Wire processing device

Abstract

The present application provides a kind of electric wire processing device, with the clamp of one end of electric wire is held while moving, and when the length of electric wire is longer or shorter, it can be conveyed by the clamp stably.The electric wire processing device has: the clamp of one end of electric wire is held;And control device, it makes the clamp from first position to second position moves.The control device has: acceleration control part, it makes the clamp from the first position acceleration moves;Deceleration control part, it makes the clamp deceleration moves to the second position;Acceleration changing part, when the length of electric wire is first threshold value or more, the acceleration of the acceleration movement is changed to first acceleration smaller than standard acceleration;And deceleration changing part, when the length of electric wire is less than the second threshold value of first threshold value, the deceleration of the deceleration movement is changed to first deceleration smaller than standard deceleration.

Description

Technical Field

[0001] This invention relates to a wire handling device. Background Technology

[0002] Conventionally, a type of wire used as a material for wire harnesses, etc., has a core wire made of conductors and a sheath made of insulation surrounding the core wire. A wire processing device is known to perform various treatments on such wires. The wire processing device performs treatments such as cutting the wire, stripping the sheath, or crimping terminals. The wire processing device includes a clamp that holds one end of the wire while moving it. For example, Japanese Patent Application Publication No. 2010-262877 discloses a wire processing device that includes a discharge clamp holding one end of the wire. The discharge clamp receives one end of the wire from another clamp and moves the wire upwards toward a collection tray. When the discharge clamp holds one end of the wire, the other end of the wire is not held by the clamp. When the discharge clamp moves one end of the wire, the other end of the wire is pulled and moved by the first end.

[0003] In the wire handling apparatus disclosed in Japanese Patent Application Publication No. 2010-262877, the operator can input the discharge acceleration / deceleration speed on an input screen. Patent Document No. 2010-262877 describes that by extending the discharge acceleration / deceleration time, the inertial force applied to the wire can be reduced, thereby improving the regularity of the discharge and preventing wire bending. Specifically, as a first example, a case where the wire is short and flexible is described. In this first example, considering the flexibility of the wire, the discharge acceleration / deceleration speed is input at a value lower than usual. Furthermore, as a second example, a case where the wire is long and stiff is described. In this second example, considering the stiffness of the wire, the discharge acceleration / deceleration speed is set to a normal value. Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2010-262877 Summary of the Invention (a) Technical problems to be solved

[0004] Japanese Patent Application Publication No. 2010-262877 describes setting the discharge acceleration / deceleration based on the stiffness of the wire, but it does not describe how to set the discharge acceleration / deceleration based on the wire length. In the first example, with a shorter wire, the discharge acceleration / deceleration was smaller compared to the second example with a longer wire. Conversely, in the second example with a longer wire, the discharge acceleration / deceleration was larger compared to the first example with a shorter wire. In other words, the longer the wire, the greater the discharge acceleration / deceleration.

[0005] However, the longer the wire, the easier it is to bend during acceleration. Therefore, when a longer wire results in a greater acceleration or deceleration, it becomes difficult to prevent the wire from bending.

[0006] Therefore, to suppress wire bending, it is considered that the longer the wire, the smaller the discharge acceleration and deceleration. In this case, the shorter the wire, the greater the discharge acceleration and deceleration. However, if the wire is short, the inertial effect at the other end of the wire will be greater when the clamp holding one end of the wire is stopped. Therefore, the other end of the wire is prone to wobbling when stopped.

[0007] Thus, simply increasing the wire length to reduce the discharge acceleration and deceleration makes it difficult to adequately suppress wire bending during acceleration and wire swaying during stopping. However, to stably transport the wire using clamps, it is preferable to adequately suppress wire bending during acceleration and wire swaying during stopping. Furthermore, this technical problem arises not only when moving the wire above the recycling tray but also when moving the wire to any position. Moreover, this technical problem is not limited to wires with cores and sheaths but exists with any type of wire.

[0008] The purpose of this invention is to provide a wire handling apparatus having a clamp that holds one end of a wire while moving, and the clamp can stably transport the wire whether the wire is long or short. (II) Technical Solution

[0009] The wire handling apparatus disclosed herein includes: a clamp that holds one end of a wire; an actuator that moves the clamp; and a control device that controls the actuator in a manner that moves the clamp from a first position to a second position. The wire handling apparatus is configured such that when the clamp moves while holding one end of the wire, the other end of the wire is pulled and moved by the first end. The control device includes: an acceleration control unit that causes the clamp to accelerate from a first position; a deceleration control unit that causes the clamp to decelerate to a second position; a storage unit that stores a preset standard acceleration as the acceleration of the acceleration and a preset standard deceleration as the deceleration of the deceleration; a wire length input unit that inputs the length information of the wire; an acceleration change unit that determines whether the wire length input to the wire length input unit is greater than or equal to a first threshold, and when the input wire length is determined to be greater than or equal to the first threshold, changes the acceleration of the acceleration to a first acceleration smaller than the standard acceleration; and a deceleration change unit that determines whether the wire length input to the wire length input unit is smaller than or equal to a second threshold below the first threshold, and when the input wire length is determined to be less than the second threshold, changes the deceleration of the deceleration to a first deceleration smaller than the standard deceleration.

[0010] According to the above-described wire handling apparatus, when the wire length is greater than or equal to a first threshold, the acceleration of the clamp as it moves from the first position decreases from a standard acceleration to the first acceleration. Therefore, even when the wire is relatively long, bending of the wire can be suppressed during acceleration. When the wire length is less than a second threshold, the deceleration of the clamp as it moves to the second position decreases. Therefore, even when the wire is relatively short, swaying at the other end of the wire can be suppressed when the clamp stops at the second position. Therefore, according to the above-described wire handling apparatus, the clamp can stably transport the wire whether the wire length is long or short.

[0011] Alternatively, the clamp may be configured to grip and release the wire. Alternatively, a recovery tray for retrieving the wire may be disposed below the second position.

[0012] Thus, the clamp functions as a discharge clamp for ejecting wires into the recycling tray. After the clamp moves from the first position to the second position, the grip on the wire is released, allowing the wire to be collected by the recycling tray. Even with long wires, bending is prevented, resulting in a relatively straight wire collected in the recycling tray. Even with short wires, swaying at the other end is prevented, ensuring a relatively straight wire collected in the recycling tray. When multiple wires are collected in the recycling tray, they are neatly arranged. Therefore, the operator can easily bundle the wires collected in the recycling tray.

[0013] The structure of the clamp is not particularly limited. For example, the clamp may have: a first arm, a second arm opposite to the first arm, and a clamp actuator that drives one or both of the first arm and the second arm to bring the first arm and the second arm closer together or separate them.

[0014] Alternatively, the wire handling device may include another clamp that holds the one end of the wire. Alternatively, the clamp may be configured to receive the one end of the wire from the other clamp in the first position.

[0015] The control device may be configured to execute a first control, which repeatedly performs a first action: moving the clamp from a first position to a second position, releasing the clamp, and moving the clamp from the second position to the first position. Alternatively, the control device may be configured to execute a second control, which repeatedly performs a second action: transferring one end of the wire from one clamp to another clamp at a third position, moving the other clamp from the third position to a fourth position, and moving the other clamp from the fourth position to the third position. Alternatively, the control device may be configured to execute both the first and second controls simultaneously. Alternatively, the first acceleration and the first deceleration may be set such that the time required for the first action is less than the time required for the second action.

[0016] Therefore, when the acceleration for accelerating movement is reduced from the standard acceleration to the first acceleration, and when the deceleration for decelerating movement is reduced from the standard deceleration to the first deceleration, the time required for the first action is less than the time required for the second action. Thus, when the wire length is above the first threshold and below the second threshold, the intermittent time of the wire handling device can be prevented from becoming longer.

[0017] Alternatively, the wire handling device may include a platform that supports at least the other end of the wire when the clamp is in the first position.

[0018] Alternatively, the control device may have a constant velocity control unit that causes the clamp to move at a constant velocity after the acceleration movement and before the deceleration movement.

[0019] Alternatively, the clamp may be configured to move in a straight line direction perpendicular to the length direction of the wire.

[0020] Alternatively, the acceleration changing unit may be configured to determine whether the wire length input to the wire length input unit is greater than or equal to a third threshold that is greater than the first threshold, and when it is determined that the input wire length is greater than or equal to the third threshold, change the acceleration of the accelerated movement to a second acceleration that is less than the first acceleration.

[0021] Alternatively, the deceleration changing unit may be configured to determine whether the wire length input to the wire length input unit is less than or equal to a fourth threshold smaller than the second threshold, and when it is determined that the input wire length is less than or equal to the fourth threshold, change the deceleration of the deceleration movement to a second deceleration smaller than the first deceleration. (III) Beneficial Effects

[0022] According to the present invention, a wire handling apparatus is provided, which includes a clamp that moves while holding one end of a wire, and can stably transport the wire using the clamp whether the wire is long or short. Attached Figure Description

[0023] Figure 1 It is a top view schematically showing the structure of the wire handling device. Figure 2 This is the front view of the ejector fixture. Figure 3 This is a side view of the ejector clamps and wires. Figure 4 This is a block diagram of the control device. Figure 5 It is a graph showing the relationship between the time taken for the discharge fixture to move from the first position to the second position and the speed. Figure 6 It is the case where the acceleration of the accelerated movement is changed. Figure 5 A fairly accurate diagram. Figure 7 This refers to the case where the deceleration of the decelerated movement has been changed. Figure 5 A fairly accurate diagram. Figure 8 This diagram illustrates the bending of the wires as the ejector clamp accelerates its movement. Figure 9 This diagram illustrates the oscillation of the end of the wire as the discharge clamp decelerates and moves. Figure 10 This diagram illustrates an example of the relationship between processing content and required time for processing using a first gripping fixture, processing using a second gripping fixture, and processing using a discharge fixture. Explanation of reference numerals in the attached figures 1-Wire handling device; 4F-First gripping clamp; 4R-Second gripping clamp (another clamp); 8-Discharge clamp (clamp); 9-Recovery tray; 10B-Wire; 12-Unit; 20-Control device; 81-First arm; 82-Second arm; 83-Actuator; 87-Clamp actuator. Detailed Implementation

[0024] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0025] Figure 1 This is a top view schematically illustrating the structure of a wire processing apparatus 1 according to one embodiment. The wire processing apparatus 1 is a device for performing various processing on a wire 10. Although not shown in the figure, the wire 10 has a core wire made of conductor and a sheath made of insulating material. The sheath covers the core wire. The wire processing apparatus 1 includes: a feeding device 2 for feeding the wire 10, a length measuring device 3 for measuring the length of the wire 10, a first holding clamp 4F and a second holding clamp 4R for holding the wire 10, a cutting knife 5 for cutting the wire 10, a first stripping knife 6F and a second stripping knife 6R for stripping the sheath from the front end of the wire 10, a first terminal crimping machine 7F and a second terminal crimping machine 7R for crimping terminals 11 onto the front end of the wire 10, an ejection clamp 8, and a recovery tray 9. Additionally, the wire processing apparatus 1 includes a control device 20.

[0026] The feeding device 2 is a device that feeds the wire 10 along the length of the wire 10. There are no limitations on the structure of the feeding device 2. For example, a device that includes a pair of rollers 2A and 2B and an electric motor (not shown) that drives at least one of the rollers 2A and 2B can be used.

[0027] The length measuring device 3 is a device for measuring the length of the fed wire 10. The structure of the length measuring device 3 is not limited. For example, the length measuring device 3 includes a pair of rollers 3A that rotate as the wire 10 is fed out, and an encoder 3B that measures the rotation amount of the rollers 3A. The rotation of the rollers 3A is equal to the length of the fed wire 10. The length measuring device 3 is configured to detect the length of the wire 10 based on the rotation amount of the rollers 3A.

[0028] The first gripping clamp 4F and the second gripping clamp 4R are configured to grip and release the wire 10. The first gripping clamp 4F and the second gripping clamp 4R are configured to move in a direction perpendicular to the length direction of the wire 10. Furthermore, the first gripping clamp 4F and the second gripping clamp 4R are configured to move along the length direction of the wire 10. The second gripping clamp 4R is an example of "another clamp" of the present invention. The second gripping clamp 4R is movable between a third position P3 and a fourth position P4. In this embodiment, the first gripping clamp 4F and the second gripping clamp 4R are configured to move in a straight line direction perpendicular to the length direction of the wire 10. The first gripping clamp 4F is movable along... Figure 1 The second gripping clamp 4R can move in the direction of arrow A. Figure 1 The first gripping clamp 4F and the second gripping clamp 4R can also be configured to move circumferentially perpendicular to the length direction of the wire 10. There are no limitations on the structure of the first gripping clamp 4F and the second gripping clamp 4R. Any known clamp can be used as the first gripping clamp 4F and the second gripping clamp 4R.

[0029] The cutting blade 5, the first stripping blade 6F, and the second stripping blade 6R are each composed of a pair of blades. For example, the cutting blade 5, the first stripping blade 6F, and the second stripping blade 6R are each composed of an upper and lower pair of blades. The cutting blade 5 is configured to cut the core wire and the sheath of the wire 10. The first stripping blade 6F and the second stripping blade 6R are configured to cut only the sheath without cutting the core wire of the wire 10. The first stripping blade 6F and the second stripping blade 6R strip the sheath of the wire 10 cut by the cutting blade 5. The wires of the cut wire 10 that are closer to the first holding clamp 4F than the cutting blade 5 and the wires that are closer to the second holding clamp 4R than the cutting blade 5 are respectively marked with reference numerals 10A and 10B.

[0030] After the first holding clamp 4F approaches the first stripping blade 6F, the first stripping blade 6F cuts into the insulation of wire 10A. After the first stripping blade 6F cuts into the insulation of wire 10A, the first holding clamp 4F moves away from the first stripping blade 6F, thereby stripping the insulation from the end of wire 10A held by the first holding clamp 4F. Similarly, after the second holding clamp 4R approaches the second stripping blade 6R, the second stripping blade 6R cuts into the insulation of wire 10B. After the second stripping blade 6R cuts into the insulation of wire 10B, the second holding clamp 4R moves away from the second stripping blade 6R, thereby stripping the insulation from the end of wire 10B held by the second holding clamp 4R.

[0031] The first terminal crimping machine 7F crimps terminal 11 onto the end of the wire 10A held by the first holding clamp 4F. The second terminal crimping machine 7R crimps terminal 11 onto the end of the wire 10B held by the second holding clamp 4R.

[0032] The discharge clamp 8 is a clamp that holds one end of the wire 10B. The discharge clamp 8 is an example of a "clamp" according to the present invention. In the following description, the end of the wire 10B held by the discharge clamp 8 is referred to as the first end 10a, and the end not held by the discharge clamp 8 is referred to as the second end 10b. The discharge clamp 8 is configured to receive the first end 10a of the wire 10B from the second holding clamp 4R and convey the wire 10B to the recycling tray 9. Figure 1 In the diagram, the position of the discharge clamp 8, represented by an imaginary line, is referred to as the first position. The position of the discharge clamp 8, represented by a solid line, is referred to as the second position. Reference numeral P1 indicates the first position. Reference numeral P2 indicates the second position. The recovery tray 9 is positioned below the second position P2. As shown by arrow C, the discharge clamp 8 moves between the first position P1 and the second position P2. The wire handling device 1 includes an actuator 83 (see reference 1) for moving the discharge clamp 8. Figure 2 As the actuator 83, an electric motor can be used, for example. The discharge clamp 8 receives the wire 10B in the first position P1 and discharges the wire 10B in the second position P2.

[0033] The discharge clamp 8 is configured to hold the wire 10B and release it from the wire 10B. The structure of the discharge clamp 8 is not particularly limited. For example, it can be as follows: Figure 2 As shown, the discharge clamp 8 includes: a base 80, a first arm 81, a second arm 82, a rotation shaft 85 that rotatably supports the first arm 81 and the second arm 82 on the base 80, a clamp actuator 87 that rotates the first arm 81 and the second arm 82, and a slider 88 that is movably engaged with the guide rail 70.

[0034] The clamp actuator 87 drives the first arm 81 and the second arm 82 to bring them closer together and separate them. By bringing the first arm 81 and the second arm 82 closer together, they grip the wire 10B. Conversely, by separating the first arm 81 and the second arm 82, they release their grip on the wire 10B. The type of clamp actuator 87 is not particularly limited. For example, a cylinder, an electric motor, etc., can be appropriately used as the clamp actuator 87.

[0035] There are no limitations on the mechanism by which the discharge clamp 8 moves between the first position P1 and the second position P2. Existing known mechanisms can be used appropriately. For example, an annular belt can be mounted on the slider 88, which is wound around a pair of pulleys. In this case, the actuator 83 can be a servo motor or the like that that rotates one of the pulleys. Alternatively, the mechanism that moves the discharge clamp 8 can be a ball screw mechanism. That is, the guide rail 70 can be a threaded shaft with a threaded groove formed on its outer circumferential surface, and a threaded groove that meshes with the aforementioned threaded shaft can be formed on the slider 88. In this case, the actuator 83 can be a servo motor or the like that that that rotates the aforementioned threaded shaft.

[0036] The wire handling device 1 includes a unit 12, which can support a portion of the wire 10B. For example... Figure 3 As shown, the discharge clamp 8 is positioned upwards relative to the platform 12. When the discharge clamp 8 is in the first position P1, the platform 12 supports at least the second end 10b of the wire 10B. When the wire 10B is held by the discharge clamp 8, the first end 10a of the wire 10B is positioned upwards relative to the platform 12. In this embodiment, when the wire 10B is held by the discharge clamp 8, the second end 10b of the wire 10B contacts the platform 12, but the first end 10a of the wire 10B separates upwards from the platform 12. However, this is not particularly limited. It is also possible that when the wire 10B is held by the discharge clamp 8, both the first end 10a and the second end 10b of the wire 10B separate upwards from the platform 12. When the wire 10B is relatively short, there is a tendency for the second end 10b to separate upwards from the platform 12. When the wire 10B is relatively short, the wire 10B is held by the discharge clamp 8 in a suspended state.

[0037] The control device 20 is composed of a computer. The control device 20 can be a dedicated computer for the wire processing device 1, or a general-purpose computer such as a personal computer. The control device 20 can also be a computer connected via a network. The control device 20 can also be a computer in the cloud. The control device 20 controls the operation of the wire handling device 1.

[0038] Next, the operation of the wire handling device 1 will be explained. In the following explanation, Figure 1 The lower and upper sides are designated as the front and rear sides, respectively. Figure 1 The left and right sides are designated as left and right, respectively. The wire handling device 1 continuously repeats the cycle described below.

[0039] First, the feeding device 2 feeds the wire 10 forward to a predetermined length. The holding clamps 4F and 4R hold the wire 10. The length measuring device 3 measures the length of the wire 10.

[0040] Next, the cutting blade 5 cuts the wire 10. Thus, the wire 10 is divided into a front wire 10B and a rear wire 10A. The first gripping clamp 4F holds the front end of the wire 10A. The second gripping clamp 4R holds the rear end (first end 10a) of the wire 10B.

[0041] Next, the first clamping fixture 4F moves to the right, and the second clamping fixture 4R moves to the left. The first clamping fixture 4F moves forward, and the first stripping blade 6F cuts into the insulation of the front end of the wire 10A. The second clamping fixture 4R moves backward, and the second stripping blade 6R cuts into the insulation of the rear end of the wire 10B. Furthermore, the first clamping fixture 4F moves backward, thereby stripping the insulation from the front end of the wire 10A. The second clamping fixture 4R moves forward, thereby stripping the insulation from the rear end of the wire 10B.

[0042] The first gripping clamp 4F moves further to the right, and the second gripping clamp 4R moves further to the left. The first terminal crimping machine 7F crimps terminal 11 at the front end of wire 10A. The second terminal crimping machine 7R crimps terminal 11 at the first end 10a of wire 10B.

[0043] Then, the first gripper 4F moves to the left, returning to its initial position behind the cutting blade 5 (in...). Figure 1 (The position is indicated by a solid line in the middle). The second holding clamp 4R moves further to the left to the third position P3. Meanwhile, the discharge clamp 8 holds the first end 10a of the wire 10B, and the second holding clamp 4R releases its grip on the first end 10a of the wire 10B. Thus, the first end 10a of the wire 10B is transferred from the second holding clamp 4R to the discharge clamp 8. Afterwards, the second holding clamp 4R moves to the right, returning to the initial position in front of the cutting blade 5 (in the middle). Figure 1 The position indicated by the solid line is the fourth position, P4.

[0044] The discharge clamp 8 moves from the first position P1 to the second position P2 while holding the wire 10B. The second end 10b of the wire 10B is not held by the clamp and is positioned above the platform 12. When the discharge clamp 8 moves the first end 10a of the wire 10B to the left, the second end 10b of the wire 10B is pulled to the left by the first end 10a. As a result, the wire 10B is conveyed above the recovery tray 9. After the discharge clamp 8 reaches the second position P2, it releases the grip on the wire 10B. As a result, the first end 10a of the wire 10B falls, and the wire 10B is recovered into the recovery tray 9. Then, the discharge clamp 8 returns from the second position P2 to the first position P1.

[0045] The above is a cyclic operation. By repeating the above cycle, the wire processing device 1 continuously produces wires 10B with terminals 11 crimped onto the first end 10a and the second end 10b.

[0046] The wire handling apparatus 1 of this embodiment is configured to control the movement of the discharge clamp 8 according to the length of the wire 10B. The control device 20 can control the movement of the discharge clamp 8 by controlling the actuator 83. Figure 4 This is a block diagram of the control device 20. (For example...) Figure 4 As shown, the control device 20 includes: an acceleration control unit 21, a constant speed control unit 22, a deceleration control unit 23, a storage unit 24, a wire length input unit 25, an acceleration change unit 26, and a deceleration change unit 27.

[0047] Figure 5 This graph shows the relationship between the time T taken for the discharge clamp 8 to move from the first position P1 to the second position P2 and the speed V of the discharge clamp 8. Starting from the first position P1, the discharge clamp 8 begins to move at time T1, accelerates from T1 to T2, moves at a constant speed from T2 to T3, decelerates from T3 to T4, and reaches the second position and stops at T4. Furthermore, "accelerated movement" means moving while accelerating; "constant speed movement" means moving at a constant speed; and "decelerated movement" means moving while decelerating.

[0048] The acceleration control unit 21 is configured to accelerate the discharge clamp 8 from the first position P1. The deceleration control unit 23 is configured to decelerate the discharge clamp 8 to the second position P2. The constant speed control unit 22 is configured to maintain a constant speed for the discharge clamp 8 after acceleration and before deceleration.

[0049] The storage unit 24 stores a preset standard acceleration as the acceleration for accelerating movement and a preset standard deceleration as the deceleration for decelerating movement. When the standard acceleration is set to α0, in Figure 5 In this context, α0 = V1 / (T2-T1). When the standard deceleration is set to β0, in... Figure 5 In this case, β0 = V1 / (T4-T3).

[0050] The length of wire 10B (hereinafter referred to as wire length) is input into the wire length input unit 25. The wire length input unit 25 can be configured to obtain the wire length information from the length measuring device 3. Alternatively, the wire processing device 1 can be configured so that the operator can input the wire length from an operation screen (not shown). The wire length input unit 25 can also be configured to obtain the wire length information based on the operator's input. There are no limitations on the method by which the wire length input unit 25 obtains the wire length.

[0051] The acceleration modification unit 26 is configured to determine whether the wire length input to the wire length input unit 25 is greater than or equal to a first threshold, and when it is determined that the input wire length is greater than or equal to the first threshold, it modifies the acceleration of the accelerated movement to a first acceleration α1, which is smaller than the standard acceleration α0. Furthermore, the first threshold and the first acceleration α1 are preset values, for example, stored in the storage unit 24. When the wire length is greater than or equal to the first threshold, for example... Figure 6 As shown, the acceleration of the accelerated movement is changed to the first acceleration α1 = V1 / (T21-T1).

[0052] The deceleration change unit 27 is configured to determine whether the wire length input to the wire length input unit 25 is smaller than a second threshold below a first threshold, and when it is determined that the input wire length is smaller than the second threshold, the deceleration of the deceleration movement is changed to a first deceleration β1, which is smaller than the standard deceleration β0. Furthermore, the second threshold and the first deceleration β1 are preset values, for example, stored in the storage unit 24. In the case where the wire length is smaller than the second threshold, for example... Figure 7 As shown, the deceleration of the decelerated movement is changed to the first deceleration β1 = V1 / (T41-T31).

[0053] When the discharge clamp 8 accelerates from the first position P1, inertia will be generated on the wire 10B. For example... Figure 8 As shown, when the wire 10B is relatively long, it tends to bend when the discharge clamp 8 moves at accelerated speed. If the wire 10B bends, the discharge clamp 8 will have difficulty conveying it stably. Furthermore, if the wire 10B is bent, when the discharge clamp 8 reaches the second position P2 and releases its grip on the wire 10B, it will remain bent and be collected into the collection tray 9. In this case, multiple wires 10B will not be neatly arranged in the collection tray 9. Therefore, the operator will find the task of bundling the collected wires 10B into the collection tray 9 time-consuming and laborious.

[0054] However, according to this embodiment, when the wire length is greater than or equal to a first threshold, the acceleration of the accelerated movement decreases from the standard acceleration α0 to the first acceleration α1. The acceleration of the accelerated movement is suppressed. Therefore, even when the wire 10B is relatively long, bending of the wire 10B can be suppressed. The discharge clamp 8 can stably transport the wire 10B. In addition, the wire 10B can be well recovered into the recovery tray 9, and the individual wires 10B in the recovery tray 9 can be well and neatly arranged. Therefore, the operator can easily perform the operation of bundling the wires 10B recovered into the recovery tray 9.

[0055] When the discharge clamp 8 decelerates and moves to the second position P2, inertia will be generated on the wire 10B. For example... Figure 9As shown, when the wire 10B is relatively short, the second end 10b of the wire 10B tends to vibrate when the discharge clamp 8 decelerates and stops at the second position P2. In other words, the second end 10b of the wire 10B tends to vibrate. Furthermore, the vibration of the second end 10b is more pronounced when it separates from the platform 12 upwards. If the second end 10b of the wire 10B vibrates, it is easy for the wire 10B to tilt left or right when the discharge clamp 8 releases its grip. In this case, multiple wires 10B will not be neatly arranged in the recycling tray 9. This makes the operation of bundling the wires 10B collected in the recycling tray 9 time-consuming and laborious for the operator.

[0056] However, according to this embodiment, when the wire length is less than the second threshold, the deceleration of the deceleration movement decreases from the standard deceleration β0 to the first deceleration β1. The deceleration of the deceleration movement is suppressed. Therefore, even when the wire 10B is relatively short, the swaying of the wire 10B can be suppressed when the discharge clamp 8 stops. The discharge clamp 8 can stably transport the wire 10B to the second position P2. The wire 10B can be well recovered into the recovery tray 9, and the individual wires 10B in the recovery tray 9 can be well and neatly arranged. Therefore, the operator can easily perform the operation of bundling the wires 10B recovered into the recovery tray 9.

[0057] In this embodiment, when the wire length is above the first threshold, such as Figure 6 As shown, the deceleration during deceleration remains at the standard deceleration β0. When the wire length is above the first threshold, the deceleration is not reduced. Furthermore, when the wire length is less than the second threshold, as... Figure 7 As shown, the acceleration during acceleration remains at the standard acceleration α0. When the wire length is less than the second threshold, the acceleration during acceleration is not reduced. Therefore, the time it takes for the ejector clamp 8 to move from the first position P1 to the second position P2 will not be excessive.

[0058] Simultaneously, the following processes are performed in the wire handling device 1: processing using the first holding clamp 4F, processing using the second holding clamp 4R, and processing using the discharge clamp 8. Figure 10 This diagram illustrates an example of the relationship between processing content and required time for processing using the first gripping clamp 4F, processing using the second gripping clamp 4R, and processing using the discharge clamp 8. The interval time of the wire processing device 1 is determined based on the longest required time among the processing time using the first gripping clamp 4F, the processing time using the second gripping clamp 4R, and the processing time using the discharge clamp 8.

[0059] like Figure 10As shown in (a) to (c), the processing time T300 using the discharge clamp 8 is shorter than the processing time T100 using the first gripping clamp 4F, and shorter than the processing time T200 using the second gripping clamp 4R. Figure 10 As shown in (d), even if the movement time of the discharge clamp 8 is slightly longer, the processing time T300A using the discharge clamp 8 is shorter than the processing time T100 using the first gripping clamp 4F, and shorter than the processing time T200 using the second gripping clamp 4R. Therefore, the intermittent time of the wire processing device 1 does not increase.

[0060] In this embodiment, when the acceleration of the accelerating movement is changed from the standard acceleration α0 to the first acceleration α1, and when the deceleration of the decelerating movement is changed from the standard deceleration β0 to the first deceleration β1, the processing time T300A using the discharge clamp 8 is set to be less than or equal to at least one of the processing time T100 using the first gripping clamp 4F and the processing time T200 using the second gripping clamp 4R. In other words, the first acceleration α1 and the first deceleration β1 are set so as not to increase the intermittent time of the wire processing device 1.

[0061] The control device 20 executes control to repeatedly perform a first action (first control), which is to move the discharge clamp 8 from a first position P1 to a second position P2, release the grip of the discharge clamp 8, and move the discharge clamp 8 from the second position P2 back to the first position P1. Additionally, the control device 20 executes control to repeatedly perform a second action (second control), which is to, at a third position P3, transfer the first end 10a of the wire 10B from the second holding clamp 4R to the discharge clamp 8, move the second holding clamp 4R from the third position P3 to the fourth position P4, and then move the second holding clamp 4R from the fourth position P4 back to the third position P3. The first control and the second control are executed simultaneously. The first acceleration α1 and the first deceleration β1 are set such that the time required for the first action is less than the time required for the second action.

[0062] As described above, according to this embodiment, when the wire 10B is relatively long, the acceleration of the discharge clamp 8 when it accelerates from the first position P1 is reduced. Therefore, bending of the wire 10B due to inertia can be suppressed. Therefore, even when the wire 10B is relatively long, the discharge clamp 8 can stably transport the wire 10B from the first position P1 to the second position P2. When the wire 10B is relatively short, the deceleration of the discharge clamp 8 when it decelerates to the second position P2 is reduced. Therefore, when the discharge clamp 8 stops at the second position P2, oscillation of the second end 10b of the wire 10B due to inertia can be suppressed. Therefore, even when the wire 10B is relatively short, the discharge clamp 8 can stably transport the wire 10B from the first position P1 to the second position P2. Thus, according to this embodiment, the discharge clamp 8 can stably transport the wire 10B from the first position P1 to the second position P2.

[0063] According to this embodiment, the control device 20 can automatically change the acceleration for faster movement and the deceleration for slower movement based on the length of the wire. Therefore, unlike the case where the operator manually changes the speed or deceleration, the change is not forgotten. Furthermore, when the wire length is restored after the change, the acceleration and deceleration are not forgotten to be restored.

[0064] According to this embodiment, after the discharge clamp 8 moves from the first position P1 to the second position P2, it releases the grip on the wire 10B, thereby recovering the wire 10B into the recovery tray 9. As described above, even when the wire 10B is relatively long, bending of the wire 10B can be suppressed. Therefore, the wire 10B recovered into the recovery tray 9 is in a relatively straight state. In addition, even when the wire 10B is relatively short, swaying of the second end 10b of the wire 10B when the discharge clamp 8 stops at the second position P2 can be suppressed. Therefore, when the discharge clamp 8 releases the grip on the wire 10B, the wire 10B can be recovered into the recovery tray 9 in a relatively straight state. Therefore, according to this embodiment, each wire 10B in the recovery tray 9 can be neatly arranged. The operator can easily bundle the wires 10B recovered into the recovery tray 9.

[0065] According to this embodiment, the first acceleration α1 and the first deceleration β1 are set such that the time required for the first action is less than the time required for the second action. When the wire length is above the first threshold and below the second threshold, the processing time T300A of the discharge clamp 8 is less than the processing time T200 of the second holding clamp 4R. Therefore, the aforementioned effect can be obtained without extending the interval time of the wire processing device 1.

[0066] The above description illustrates one embodiment of the present invention. However, the above embodiment is merely illustrative. Many other embodiments exist. Examples of other embodiments will be briefly described below.

[0067] In the above embodiment, only one threshold is set as the threshold for determining whether the wire 10B is too long. However, multiple thresholds may also be set. For example, the acceleration change unit 26 of the control device 20 may further determine whether the wire length input to the wire length input unit 25 is greater than or equal to a third threshold that is greater than the first threshold, and when it is determined that the input wire length is greater than or equal to the third threshold, the acceleration of the accelerated movement is changed to a second acceleration α2 that is smaller than the first acceleration α1. Furthermore, the second acceleration α2 is preferably set such that the processing time required for the discharge clamp 8 is less than or equal to the processing time required for at least one of the first gripping clamp 4F and the second gripping clamp 4R.

[0068] In the above embodiment, only one threshold is set as the threshold for determining whether the wire 10B is too short. However, multiple thresholds may also be set. For example, the deceleration change unit 26 of the control device 20 may further determine whether the wire length input to the wire length input unit 25 is less than or equal to a fourth threshold, and when it is determined that the input wire length is less than or equal to the fourth threshold, the deceleration of the deceleration movement is changed to a second deceleration β2, which is less than the first deceleration β1. Furthermore, the second deceleration β2 is preferably set such that the processing time required for the discharge clamp 8 is less than or equal to the processing time required for at least one of the first gripping clamp 4F and the second gripping clamp 4R.

[0069] The second threshold can be smaller than or equal to the first threshold. For example, when the wire length is 200mm or more, the acceleration for accelerated movement can be changed to the first acceleration α1, and when the wire length is less than 200mm, the deceleration for deceleration can be changed to the first deceleration β1.

[0070] In the above embodiment, the moving direction of the discharge clamp 8 is a straight line perpendicular to the length direction of the wire 10B. However, the moving direction of the discharge clamp 8 is not particularly limited as long as it intersects the length direction of the wire 10B. Furthermore, the moving direction of the discharge clamp 8 is not limited to a straight line. For example, the moving direction of the discharge clamp 8 can also be a circumferential direction perpendicular to the length direction of the wire 10B.

[0071] In the above embodiment, a platform 12 is provided to support at least the second end 10b of the wire 10B. However, the platform 12 may be omitted as long as it does not hinder the processing using the second gripping clamp 4R and the recycling of the wire 10B.

[0072] Preferably, the processing time required for the discharge clamp 8 is less than the processing time required for at least one of the first gripping clamp 4F and the second gripping clamp 4R, but this is not mandatory. The processing time required for the discharge clamp 8 may be longer than the processing time required for the first gripping clamp 4F or the processing time required for the second gripping clamp 4R.

[0073] In the above embodiment, the discharge clamp 8 moves from the first position P1 to the second position P2 by performing accelerated movement, constant speed movement, and deceleration movement. However, constant speed movement may not be required. The discharge clamp 8 may also be configured to move from the first position P1 to the second position P2 by performing accelerated movement and deceleration movement.

[0074] In the above embodiment, the discharge clamp 8 is configured to reciprocate between the first position P1 and the second position P2. However, the discharge clamp 8 may also be configured to move to other positions after moving from the first position P1 to the second position P2 and before returning from the second position P2 to the first position P1.

[0075] In the above embodiment, the clamp that moves from the first position to the second position is a discharge clamp 8 that discharges the wire 10B to the recycling tray. However, the clamp that moves from the first position to the second position while holding one end of the wire is not limited to a discharge clamp that discharges the wire. According to the present invention, the effect of stably conveying the wire can be obtained. The present invention can be applied to any clamp that moves while holding one end of the wire.

[0076] The processing performed by the wire handling device 1 is not particularly limited. It is also possible to omit the crimping of the terminal 11 onto the wire 10B conveyed by the discharge clamp 8. Furthermore, the wire is not limited to wires with a core and a sheath.

Claims

1. A wire handling device, comprising: A clamp that holds one end of the wire; An actuator that moves the clamp; as well as A control device that controls the actuator in a manner that moves the clamp from a first position to a second position. The wire handling device is configured such that when the clamp moves while holding one end of the wire, the other end of the wire is pulled and moved by the first end. The control device includes: An acceleration control unit that causes the clamp to accelerate from the first position; A deceleration control unit that causes the clamp to decelerate and move to the second position; The storage unit stores a standard acceleration preset as the acceleration of the accelerated movement and a standard deceleration preset as the deceleration of the decelerated movement. The wire length input section is used to input the length information of the wire. The acceleration change unit determines whether the wire length input to the wire length input unit is greater than or equal to a first threshold, and when it determines that the input wire length is greater than or equal to the first threshold, it changes the acceleration of the accelerated movement to a first acceleration that is smaller than the standard acceleration. as well as The deceleration change unit determines whether the wire length input to the wire length input unit is smaller than a second threshold below the first threshold, and when it determines that the input wire length is smaller than the second threshold, it changes the deceleration of the deceleration movement to a first deceleration that is smaller than the standard deceleration.

2. The wire processing device according to claim 1, characterized in that, The clamp is configured to hold the wire and release the grip on the wire. A recycling tray for recycling the wires is disposed below the second position.

3. The wire processing device according to claim 2, characterized in that, The clamp has: a first arm, a second arm opposite to the first arm, and a clamp actuator that drives one or both of the first arm and the second arm to bring the first arm and the second arm closer together or separate them.

4. The wire processing device according to claim 2, characterized in that, It includes another clamp for holding one end of the wire. The clamp is configured to receive one end of the wire from the other clamp at the first position.

5. The wire processing apparatus according to claim 4, characterized in that, The control device is configured to simultaneously execute a first control and a second control, wherein the first control repeatedly performs a first action, and the second control repeatedly performs a second action. The first action is: to move the clamp from the first position to the second position, and to release the clamp from its grip, and to move the clamp from the second position to the first position; The second action is: in the third position, transferring one end of the wire from the other clamp to the first clamp, moving the other clamp from the third position to the fourth position, and moving the other clamp from the fourth position back to the third position. The first acceleration and the first deceleration are set such that the time required for the first action is less than the time required for the second action.

6. The wire processing apparatus according to claim 1, characterized in that, The device includes a platform that, when the clamp is in the first position, supports at least the other end of the wire.

7. The wire processing apparatus according to claim 1, characterized in that, The control device has a constant velocity control unit that causes the clamp to move at a constant velocity after the acceleration movement and before the deceleration movement.

8. The wire processing apparatus according to claim 1, characterized in that, The clamp is configured to move in a straight line direction perpendicular to the length direction of the wire.

9. The wire processing apparatus according to claim 1, characterized in that, The acceleration change unit is configured to determine whether the wire length input to the wire length input unit is greater than or equal to a third threshold that is greater than the first threshold, and when it is determined that the input wire length is greater than or equal to the third threshold, change the acceleration of the accelerated movement to a second acceleration that is smaller than the first acceleration.

10. The wire processing apparatus according to claim 1, characterized in that, The deceleration change unit is configured to determine whether the wire length input to the wire length input unit is less than or equal to a fourth threshold smaller than the second threshold, and when it is determined that the input wire length is less than or equal to the fourth threshold, change the deceleration of the deceleration movement to a second deceleration smaller than the first deceleration.

Images