フレーム５４に支持されていることは必須ではない。電線保持治具３０は支持部材５０に対して移動不可に固定されていてもよい。 However, it is not essential that the wire holding jig 30 is supported by the horizontal frame 54 so as to be slidable in the longitudinal direction of the horizontal frame 54. The electric wire holding jig 30 may be fixed to the support member 50 so as not to move.
　以下では、横フレーム５４の長手方向に沿った方向をｘ軸方向とし、これに直交する２つの方向をｙ軸方向及びｚ軸方向とする。従って、図３に示すように、保持孔３５はｘ軸方向に沿って並んでいる。また、保持孔３５の開口はｙ軸方向を向いている。このため、配線部材１３は保持孔３５に対してｙ軸方向に沿って出し入れされる（図６、図８参照）。また、縦フレーム５２の延在方向がｚ軸方向に沿った方向であり、ここでは、鉛直方向に沿った方向である。 Hereinafter, the direction along the longitudinal direction of the horizontal frame 54 is referred to as an x-axis direction, and two directions orthogonal to the direction are referred to as a y-axis direction and a z-axis direction. Therefore, as shown in FIG. 3, the holding holes 35 are arranged along the x-axis direction. Further, the opening of the holding hole 35 faces the y-axis direction. For this reason, the wiring member 13 is taken in and out along the y-axis direction with respect to the holding hole 35 (see FIGS. 6 and 8). Further, the extending direction of the vertical frame 52 is a direction along the z-axis direction, and here is a direction along the vertical direction.
　複数の電線１２の各端部の端子を対応する各コネクタ１４に挿入保持した状態で、各コネクタ１４から延出する配線部材１３が上記保持本体部３３に保持される。ここでは、コネクタ１４が保持本体部３３の上方に位置しつつ、コネクタ１４から延出する配線部材１３が鉛直方向に延在するように保持本体部３３の保持孔３５に挿通される。ここでは、１つの保持孔３５に１つのコネクタ１４から延出する配線部材１３が挿通されるものとして説明する。もっとも、１つの保持孔３５に複数のコネクタ１４からそれぞれ延出する複数の配線部材１３が挿通されてもよい。なお、図２に示す状態では、各配線部材１３は、結束されていない。このため、各コネクタ１４から延出する各配線部材１３は各コネクタ１４から垂れ下がっており、各コネクタ１４間の下方位置で、他のコネクタ１４に向うように湾曲している。ここでは、各コネクタ１４から延出する各配線部材１３は各保持本体部３３から垂れ下がっており、各保持本体部３３の下方位置で、他の保持本体部３３に向うように湾曲している。 The wiring member 13 extending from each connector 14 is held by the holding main body 33 in a state where the terminals at each end of the plurality of electric wires 12 are inserted and held in the corresponding connectors 14. Here, the wiring member 13 extending from the connector 14 is inserted through the holding hole 35 of the holding main body 33 so that the connector 14 is positioned above the holding main body 33 and extends in the vertical direction. Here, description will be made assuming that the wiring member 13 extending from one connector 14 is inserted into one holding hole 35. However, a plurality of wiring members 13 respectively extending from the plurality of connectors 14 may be inserted into one holding hole 35. In addition, in the state shown in FIG. 2, each wiring member 13 is not bundled. Therefore, each wiring member 13 extending from each connector 14 hangs down from each connector 14, and is curved toward the other connector 14 at a lower position between the connectors 14. Here, each wiring member 13 extending from each connector 14 hangs down from each holding main body 33 and is curved toward the other holding main body 33 at a position below each holding main body 33.
　図板６０は、図板本体部６２と、コネクタ保持治具６４とを含む。図板６０は、保持孔３５に対して一定位置に支持されている。例えば、図板６０は、支持部材５０に支持されていてもよいし、支持部材５０とは別の部材に支持されていてもよい。 The drawing board 60 includes a drawing board main body 62 and a connector holding jig 64. The drawing plate 60 is supported at a fixed position with respect to the holding hole 35. For example, the drawing plate 60 may be supported by the support member 50, or may be supported by a member different from the support member 50.
　図板本体部６２は、長方形平板状に形成されている。図板本体部６２の主面は、保持孔３５の軸心方向及び複数の保持孔３５の並ぶ方向を含む平面に沿って広がっている。従って、ここでは図板本体部６２の主面は、ｘ軸方向及びｚ軸方向を含む平面に沿って広がっている。もっとも、図板本体部６２は、ｘ軸又はｚ軸周りに回転した向きで設置されていてもよい。 The board main body 62 is formed in a rectangular flat plate shape. The main surface of the drawing board main body 62 extends along a plane including the axial direction of the holding hole 35 and the direction in which the plurality of holding holes 35 are arranged. Accordingly, here, the main surface of the drawing board main body 62 extends along a plane including the x-axis direction and the z-axis direction. But the figure board main-body part 62 may be installed in the direction rotated around the x-axis or the z-axis.
　コネクタ保持治具６４は、図板本体部６２に少なくとも１つ（ここでは、４つ）立設されている。上述したようにここでは図板本体部６２がｘ軸方向及びｚ軸方向を含む平面に沿って広がっているためコネクタ保持治具６４は、ｙ軸方向に沿って延びている。４つのコネクタ保持治具６４は、４つのコネクタをそれぞれ保持可能である。図板本体部６２が電線保持治具３０に対して一定位置に位置した状態で、コネクタ保持治具６４は、保持対象のコネクタ１４から延出する配線部材１３が保持される保持孔３５に対して所定寸法離れた位置に位置するように設けられる。具体的には、コネクタ保持治具６４は、図板取付部６５と、図板取付部６５から延出するコネクタ保持部６６とを有する。 At least one (four in this case) connector holding jig 64 is erected on the board main body 62. As described above, here, the board main body 62 extends along a plane including the x-axis direction and the z-axis direction, so that the connector holding jig 64 extends along the y-axis direction. The four connector holding jigs 64 can hold the four connectors, respectively. The connector holding jig 64 is in a state where the wiring board 13 extending from the connector 14 to be held is held with respect to the holding hole 35 in which the board main body 62 is located at a fixed position with respect to the electric wire holding jig 30. So as to be positioned at a predetermined distance. Specifically, the connector holding jig 64 has a figure board attaching part 65 and a connector holding part 66 extending from the figure board attaching part 65.
　図板取付部６５は、図板本体部６２における複数の位置に選択的に取付可能であるとよい。このような構成としては、例えば、以下のような構成が考えられる。すなわち、図板取付部６５は、棒状に形成されると共にその先端に雄ネジが切られる。また図板本体部６２には、図板取付部６５を挿通可能な貫通孔が複数形成される。そして、図板本体部６２の複数の貫通孔のうち一の貫通孔を選択して、当該一の貫通孔に図板取付部６５を図板本体部６２の一方主面側から挿通させる。この後、図板本体部６２の他方主面側から図板取付部６５の貫通孔を通過した先端の雄ネジにナット等を締めることによってコネクタ保持治具６４が図板本体部６２に取付けられる。このように、図板取付部６５が、図板本体部６２における複数の位置に選択的に取付可能であることによって、当該図板６０が複数種類のワイヤーハーネスの製造に対応可能となる。 The figure board attaching portion 65 may be selectively attachable to a plurality of positions in the figure board main body part 62. As such a configuration, for example, the following configuration can be considered. That is, the figure board attaching portion 65 is formed in a rod shape and a male screw is cut at the tip thereof. Further, a plurality of through-holes through which the figure plate attaching part 65 can be inserted are formed in the figure board main body part 62. Then, one through hole is selected from the plurality of through holes of the figure board main body 62, and the figure board attaching part 65 is inserted into the one through hole from the one main surface side of the figure board main body 62. Thereafter, the connector holding jig 64 is attached to the figure board main body part 62 by tightening a nut or the like from the other main surface side of the figure board main part 62 to the male screw at the tip that has passed through the through hole of the figure board attachment part 65. . Thus, the figure board attaching part 65 can be selectively attached to a plurality of positions in the figure board main body part 62, so that the figure board 60 can cope with the production of a plurality of types of wire harnesses.
　コネクタ保持部６６は、コネクタ１４を保持可能に形成されている。図７に示す例では、コネクタ保持部６６は、Ｃ字状に形成されている。そして、Ｃ字の中央部の外面に図板取付部６５が連結されている。また、ここでは、Ｃ字の軸心方向がｚ軸方向に沿うようにコネクタ保持治具６４が図板本体部６２に設けられている。従って、コネクタ保持部６６は、Ｃ字部分に配線部材１３が挿通されて配線部材１３又はコネクタ１４がＣ字の周縁に引掛けられることによってコネクタ１４を保持可能とされている（図１２参照）。ここでは、コネクタ保持部６６は、コネクタ１４をＣ字の周縁に引掛けて、つまり、Ｃ字の上面に載置して保持可能である。コネクタ保持部６６は、保持本体部３３と同様にコネクタ１４に応じて大きさが異なるように設けられていてもよいし、すべて同じ大きさであってもよい。 The connector holding portion 66 is formed so as to hold the connector 14. In the example illustrated in FIG. 7, the connector holding portion 66 is formed in a C shape. And the board attachment part 65 is connected with the outer surface of the center part of C character. Further, here, the connector holding jig 64 is provided in the figure board main body 62 so that the C-axis axial direction is along the z-axis direction. Accordingly, the connector holding portion 66 can hold the connector 14 when the wiring member 13 is inserted into the C-shaped portion and the wiring member 13 or the connector 14 is hooked around the C-shaped periphery (see FIG. 12). . Here, the connector holding portion 66 can hold the connector 14 by hooking the connector 14 on the periphery of the C-shape, that is, by placing it on the upper surface of the C-shape. The connector holding portion 66 may be provided so as to have a different size according to the connector 14 as with the holding main body portion 33, or may be the same size.
　電線引出機構は、電線保持治具３０に挟持されることなく保持された複数の配線部材１３を引き出す。電線引出機構は、保持部と、移動機構とを含む。保持部は、電線保持治具３０に配線部材１３が保持された状態で配線部材１３のうちコネクタ１４と電線保持治具３０との間の部分又はコネクタ１４を保持する。移動機構は、保持部を電線保持治具３０から離間移動させる。上述したように、ここでは、電線引出機構として、第１ロボット７０が採用されている。 The wire drawing mechanism pulls out the plurality of wiring members 13 held without being held by the wire holding jig 30. The wire drawing mechanism includes a holding unit and a moving mechanism. The holding portion holds a portion of the wiring member 13 between the connector 14 and the wire holding jig 30 or the connector 14 in a state where the wiring member 13 is held by the wire holding jig 30. The moving mechanism moves the holding unit away from the electric wire holding jig 30. As described above, here, the first robot 70 is employed as the wire drawing mechanism.
　第１ロボット７０は、上記移動機構としてのロボットアーム７２と、ロボットアーム７２の先端部に設けられた上記保持部としてのロボットハンド７４とを備える。ロボットアーム７２の駆動によってロボットハンド７４を各作業位置に移動させることができる。また、ロボットアーム７２の駆動によってロボットハンド７４の姿勢を変更させることができる。ロボットハンド７４は、複数のフィンガを備えており、複数のフィンガによってコネクタ１４又はコネクタ１４から延出する配線部材１３を把持することが可能とされている。特に、ロボットアーム７２の駆動によってロボットハンド７４をコネクタ１４の位置又はコネクタ１４の下方位置に移動させた状態で、ロボットハンド７４でコネクタ１４又はコネクタ１４から延出する配線部材１３を保持し、この状態で、ロボットアーム７２の駆動によってロボットハンド７４を上方に移動させることで、電線保持治具３０から配線部材１３を引き出すことができる（図１１、図１２参照）。以下では、ロボットハンド７４は、コネクタ１４を把持するものとして説明する。 The first robot 70 includes a robot arm 72 as the moving mechanism and a robot hand 74 as the holding unit provided at the tip of the robot arm 72. The robot hand 74 can be moved to each work position by driving the robot arm 72. The posture of the robot hand 74 can be changed by driving the robot arm 72. The robot hand 74 includes a plurality of fingers, and the connector 14 or the wiring member 13 extending from the connector 14 can be held by the plurality of fingers. In particular, the robot hand 74 holds the wiring member 13 extending from the connector 14 or the connector 14 in a state where the robot hand 74 is moved to the position of the connector 14 or a position below the connector 14 by driving the robot arm 72. In this state, the wiring member 13 can be pulled out from the wire holding jig 30 by moving the robot hand 74 upward by driving the robot arm 72 (see FIGS. 11 and 12). Hereinafter, the robot hand 74 will be described as gripping the connector 14.
　このとき配線部材１３は電線保持治具３０に対して両側を当接させるように摺動されることなく引き出される。このため、引き出された配線部材１３のうちコネクタ１４と電線保持治具３０との間の部分には曲がった部分が含まれることがあり得る。この場合、配線部材１３のうちコネクタ１４と電線保持治具３０との間の部分は、後に結束される前に、作業者又は電線矯正機構によってなるべく真っ直ぐな状態に矯正されることが好ましい。例えば、コネクタ１４を位置決めした状態で、配線部材１３のうちコネクタ１４側部分を把持して、把持部分を電線保持治具３０側に向けて摺動させることによって、配線部材１３をなるべく真っ直ぐな状態に矯正することができる。このような電線１２の矯正動作は、しごき動作とも呼ばれる。 At this time, the wiring member 13 is pulled out without being slid so as to abut both sides of the electric wire holding jig 30. For this reason, the portion between the connector 14 and the wire holding jig 30 in the drawn wiring member 13 may include a bent portion. In this case, it is preferable that the portion of the wiring member 13 between the connector 14 and the wire holding jig 30 is corrected to be as straight as possible by an operator or a wire correction mechanism before being bound later. For example, with the connector 14 positioned, the wiring member 13 is held as straight as possible by gripping the connector 14 side portion of the wiring member 13 and sliding the gripping portion toward the wire holding jig 30 side. Can be corrected. Such a correction operation of the electric wire 12 is also referred to as an ironing operation.
　結束機構は、電線引出機構によって引き出された状態の複数の配線部材１３を結束する。上述したように、ここでは、結束機構として第２ロボット８０が採用されている。 The bundling mechanism binds the plurality of wiring members 13 drawn by the wire drawing mechanism. As described above, here, the second robot 80 is employed as the bundling mechanism.
　第２ロボット８０は、ロボットアーム８２と、ロボットアーム８２の先端部に設けられた結束装置８４とを備える。ロボットアーム８２の駆動によって結束装置８４を各作業位置に移動させることができる。結束装置８４は、配線部材１３を粘着テープ又は結束バンド等の結束部材によって結束する装置である。かかる結束装置８４としては、例えば、粘着テープを巻回したテープ巻回体を、配線部材１３周りに回転させることで、当該粘着テープを配線部材１３に巻回する、周知のテープ巻付装置を用いることができる。特に、コネクタ１４から距離をあけた下方位置で、配線部材１３が電線保持治具３０によって保持された状態で、ロボットアーム８２の駆動によって結束装置８４を当該電線保持治具３０の上側又は下側の隣の位置に移動させた状態で、当該結束装置８４によって配線部材１３に粘着テープＴを巻付けて、配線部材１３を結束することができる（図１３参照）。以下では、結束装置８４によって電線保持治具３０の上側の位置（以下、予定結束箇所と称する）で配線部材１３を結束するものとして説明する。 The second robot 80 includes a robot arm 82 and a bundling device 84 provided at the tip of the robot arm 82. The bundling device 84 can be moved to each work position by driving the robot arm 82. The binding device 84 is a device that binds the wiring member 13 with a binding member such as an adhesive tape or a binding band. As the binding device 84, for example, a known tape winding device that winds the adhesive tape around the wiring member 13 by rotating a tape winding body around which the adhesive tape is wound around the wiring member 13. Can be used. In particular, in a state where the wiring member 13 is held by the electric wire holding jig 30 at a lower position away from the connector 14, the bundling device 84 is moved above or below the electric wire holding jig 30 by driving the robot arm 82. In a state where the wiring member 13 is moved to the position adjacent to the wiring member 13, the wiring member 13 can be bound by winding the adhesive tape T around the wiring member 13 by the binding device 84 (see FIG. 13). Below, it demonstrates as what binds the wiring member 13 in the upper position (henceforth a planned binding location) of the electric wire holding jig 30 with the binding apparatus 84. FIG.
　上記第１ロボット７０、第２ロボット８０のロボットアーム７２、８２としては、一般的な産業用ロボットを用いることができる。図２では、第１ロボット７０、第２ロボット８０のロボットアーム７２、８２として、一般的な垂直多関節ロボットが図示されている。もっとも、ロボットアームとしては、複数軸の直交するスライド軸により構成される一般的な直交ロボットが用いられてもよい。 As the robot arms 72 and 82 of the first robot 70 and the second robot 80, general industrial robots can be used. In FIG. 2, general vertical articulated robots are illustrated as the robot arms 72 and 82 of the first robot 70 and the second robot 80. However, as the robot arm, a general orthogonal robot constituted by a plurality of orthogonal slide axes may be used.
　なお、ここでは、第１ロボット７０、第２ロボット８０が別々に設けられている例で説明したが、上記ロボットハンド７４と結束装置８４とが、共通するロボットアームによって移動する構成であってもよい。 Here, the example in which the first robot 70 and the second robot 80 are provided separately has been described, but the robot hand 74 and the bundling device 84 may be moved by a common robot arm. Good.
　状態情報取得部は、配線部材１３が電線保持治具３０に保持されている状態でコネクタ１４及び配線部材１３の状態情報を取得する。上述したように、ここでは、状態情報取得部として撮像部９０が設けられている。 The state information acquisition unit acquires state information of the connector 14 and the wiring member 13 in a state where the wiring member 13 is held by the electric wire holding jig 30. As described above, here, the imaging unit 90 is provided as a state information acquisition unit.
　撮像部９０は、ここでは、コネクタ１４及びコネクタ１４から延出する配線部材１３を撮像可能に構成されている。すなわち、撮像部９０は、ＣＣＤカメラ等によって構成される撮像カメラである。撮像部９０としては、２次元カメラが用いられてもよいし、ステレオカメラが用いられてもよい。ロボットハンド７４の姿勢を把持対象のコネクタ１４の姿勢に応じて３次元的に変更させる場合、撮像部９０として、ステレオカメラが用いられることが好ましい。ここでは、撮像部９０として、ステレオカメラが用いられる例で説明する。 Here, the imaging unit 90 is configured to be able to image the connector 14 and the wiring member 13 extending from the connector 14. That is, the imaging unit 90 is an imaging camera configured by a CCD camera or the like. As the imaging unit 90, a two-dimensional camera may be used, or a stereo camera may be used. When the posture of the robot hand 74 is changed three-dimensionally according to the posture of the connector 14 to be grasped, a stereo camera is preferably used as the imaging unit 90. Here, an example in which a stereo camera is used as the imaging unit 90 will be described.
　加工制御部１００は、状態情報取得部によって取得された状態情報に基づいて保持部の保持位置を決定する。この際、加工制御部１００は、第１ロボット７０、第２ロボット８０の動作制御を行う機能を備えている。 The machining control unit 100 determines the holding position of the holding unit based on the state information acquired by the state information acquisition unit. At this time, the machining control unit 100 has a function of performing operation control of the first robot 70 and the second robot 80.
　加工制御部１００は、第１ロボット７０、第２ロボット８０及び撮像部９０に接続されている。撮像部９０で撮像された画像は、加工制御部１００に与えられ、これにより、加工制御部１００においてロボットハンド７４の保持位置が取得される。また、加工制御部１００の制御下、第１ロボット７０が電線１２引出動作、第２ロボット８０が結束動作を行う。 The machining control unit 100 is connected to the first robot 70, the second robot 80, and the imaging unit 90. The image picked up by the image pickup unit 90 is given to the processing control unit 100, whereby the processing control unit 100 acquires the holding position of the robot hand 74. Further, under the control of the processing control unit 100, the first robot 70 performs the wire 12 drawing operation, and the second robot 80 performs the binding operation.
　加工制御部１００は、ＣＰＵ、ＲＯＭ、ＲＡＭ、外部記憶装置等がバスラインを介して相互接続された一般的なコンピュータによって構成されている。ＲＯＭは基本プログラム等を格納しており、ＲＡＭはＣＰＵが所定の手順に従った処理を行う際の作業領域として供される。外部記憶装置は、フラッシュメモリ或はハードディスク装置等の不揮発性の記憶装置によって構成されている。外部記憶装置には、ＯＳ（オペレーションシステム）、ロボットハンド７４の保持位置を決定する保持位置決定プログラムを含む加工プログラム等が格納されている。加工プログラムに記述された手順に従って、主制御部としてのＣＰＵが演算処理を行うことにより、第１ロボット７０、第２ロボット８０の動作制御がなされる。また、この加工制御部１００では、画像信号入力インターフェース及び入出力インターフェースもバスラインに接続されている。そして、撮像部９０の撮像信号が、画像信号入力インターフェースを通じて本加工制御部１００に入力され、ロボットハンド７４の保持位置の取得処理に供される。また、本加工制御部１００からの制御信号が入出力インターフェースを介して第１ロボット７０、第２ロボット８０に与えられ、第１ロボット７０、第２ロボット８０が駆動制御される。 The machining control unit 100 is configured by a general computer in which a CPU, a ROM, a RAM, an external storage device, and the like are interconnected via a bus line. The ROM stores basic programs and the like, and the RAM is used as a work area when the CPU performs processing according to a predetermined procedure. The external storage device is configured by a nonvolatile storage device such as a flash memory or a hard disk device. The external storage device stores an OS (operation system), a machining program including a holding position determination program for determining the holding position of the robot hand 74, and the like. Operation control of the first robot 70 and the second robot 80 is performed by the CPU as the main control unit performing arithmetic processing according to the procedure described in the machining program. In the processing control unit 100, an image signal input interface and an input / output interface are also connected to the bus line. Then, the image pickup signal of the image pickup unit 90 is input to the main processing control unit 100 through the image signal input interface, and used for the process of acquiring the holding position of the robot hand 74. In addition, a control signal from the machining control unit 100 is given to the first robot 70 and the second robot 80 via the input / output interface, and the first robot 70 and the second robot 80 are driven and controlled.
　なお、本加工制御部１００には、各種スイッチ、タッチパネル等により構成された入力部が接続され、ワイヤーハーネス組立用装置２０は、入力部を通じて本加工制御部１００に対する諸指示を受付可能に構成されていることが考えられる。 Note that an input unit configured by various switches, a touch panel, and the like is connected to the main processing control unit 100, and the wire harness assembling apparatus 20 is configured to receive various instructions to the main processing control unit 100 through the input unit. It is possible that
　また、本加工制御部１００が行う一部或は全部の機能は、専用の論理回路等でハードウェア的に実現されてもよい。 Further, some or all of the functions performed by the machining control unit 100 may be realized by hardware using a dedicated logic circuit or the like.
　＜ワイヤーハーネスの製造方法＞
　上記ワイヤーハーネス組立用装置２０を用いたワイヤーハーネス１０の製造方法を説明する。 <Wire harness manufacturing method>
The manufacturing method of the wire harness 10 using the said wire harness assembly apparatus 20 is demonstrated.
　まず、複数のコネクタ１４のそれぞれに複数の電線１２の端部が接続されたものを準備する。そして、各コネクタ１４から延出する配線部材１３を保持孔３５に配設する（工程（ａ））。ここでは、図８に示すように、コネクタ１４から延出する配線部材１３のうちコネクタ１４近傍の部分を保持本体部３３に保持させる。 First, a plurality of connectors 14 each having an end of a plurality of wires 12 connected thereto is prepared. And the wiring member 13 extended from each connector 14 is arrange | positioned in the holding hole 35 (process (a)). Here, as shown in FIG. 8, a portion of the wiring member 13 extending from the connector 14 and in the vicinity of the connector 14 is held by the holding body 33.
　具体的には、ここでは、線材保持部材３２のガイド部３８に、コネクタ１４から延出する配線部材１３を押し当てて開口を広げる。そして、押し当てた配線部材１３を、そのまま広げられた開口を通じて保持孔３５内に配設する。この際、配線部材１３は、配設される保持孔３５の開口面積よりも小さい横断面積を有する。これにより、配線部材１３は保持本体部３３に挟持されることなく保持される。この状態では、コネクタ１４が保持孔３５の軸心方向に沿った軸周りに回転可能となる。また、この状態では、保持本体部３３から複数の電線１２が垂れ下がった状態となる。ここでは、複数のコネクタ１４から延出する配線部材１３が、それぞれ別の保持本体部３３に保持される。なお、保持孔３５への配線部材１３の配設は、作業者が行ってもよいし、ロボットが行ってもよい。ロボットが行う場合、第１ロボット７０が行ってもよい。 Specifically, here, the wiring member 13 extending from the connector 14 is pressed against the guide portion 38 of the wire holding member 32 to widen the opening. Then, the pressed wiring member 13 is disposed in the holding hole 35 through the opened opening. At this time, the wiring member 13 has a cross-sectional area smaller than the opening area of the holding hole 35 provided. As a result, the wiring member 13 is held without being held between the holding main body portion 33. In this state, the connector 14 can rotate around the axis along the axial direction of the holding hole 35. Further, in this state, the plurality of electric wires 12 hang down from the holding main body portion 33. Here, the wiring members 13 extending from the plurality of connectors 14 are respectively held by separate holding main body portions 33. The wiring member 13 may be disposed in the holding hole 35 by an operator or a robot. When the robot performs, the first robot 70 may perform it.
　ここで配線部材１３を保持孔３５に配設するにあたり、電線保持治具３０において使用しない保持孔３５は、図９に示されるように閉鎖部４９によって閉鎖されるとよい。これにより、使用しない保持孔３５に誤って配線部材１３を保持させてしまうことが抑制される。図９に示す例では、閉鎖部４９として塊状部材が保持孔３５内に配設されて保持孔３５を埋めている。このように保持孔３５内に配設される閉鎖部４９としては、例えば、スポンジ又はゴムなどが考えられる。もっとも、閉鎖部４９としては、保持孔３５外に配設されて保持孔３５の開口を塞ぐものであってもよい。保持孔３５外に配設される閉鎖部４９としては、例えば、板材であってもよい。板材を用いる場合、例えば、板材の基端部がネジによって合体部４０に留められると共に、基端部から開口に向けて先端部が延びる構成が考えられる。また例えば粘着テープなどが貼り付けられることも考えられる。なお、図９に示す例では、読み取り容易とするため、閉鎖部４９に砂地のハッチングが施されている。以下の図１０乃至図１４でも同様である。 Here, when the wiring member 13 is disposed in the holding hole 35, the holding hole 35 that is not used in the electric wire holding jig 30 is preferably closed by a closing portion 49 as shown in FIG. Thereby, it is suppressed that the wiring member 13 is erroneously held in the holding holes 35 that are not used. In the example shown in FIG. 9, a block member is disposed in the holding hole 35 as the closing portion 49 to fill the holding hole 35. Thus, as the closing part 49 arrange | positioned in the holding hole 35, sponge or rubber | gum etc. can be considered, for example. However, the closing portion 49 may be disposed outside the holding hole 35 to close the opening of the holding hole 35. The closing portion 49 disposed outside the holding hole 35 may be a plate material, for example. In the case of using a plate material, for example, a configuration in which the base end portion of the plate material is fastened to the united portion 40 with a screw and the tip end portion extends from the base end portion toward the opening can be considered. For example, it is also conceivable that an adhesive tape or the like is attached. In the example shown in FIG. 9, the sand 49 is hatched on the closing portion 49 for easy reading. The same applies to FIGS. 10 to 14 below.
　４つのコネクタ１４から延出する配線部材１３をそれぞれ別の保持本体部３３に保持させると、図９に示すようになる。ここでは、６つの保持本体部３３が設けられ、そのうち４つの保持本体部３３にそれぞれ配線部材１３が配設される。この際、２つの保持孔３５Ａ１、３５Ｂ１が閉鎖部４９によって閉鎖されているため、当該保持孔３５Ａ１、３５Ｂ１へ配線部材１３を誤って配設してしまうことが抑制される。 When the wiring members 13 extending from the four connectors 14 are held by the separate holding main body portions 33, they are as shown in FIG. Here, six holding main body portions 33 are provided, and the wiring members 13 are respectively disposed on the four holding main body portions 33. At this time, since the two holding holes 35A1 and 35B1 are closed by the closing portion 49, it is possible to prevent the wiring member 13 from being erroneously disposed in the holding holes 35A1 and 35B1.
　なおここでは、６つの線材保持部材３２が１組として１つのスライダ５６に取付けられているが、相互に別のスライダ５６に取付けられた複数組の線材保持部材３２に複数の配線部材１３が分けて配設されてもよい。図１０に示す例では、３つの線材保持部材３２が１組とされた２つの線材保持部材３２群がそれぞれ別のスライダ５６に取付けられている。そして２つの線材保持部材３２群にそれぞれ２つの配線部材１３が保持されている。なお、コネクタ１４に近い位置で分岐を形成する配線部材１３が同じ線材保持部材３２群に保持されるとよい。ここでは、コネクタ１４ａ、１４ｂから延出する配線部材１３が一方の線材保持部材３２群に保持されると共に、コネクタ１４ｃ、１４ｄから延出する配線部材１３が他方の線材保持部材３２群に保持されている。これにより、線材保持部材３２群を横フレーム５４に沿って摺動させて、２つの線材保持部材３２群の間隔を変えることによって分岐形成作業がやり易くなる。 Here, six wire rod holding members 32 are attached to one slider 56 as one set, but a plurality of wiring members 13 are divided into a plurality of wire rod holding members 32 attached to different sliders 56 from each other. May be arranged. In the example shown in FIG. 10, two wire holding member 32 groups each including three wire holding members 32 are attached to different sliders 56. The two wiring members 13 are held by the two wire holding member 32 groups, respectively. The wiring member 13 that forms a branch at a position close to the connector 14 may be held by the same wire holding member 32 group. Here, the wiring member 13 extending from the connectors 14a and 14b is held by one wire rod holding member 32 group, and the wiring member 13 extending from the connectors 14c and 14d is held by the other wire rod holding member 32 group. ing. Accordingly, the branch forming operation is facilitated by sliding the group of wire holding members 32 along the horizontal frame 54 and changing the interval between the two groups of wire holding members 32.
　次に、配線部材１３を引き出す（工程（ｂ））。保持孔３５に配線部材１３が配設された状態で、コネクタ１４を保持孔３５に対して所定寸法移動させる。工程（ｂ）としてここでは、保持孔３５に対して所定寸法離れた位置に設けられたコネクタ保持治具６４にコネクタ１４を保持させる。 Next, the wiring member 13 is pulled out (step (b)). In a state where the wiring member 13 is disposed in the holding hole 35, the connector 14 is moved by a predetermined dimension with respect to the holding hole 35. Here, as the step (b), the connector 14 is held by the connector holding jig 64 provided at a position away from the holding hole 35 by a predetermined dimension.
　具体的には、図１１に示すように、第１ロボット７０のロボットハンド７４によってコネクタ１４又は配線部材１３のうちコネクタ１４と電線保持治具３０との間の部分（ここでは、コネクタ１４）を把持し、この状態で、ロボットハンド７４を上昇させる。これにより、配線部材１３のうち保持本体部３３に保持される部分及びこれより下方に位置する部分が上昇し、順に保持本体部３３を通過しつつ電線保持治具３０よりもコネクタ１４側に引き出される。その後、ロボットハンド７４は、コネクタ１４をコネクタ保持治具６４に保持させる。ここでは、コネクタ保持部６６のＣ字部分に配線部材１３を挿通させると共に、Ｃ字部分の上面にコネクタ１４を載置させる。これにより、引き出された配線部材１３はこの状態に維持される。分岐を構成する２つの配線部材１３を引き出すと図１２に示すようになる。 Specifically, as shown in FIG. 11, a portion (in this case, the connector 14) between the connector 14 and the wire holding jig 30 of the connector 14 or the wiring member 13 by the robot hand 74 of the first robot 70. The robot hand 74 is lifted in this state. As a result, the portion of the wiring member 13 that is held by the holding main body 33 and the portion that is positioned below the ascending portion rise, and are sequentially pulled out to the connector 14 side from the wire holding jig 30 while passing through the holding main body 33. It is. Thereafter, the robot hand 74 holds the connector 14 on the connector holding jig 64. Here, the wiring member 13 is inserted through the C-shaped portion of the connector holding portion 66 and the connector 14 is placed on the upper surface of the C-shaped portion. Thereby, the drawn wiring member 13 is maintained in this state. When the two wiring members 13 constituting the branch are pulled out, they are as shown in FIG.
　ここで、ロボットハンド７４によってコネクタ１４又は配線部材１３を保持する際、コネクタ１４の位置及び姿勢が一定でないと、保持ミスが生じる恐れがある。また、所望外の方向からコネクタ１４又は配線部材１３を保持してコネクタ１４又は配線部材１３を傷つけてしまう恐れがある。特にここでは、コネクタ１４が保持孔３５の軸心周りに回転可能であるため、コネクタ１４ｂの位置及び姿勢が一定にならない場合があり得る。このようにコネクタ１４の位置及び姿勢が不安定な場合にもロボットハンド７４でコネクタ１４又は配線部材１３をより確実に保持できるようにするため、ここではコネクタ１４及びコネクタ１４から延出する配線部材１３の状態情報を取得する。 Here, when the connector 14 or the wiring member 13 is held by the robot hand 74, a holding error may occur if the position and posture of the connector 14 are not constant. Further, the connector 14 or the wiring member 13 may be held from an undesired direction and the connector 14 or the wiring member 13 may be damaged. In particular, here, since the connector 14 can rotate around the axis of the holding hole 35, the position and posture of the connector 14b may not be constant. In order to hold the connector 14 or the wiring member 13 more reliably by the robot hand 74 even when the position and posture of the connector 14 are unstable in this way, here, the wiring member extending from the connector 14 and the connector 14 is used. 13 state information is acquired.
　すなわち、撮像部９０によって、配線部材１３の端末を含む領域を撮像する。例えば、保持したいコネクタ１４と、当該コネクタ１４の周辺でロボットハンド７４によってコネクタ１４を保持する際に干渉物になりそうな部材とを含む領域を撮像する。そして、加工制御部１００が撮像部９０によって撮像された撮像画像におけるコネクタ１４及び配線部材１３の状態情報に基づいて、ロボットハンド７４の保持位置等を取得する。例えば、加工制御部１００は、撮像画像において予めインプットされたコネクタ１４の形状と比較するなどすることによってコネクタ１４に対してパターン認識を行ってコネクタ１４の位置及び姿勢を割り出す。そして、割り出したコネクタ１４の位置及び姿勢等からロボットハンド７４が他のコネクタ１４又は配線部材１３等と干渉しないような接近経路、及び保持したいコネクタ１４に対するロボットハンド７４の好適な位置並びに姿勢等を取得する。また、ロボットハンド７４が配線部材１３を把持する場合には、撮像画像から背景を除去するなどして配線部材１３の画像抽出を行い、ロボットハンド７４の保持位置等を取得することが考えられる。背景は、配線部材１３がない状態で撮像された撮像画像から予め取得しておくとよい。こうして取得した保持位置等に基づいて、加工制御部１００はロボットハンド７４の動作制御を行う。撮像及び保持位置等の取得はコネクタ１４又は配線部材１３を保持する前に毎回行われることが好ましい。 That is, the imaging unit 90 images an area including the terminal of the wiring member 13. For example, a region including the connector 14 to be held and a member that is likely to be an interference when the connector 14 is held by the robot hand 74 around the connector 14 is imaged. Then, the processing control unit 100 acquires the holding position and the like of the robot hand 74 based on the state information of the connector 14 and the wiring member 13 in the captured image captured by the imaging unit 90. For example, the processing control unit 100 performs pattern recognition on the connector 14 by comparing it with the shape of the connector 14 input in advance in the captured image, and determines the position and orientation of the connector 14. Then, based on the determined position and orientation of the connector 14, an approach path in which the robot hand 74 does not interfere with other connectors 14, the wiring members 13, etc., and a suitable position and orientation of the robot hand 74 with respect to the connector 14 to be held, etc. get. Further, when the robot hand 74 holds the wiring member 13, it is conceivable to extract the image of the wiring member 13 by removing the background from the captured image and acquire the holding position of the robot hand 74. The background may be acquired in advance from a captured image captured without the wiring member 13. Based on the holding position and the like acquired in this way, the machining control unit 100 controls the operation of the robot hand 74. It is preferable that the acquisition of the imaging and the holding position is performed every time before the connector 14 or the wiring member 13 is held.
　次に、引き出された配線部材１３を加工する（工程（ｃ））。ここでは、工程（ｃ）として、配線部材１３を結束する工程が行われるものとして説明する。特にここでは、工程（ｃ）として、複数の配線部材１３を結束して分岐を形成する工程が行われるものとして説明する。もっとも、結束加工として、１つのコネクタ１４から延出する配線部材１３を結束するものであってもよい。 Next, the drawn wiring member 13 is processed (step (c)). Here, it demonstrates as a process (c) performing the process of binding the wiring member 13 performed. In particular, here, the step (c) will be described on the assumption that a step of binding a plurality of wiring members 13 to form a branch is performed. However, as a bundling process, the wiring member 13 extending from one connector 14 may be bundled.
　より詳細には、２つの保持本体部３３にそれぞれセットされた２つのコネクタ１４ａ、１４ｂから延出する配線部材１３をそれぞれ所定距離引出すことで、図１２に示すように、それぞれの配線部材１３の予定結束箇所が電線保持治具３０の近く（ここでは、電線保持治具３０の上側の隣の位置）に移動した状態となる。 More specifically, by pulling out the wiring members 13 extending from the two connectors 14a and 14b respectively set on the two holding main body portions 33 by a predetermined distance, as shown in FIG. The planned binding location is moved to the vicinity of the electric wire holding jig 30 (here, the position adjacent to the upper side of the electric wire holding jig 30).
　この状態で、結束装置８４を予定結束箇所に移動させて、コネクタ１４から延出する配線部材１３を結束する。ここでは、２つのコネクタ１４ａ、１４ｂから延出する配線部材１３を粘着テープＴによってまとめて結束する。これにより結束された部分が分岐部を成す。 In this state, the bundling device 84 is moved to the planned bundling position, and the wiring member 13 extending from the connector 14 is bundled. Here, the wiring members 13 extending from the two connectors 14a and 14b are bundled together by the adhesive tape T. As a result, the bound portion forms a branching portion.
　この後、結束装置８４が退避移動すると、図１３に示すように、２つのコネクタ１４から延出する２つの配線部材１３が予定結束箇所で結束されたものが得られる。 Thereafter, when the bundling device 84 is retreated, as shown in FIG. 13, two wiring members 13 extending from the two connectors 14 are bundled at the planned bundling position.
　コネクタ１４ｃ、１４ｄについても引出工程、および加工工程を行うことによって、図１４に示すようになる。 The connector 14c and 14d are also shown in FIG. 14 by performing the drawing process and the machining process.
　より詳細には、ロボットハンド７４によって、コネクタ１４ｃ、１４ｄを移動させて、コネクタ保持部６６に保持させる。そして、コネクタ１４ｃ、１４ｄから延出する２つの配線部材１３の周囲に結束装置９４によって粘着テープＴを巻付けて結束する。 More specifically, the connectors 14 c and 14 d are moved by the robot hand 74 and are held by the connector holding portion 66. Then, the adhesive tape T is wound and bound by the binding device 94 around the two wiring members 13 extending from the connectors 14c and 14d.
　以上のように結束加工を複数のコネクタ１４のそれぞれ又は分岐箇所に対して行うことで、各コネクタ１４から延出する配線部材１３が結束されたワイヤーハーネス１０が製造される。 As described above, the wire harness 10 in which the wiring members 13 extending from each connector 14 are bundled is manufactured by performing the bundling process on each of the plurality of connectors 14 or the branch points.
　また、ここでは、コネクタ１４ｄから延出する配線部材１３に外装部材１８を取付けている。係る外装部材１８としては、例えば、粘着テープが螺旋状に巻付けられたものであることが考えられる。また外装部材１８としては、例えば、シート状部材が巻付けられたものなどであってもよい。また外装部材１８としては、例えば、コルゲートチューブ又はプロテクタ等の樹脂成形品であってもよい。当該外装部材１８の取付加工は、作業者が行ってもよいし、ロボットが行ってもよい。 Further, here, the exterior member 18 is attached to the wiring member 13 extending from the connector 14d. As the exterior member 18, for example, it is conceivable that an adhesive tape is spirally wound. Further, as the exterior member 18, for example, a member around which a sheet-like member is wound may be used. The exterior member 18 may be a resin molded product such as a corrugated tube or a protector, for example. The attaching process of the exterior member 18 may be performed by an operator or a robot.
　なお、ここでは、一部の配線部材１３を引出して当該一部の配線部材１３に加工を施した後、他の配線部材１３を引出して当該他の配線部材１３に加工を施すものとして説明したが、このことは必須ではない。すべての配線部材１３を引出した後に、引き出された配線部材１３に順次加工を施すものであってもよい。 Here, the description has been given on the assumption that a part of the wiring members 13 is pulled out and processed to the part of the wiring members 13 and then the other wiring members 13 are pulled out to process the other wiring members 13. But this is not essential. After all the wiring members 13 are pulled out, the drawn wiring members 13 may be sequentially processed.
　また、ここでは、配線部材１３の引出および配線部材１３に対する加工がロボット７０、８０によって行われるものとして説明したが、このことは必須ではない。これらの作業の一部又は全部が、作業者によって行われるものであってもよい。 Further, here, it has been described that the drawing of the wiring member 13 and the processing on the wiring member 13 are performed by the robots 70 and 80, but this is not essential. Some or all of these operations may be performed by an operator.
　以上のように構成されたワイヤーハーネスの製造方法によると、配線部材１３を配線部材１３の横断面積よりも大きい開口面積を有する保持孔３５に配設することによって、配線部材１３が挟持されることなく保持される。これにより、コネクタ１４から延出する配線部材１３を引き出し可能な態様で、且つコネクタ１４を回転可能な態様で当該配線部材１３を保持することができる。そして、保持孔３５に配線部材１３が配設された状態で配線部材１３を引き出すことによって、配線部材１３が絡まることなく引き出される。この際、コネクタ１４を保持孔３５に対して所定寸法移動させることで、加工前の寸法出しを行うことができる。 According to the method of manufacturing the wire harness configured as described above, the wiring member 13 is sandwiched by disposing the wiring member 13 in the holding hole 35 having an opening area larger than the cross-sectional area of the wiring member 13. It is held without. As a result, the wiring member 13 can be held in such a manner that the wiring member 13 extending from the connector 14 can be pulled out and the connector 14 can be rotated. Then, by pulling out the wiring member 13 in a state where the wiring member 13 is disposed in the holding hole 35, the wiring member 13 is pulled out without being entangled. At this time, by moving the connector 14 by a predetermined dimension with respect to the holding hole 35, the dimension before processing can be determined.
　また、コネクタ１４を保持孔３５に対して所定寸法離れた位置に設けられたコネクタ保持治具６４に保持させることによって、寸法出しを行うことができる。これにより容易に寸法出しを行うことができる。 Dimensioning can be performed by holding the connector 14 on a connector holding jig 64 provided at a position away from the holding hole 35 by a predetermined dimension. As a result, the dimensions can be easily determined.
　また、引き出された配線部材１３を結束するため、簡易に配線部材１３を結束できる。また、この際、引き出された複数の配線部材１３を結束して分岐を形成するため、簡易に分岐を形成できる。 Further, since the drawn wiring member 13 is bundled, the wiring member 13 can be easily bundled. At this time, since the plurality of drawn wiring members 13 are bundled to form a branch, the branch can be easily formed.
　また、引き出された配線部材１３に外装部材１８を取付けるため、簡易に外装部材１８を取付けることができる。 Moreover, since the exterior member 18 is attached to the drawn wiring member 13, the exterior member 18 can be easily attached.
　｛変形例｝
　実施形態において、コネクタ保持治具６４のコネクタ保持部６６のＣ字の軸心が鉛直方向を向いているものとして説明したが、このことは必須ではない。コネクタ保持部６６のＣ字の軸心が鉛直方向と交差する方向を向いていてもよい。この場合、コネクタ１４が引出方向とは異なる所定の向きを向いた状態に保持されて、この状態で加工が行われる。 {Modification}
In the embodiment, the C-shaped axis of the connector holding portion 66 of the connector holding jig 64 is described as being oriented in the vertical direction, but this is not essential. The C-shaped axis of the connector holding portion 66 may face the direction intersecting the vertical direction. In this case, the connector 14 is held in a state facing a predetermined direction different from the drawing direction, and the processing is performed in this state.
　この場合、コネクタ保持治具６４Ａのコネクタ保持部６６Ａは、図１５に示すように枠体状に形成されていてもよい。コネクタ保持部６６Ａには、コネクタ１４の外面に応じた内面を有する凹部６７が形成されている。そして、当該凹部６７にコネクタ１４を嵌め込むことで、コネクタ１４の向きがコネクタ保持治具６４Ａによって規定される。 In this case, the connector holding portion 66A of the connector holding jig 64A may be formed in a frame shape as shown in FIG. A concave portion 67 having an inner surface corresponding to the outer surface of the connector 14 is formed in the connector holding portion 66A. Then, by inserting the connector 14 into the recess 67, the orientation of the connector 14 is defined by the connector holding jig 64A.
　このように、コネクタ１４が引出方向とは異なる所定の向きを向いた状態に保持された状態で加工を行うことによって、例えば、複数の配線部材１３を結束して分岐を形成するときなどに複数のコネクタ１４がそれぞれ適切な向きを向いた状態で分岐を形成できる。 In this way, by performing processing in a state in which the connector 14 is held in a predetermined direction different from the pull-out direction, for example, when a plurality of wiring members 13 are bundled to form a branch, a plurality of wiring members 13 are formed. The branches 14 can be formed in a state in which the connectors 14 are oriented in appropriate directions.
　また、実施形態において、コネクタ保持治具６４がコネクタ１４を保持した状態で加工工程が行われるものとして説明したが、このことは必須ではない。例えば、配線部材１３を引き出す際に用いたロボットハンド７４が、そのままコネクタ１４を保持し続けた状態で加工工程が行われてもよい。つまり、ロボットによってコネクタ１４を所定寸法移動させると共に移動させた状態に維持するものであってもよい。この際、実施形態では、配線部材１３を引き出す電線引出機構として、多関節アーム等、多軸方向に移動するロボットアーム７２であるものとして説明したが、このことは必須ではない。例えば、電線引出機構は、１軸方向にのみ移動するものであってもよい。このような電線引出機構を有する第１ロボット７０Ａを図１６に示す。 In the embodiment, it has been described that the processing step is performed with the connector holding jig 64 holding the connector 14, but this is not essential. For example, the machining process may be performed in a state where the robot hand 74 used when pulling out the wiring member 13 keeps holding the connector 14 as it is. That is, the connector 14 may be moved by a predetermined dimension and maintained in a moved state by the robot. In this case, in the embodiment, the electric wire drawing mechanism for pulling out the wiring member 13 has been described as the robot arm 72 that moves in the multi-axis direction, such as an articulated arm, but this is not essential. For example, the wire drawing mechanism may move only in one axial direction. FIG. 16 shows a first robot 70A having such a wire drawing mechanism.
　図１６に示す例では、第１ロボット７０Ａの電線引出機構は、ｚ軸方向に延びるレール７３ａと、レール７３ａに沿って移動可能なスライダ７３ｂとを含むリニアアクチュエータ７２Ａによって構成されている。そして、スライダ７３ｂにロボットハンド７４が設けられている。スライダ７３ｂは、シリンダ又はリニアモータ等の駆動部によって駆動される。そして、加工制御部１００が駆動部を制御することによって、スライダ７３ｂの位置が加工制御部１００によって制御される。スライダ７３ｂの下端の位置は、図１７に示すように電線保持治具３０にセットされたコネクタ１４をロボットハンド７４が把持可能な位置である。そして、ロボットハンド７４がコネクタ１４を把持した状態で、図１８に示すようにスライダ７３ｂを上昇させることによって、ロボットハンド７４に把持されたコネクタ１４が上昇し、配線部材１３が引き出される。この際、スライダが所定寸法分移動することによって、寸法出しを行うことができる。また、スライダ７３ｂが上昇した位置に静止することによって、配線部材１３が引き出された状態に維持され、配線部材１３における引き出された部分に加工を施すことが可能である。なお、レール７３ａは、支持板７３ｃに支持されている。もっとも、レール７３ａは、電線保持治具３０に支持されていてもよいし、支持部材５０に支持されていてもよい。 In the example shown in FIG. 16, the wire drawing mechanism of the first robot 70A is configured by a linear actuator 72A including a rail 73a extending in the z-axis direction and a slider 73b movable along the rail 73a. A robot hand 74 is provided on the slider 73b. The slider 73b is driven by a drive unit such as a cylinder or a linear motor. Then, the machining control unit 100 controls the drive unit, whereby the position of the slider 73b is controlled by the machining control unit 100. The position of the lower end of the slider 73b is a position where the robot hand 74 can grip the connector 14 set on the wire holding jig 30 as shown in FIG. Then, with the robot hand 74 holding the connector 14, the slider 73b is raised as shown in FIG. 18, whereby the connector 14 held by the robot hand 74 is raised and the wiring member 13 is pulled out. At this time, dimensioning can be performed by moving the slider by a predetermined dimension. Further, when the slider 73b stops at the raised position, the wiring member 13 is maintained in the drawn-out state, and the drawn-out portion of the wiring member 13 can be processed. The rail 73a is supported by the support plate 73c. But the rail 73a may be supported by the electric wire holding jig 30, and may be supported by the support member 50.
　上記のようなリニアアクチュエータ７２Ａを含む第１ロボット７０Ａは、１つの分岐を構成する配線部材１３の数と同じかそれよりも多く設けられることが好ましい。 It is preferable that the first robot 70A including the linear actuator 72A as described above is provided to be equal to or more than the number of wiring members 13 constituting one branch.
　第１ロボット７０、７０Ａによってコネクタ１４を所定寸法移動させると共に移動させた状態に維持するため、コネクタ保持治具６４等を設けずとも第１ロボット７０、７０Ａによって引出しと寸法出しとを同時に行うことができる。 In order to move the connector 14 by the first robot 70 and 70A by a predetermined dimension and keep the connector 14 in a moved state, the first robot 70 and 70A can simultaneously perform the drawing and dimensioning without providing the connector holding jig 64 or the like. Can do.
　また、実施形態において、治具本体部３１が、電線１２を保持孔３５の開口周縁に押し付けることによって保持孔３５が開いて電線１２を挿通可能な形状に形成されているものとして説明したが、このことは必須ではない。治具本体部は、開閉部によって開閉操作される保持孔を有するものであってもよい。図１９は、このような治具本体部１３１の例を示している。 Further, in the embodiment, the jig main body 31 has been described as being formed into a shape in which the holding hole 35 is opened and the electric wire 12 can be inserted by pressing the electric wire 12 against the opening periphery of the holding hole 35. This is not essential. The jig body part may have a holding hole that is opened and closed by the opening and closing part. FIG. 19 shows an example of such a jig body 131.
　図１９に示す治具本体部１３１は、３つの線材保持部材１３２と、開閉用部材１４０とを備える。 The jig main body 131 shown in FIG. 19 includes three wire holding members 132 and an opening / closing member 140.
　線材保持部材１３２は、軸部１３５周りに開閉可能に連結された２つの爪部材１３４と、２つの爪部材１３４を閉方向に付勢する付勢部材１３８とを含む。線材保持部材１３２は、いわゆる洗濯バサミ状に形成されているものとして説明する。 The wire holding member 132 includes two claw members 134 that are connected around the shaft portion 135 so as to be openable and closable, and a biasing member 138 that biases the two claw members 134 in the closing direction. The wire holding member 132 will be described as being formed in a so-called laundry scissors shape.
　２つの爪部材１３４はそれぞれ軸部１３５と、分割保持本体部１３６と、開閉部１３７とを有する。２つの爪部材１３４は、同形状に形成されており、相互に反対向きに合わさって連結されている。 Each of the two claw members 134 has a shaft portion 135, a divided holding main body portion 136, and an opening / closing portion 137. The two claw members 134 are formed in the same shape and are connected to each other in opposite directions.
　軸部１３５は、２つの爪部材１３４の回転支点となる部分である。ここでは、２つの爪部材１３４は軸部１３５周りに回転可能に連結されている。 The shaft portion 135 is a portion that serves as a rotation fulcrum for the two claw members 134. Here, the two claw members 134 are rotatably connected around the shaft portion 135.
　分割保持本体部１３６は、軸部１３５から一方側に延出している。分割保持本体部１３６には、保持孔１３３ａが分割された分割保持孔１３６ａが形成されている。２つの爪部材１３４が合わさることによって合わさった２つの分割保持孔１３６ａが配線部材１３を挿通可能な保持孔１３３ａをなし、２つの分割保持本体部１３６が保持本体部１３３をなしている。 The split holding main body 136 extends from the shaft 135 to one side. The divided holding main body 136 is formed with a divided holding hole 136a obtained by dividing the holding hole 133a. The two divided holding holes 136a formed by combining the two claw members 134 form a holding hole 133a through which the wiring member 13 can be inserted, and the two divided holding main body parts 136 form a holding main body part 133.
　開閉部１３７は、軸部１３５から他方側に延出している。２つの爪部材１３４の各開閉部１３７は保持孔１３３ａが閉じた状態で、相互に離れた位置に位置するように形成されている。そして、２つの爪部材１３４の各開閉部１３７を相互に近づけることによって、２つの爪部材１３４が軸部１３５周りに回転し、保持孔１３３ａが開く。 The opening / closing part 137 extends from the shaft part 135 to the other side. Each opening / closing part 137 of the two claw members 134 is formed so as to be located at a position away from each other with the holding hole 133a closed. Then, by bringing the open / close portions 137 of the two claw members 134 closer to each other, the two claw members 134 rotate around the shaft portion 135 and the holding hole 133a is opened.
　付勢部材１３８は、ここでは、周方向の一部が途切れたリングバネ状に形成されている。そして、付勢部材１３８の周方向の一端部が一方の爪部材１３４の分割保持本体部１３６の外面側に連結されている。また、付勢部材１３８の周方向の他端部が他方の爪部材１３４の分割保持本体部１３６の外面側に連結されている。また、各爪部材１３４には付勢部材１３８の中間部が貫通する貫通孔１３７ｈが形成されている（図２１参照）。付勢部材１３８における２つの貫通孔１３７ｈの間の中央部は、軸部１３５に対して保持孔１３３ａとは反対側に軸部１３５と間隔をあけて配設されている。 Here, the biasing member 138 is formed in a ring spring shape in which a part in the circumferential direction is interrupted. One end portion of the urging member 138 in the circumferential direction is connected to the outer surface side of the divided holding main body portion 136 of the one claw member 134. Further, the other end in the circumferential direction of the biasing member 138 is connected to the outer surface side of the divided holding main body 136 of the other claw member 134. Each claw member 134 is formed with a through hole 137h through which an intermediate portion of the biasing member 138 passes (see FIG. 21). A central portion between the two through holes 137 h in the urging member 138 is disposed on the opposite side of the shaft portion 135 from the holding hole 133 a with a space from the shaft portion 135.
　開閉用部材１４０は、２つの合体部材１４１を含む。各合体部材１４１は、平板部１４２と平板部１４２に突設された３つの押圧片１４３とを有する。平板部１４２はここでは長方形平板状に形成されている。３つの押圧片１４３は平板部１４２における短手方向端部側に短手方向に沿って延在する態様で形成されている。また、３つの押圧片１４３は、平板部１４２における長手方向一方端部側から長手方向に間隔をあけて（ここでは等間隔で）形成されている。２つの合体部材１４１は、同形状に形成されている。２つの合体部材１４１ａ、１４１ｂは、平板部１４２が対向するように、かつ自身の押圧片１４３を相手側の平板部１４２に突き合わせるように配置されている（図２１参照）。つまり、合体部材１４１ｂは、合体部材１４１ａを平板部１４２ａの短手方向に沿った軸周りに１８０度回転させた姿勢を取っている。そして、合体部材１４１ａの平板部１４２ａと、合体部材１４１ｂの平板部１４２ｂとの間に３つの線材保持部材１３２が平板部１４２の長手方向に並列して配設されている。また合体部材１４１ａの押圧片１４３ａと、合体部材１４１ｂの押圧片１４３ｂとの間に各線材保持部材１３２の２つの開閉部１３７が位置する態様で、３つの線材保持部材１３２が配設されている。 The opening / closing member 140 includes two combined members 141. Each uniting member 141 includes a flat plate portion 142 and three pressing pieces 143 protruding from the flat plate portion 142. Here, the flat plate portion 142 is formed in a rectangular flat plate shape. The three pressing pieces 143 are formed in a manner extending along the short direction toward the end in the short direction of the flat plate portion 142. Further, the three pressing pieces 143 are formed at regular intervals (here, at equal intervals) from the one end side in the longitudinal direction of the flat plate portion 142. The two united members 141 are formed in the same shape. The two coalescing members 141a and 141b are arranged so that the flat plate portion 142 faces each other and so that the pressing piece 143 thereof is abutted against the mating flat plate portion 142 (see FIG. 21). That is, the united member 141b takes a posture in which the united member 141a is rotated 180 degrees around the axis along the short direction of the flat plate part 142a. Three wire rod holding members 132 are arranged in parallel in the longitudinal direction of the flat plate portion 142 between the flat plate portion 142a of the combined member 141a and the flat plate portion 142b of the combined member 141b. Further, the three wire holding members 132 are arranged in such a manner that the two opening / closing portions 137 of the wire holding members 132 are positioned between the pressing piece 143a of the uniting member 141a and the pressing piece 143b of the uniting member 141b. .
　ここでは、２つの合体部材１４１がスライド移動することによって、３つの線材保持部材１３２が一括して開閉する。より詳細には、平板部１４２ａ、１４２ｂが平面視で重なる状態（図１９に示す状態）から、２つの合体部材１４１が図２０及び図２１に示すように押圧片１４３が並ぶ方向に沿って相互に反対向きに相対移動すると、開閉部１３７を挟んで相互に反対側に位置する３組の押圧片１４３ａ、１４３ｂの各間隔が変わる。つまり、３組の押圧片１４３ａ、１４３ｂが一括して近づくように移動し、３つの線材保持部材１３２の開閉部１３７ａ、１３７ｂが対応する組の押圧片１４３ａ、１４３ｂに同時に押圧される。この結果、各線材保持部材１３２における２つの爪部材１３４が、２つの開閉部１３７ａ、１３７ｂが近づくように軸部１３５周りに回転し、もって各線材保持部材１３２における保持孔１３３ａが同時に開いた状態となる。 Here, when the two united members 141 slide, the three wire holding members 132 are collectively opened and closed. More specifically, from the state in which the flat plate portions 142a and 142b overlap in a plan view (the state shown in FIG. 19), the two united members 141 are mutually aligned along the direction in which the pressing pieces 143 are arranged as shown in FIGS. When the relative movement is performed in the opposite direction, the intervals between the three sets of pressing pieces 143a and 143b located on opposite sides of the opening / closing portion 137 are changed. In other words, the three sets of pressing pieces 143a and 143b move so as to approach together, and the opening / closing portions 137a and 137b of the three wire holding members 132 are simultaneously pressed by the corresponding sets of pressing pieces 143a and 143b. As a result, the two claw members 134 in each wire holding member 132 rotate around the shaft portion 135 so that the two opening / closing portions 137a and 137b come close to each other, and the holding holes 133a in each wire holding member 132 are simultaneously opened. It becomes.
　また、ここでは開閉用部材１４０は、留具１４４をさらに含む。留具１４４と上記２つの合体部材１４１とで線材保持部材１３２を保持している。より詳細には、各平板部１４２には、棒状の留具１４４を挿通可能な挿通孔１４２ｈが３つ形成されている。各挿通孔１４２ｈは長孔状に形成されている。挿通孔１４２ｈの長手方向は、複数の押圧片１４３の並ぶ方向、つまり２つの合体部材１４１を相対移動させる方向とされている。これにより、挿通孔１４２ｈに留具４４が挿通された状態で、２つの平板部１４２が押圧片１４３の並ぶ方向に相対移動可能となっている。 Further, here, the opening / closing member 140 further includes a fastener 144. The wire holding member 132 is held by the fastener 144 and the two combined members 141. More specifically, each flat plate portion 142 is formed with three insertion holes 142h into which the rod-like fasteners 144 can be inserted. Each insertion hole 142h is formed in a long hole shape. The longitudinal direction of the insertion hole 142h is a direction in which the plurality of pressing pieces 143 are arranged, that is, a direction in which the two combined members 141 are relatively moved. Accordingly, the two flat plate portions 142 can be relatively moved in the direction in which the pressing pieces 143 are arranged in a state in which the fastener 44 is inserted into the insertion hole 142h.
　留具１４４は、３つ設けられている。各留具１４４は、長尺棒状に形成されて３組の挿通孔１４２ｈにそれぞれ挿通されている。各留具１４４は、各線材保持部材１３２に対して付勢部材１３８と軸部１３５との間の部分に挿通されている。 Three fasteners 144 are provided. Each fastener 144 is formed in a long bar shape and is inserted through three sets of insertion holes 142h. Each fastener 144 is inserted into a portion between the urging member 138 and the shaft portion 135 with respect to each wire holding member 132.
　留具１４４が平板部１４２の挿通孔１４２ｈに挿通されると共に線材保持部材１３２に対して一部分を貫通していることによって、線材保持部材１３２は、平板部１４２の平面に沿った方向への移動が規制されている。また、線材保持部材１３２は、平板部１４２によって平板部１４２の平面と直交する方向への移動が規制されている。また、線材保持部材１３２は、押圧片１４３によって留具１４４を軸として留具１４４周りの回転が規制されている。線材保持部材１３２は、以上のように、２つの合体部材１４１及び留具１４４によって保持されている。 When the fastener 144 is inserted into the insertion hole 142h of the flat plate portion 142 and partially penetrates the wire rod holding member 132, the wire rod holding member 132 moves in the direction along the plane of the flat plate portion 142. Is regulated. Further, the movement of the wire holding member 132 in the direction orthogonal to the plane of the flat plate portion 142 is restricted by the flat plate portion 142. Further, the rotation of the wire holding member 132 around the fastener 144 is restricted by the pressing piece 143 around the fastener 144. As described above, the wire holding member 132 is held by the two united members 141 and the fasteners 144.
　なお、図１９に示す例では、３つの線材保持部材１３２のうち外側に位置する２つの線材保持部材１３２を保持する留具１４４としてネジ１４４ａ及びネジ１４４ａの先端を留めるナット１４４ｃが設けられている。また、３つの線材保持部材１３２のうち中央に位置する線材保持部材１３２を保持する留具１４４としてネジ１４４ｂが設けられ、ネジ１４４ｂの先端は、スライダ５６に形成されたネジ穴に留められている。 In the example shown in FIG. 19, a screw 144 a and a nut 144 c that fastens the tip of the screw 144 a are provided as a fastener 144 that holds the two wire holding members 132 positioned outside of the three wire holding members 132. . A screw 144 b is provided as a fastener 144 that holds the wire holding member 132 located at the center of the three wire holding members 132, and the tip of the screw 144 b is fastened to a screw hole formed in the slider 56. .
　このように複数の保持孔１３３ａが一括して開閉される場合には、閉鎖部１４９は、保持孔１３３ａの開閉動作を妨げないように形成されていることが好ましい。図１９に示す例では、このような閉鎖部１４９として外側閉塞部材が設けられている。外側閉塞部材は、長方形板状に形成されて、基端部がネジ４４ａの頭部と平板部１４２ａとの間に配設されている。また先端部が、保持孔１３３ａの軸心方向に沿った開口を塞いでいる。 In this way, when the plurality of holding holes 133a are collectively opened and closed, the closing portion 149 is preferably formed so as not to hinder the opening and closing operation of the holding holes 133a. In the example shown in FIG. 19, an outer closing member is provided as such a closing portion 149. The outer closing member is formed in a rectangular plate shape, and a base end portion is disposed between the head portion of the screw 44a and the flat plate portion 142a. Moreover, the front-end | tip part has block | closed the opening along the axial center direction of the holding hole 133a.
　｛その他の変形例｝
　実施形態において、コネクタ保持治具６４が図板本体部６２に支持されているものとして説明したが、このことは必須ではない。例えば、縦フレーム５２に複数の横フレーム５４が相互に平行に設けられ、コネクタ保持治具６４は、電線保持治具３０が設けられた横フレーム５４の上方に位置する横フレーム５４に支持されるものであってもよい。 {Other variations}
In the embodiment, the connector holding jig 64 is described as being supported by the drawing board main body 62, but this is not essential. For example, a plurality of horizontal frames 54 are provided on the vertical frame 52 in parallel with each other, and the connector holding jig 64 is supported by the horizontal frame 54 located above the horizontal frame 54 provided with the wire holding jig 30. It may be a thing.
　また、これまで引き出されたコネクタ１４を保持するコネクタ保持治具として、Ｃ字状のコネクタ保持部６６を有するコネクタ保持治具６４、又は枠体状のコネクタ保持部６６Ａを有するコネクタ保持治具６４Ａが用いられるものとして説明したが、このことは必須ではない。コネクタ保持治具としては、Ｕ字状のコネクタ保持部を有するコネクタ保持治具（いわゆるＵ治具）、又は上記線材保持部材３２、１３２が用いられるものであってもよい。 Further, as a connector holding jig for holding the connector 14 drawn up to now, a connector holding jig 64 having a C-shaped connector holding part 66 or a connector holding jig 64A having a frame-like connector holding part 66A. However, this is not essential. As the connector holding jig, a connector holding jig having a U-shaped connector holding portion (so-called U jig) or the wire holding members 32 and 132 may be used.
　なお、上記実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組み合わせることができる。 In addition, each structure demonstrated in the said embodiment and each modification can be suitably combined unless it mutually contradicts.
　以上のようにこの発明は詳細に説明されたが、上記した説明は、すべての局面において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail as described above, 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.
　１０　ワイヤーハーネス
　１２　電線
　１３　配線部材
　１４　コネクタ
　２０　ワイヤーハーネス組立用装置
　３０　電線保持治具
　３１　治具本体部
　３２　線材保持部材
　３３　保持本体部
　３４　受部
　３５　保持孔
　３８　ガイド部
　３９　ガイド面
　４０　合体部
　４１　基部
　４２　固定片
　４３　挿通孔
　４４　留具
　４９　閉鎖部
　５０　支持部材
　５２　縦フレーム
　５４　横フレーム
　５４ｈ　凹溝
　５６　スライダ
　６０　図板
　６２　図板本体部
　６４　コネクタ保持治具
　６５　図板取付部
　６６　コネクタ保持部
　７０　第１ロボット
　７２　ロボットアーム
　７４　ロボットハンド
　８０　第２ロボット
　８２　ロボットアーム
　８４　結束装置
　９０　撮像部
　１００　加工制御部 DESCRIPTION OF SYMBOLS 10 Wire harness 12 Electric wire 13 Wiring member 14 Connector 20 Wire harness assembly apparatus 30 Electric wire holding jig 31 Jig body part 32 Wire material holding member 33 Holding main body part 34 Receiving part 35 Holding hole 38 Guide part 39 Guide surface 40 Combined part 41 Base part 42 Fixing piece 43 Insertion hole 44 Retaining tool 49 Closure part 50 Closing part 50 Support member 52 Vertical frame 54 Horizontal frame 54h Concave groove 56 Slider 60 Figure board 62 Figure board main body part 64 Connector holding jig 65 Figure board attachment part 66 Connector holding part 70 First robot 72 Robot arm 74 Robot hand 80 Second robot 82 Robot arm 84 Bundling device 90 Imaging unit 100 Processing control unit

Claims (7)

  1. 　（ａ）コネクタから延出する配線部材の横断面積よりも大きい開口面積を有する保持孔に、前記配線部材を配設する工程と、
    　（ｂ）前記保持孔に前記配線部材が配設された状態で前記コネクタを前記保持孔に対して所定寸法移動させて、前記配線部材を引き出す工程と、
    　（ｃ）引き出された前記配線部材を加工する工程と、
    　を備える、ワイヤーハーネスの製造方法。     (A) disposing the wiring member in a holding hole having an opening area larger than a cross-sectional area of the wiring member extending from the connector;
    (B) a step of moving the connector by a predetermined dimension with respect to the holding hole in a state where the wiring member is disposed in the holding hole, and pulling out the wiring member;
    (C) processing the extracted wiring member;
    A method for manufacturing a wire harness.
  2. 　請求項１に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｂ）は、前記保持孔に対して前記所定寸法離れた位置に設けられ前記コネクタを保持可能なコネクタ保持治具に前記コネクタを保持させる工程を含む、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness of Claim 1, Comprising:
    The said process (b) is a manufacturing method of a wire harness including the process of holding the said connector in the connector holding jig which is provided in the position away from the said predetermined | prescribed dimension with respect to the said holding hole and can hold | maintain the said connector.
  3. 　請求項１又は請求項２に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｂ）は、ロボットによって前記コネクタを前記所定寸法移動させると共に移動させた状態に維持する工程を含む、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness according to claim 1 or 2,
    The said process (b) is a manufacturing method of a wire harness including the process of maintaining the state which moved the said connector by the robot with the said predetermined dimension, and moved.
  4. 　請求項１から請求項３のいずれか１項に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｃ）において、前記コネクタが引出方向とは異なる所定の向きを向いた状態に保持された状態で加工を行う、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness according to any one of claims 1 to 3,
    In the step (c), a method of manufacturing a wire harness, wherein the processing is performed in a state where the connector is held in a state in which the connector faces a predetermined direction different from the pulling-out direction.
  5. 　請求項１から請求項４のいずれか１項に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｃ）は、前記配線部材を結束する工程を含む、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness according to any one of claims 1 to 4,
    The said process (c) is a manufacturing method of a wire harness including the process of binding the said wiring member.
  6. 　請求項５に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｃ）は、複数の前記配線部材を結束して分岐を形成する工程を含む、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness according to claim 5,
    The said process (c) is a manufacturing method of a wire harness including the process of binding the some said wiring member and forming a branch.
  7. 　請求項１から請求項６のいずれか１項に記載のワイヤーハーネスの製造方法であって、
    　前記工程（ｃ）は、前記配線部材に外装部材を取付ける工程を含む、ワイヤーハーネスの製造方法。     It is a manufacturing method of the wire harness of any one of Claims 1-6,
    The said process (c) is a manufacturing method of a wire harness including the process of attaching an exterior member to the said wiring member.
PCT/JP2017/041773 2016-12-09 2017-11-21 Wire harness manufacturing method WO2018105375A1 (en)

Applications Claiming Priority (2)

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JP2016239157A JP2018097958A (en) 2016-12-09 2016-12-09 Method for manufacturing wire harness

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CN109051531A (en) * 2018-06-27 2018-12-21 芜湖博康机电有限公司 A kind of harness working plate and its conveying mechanism
WO2020255508A1 (en) * 2019-06-17 2020-12-24 株式会社オートネットワーク技術研究所 Manufacturing method and manufacturing device for wire harness

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JP2002298670A (en) * 2001-03-29 2002-10-11 Yazaki Corp Wire-alignment device
JP2003059356A (en) * 2001-08-13 2003-02-28 Sumitomo Wiring Syst Ltd Assembly method of wire harness
JP2015064969A (en) * 2013-09-24 2015-04-09 古河電気工業株式会社 Work bench and method of producing wire harness

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Publication number Priority date Publication date Assignee Title
JPH09161943A (en) * 1995-12-07 1997-06-20 Sumitomo Wiring Syst Ltd Inserting device for electric wire with terminal
JP2001332144A (en) * 2000-05-23 2001-11-30 Sumitomo Wiring Syst Ltd Wire joint holder and stock truck
JP2002298670A (en) * 2001-03-29 2002-10-11 Yazaki Corp Wire-alignment device
JP2003059356A (en) * 2001-08-13 2003-02-28 Sumitomo Wiring Syst Ltd Assembly method of wire harness
JP2015064969A (en) * 2013-09-24 2015-04-09 古河電気工業株式会社 Work bench and method of producing wire harness

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109051531A (en) * 2018-06-27 2018-12-21 芜湖博康机电有限公司 A kind of harness working plate and its conveying mechanism
CN109051531B (en) * 2018-06-27 2020-04-24 芜湖博康机电有限公司 Wire harness tooling conveying line
WO2020255508A1 (en) * 2019-06-17 2020-12-24 株式会社オートネットワーク技術研究所 Manufacturing method and manufacturing device for wire harness
JP2020205170A (en) * 2019-06-17 2020-12-24 株式会社オートネットワーク技術研究所 Manufacturing method of wire harness and manufacturing device
JP7099408B2 (en) 2019-06-17 2022-07-12 株式会社オートネットワーク技術研究所 Wire harness manufacturing method and manufacturing equipment

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