Rubber plug retaining device and wire insertion device

Abstract

The rubber stopper holding device (30) comprises: a plurality of first clamping members (31) arranged around a predetermined center line CL so as to form a space S1 on the inside in which a cylindrical rubber stopper (5) can be arranged; a first support member (32) supporting the first clamping member (31); and a first actuator (33) driving the first clamping member (31). The plurality of first clamping members (31) comprises three or more first rubber stopper contact portions (31e1) facing the inner space S1 and in contact with the outer periphery of the rubber stopper (5). The first support member (32) supports the first clamping member (31) so that the first rubber stopper contact portion (31e1) can approach and move away from the center line CL. The first actuator (33) drives the first clamping member (31) so that the first rubber stopper contact portion (31e1) approaches and moves away from the center line CL.

Description

Technical Field

[0001] The present invention relates to a rubber stopper holding device and an electric wire insertion device provided with the rubber stopper holding device and configured to insert an electric wire into the rubber stopper. Background Art

[0002] Conventionally, devices for inserting a rubber stopper into an electric wire are known. For example, Patent Document 1 discloses a rubber stopper insertion device comprising: an electric wire holding member for holding the electric wire; a rubber stopper holding member having a rubber stopper receiving hole corresponding to the outer diameter of the rubber stopper; a rubber stopper supply tube for supplying the rubber stopper to the rubber stopper holding member; and a rubber stopper holding drive mechanism for bringing the rubber stopper receiving hole into proximity with the electric wire.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2013-106465 Summary of the Invention

[0006] (1) Technical issues to be resolved

[0007] Rubber stoppers come in many different types and sizes. However, the conventional rubber stopper insertion device described in Patent Document 1 requires the preparation of rubber stopper retaining components corresponding to the outer diameter of the rubber stoppers, which consumes time and cost. Furthermore, during implementation, adjustments must be made, requiring replacement of the rubber stopper retaining components depending on the type of rubber stopper, or requiring a number of rubber stopper insertion devices corresponding to the number of rubber stoppers.

[0008] The present invention is made in view of the above-mentioned problems, and its object is to provide a rubber stopper holding device capable of holding various rubber stoppers having different outer diameters. In addition, a wire insertion device equipped with such a rubber stopper holding device is provided for inserting a wire into the rubber stopper.

[0009] (2) Technical solution

[0010] The rubber stopper retaining device of the present invention comprises: a plurality of first clamping members arranged around a predetermined centerline so as to form a space within which a cylindrical rubber stopper can be placed; a first support member that supports the plurality of first clamping members; and a first actuator that drives the plurality of first clamping members. The plurality of first clamping members include three or more first rubber stopper contact portions that face the space formed within and contact the outer periphery of the rubber stopper. The first support member supports the first clamping members so that the first rubber stopper contact portions can move toward and away from the centerline. The first actuator drives the first clamping members to move the first rubber stopper contact portions toward and away from the centerline.

[0011] According to the rubber stopper retaining device, the first actuator drives the three or more first rubber stopper contact portions toward or away from the rubber stopper disposed within the inner space of the first clamping member. This rubber stopper retaining device allows the three or more first rubber stopper contact portions to contact the outer periphery of the rubber stopper disposed within the inner space, regardless of the outer diameter of the rubber stopper. Therefore, the rubber stopper retaining device can retain various rubber stoppers having different outer diameters.

[0012] According to a preferred embodiment of the rubber stopper holding device of the present invention, the number of the first clamping members is three or more.

[0013] According to this rubber stopper holding device, since the first clamp member approaches the rubber stopper from at least three directions along the circumferential direction, the rubber stopper can be stably held.

[0014] According to a preferred embodiment of the rubber stopper retaining device of the present invention, the first support member includes a plurality of first rotation axes extending parallel to the center line and rotatably supporting the first clamping member. The first actuator rotates the plurality of first clamping members about the plurality of first rotation axes. The plurality of first clamping members each have a first inner side surface, the first inner side surface facing a space formed inside the plurality of first clamping members, and being configured so that the distance from the first rotation axis varies depending on the position about the first rotation axis. The first rubber stopper contact portion is provided on the first inner side surface and approaches and moves away from the center line as the first clamping member rotates about the first rotation axis.

[0015] According to this rubber stopper retaining device, a first rubber stopper contact portion is provided on the first inner side surface of the first clamping member, whose distance from the rotation center, i.e., the first rotation axis, varies depending on the position around the first rotation axis. Therefore, simply by rotating the first clamping member using the first actuator, the first rubber stopper contact portion can be moved closer to or further away from the centerline. This simplifies the structure of the rubber stopper retaining device.

[0016] According to a preferred embodiment of the rubber stopper retaining device, the first actuator includes a rotating drive shaft. The rubber stopper retaining device further includes: a first pulley having an annular portion with an outer engaging portion on its outer side and an inner engaging portion on its inner side, and rotating about the center line; and a transmission mechanism that engages with the outer engaging portion of the first pulley and the drive shaft of the first actuator and transmits the rotation of the drive shaft to the first pulley. The first clamping member includes a first engaging portion arranged radially inwardly of the annular portion and engaging with the inner engaging portion, and rotates about the first rotation axis as the first pulley rotates.

[0017] According to this rubber stopper holding device, the first clamping member can be rotated by a simple structure of a first pulley including an outer engaging portion for receiving the rotational force of the first actuator and an inner engaging portion for transmitting the rotational force of the first actuator to the first clamping member.

[0018] According to a preferred embodiment of the rubber stopper retaining device of the present invention, the rubber stopper retaining device further comprises: a plurality of second clamping members arranged around the centerline so as to form a space inside thereof for accommodating the rubber stopper; a second support member supporting the second clamping members; and a second actuator driving the second clamping members. The plurality of second clamping members include three or more second rubber stopper contact portions arranged at positions different from the first rubber stopper contact portion in the extending direction of the centerline and in contact with the outer periphery of the rubber stopper. The second support member supports the second clamping members so that the second rubber stopper contact portions can move toward and away from the centerline. The second actuator drives the second clamping members to move the second rubber stopper contact portions toward and away from the centerline.

[0019] This rubber stopper retaining device can appropriately retain a stepped rubber stopper having portions with different outer dimensions. Specifically, by clamping the portion with a first outer diameter using a first clamping member and the portion with a second outer diameter using a second clamping member, the stepped rubber stopper can be more appropriately retained.

[0020] The present invention provides an electric wire insertion device for inserting an electric wire into a through-hole of a rubber plug having a through-hole extending along an axis, and includes any of the aforementioned rubber plug retaining devices. The electric wire insertion device includes a rubber plug supply port communicating with a space formed inside the plurality of first clamping members for supplying the rubber plug, and an electric wire conveying device for conveying the electric wire along the centerline.

[0021] According to this electric wire insertion device, since the rubber stopper holding device capable of holding various rubber stoppers having different outer diameters is provided, the electric wires can be inserted into the various rubber stoppers having different outer diameters.

[0022] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device includes: a detection device for detecting whether the rubber stopper is located at a predetermined position along the center line at which the first clamping member can grip the rubber stopper; and a control device connected to the first actuator and the detection device. The control device includes a first control unit, and when the detection device detects that the rubber stopper is located at the predetermined position, the first control unit operates the first actuator to move the first rubber stopper contact portion closer to the center line.

[0023] According to this electric wire insertion device, the rubber stopper is gripped after confirming that the rubber stopper is located at the predetermined position where the first clamping member can grip the rubber stopper. Therefore, the rubber stopper can be held more reliably.

[0024] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device further includes a wall portion that abuts against a front end portion of the supplied rubber plug in the traveling direction to stop the rubber plug at a predetermined position along the center line where the first clamping member can grip the rubber plug.

[0025] According to this electric wire insertion device, the rubber plug is stopped at a predetermined position where the first clamping member can grip the rubber plug by abutting against the wall portion. Therefore, the rubber plug can be held more reliably.

[0026] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device includes a control device connected to the first actuator. The control device includes: a setting unit for setting the type of rubber stopper to be supplied; a storage unit for storing the position of the first actuator according to the type of rubber stopper; and a second control unit for controlling the first actuator based on the setting of the setting unit and the position stored in the storage unit, thereby controlling the position of the first rubber stopper contact portion relative to the center line.

[0027] According to this electric wire insertion device, when holding the rubber stopper, the first rubber stopper contact portion moves to an appropriate position predetermined according to the type of the rubber stopper, thereby enabling the rubber stopper of the set type to be reliably held.

[0028] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device includes a control device connected to the first actuator. The control device includes a storage unit and a second control unit. The storage unit stores a pre-insertion position and a post-insertion position. The pre-insertion position is the position of the first actuator before the electric wire is inserted into the rubber stopper, and the post-insertion position is the position of the first actuator after the electric wire is inserted into the rubber stopper. The second control unit controls the first actuator based on the pre-insertion position and post-insertion position stored in the storage unit, thereby controlling the position of the first rubber stopper contact portion relative to the centerline.

[0029] Typically, the outer diameter of a rubber stopper changes as the wire is inserted. The wire insertion device stores a pre-insertion position (the position of the first actuator before the wire is inserted into the rubber stopper) and a post-insertion position (the position of the first actuator after the wire is inserted into the rubber stopper). Therefore, even if the outer diameter of the rubber stopper changes as the wire is inserted, the wire can be smoothly inserted into the rubber stopper by moving the first actuator to the post-insertion position.

[0030] According to a preferred embodiment of the electric wire insertion device of the present invention, the first rubber stopper contact portion in the post-insertion position is further away from the center line than the first rubber stopper contact portion in the pre-insertion position.

[0031] Typically, the outer diameter of a rubber stopper increases due to insertion of an electric wire. According to this electric wire insertion device, even if the outer diameter of the rubber stopper increases due to insertion of the electric wire, the electric wire can be smoothly inserted into the rubber stopper by moving the first rubber stopper contact portion to a post-insertion position farther from the center line than the pre-insertion position.

[0032] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device further includes a moving device that moves the rubber stopper holding device parallel to the center line.

[0033] According to this electric wire insertion device, the rubber stopper can be positioned at a position suitable for insertion of the electric wires in the insertion direction of the electric wires.

[0034] According to a preferred embodiment of the electric wire insertion device of the present invention, the electric wire insertion device includes a control device connected to the electric wire conveying device and the moving device. The control device includes a third control unit and a fourth control unit. The third control unit controls the electric wire conveying device to convey the electric wire from the outside of the rubber stopper holding device toward the space formed inside the plurality of first clamping members, thereby inserting the electric wire into the rubber stopper. The fourth control unit controls the moving device to move the rubber stopper holding device in the direction of the electric wire conveying after the electric wire conveying device begins inserting the electric wire into the rubber stopper. After the rubber stopper holding device has moved in the direction of the electric wire conveying, the fourth control unit controls the moving device to move the rubber stopper holding device in the direction opposite to the direction of the electric wire conveying.

[0035] In this wire insertion device, the rubber stopper temporarily moves in the wire feed direction as the wire is fed. This prevents the wire from buckling during the initial insertion of the wire into the rubber stopper. The wire is then inserted through the rubber stopper by moving the rubber stopper in the direction opposite to the wire feed direction while the wire is fed.

[0036] (3) Beneficial effects

[0037] According to the rubber stopper holding device of the present invention, various rubber stoppers having different outer diameters can be held. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a perspective view showing an example of a rubber stopper.

[0039] Figure 2 This is a diagram showing an example of how the rubber stopper is used.

[0040] Figure 3 This is a schematic cross-sectional view of a rubber stopper supply device and an electric wire insertion device according to one embodiment.

[0041] Figure 4 It is a perspective view of the wire insertion device.

[0042] Figure 5 It is a longitudinal sectional view of the wire insertion device.

[0043] Figure 6 This is a rear view of the unit with the wires inserted into it.

[0044] Figure 7 is a block diagram of the wire insertion device.

[0045] Figure 8 This is a flowchart showing a process of inserting an electric wire into a rubber stopper.

[0046] Figure 9 It is a perspective view of the main part of the rubber stopper holding device according to the first modified example.

[0047] Figure 10 It is a perspective view of the main part of the rubber stopper holding device according to the second modified example. DETAILED DESCRIPTION

[0048] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. First, a rubber stopper will be described. Figure 1 : is a perspective view showing an example of the rubber stopper 5. Figure 1 As shown, an example of a rubber stopper 5 has an asymmetrical cylindrical shape about the axial direction. The rubber stopper 5 includes a large-diameter portion 5a and a small-diameter portion 5b. The large-diameter portion 5a has a larger diameter than the small-diameter portion 5b. The rubber stopper 5 has a through-hole 5c extending along the axial line. The shape of the rubber stopper 5 shown here is merely an example and is not limited to this shape.

[0049] Figure 2 1 is a diagram showing an example of how the rubber stopper 5 is used. Figure 2 As shown, the rubber stopper 5 is installed on the covered electric wire 6 (hereinafter referred to as the electric wire 6), for example. The front end of the electric wire 6 is inserted into the through hole 5c of the rubber stopper 5. The electric wire 6 is inserted into the through hole 5c from the opening on the large diameter portion 5a side, and is taken out from the opening on the small diameter portion 5b side. Thereafter, the covering of the front end portion of the electric wire 6 is peeled off, and the crimping terminal 7 is crimped to the front end portion. At this time, the rubber stopper 5 is also fixed to the electric wire 6 by the crimping of the crimping terminal 7. Then, the assembly of the electric wire 6, the rubber stopper 5 and the crimping terminal 7 is inserted into a dedicated housing 8. As shown Figure 2 As shown, the rubber stopper 5 is in contact with the inner periphery of the housing 8 to prevent moisture from entering the housing 8. The rubber stopper 5 is a waterproof rubber stopper.

[0050] Figure 3 This is a schematic cross-sectional view of a rubber plug supply device 10 and an electric wire insertion device 20 according to an embodiment. The electric wire insertion device 20 is a device for inserting the electric wire 6 into the through hole 5c of the rubber plug 5. The rubber plug supply device 10 is a device for supplying the rubber plug 5 to the electric wire insertion device 20. In the following description, Figure 3 The left and right sides of the rubber stopper supply device 10 and the wire insertion device 20 are defined as the front and rear, respectively. The left, right, top, and bottom directions of the rubber stopper supply device 10 and the wire insertion device 20, when viewed from the front, are defined as the left, right, top, and bottom, respectively. In the following figures, the front, rear, left, right, top, and bottom directions are represented by F, Rr, L, R, U, and D, respectively. However, the directions described below are for ease of explanation only and do not limit the present invention in any way.

[0051] like Figure 3 As shown, the rubber stopper supply device 10 includes: a plurality of delivery tubes 11 and a tube selector 12. The rubber stoppers 5 are uniformly oriented by a parts feeder (not shown) with the large-diameter portion 5a facing forward in the direction of travel and are then transported within the delivery tubes 11. The rubber stoppers 5 are transported within the delivery tubes 11 using, for example, compressed air. The plurality of delivery tubes 11 are arranged vertically. The tube selector 12 moves the plurality of delivery tubes 11 in the vertical direction. The tube selector 12 positions one of the plurality of delivery tubes 11 so that it faces the rubber stopper supply port 21 of the wire insertion device 20. This allows the one delivery tube 11 to be connected to the rubber stopper supply port 21. The rubber stopper 5 within the delivery tube 11 connected to the rubber stopper supply port 21 is supplied to the wire insertion device 20. However, the structure of the rubber stopper supply device 10 is not particularly limited. For example, the plurality of delivery tubes may be arranged circumferentially, and the tube selector may rotate the plurality of delivery tubes in the circumferential direction.

[0052] like Figure 3 As shown, the wire insertion device 20 includes: a rubber plug holding device 30, a clamping and moving device 50, a wire conveying device 60, a detection device 70 and a control device 80 (see Figure 7 ). Figure 4 It is a perspective view of the wire insertion device 20 . Figure 5 It is a longitudinal sectional view of the electric wire insertion device 20. Figure 6 2 is a rear view of the wire insertion device 20. The rubber plug holding device 30 holds the rubber plug 5 supplied by the rubber plug supply device 10. Figure 5 As shown, the rubber stopper retaining device 30 includes a plurality of first clamping members 31 and a plurality of second clamping members 41. The plurality of first clamping members 31 clamp the small-diameter portion 5b of the rubber stopper 5. A portion of the plurality of second clamping members 41 is positioned forward of the plurality of first clamping members 31 and clamps the large-diameter portion 5a of the rubber stopper 5.

[0053] like Figure 5 and Figure 6 As shown, the plurality of first clamping members 31 are arranged around a predetermined center line CL so as to form a space S1 inside which the cylindrical rubber stopper 5 can be arranged. The center line CL coincides with the axis of the rubber stopper 5 when the rubber stopper 5 arranged in the aforementioned inner space S1 is clamped by the plurality of first clamping members 31. The plurality of first clamping members 31 are arranged along a circumference centered on the center line CL. Figure 6 As shown, the number of first clamping parts 31 is 4. The multiple first clamping parts 31 are staggered 90 degrees one by one. However, the number of first clamping parts can be 2 or more and is not limited to this. For example, when the number of first clamping parts is 3, the three first clamping parts are staggered 120 degrees one by one. In addition, for example, when the number of first clamping parts is 6, the six first clamping parts are staggered 60 degrees one by one. In addition, the angles between the multiple first clamping parts may also be different, and may be different in part or in whole.

[0054] like Figure 6 As shown, each of the plurality of first clamping members 31 includes a first cylindrical portion 31a, a first engaging portion 31b, a first arm portion 31c, and a first front end portion 31d. The first cylindrical portion 31a is cylindrical and extends in the front-to-back direction. A shaft 32a of the support member 32, described later, is rotatably inserted through the first cylindrical portion 31a. Because the shaft 32a is inserted through the first cylindrical portion 31a, the first clamping member 31 is rotatable about the shaft 32a. The first engaging portion 31b is provided on the outer periphery of the first cylindrical portion 31a. Gear teeth are formed on the first engaging portion 31b.

[0055] The first arm portion 31c extends from the first cylindrical portion 31a toward the center line CL. Hereinafter, the direction from the first cylindrical portion 31a toward the center line CL will also be referred to as the "circumferential inner side," and the opposite direction will also be referred to as the "circumferential outer side." A front end portion 31d is provided at a portion of the first arm portion 31c that is closer to the circumferential inner side. Figure 5 As shown, the front end portion 31d extends long in the front-to-back direction. The space S1 for the rubber plug 5 is formed inside the plurality of front end portions 31d. The rear end of the space S1 forms the rubber plug supply port 21 for supplying the rubber plug 5. The rubber plug supply port 21 communicates with the space S1 formed inside the plurality of first clamping members 31. However, the rubber plug supply port of the wire insertion device does not necessarily need to be formed by the ends of the plurality of first clamping members; it may also be an opening provided separately from these ends.

[0056] like Figure 6As shown, the front end portion 31d has a first inner side surface 31e, which faces the space S1 inside the plurality of first clamping members 31. The first inner side surface 31e is arranged toward the center line CL. Figure 6 As shown, the first inner side surface 31e is configured so that its distance from the axis 32a varies depending on its position around the axis 32a. When viewed from the front-to-back direction, the first inner side surface 31e is configured to be non-circular or to be circularly arcuate centered at a point other than the axis 32a. A first rubber stopper contact portion 31e1 is provided on the first inner side surface 31e, which contacts the outer periphery of the rubber stopper 5. The first rubber stopper contact portion 31e1 faces the space S1 within the plurality of first clamping members 31. Therefore, the first rubber stopper contact portion 31e1 approaches and moves away from the centerline CL as the first clamping member 31 rotates around the axis 32a.

[0057] like Figure 5 and Figure 6 As shown, the rubber stopper retaining device 30 includes a support member 32, a first actuator 33, a first pulley 34, and a first belt 35. The support member 32 supports a plurality of first clamping members 31. The support member 32 includes a plurality of shafts 32a extending parallel to the center line CL. As described above, the plurality of shafts 32a are respectively inserted through the cylindrical portions 31a of the first clamping members 31. The plurality of shafts 32a rotatably support the first clamping members 31.

[0058] The first actuator 33 drives the plurality of first clamping members 31 via a first pulley 34 and a first belt 35. The first actuator 33 is a stepping motor. The first actuator 33 includes a drive shaft 33a that rotates with its axis in the forward and backward directions. A first motor pulley 33b is secured to the drive shaft 33a. An endless first belt 35 is wound around the first motor pulley 33b. The first belt 35 is a timing belt with grooves formed therein to engage with the gears of the pulleys.

[0059] The first pulley 34 includes an annular ring portion 34a around which the first belt 35 is wound. The rotation center of the first ring portion 34a coincides with the center line CL. The first pulley 34 rotates around the center line CL. The first ring portion 34a has an outer gear 34a1 on its outer side and an inner gear 34a2 on its inner side. The first belt 35 engages with the outer gear 34a1 of the first pulley 34. The first belt 35 also engages with the drive shaft 33a of the first actuator 33 via the first motor pulley 33b. The first belt 35 and the first motor pulley 33b are an example of a transmission mechanism that transmits the rotation of the drive shaft 33a to the first pulley 34. However, the transmission mechanism that transmits the rotation of the drive shaft 33a to the first pulley 34 is not limited to a belt and pulley. When the drive shaft 33a rotates a certain angle, the first pulley 34 rotates by an angle corresponding to the rotation angle of the drive shaft 33a.

[0060] like Figure 6 As shown, the first engaging portion 31b of the first clamping member 31 is positioned radially inward of the first ring portion 34a. The first engaging portion 31b has gear teeth and engages with the inner gear 34a2 of the first ring portion 34a. Therefore, the first clamping member 31 rotates about the axis 32a as the first pulley 34 rotates. When the drive shaft 33a of the first actuator 33 rotates a certain angle, the first clamping member 31 rotates about the axis 32a by an angle corresponding to the rotation angle of the drive shaft 33a via the first motor pulley 33b, the first belt 35, and the first pulley 34. Thus, using the first pulley 34 comprising an outer gear 34a1 that receives the rotational force of the first actuator 33 and an inner gear 34a2 that transmits the rotational force of the first actuator 33 to the first clamping member 31 allows the first clamping member 31 to rotate with a simple structure. Furthermore, according to this configuration, since the first clamp member 31 is arranged radially inward of the first ring portion 34 a , the entire mechanism for driving the first clamp member 31 by the first actuator 33 can be made compact.

[0061] Furthermore, in this embodiment, a first rubber stopper contact portion 31e1 is provided on the first inner side surface 31e of the first clamping member 31, whose distance from the axis 32a, the center of rotation, varies depending on the position around the axis 32a. Therefore, simply by rotating the first clamping member 31, the first rubber stopper contact portion 31e1 can be moved closer to or further away from the center line CL. This structure allows the rubber stopper retaining device 30 of this embodiment to be constructed in a simple and compact manner.

[0062] The plurality of second clamping members 41 and the mechanism for driving the plurality of second clamping members 41 are configured similarly to the plurality of first clamping members 31 and the mechanism for driving the plurality of first clamping members 31. The plurality of second clamping members 41 are arranged side by side with the plurality of first clamping members 31 in the direction of extension of the centerline CL. In this embodiment, the positions of the plurality of second clamping members 41 in the front-to-back direction partially overlap with the positions of the plurality of first clamping members 31.

[0063] In this embodiment, the shaft 32a of the support member 32 extends parallel to the centerline CL. The shaft 32a of the support member 32 is supported so that the second clamping member 41 can also rotate. In this embodiment, the first clamping member 31 and the second clamping member 41 share a common support member (here, the shaft 32a), thereby saving parts. However, the rubber stopper retaining device may also include a second support member that supports the second clamping member in addition to the support member that supports the first clamping member.

[0064] like Figure 4 As shown, the number of the second clamping parts 41 is 4. However, the number of the second clamping parts 41 is not limited. Figure 5 As shown, the second arm portion 41c of the second clamping member 41 is arranged at a position circumferentially outward from the first front end portion 31d extending in the front-to-back direction of the first clamping member 31. The second arm portion 41c extends toward the front. The front end portion 41d connected to the front end of the second arm portion 41c is arranged at a position forward of the front end portion of the first clamping member 31. A second rubber stopper contact portion 41e1 that contacts the large diameter portion 5a of the rubber stopper 5 is provided at the front end portion 41d. The second rubber stopper contact portion 41e1 is arranged in the extension direction of the center line CL in contact with the first rubber stopper contact portion 31e1 (refer to Figure 6 Specifically, the plurality of second rubber stopper contact portions 41e1 are provided forward of the plurality of first rubber stopper contact portions 31e1. The plurality of second rubber stopper contact portions 41e1 are configured to contact the large diameter portion 5a of the rubber stopper 5.

[0065] In addition, although only a portion of the second clamp member 41 including the second rubber stopper contact portion 41 e 1 is arranged at a position offset from the first clamp member 31 , the entire second clamp member 41 may be arranged at a position offset from the first clamp member 31 .

[0066] like Figure 5 As shown, similar to the multiple first clamping members 31, the multiple second clamping members 41 are arranged around the center line CL in such a manner that a space S2 is formed inside to accommodate the rubber stopper 5. The second actuator 43 rotates the second clamping member 41 via the second motor pulley 43b, the second belt 45, and the second pulley 44. Here, the second actuator 43 is also a stepping motor. The second actuator 43, the second motor pulley 43b, the second pulley 44, and the second belt 45 are constructed in the same manner as the first actuator 33, the first motor pulley 33b, the first pulley 34, and the first belt 35, respectively. The second clamping member 41 rotates around the axis 32a by rotating the drive shaft 43a of the second actuator 43. The inner side surface of the second clamping member 41 is constructed so that the distance from the axis 32a varies depending on the position around the axis 32a. Therefore, when the second clamping member 41 rotates about the shaft 32 a , the second rubber stopper contact portion 41 e 1 provided on the inner side surface of the second clamping member 41 moves closer to and farther from the center line CL.

[0067] like Figure 4 and Figure 5 As shown in FIG. 1 , the clamping moving device 50 supports the rubber stopper holding device 30 from below. The clamping moving device 50 moves the rubber stopper holding device 30 parallel to the center line CL (in this case, in the front-back direction). The clamping moving device 50 includes: a base plate 51, a pair of guide rails 52, and a moving actuator 53 (see FIG. 1 ). Figure 7). The base plate 51 supports the rubber stopper holding device 30. A pair of guide rails 52 extend in the front-to-back direction. The base plate 51 is engaged with the pair of guide rails 52 in a manner that allows it to slide in the front-to-back direction. The moving actuator 53 moves the base plate 51 along the pair of guide rails 52. The moving actuator 53 is not particularly limited and is a stepping motor here. In this embodiment, the clamping moving device 50 is configured to be able to move the rubber stopper holding device 30 by 10 mm in the front-to-back direction. However, the distance that the clamping moving device 50 can move the rubber stopper holding device 30 is not limited to this.

[0068] The electric wire conveying device 60 is configured to convey the electric wire 6 along the center line CL. Before the electric wire 6 is inserted into the rubber stopper 5, the electric wire conveying device 60 conveys the electric wire 6 from the front to the rear of the rubber stopper holding device 30. After the electric wire 6 is inserted into the rubber stopper 5, the electric wire conveying device 60 conveys the electric wire 6 toward the front and away from the rubber stopper holding device 30. Figure 4 As shown, the electric wire conveying device 60 includes an electric wire guide 61 for guiding the electric wire 6. The electric wire guide 61 is provided at a position forward of the rubber stopper holding device 30. The electric wire guide 61 includes an upper component 61U and a lower component 61D. The upper component 61U and the lower component 61D are configured in a flat plate shape. One or both of the upper component 61U and the lower component 61D are configured to be movable in the vertical direction. The electric wire conveying device 60 includes a guide actuator 62 (see FIG. 1 ) for moving one or both of the upper component 61U and the lower component 61D in the vertical direction. Figure 7 ).

[0069] At the boundary where the upper member 61U and the lower member 61D meet, a wire insertion hole 61a (see also FIG. 1 ) is formed by the upper member 61U and the lower member 61D. Figure 3 ). The wire insertion hole 61a is located on the center line CL. By moving one or both of the upper component 61U and the lower component 61D in the up-down direction, the size of the wire insertion hole 61a can be made to correspond to wires 6 of various diameters. Hereinafter, "reducing the distance between the upper component 61U and the lower component 61D" will also be referred to as "closing the wire guide 61", and "expanding the distance between the upper component 61U and the lower component 61D" will also be referred to as "opening the wire guide 61". The wire 6 is inserted into the wire insertion hole 61a and conveyed along the center line CL. The wire conveying device 60 comprises: a wire clamp 63, and Figures 3 to 6 The conveying shaft 65 (not shown) Figure 7 The electric wire 6 is conveyed by the rotation of the conveying shaft 65 .

[0070] The wire clamp 63 is provided along the center line CL at a position closer to the rubber stopper holding device 30 than the conveying shaft 65. The wire clamp 63 is disposed between the conveying shaft 65 and the wire guide 61. The wire clamp 63 includes a pair of holding members 63U and 63D facing each other in the vertical direction. The wire conveying device 60 includes a clamp actuator 64 (see FIG. 1 ) that opens and closes the wire clamp 63 by moving the pair of holding members 63U and 63D in the vertical direction. Figure 7 When the wire clamp 63 is closed, the wire 6 is held. When the wire clamp 63 is opened, the wire 6 is released. However, the structure of the wire clamp 63 is not limited as long as it can hold and release the wire 6. The wire clamp 63 is supported by a moving device (not shown) that moves the wire clamp 63 in the front-to-back direction.

[0071] like Figure 5 As shown, the electric wire conveying device 60 includes a wall portion 61b (see also Figure 3 ), the wall portion 61b abuts the front end of the supplied rubber stopper 5 in the direction of travel, causing the rubber stopper 5 to stop at a predetermined position along the center line CL, where the first clamping member 31 and the second clamping member 41 can grip the rubber stopper 5. The wall portion 61b is located further forward of the first rubber stopper contact portion 31e1 and the second rubber stopper contact portion 41e1 in the direction of travel of the rubber stopper 5. Here, the wall portion 61b is the rear end surface of the flat-plate-shaped wire guide 61. However, the wall portion abutting the rubber stopper 5 may also be provided separately from the wire guide. Hereinafter, the predetermined position of the rubber stopper 5 will also be referred to as the "clamping position" of the rubber stopper 5.

[0072] The detection device 70 detects whether the rubber stopper 5 is in the clamping position. The structure of the detection device 70 is not limited, and it is provided with an optical sensor. Figure 3 As shown, the detection device 70 includes a light projector 71 and a light receiver 72. The light projector 71 is disposed above the gap between the rubber stopper holding device 30 and the wall portion 61b of the wire guide 61. The light projector 71 irradiates light toward the gap. Figure 3 The symbol Ax represents the optical axis of the light emitted by the light projector 71. The light receiver 72 is positioned below the gap between the rubber stopper retaining device 30 and the wall portion 61b of the wire guide 61. The light receiver 72 is positioned on the optical axis Ax of the light emitted by the light projector 71. The arrangement of the light projector 71 and the light receiver 72 may be reversed. Furthermore, the light projector 71 and the light receiver 72 may be positioned opposite each other in other rotational directions about the center line CL, such as in the left-right direction.

[0073] When the rubber stopper 5 is not in the clamped position, the light projected by the light projector 71 is received by the light receiver 72. When the rubber stopper 5 is in the clamped position, the light projected by the light projector 71 is blocked by the rubber stopper 5 and does not reach the light receiver 72. Whether the rubber stopper 5 is in the clamped position can be determined by whether the light receiver 72 receives the light from the light projector 71. The detection device 70 transmits a signal indicating whether the rubber stopper 5 is in the clamped position to the control device 80.

[0074] The electric wire insertion device 20 includes a control device 80 that controls the operation of each part. Figure 7 FIG is a block diagram of the wire insertion device 20. Figure 7 As shown, the control device 80 is connected to the first actuator 33, the second actuator 43, the moving actuator 53, the guiding actuator 62, the clamping actuator 64, and the conveying shaft 65, and controls their operation. Furthermore, the control device 80 is connected to the detection device 70 and receives signals from the detection device 70. The control device 80 is also connected to an operation panel 95 for the user to configure various settings. Furthermore, the control device 80 may or may not be connected to the control device of the rubber stopper supply device 10.

[0075] The structure of the control device 80 is not particularly limited. The control device 80 may include, for example, a central processing unit (hereinafter referred to as a CPU), a ROM and a RAM storing programs executed by the CPU, etc. Each part of the control device 80 may be composed of software or hardware. In addition, each part may be a processor or a circuit. Figure 7 As shown, the control device 80 includes a setting unit 81, a first position storage unit 82, a second position storage unit 83, a signal receiving unit 84, a clamping instruction unit 85, a first clamping control unit 86, a second clamping control unit 87, a conveying control unit 88, a moving position storage unit 89, and a moving control unit 90. The control device 80 may also include other processing units, which are not shown or described here.

[0076] The setting unit 81 sets the type of rubber plug 5 to be supplied. In this embodiment, various rubber plugs 5 of varying shapes and corresponding wires 6 of varying diameters are supplied to the wire insertion device 20. The diameters of the large-diameter portion 5a and the small-diameter portion 5b vary depending on the type of rubber plug 5. The setting unit 81 can automatically determine the type of rubber plug 5 based on information from a higher-level system connected to the wire insertion device 20, or it can be set by the user.

[0077] The first position storage unit 82 stores the position of the first actuator 33 according to the type of rubber stopper 5. However, the data stored in the first position storage unit 82 only needs to correspond to the position of the first rubber stopper contact portion 31e1 relative to the center line CL, and any physical quantity equivalent to the position of the first rubber stopper contact portion 31e1 relative to the center line CL can be used. In this embodiment, the first position storage unit 82 stores the rotational position of the first actuator 33. The stored position of the first actuator 33 corresponds to the diameter of the small-diameter portion 5b of the rubber stopper 5.

[0078] The first position storage unit 82 also stores the position of the first actuator 33 before the wire 6 is inserted into the rubber stopper 5 (hereinafter referred to as the pre-insertion position) and the position of the first actuator 33 after the wire 6 is inserted into the rubber stopper 5 (hereinafter referred to as the post-insertion position), depending on the type of rubber stopper 5. When the wire 6 is inserted, the diameter of the rubber stopper 5 generally increases. Therefore, in order to smoothly insert the wire 6 into the rubber stopper 5, the post-insertion position of the first rubber stopper contact portion 31e1 is set. The first rubber stopper contact portion 31e1 in the post-insertion position is further away from the center line CL than the first rubber stopper contact portion 31e1 in the pre-insertion position.

[0079] The second position storage unit 83 stores the same data as the first position storage unit 82 regarding the second clamp member 41. The second position storage unit 83 stores the pre-insertion position and post-insertion position of the second actuator 43 for each type of rubber stopper 5.

[0080] The signal receiving unit 84 is configured to receive signals from the detection device 70. When the detection device 70 detects that the rubber stopper 5 is in the clamped position, the clamping command unit 85 operates the first actuator 33 and the second actuator 43 to move the first rubber stopper contact portion 31e1 and the second rubber stopper contact portion 41e1 closer to the center line CL. This operation may be performed immediately after the detection device 70 detects that the rubber stopper 5 is in the clamped position, or after a further confirmation period has elapsed.

[0081] The first clamping control unit 86 controls the first actuator 33 based on the setting in the setting unit 81 and the pre-insertion position and post-insertion position stored in the first position storage unit 82, thereby controlling the position of the first rubber stopper contact portion 31e1 relative to the center line CL. Similarly, the second clamping control unit 87 controls the second actuator 43 based on the setting in the setting unit 81 and the pre-insertion position and post-insertion position stored in the second position storage unit 83, thereby controlling the position of the second rubber stopper contact portion 41e1 relative to the center line CL.

[0082] The conveyance control unit 88 controls the wire conveyor 60 to convey the wire 6 from the outside of the rubber stopper holding device 30 toward the space S1 formed inside the plurality of first clamping members 31 and the space S2 formed inside the plurality of second clamping members 41. Thus, the conveyance control unit 88 inserts the wire 6 into the rubber stopper 5. Furthermore, after the wire 6 is inserted into the rubber stopper 5, the conveyance control unit 88 controls the wire conveyor 60 to convey the wire 6, now inserted through the rubber stopper 5, forward (away from the rubber stopper holding device 30).

[0083] The movement position storage unit 89 stores the front-to-back position of the rubber stopper retaining device 30, which is positioned by the clamping movement device 50. The movement position storage unit 89 stores the initial position of the front rubber stopper retaining device 30 at the start of insertion of the electric wire 6, depending on the type of rubber stopper 5. Furthermore, the movement position storage unit 89 stores the position of the rubber stopper retaining device 30 in the direction of conveyance of the rubber stopper 5 after the start of insertion of the electric wire 6, as well as the position of the rubber stopper retaining device 30 in the direction opposite to the direction of conveyance of the rubber stopper 5, depending on the type of rubber stopper 5 or electric wire 6. However, these positions may be fixed regardless of the type of rubber stopper 5 or electric wire 6. For example, the fixed positions may be the front and rear stroke ends of the clamping movement device 50.

[0084] The movement control unit 90 controls the operation of the clamping and moving device 50. Specifically, the movement control unit 90 controls the clamping and moving device 50 to position the rubber stopper holding device 30 at an initial position determined according to the type of rubber stopper 5. Furthermore, after the wire conveying device 60 begins inserting the wire 6 into the rubber stopper 5, the movement control unit 90 controls the clamping and moving device 50 to move the rubber stopper holding device 30 in the conveying direction of the wire 6. After the rubber stopper holding device 30 has moved in the conveying direction of the wire 6, the movement control unit 90 controls the clamping and moving device 50 to move the rubber stopper holding device 30 in the direction opposite to the conveying direction of the wire 6. The front-to-back position of the rubber stopper holding device 30 during these operations is based on the position stored in the movement position storage unit 89. These operations will be described later.

[0085] Next, a process of inserting the electric wire 6 into the rubber stopper 5 will be described. Figure 8 FIG. 5 is a flowchart showing the process of inserting the electric wire 6 into the rubber stopper 5. Figure 8 As shown, in step S01 of the process of inserting the electric wire 6 into the rubber stopper 5 , the type of the rubber stopper 5 is selected.

[0086] In step S02, the rubber stopper 5 is supplied to the wire insertion device 20 by the rubber stopper supply device 10. In step S02, the rubber stopper 5 moves forward until it abuts the wall 61b of the wire guide 61. The position of the rubber stopper 5 when abutting the wall 61b of the wire guide 61 is the clamped position. By abutting the wall 61b, the rubber stopper 5 can be reliably stopped in the clamped position. In the following step S03, a signal from the detection device 70 is used to determine whether the rubber stopper 5 has reached the clamped position. If the rubber stopper 5 has not reached the clamped position (the result of step S03 is "No"), the process returns to the process before step S03, and the determination is repeated. If the rubber stopper 5 has reached the clamped position (the result of step S03 is "Yes"), the rubber stopper 5 is clamped in step S04. Thus, in this embodiment, clamping of the rubber stopper 5 is performed after confirming that the rubber stopper 5 is in the clamped position. This allows for more reliable retention of the rubber stopper 5.

[0087] When clamping the rubber stopper 5, the driving shaft 33a of the first actuator 33 rotates at the rotation angle stored in the first position storage unit 82. As a result, the first clamping member 31 moves to the Figure 6 When the first clamping member 31 rotates in the direction of the arrow R1, Figure 6 As shown, the first rubber stopper contact portion 31e1 moves in the direction of arrow R2, approaching the centerline CL. When the drive shaft 33a of the first actuator 33 rotates at the rotation angle stored in the first position storage unit 82, the first rubber stopper contact portion 31e1 reaches the pre-insertion position. As a result, the small-diameter portion 5b of the rubber stopper 5 is held by the multiple first clamping members 31. In this way, by driving the first clamping members 31 to bring the first rubber stopper contact portion 31e1 closer to the centerline CL, various rubber stoppers 5 with different outer diameters can be held. More specifically, the type of rubber stopper 5 is set in step S01, and the position of the first actuator 33 is controlled according to the type of rubber stopper 5 in step S04, thereby enabling the gripping of various rubber stoppers 5 with different outer diameters.

[0088] Similarly, the large diameter portion 5a of the rubber stopper 5 is held by a plurality of second clamping members 41. The plurality of second clamping members 41 allows the rubber stopper 5 to be properly held even when the rubber stopper 5 has a step. However, it is of course also possible to hold a rubber stopper 5 without a step using the rubber stopper holding device 30 having the second clamping members 41.

[0089] In step S05, the rubber stopper holding device 30 is moved to the initial position stored in the movement position storage unit 89 by the clamping movement device 50. The rubber stopper holding device 30 is configured to be movable parallel to the center line CL, thereby positioning the rubber stopper 5 at a position suitable for inserting the electric wire 6. The initial position can be set to, for example, a position where the rubber stopper 5 is close to or in contact with the electric wire guide 61.

[0090] In step S06, the wire conveyor 60 is driven to insert the wire 6 into the wire insertion hole 61a of the wire guide 61. Alternatively, the upper member 61U or the lower member 61D may be moved to open the wire guide 61. The wire guide 61 may then be closed. Steps S02 to S05 and step S06 may be performed in reverse order or simultaneously.

[0091] In step S07, the wire conveying device 60 begins conveying the wire 6 rearward. The wire 6 is guided by the wire guide 61 and inserted into the through-hole 5c of the rubber stopper 5. After a predetermined time has elapsed since step S07, the rubber stopper retaining device 30 is moved rearward by the clamping movement device 50 in step S08. Furthermore, the wire clamp 63 is also moved rearward by a movement device (not shown). The wire 6 continues to be conveyed rearward during this period. This rearward movement of the rubber stopper 5 and the wire clamp 63 causes the position of the wire guide 61, which guides the wire 6, to shift relative to the center of the rubber stopper 5, moving from near the rubber stopper 5 to near the center of the wire clamp 63 and the rubber stopper 5. Consequently, the distance between the wire clamp 63 and the wire guide 61 decreases. Consequently, the length of the portion of the wire 6 between the wire clamp 63 and the wire guide 61 (the free wire length) decreases. A reduction in the free wire length of the wire 6 improves the buckling resistance of the wire 6. As a result, the bending of the electric wire 6 can be suppressed.

[0092] After the predetermined time has elapsed since step S08, the first clamping member 31 and the second clamping member 41 are moved to the post-insertion position in step S09. This weakens the grip of the rubber stopper 5 by the rubber stopper retaining device 30, allowing the rubber stopper 5 to expand outward in the circumferential direction. As a result, the electrical wire 6 can be smoothly inserted into the through-hole 5c.

[0093] According to the above control, the shaking of the retained rubber stopper 5 can be suppressed. In the existing rubber stopper insertion device in which the rubber stopper retaining component is prepared according to the type of rubber stopper, the size of the rubber stopper retaining component needs to be set to a larger size in consideration of the fact that the outer dimensions of the rubber stopper become larger due to the insertion of the wire. Therefore, in the existing rubber stopper insertion device, the shaking of the rubber stopper before the wire is inserted is relatively large. In the rubber stopper retaining device 30 of this embodiment, the pre-insertion position of the first rubber stopper contact portion 31e1 can be appropriately set independently of the post-insertion position. Therefore, the shaking of the rubber stopper 5 before the wire 6 is inserted can be suppressed. As a result, the wire 6 can be more reliably inserted into the rubber stopper 5. The same applies to the second clamping component 41.

[0094] In step S10, the rubber stopper holding device 30 is moved forward by the clamping movement device 50. This forward movement of the rubber stopper holding device 30 and the continued rearward conveyance of the wire 6 allow the wire 6 to be completely inserted into the rubber stopper 5. The order of steps S08 to S10 is adjustable, with the exception of step S10 following step S08.

[0095] In step S11, the rearward conveyance of the electric wire 6 is stopped. In step S12, the rubber stopper retaining device 30 is driven in the open direction to release the rubber stopper 5. In step S13, the electric wire guide 61 is opened. This releases the electric wire 6 with the rubber stopper 5 attached. Steps S12 and S13 can be performed in reverse order or simultaneously.

[0096] In step S14, the wire 6 with the rubber stopper 5 attached is conveyed forward by the wire conveying device 60. This completes the process of inserting the wire 6 into the rubber stopper 5. The above process is a preferred example, and the process of inserting the wire 6 into the rubber stopper 5 is not limited thereto.

[0097] The above describes one embodiment of the present invention. The above embodiment is merely an example. Various other embodiments are possible. The following briefly describes other embodiments.

[0098] [First Modification]

[0099] Figure 9 1 is a perspective view of the main part of the rubber stopper holding device 130 according to the first modified example. Figure 9 In the figure, some parts are omitted. Figure 9As shown, the rubber stopper retaining device 130 of this modified example includes two clamping members, namely a first clamping member 131A and a clamping member 131B (hereinafter referred to as clamping members, the same also applies to the second modified example). Here, the two clamping members 131A and 131B are opposed to each other in the vertical direction. However, the direction in which the two clamping members oppose each other is not limited to the vertical direction.

[0100] Although not shown in the figure, the rubber stopper holding device 130 includes an actuator that moves the clamping member 131A and the clamping member 131B in the vertical direction. When the actuator moves the lower clamping member 131A upward and the upper clamping member 131B downward, the clamping members 131A and 131B clamp the rubber stopper 5.

[0101] like Figure 9 As shown, the clamping member 131A has an inner side surface 131A1 formed into a V-shape when viewed in the front-to-back direction. When the rubber stopper holding device 130 holds the rubber stopper 5, the rubber stopper 5 contacts and is supported by two rubber stopper contact portions 131A2 of the inner side surface 131A1. The two rubber stopper contact portions 131A2 are located on two inclined surfaces of the V-shaped inner side surface 131A1 when viewed in the front-to-back direction and extend in the front-to-back direction.

[0102] The lower surface 131B1 of the clamping member 131B is flat. Therefore, when the rubber stopper holding device 130 holds the rubber stopper 5, the rubber stopper 5 contacts one rubber stopper contact portion 131B2 of the lower surface 131B1. The rubber stopper contact portion 131B2 extends in the front-rear direction.

[0103] The rubber stopper retaining device 130 of this modified example can also retain the rubber stopper 5 so that its axis is aligned with a predetermined center line CL set in the rubber stopper retaining device 130. In other words, by providing three or more rubber stopper contact portions that contact the outer periphery of the cylindrical rubber stopper 5, the rubber stopper 5 can also be appropriately retained by two clamping members. Here, the three or more rubber stopper contact portions are the two rubber stopper contact portions 131A2 of the clamping member 131A and the single rubber stopper contact portion 131B2 of the clamping member 131B. Although not shown in the figure, multiple second clamping members can also be configured in the same manner.

[0104] [Second Modification]

[0105] The first modified example can also be implemented through other modified examples. Figure 10 : is a perspective view of the main part of the rubber stopper holding device 230 of the second modified example. Figure 9 Likewise, in Figure 10 Some parts are also omitted in the illustration. Figure 10As shown in FIG. 2 , the rubber stopper holding device 230 of this modification includes two clamping members 231A and 231B. The two clamping members 231A and 231B face each other in the vertical direction.

[0106] like Figure 10 As shown, the clamp member 231A has an inner side surface 231A1 formed in a V-shape when viewed in the front-rear direction. When the rubber stopper holding device 130 holds the rubber stopper 5, the rubber stopper 5 contacts and is supported by the two rubber stopper contact portions 231A2 of the inner side surface 231A1.

[0107] In this modified example, the upper clamping member 231B is identical to the lower clamping member 231A. The upper clamping member 231B is positioned so that the lower clamping member 231A is rotated 180 degrees about the centerline CL. The V-shaped inner side surface 231A1 of the clamping member 231A faces the V-shaped inner side surface 231B1 of the clamping member 231B. When the rubber stopper retaining device 230 retains the rubber stopper 5, the rubber stopper 5 contacts the two rubber stopper contact portions 231B2 of the inner side surface 231B1 of the clamping member 231B.

[0108] Thus, the rubber stopper retaining device 230 of this modified example includes two clamping members 231A and 231B, each having two rubber stopper contact portions that contact the cylindrical rubber stopper 5. Here, the two clamping members 231A and 231B each include two rubber stopper contact portions 231A2 and two rubber stopper contact portions 231B2. This structure also allows the rubber stopper 5 to be retained so that its axis is aligned with a predetermined center line CL set in the rubber stopper retaining device 230. Furthermore, this structure allows the axis of the rubber stopper 5 to be aligned with the center line CL using simpler control than the rubber stopper retaining device 130 of the first modified example. Although not shown in the figure, multiple second clamping members can also be configured in the same manner.

[0109] Furthermore, as shown in the first and second modified examples, the shapes of the multiple first clamping members may be identical or different. Furthermore, the shapes of the multiple clamping members are not limited as long as they provide a total of three or more rubber stopper contact portions that come into contact with the rubber stopper. The same applies to the multiple second clamping members.

[0110] [Other embodiments]

[0111] In addition, unless otherwise specified, the above-mentioned embodiment does not limit the present invention. For example, in another preferred embodiment, the number of first clamping parts may be three. Alternatively, the number of first clamping parts may be five or more. The number of first clamping parts is preferably three or more. If the number of first clamping parts is three or more, the first clamping parts approach the rubber stopper 5 from at least three directions along the circumferential direction. Therefore, the rubber stopper 5 can be stably held. The same applies to the second clamping parts.

[0112] In the above embodiment, the rubber stopper retaining device 30 includes a plurality of first clamping members 31 and a plurality of second clamping members 41. However, the rubber stopper retaining device may not include the second clamping members. Alternatively, the rubber stopper retaining device may also include a plurality of third clamping members and a plurality of fourth clamping members (the same applies hereinafter).

[0113] In the above-described embodiment, the mechanism that receives the driving force from the first actuator 33 and drives the first clamping member 31 so that the rubber stopper contact portion 31e1 simultaneously approaches and moves away from the center line CL is the first pulley 34 having the inner gear 34a2. However, the mechanism for synchronously driving multiple first clamping members is not limited to this mechanism. For example, the mechanism for synchronously driving the first clamping members may also include multiple gears each connected to a first clamping member and engaging with each other. The same applies to the second clamping member 41.

[0114] In the above embodiment, the first inner side surface 31e, whose distance from the rotation axis is not constant, causes the first rubber stopper contact portion 31e1 to move toward or away from the center line CL. However, the mechanism for moving the first rubber stopper contact portion 31e1 toward or away from the center line CL is not limited to this mechanism. For example, the first clamping member may also be configured to move toward or away from the center line along the circumferential normal. The same applies to the second clamping member 41.

[0115] In the above-mentioned embodiment, the first actuator 33 is a stepping motor capable of identifying the rotational position, but is not limited to this. The first actuator may also be, for example, a servo motor capable of performing feedback control on the rotational position. Alternatively, the first actuator may only move or rotate the first clamping member until it comes into contact with the rubber stopper and stops. The first actuator is not limited to an electric motor, and may be, for example, an air-driven actuator. The first actuator is not limited to an actuator having a rotating drive shaft, and may be, for example, an actuator such as a cylinder having a telescopic rod. The same applies to other actuators such as the second actuator 43 and the moving actuator 53.

[0116] In the above embodiment, the center line CL extends horizontally, but is not limited thereto. For example, the center line of the rubber stopper retaining device may extend vertically or in other directions. The arrangement of the wire insertion device is not limited.

[0117] In the above embodiment, the electric wire 6 is conveyed when being inserted into the rubber stopper 5, but the rubber stopper holding device 30 may be moved together with the rubber stopper. In addition, both the electric wire 6 and the rubber stopper 5 may be moved.

[0118] In the above embodiment, the detection device 70 for detecting whether the rubber stopper 5 has reached the clamping position comprises an optical sensor. However, the detection method of the detection device is not limited. The detection device may also comprise, for example, an image recognition device, a contact switch, etc. Furthermore, it is not necessary to detect whether the rubber stopper 5 has reached the clamping position. For example, the lapse of a predetermined time may be considered to indicate that the rubber stopper 5 has reached the clamping position.

[0119] The control of the wire insertion device 20 described above is a preferred example and is not limited to this control. For example, the rubber stopper retaining device 30 may drive only one of the first clamping member 31 and the second clamping member 41 as needed. In this case, the small-diameter portion 5b of the rubber stopper 5 is preferably gripped. Alternatively, for example, the following control may be implemented: during the insertion of the wire 6 into the rubber stopper 5, the rubber stopper retaining device 30 is temporarily released and the rubber stopper 5 is re-gripped to allow insertion of the wire 6.

[0120] The rubber plug retaining device is not limited to applications for wire insertion devices. It can be applied to any device that requires retaining a rubber plug. The control described above for the wire insertion device can be implemented solely within the rubber plug retaining device or in conjunction with another device.

[0121] Description of Reference Numerals

[0122] 5-rubber plug; 5a-large diameter portion; 5b-small diameter portion; 5c-through hole; 6-electric wire; 10-rubber plug supply device; 20-electric wire insertion device; 21-rubber plug supply port; 30-rubber plug holding device; 31-first clamping member; 31e-first inner side surface; 31e1-first rubber plug contact portion; 32-support member (first support member); 32a-shaft (first rotating shaft); 33-first actuator; 33a-drive shaft; 34-first pulley; 34a-first ring portion (ring portion); 34a1-outer gear (outer engaging portion); 34a2-inner gear (inner engaging portion); 41-second Clamping component; 41e1-second rubber plug contact portion; 43-second actuator; 50-clamping moving device (moving device); 60-wire conveying device; 61b-wall portion; 70-detection device; 80-control device; 81-setting portion; 82-first position storage portion (storage portion); 83-second position storage portion; 84-signal receiving portion; 85-clamping instruction portion (first control portion); 86-first clamping control portion (second control portion); 87-second clamping control portion; 88-conveyance control portion (third control portion); 89-moving position storage portion; 90-moving control portion (fourth control portion); CL-center line.

Claims

1. A rubber stopper retaining device comprising: a plurality of first clamping members arranged around a predetermined center line so as to form a space inside which a cylindrical rubber stopper can be arranged; a first supporting member supporting the plurality of first clamping members; and a first actuator that drives the plurality of first clamping members, The plurality of first clamping members include three or more first rubber stopper contact portions facing the space formed inside and contacting the outer peripheral portion of the rubber stopper. The first supporting member includes a plurality of first rotation shafts extending parallel to the center line and rotatably supporting the first clamping member, and supports the first clamping member in such a manner that the first rubber stopper contact portion can approach and move away from the center line. The first actuator drives the first clamping member to rotate the plurality of first clamping members around the plurality of first rotation axes, so that the first rubber stopper contact portion approaches and moves away from the center line.

2. The rubber stopper retaining device according to claim 1, characterized in that: The number of the first clamping parts is three or more.

3. The rubber stopper holding device according to claim 1 or 2, characterized in that: The plurality of first clamping members each have a first inner side surface, the first inner side surface facing a space formed inside the plurality of first clamping members and configured so that a distance from the first rotation axis varies depending on a position around the first rotation axis. The first rubber stopper contact portion is provided on the first inner side surface and moves closer to and farther from the center line as the first clamping member rotates around the first rotation axis.

4. The rubber stopper retaining device according to claim 3, characterized in that: The first actuator includes a rotating drive shaft. The rubber stopper retaining device further comprises: a first pulley having a ring portion having an outer engaging portion on an outer side surface and an inner engaging portion on an inner side surface, and rotating about the center line; and a transmission mechanism that engages with the outer engaging portion of the first pulley and the drive shaft of the first actuator and transmits the rotation of the drive shaft to the first pulley, The first clamp member includes a first engagement portion that is arranged radially inward of the ring portion and engages with the inner engagement portion, and is rotated about the first rotation axis by the rotation of the first pulley.

5. The rubber stopper holding device according to claim 1 or 2, characterized in that: Also features: a plurality of second clamping members arranged around the center line so as to form a space inside thereof in which the rubber stopper can be arranged; a second supporting member supporting the second clamping member; as well as a second actuator that drives the second clamping member, The plurality of second clamping members include three or more second rubber stopper contact portions that are arranged at positions different from the first rubber stopper contact portion in the extending direction of the center line and that are in contact with the outer periphery of the rubber stopper. The second supporting member supports the second clamping member in such a manner that the second rubber stopper contact portion can approach and move away from the center line. The second actuator drives the second clamping member to move the second rubber stopper contact portion closer to and farther from the center line.

6. A wire insertion device for inserting a wire into a through-hole of a rubber plug having a through-hole extending along an axis, comprising: The rubber stopper retaining device according to any one of claims 1 to 5; a rubber stopper supply port communicating with a space formed inside the plurality of first clamping members and capable of supplying the rubber stopper; and A wire conveying device conveys the wires along the center line.

7. The wire insertion device according to claim 6, characterized in that The invention further includes a wall portion that abuts against a front end portion of the supplied rubber stopper in the advancing direction so as to stop the rubber stopper at a predetermined position along the center line where the first clamping member can grip the rubber stopper.

8. The electric wire insertion device according to claim 6 or 7, characterized in that: Also features: a detection device for detecting whether the rubber stopper is located at a predetermined position along the center line at which the first clamping member can hold the rubber stopper; and a control device connected to the first actuator and the detection device, The control device includes a first control unit that operates the first actuator so that the first rubber stopper contact portion approaches the center line when the detection device detects that the rubber stopper is located at the predetermined position.

9. The electric wire insertion device according to claim 6 or 7, characterized in that: A control device connected to the first actuator is provided, The control device comprises: a setting unit for setting the type of rubber stopper to be supplied; a storage unit for storing the position of the first actuator according to the type of the rubber stopper; as well as A second control unit controls the first actuator based on the setting of the setting unit and the position stored in the storage unit, and controls the position of the first rubber stopper contact portion relative to the center line.

10. The electric wire insertion device according to claim 6 or 7, characterized in that: A control device connected to the first actuator is provided, The control device comprises: a storage unit that stores a pre-insertion position and a post-insertion position, wherein the pre-insertion position is a position of the first actuator before the electric wire is inserted into the rubber stopper, and the post-insertion position is a position of the first actuator after the electric wire is inserted into the rubber stopper; as well as A second control unit controls the first actuator based on the pre-insertion position and the post-insertion position stored in the storage unit, and controls the position of the first rubber stopper contact portion relative to the center line.

11. The electric wire insertion device according to claim 10, characterized in that The first rubber stopper contact portion in the post-insertion position is further away from the center line than the first rubber stopper contact portion in the pre-insertion position.

12. The electric wire insertion device according to claim 6 or 7, characterized in that: A moving device is further provided for moving the rubber stopper holding device parallel to the center line.

13. The wire insertion device according to claim 12, characterized in that A control device connected to the wire conveying device and the moving device is provided, The control device comprises: a third control unit configured to control the electric wire feeding device so as to feed the electric wire from the outside of the rubber stopper holding device toward the space formed inside the plurality of first clamping members and insert the electric wire into the rubber stopper; as well as a fourth control unit that controls the moving device to move the rubber stopper holding device in the conveying direction of the wire after the wire conveying device starts to insert the wire into the rubber stopper, and controls the moving device to move the rubber stopper holding device in the opposite direction of the conveying direction of the wire after the rubber stopper holding device moves in the conveying direction of the wire.

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