Wire bundling robot

Abstract

A robot (10) includes a grasping mechanism (11). The grasping mechanism (11) includes a pair of grasping jaws (23) that perform opening and closing operations in a horizontal direction intersecting the extending direction of the electric wires. The grasping jaws have lower jaw portions (23a) that function as scoops by moving obliquely upward from below. Before or during the bundling operation, a control device of the robot moves the lower jaw portions (23a) of the grasping jaws (23) obliquely upward from below, thereby scooping up all the electric wires W to be bundled.

Description

Technical Field

[0001] This invention relates to a wire bundling robot, which bundles any number of wires from a plurality of wires arranged in parallel on a generally horizontal plane for binding by means of tape wrapping or the like. Background Technology

[0002] For example, automotive wiring harnesses are manufactured by bundling multiple wires and wrapping them with tape. In recent years, systems have been developed that allow robots to perform the wiring work to meet the needs of improving efficiency and saving labor.

[0003] Patent Document 1 discloses a technique for bundling multiple wires in a suspended state. Patent Document 1 also discloses a processing robot as a robotic arm that performs work on wires, comprising a gripper for bundling the wires into a state where they can be finally tied together, and an auxiliary hand for pre-enclosing scattered wires before closing the gripper so that the wires can be easily bundled.

[0004] In the technology disclosed in Patent Document 1, it is necessary to provide an auxiliary hand that is separate from the grasping hand and is specifically used to surround the wire, which leads to a problem of structural complexity.

[0005] When arranging numerous wires to create a wire harness, it is easy to create a well-designed system for laying the wires on a horizontal jig plate. Therefore, a system has been investigated in which a robot is mounted relative to a jig plate for laying the wires on a generally horizontal plane, and the robot performs the wiring work.

[0006] However, when arranging wires horizontally to create a wire harness, a problem arises: even when tension is applied to the wires, they can loosen due to their own weight. Depending on the wire harness manufacturing process, it's possible to intentionally loosen the wires. Therefore, even when multiple wires are arranged parallel at the same height, the height of the wires to be bundled varies due to differences in conditions such as the weight and tension of each wire.

[0007] Citation List

[0008] Patent documents

[0009] Patent document 1: JP-A-2017-144501. Summary of the Invention

[0010] Technical issues

[0011] Therefore, even if the robotic arm's grippers close from both sides in the direction the wires are arranged, it is still possible for the wires to escape the bundle. Of course, increasing the size of the robotic arm's grippers increases the likelihood of missing wires during pickup. However, in this case, the robotic arm's processing performance may deteriorate, so the size of the grippers cannot be increased too much.

[0012] The present invention has been made in response to the above-mentioned situation, and the object of the present invention is to provide a wire bundling robot that can simplify the construction without setting additional equipment such as auxiliary hands, and can surround the wires to be bundled without missing any wires even if the size of the gripper is not increased too much and despite slight positional deviations, and can bundle and grasp the wires.

[0013] Solution to the problem

[0014] A wire bundling robot according to an embodiment includes:

[0015] A robotic arm, which is installed in a workspace in which multiple wires are arranged in parallel on a roughly horizontal plane;

[0016] A robotic arm, disposed at the end of the robotic arm and including a gripping mechanism configured to gather and grasp any plurality of wires from the plurality of wires by being controlled to any position and posture; and

[0017] A control device drives and controls the robotic arm and the robotic hand, causing the gripping mechanism to perform the operation of bundling and gripping any plurality of wires.

[0018] The gripping mechanism includes at least one pair of gripping claws. These claws face each other in a horizontal direction intersecting the extension direction of the wires and perform opening and closing operations. The closing operation is used to gather and grip the plurality of wires.

[0019] At least one of the pair of gripping claws facing each other has a lower claw portion that performs a scooping action by moving obliquely upward from below, and

[0020] Before or during the bundling operation, the control device drives and controls at least one of the robotic arm and the robotic hand to move the lower claw of a gripping claw from a downward angle upward, thereby scooping up the wires to be bundled. Attached Figure Description

[0021] Figure 1 This is a perspective view illustrating a schematic construction of a robotic arm in a wire bundling robot according to an embodiment of the present invention.

[0022] Figure 2It is a perspective view showing multiple wires being bundled together by the gripping claw of a closed robotic arm's gripping mechanism.

[0023] Figure 3 This is a front view schematically showing a portion of the construction of a robotic hand and arm.

[0024] Figure 4 It shows Figure 3 The front view shows the gripper of the robotic arm's grasping mechanism closed to gather multiple wires.

[0025] Figure 5 This is a perspective view showing the robotic arm's gripping mechanism in the open state, with a pair of gripping claws positioned on both sides of multiple wires to be bundled, thereby clamping the multiple wires.

[0026] Figure 6 It is a perspective view showing the state in which the gripping mechanism of the robotic arm is tilted so that multiple wires to be bundled can be scooped up without being missed.

[0027] Figure 7 It is a front view showing the schematic structure of the gripping mechanism of the robotic arm, and a diagram showing the state in which a pair of gripping claws are positioned on both sides of multiple wires to be bundled.

[0028] Figure 8 This diagram shows that although the grippers are positioned on both sides of the multiple wires to be bundled, in this state, one wire will be left out of the encirclement of wires.

[0029] Figure 9 It shows that the gripper is tilted so that it can scoop up... Figure 8 The diagram shows the state of the wires that have been left out from the surrounding area and will be used to perform the scooping operation.

[0030] Figure 10 It is a diagram showing the state in which the wires are about to be bundled by closing a pair of gripping claws in the scooping state.

[0031] Figure 11 This diagram shows the state in which the gripping mechanism returns to its original horizontal posture.

[0032] Figure 12 It is a diagram showing the state in which the gripping mechanism, having returned to a horizontal position, has its pair of gripping claws closed, and all the wires to be bundled are bundled together without any omissions.

[0033] Figure 13 This is a diagram illustrating a schematic construction according to another embodiment of the invention, and a front view showing an example of a pair of gripping claws with a linear shape of a robotic arm's gripping mechanism. Detailed Implementation

[0034] Specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0035] Figure 1 This is a perspective view showing a schematic construction of the robotic arm of the wire bundling robot according to this embodiment. Figure 2 It is a perspective view showing multiple wires being bundled together by the gripping claw of a closed robotic arm's gripping mechanism. Figure 3 This is a front view schematically showing a portion of the construction of a robotic hand and arm. Figure 4 It shows Figure 3 The front view shows the gripper of the robotic arm's grasping mechanism closed to gather multiple wires.

[0036] like Figures 1 to 4 As shown, the wire bundling robot of this embodiment is installed in a workspace in which multiple wires W are arranged in parallel on a generally horizontal plane, and includes a robotic arm 1, a robotic hand 10 disposed at the end of the robotic arm 1, and a control device (not shown) for driving and controlling the robotic arm 1 and the robotic hand 10.

[0037] The robotic arm 10 is the part that gathers and grasps multiple wires W, and straightens the wires W in the grasping state. The robotic arm 1 has a structure in which multiple arms are coupled to each other via a connecting mechanism, allowing them to rotate about an axis, and the robotic arm 10 is located at the end of the robotic arm 1. The gathering robot operates the robotic arm 1, thereby enabling it to move the robotic arm 10 to any position relative to the wires W to be gathered in any posture. That is, the robotic arm 10 can perform actions such as... Figure 1 The multi-axis motion is indicated by arrows H1 to H4. As a cluster robot, in addition to vertically articulated robots using rotating arms as described above, Cartesian coordinate robots and the like can also be used.

[0038] Here, the processing of bundled wires W refers to the process of aggregating multiple wires W when they are spread out in parallel, thereby facilitating subsequent gripping and bundling. In order to perform the processing of bundled wires W, the robot arm 10 is provided with a gripping mechanism 11 of gripping claws 23 that can be opened and closed.

[0039] The straightening process of the wire W is performed by the robotic arm 10 sliding along the extension direction of the wire W while it is being gripped by the gripping mechanism 11. This process removes any curling of the wire W and also stretches it. In other words, by straightening the wire W before binding it, it prevents the wire W from being bound while partially bent. Therefore, dimensional accuracy can be improved.

[0040] To perform this straightening process on the wire W, the gripping mechanism 11 of the robotic arm 10 can grip the wire W with a force that allows sliding. Additionally, the robotic arm 10 can slide along the wire W.

[0041] After straightening, the process of wrapping tape around the bundled wires W to bind multiple wires W is performed. Various configurations of known automatic tape wrapping machines can be incorporated into or separated from the robot arm 10 for performing this binding process.

[0042] Next, the gripping mechanism 11 provided in the robotic arm 10 will be described.

[0043] The gripping mechanism 11 is configured to be controlled by the robotic arm 10 to any position and posture to bundle and grip any multiple wires from a plurality of wires. The control unit drives and controls the robotic arm 1 and the robotic hand 10 to cause the gripping mechanism 11 to perform operations for bundling or straightening.

[0044] The gripping mechanism 11 includes a pair of gripping blocks 20A and 20B that perform opening and closing operations and face each other in a horizontal direction intersecting the extension direction of the wire W. Figure 1 In the diagram, arrow Y1 indicates the opening direction, and arrow Y2 indicates the closing direction. One gripping block 20A is provided with first and second gripping members 21A and 22A, separated from each other in the extension direction of the wire W. Another gripping block 20B is also provided with first and second gripping members 21B and 22B, separated from each other in the extension direction of the wire W. A gripping claw 23 is provided at the end of each of the gripping members 21A, 22A, 21B, and 22B.

[0045] The gripping claws 23 of gripping member 21A of one gripping block 20A and the gripping claws 23 of gripping member 21B of another gripping block 20B are combined to face each other, thereby forming a first gripping part 21. The gripping claws 23 of gripping member 22A of one gripping block 20A and the gripping claws 23 of gripping member 22B of another gripping block 20B are combined to face each other, thereby forming a second gripping part 22. Therefore, the first gripping part 21 and the second gripping part 22 are positioned to be separate from each other in the extension direction of the wire W.

[0046] Since the gripping claws 23 of one gripping member 21A of the first gripping unit 21 and the gripping claws 23 of one gripping member 22A of the second gripping unit 22 are integrally provided with a gripping block 20A, when the gripping block 20A performs an opening and closing operation, both gripping claws 23 operate integrally with the gripping block 20A. Furthermore, since the gripping claws 23 of the other gripping member 21B of the first gripping unit 21 and the gripping claws 23 of the other gripping member 22B of the second gripping unit 22 are integrally provided with another gripping block 20B, when the other gripping block 20B performs an opening and closing operation, both gripping claws 23 operate integrally with the other gripping block 20B. Therefore, when the drive mechanism (not shown) of the gripping mechanism 11 is driven, the first gripping unit 21 and the second gripping unit 22 simultaneously perform opening and closing operations.

[0047] The shapes of gripping blocks 20A and 20B are configured such that when the pair of opposing gripping claws 23 of the first gripping part 21 and the pair of opposing gripping claws 23 of the second gripping part 22 simultaneously close to bundle the wire W, as shown... Figure 2 As shown, a workspace 28 for wrapping the bundled wires W with tape, etc., is ensured between the first gripping part 21 and the second gripping part 22.

[0048] Each of the pair of opposing gripping claws 23 of the first gripping part 21 has a downwardly angled lower claw portion 23a and an upwardly angled upper claw portion 23b, each having a V-shaped recess as a space for receiving the wire on the surface of the gripping claw 23 facing the other side. The pair of gripping claws 23 are arranged adjacent to each other at a position where they intersect each other in the extension direction of the wire W. During the closing operation, the lower claw portions 23a overlap each other in an intersecting state, and the upper claw portions 23b overlap each other in an intersecting state, thus reducing the space around the wire W defined by the lower claw portions 23a and the upper claw portions 23b, and allowing the wire W to be bundled.

[0049] The pair of gripping claws 23 and 23 facing each other in the second gripping part 22 also have the same structure as the first gripping part 21. Note that the direction of the staggering of the positions of the pair of gripping claws 23 and 23 of the first gripping part 21 and the second gripping part 22 is arbitrary.

[0050] exist Figure 2 In the example, the gripper 23 (gripper 21A) on the left side of the first gripping part 21 is located at the front, while the gripper 23 (gripper 21B) on the right side of the first gripping part 21 is located at the rear. Similarly, the gripper 23 (gripper 22A) on the left side of the second gripping part 22 is located at the rear, while the gripper 23 (gripper 22B) on the right side of the second gripping part 22 is located at the front.

[0051] By controlling the robotic arm 1, robotic hand 10, and gripping mechanism 11, the control device can freely move the gripping claws 23 of the first and second gripping parts 21 and 22. Specifically, in this embodiment, if necessary, the control device performs control to allow the lower claw portion 23a of one of the pair of opposing gripping claws 23 to move, thereby performing a "scooping" action by moving one gripping claw 23 obliquely upwards. For example, this operation occurs before or during a clustering operation.

[0052] Next, the effects will be described.

[0053] Figure 5 This is a perspective view showing the gripping mechanism 11 of the robotic arm 10 in the open state and a pair of gripping claws 23 positioned on both sides of a plurality of wires to be bundled to clamp the plurality of wires. Figure 6 This is a perspective view showing the gripping mechanism 11 of the robotic arm 10 being tilted, thereby scooping up multiple wires to be bundled without missing any. Additionally, Figure 7 This is a front view showing the schematic structure of the gripping mechanism 11 of the robotic arm 10, and a diagram showing the state in which a pair of gripping claws 23 are positioned on both sides of the plurality of wires to be bundled. Figure 8 The diagram shows that although the gripping claws 23 and 23 are positioned on both sides of the multiple wires to be bundled, in this state, one wire Wx will be left out from the encirclement of the wires. Figure 9 It shows that the gripper is tilted so that it can scoop up... Figure 8 The image shows a wire that has been left out of the enclosure, and a scooping operation is being performed on it.

[0054] in addition, Figure 10 It is a diagram showing the state of the wires being bundled by closing a pair of gripping claws 23 and 23 in a scooping state. Figure 11 This diagram shows the state in which the gripping mechanism 11 returns to its original horizontal posture. Figure 12 The diagram shows the state in which the pair of gripping claws 23 and 23 of the gripping mechanism 11, which has returned to a horizontal position, are closed, and all the wires W to be bundled are bundled together without being missed.

[0055] When performing a bundled operation on wire W, such as Figures 5 to 8 As shown, a pair of gripping claws 23 of the gripping mechanism 11 are inserted from above and positioned on both sides of the arrangement direction (horizontal direction) of the multiple wires W to be bundled. At this time, although the gripping claws 23 and 23 are positioned on both sides of the multiple wires W to be bundled, as... Figure 8 As shown, even if the gripper 23 is closed in this state, the wire Wx can still be left out of the enclosure relative to the wire W.

[0056] When this possibility exists, control the position and orientation of the gripping mechanism 11 so that the robotic arm 10 (gripping mechanism 11) behaves as described above. Figure 6 or Figure 9 As indicated by arrow S1, it can be tilted or moved appropriately, and any missed wires Wx can be scooped up by the lower claw portion 23a of the gripping claw 23 located on the lower side.

[0057] Then, as Figure 9 As shown, at least one of the robotic arm 1 and robotic hand 10 (including the gripping mechanism 11) is driven and controlled to move the lower claw portion 23a of a gripping claw 23 from a downward angle upward, thus scooping up all the wires W to be bundled. Therefore, it is possible to... Figure 9 Movement can be performed on a linear path as indicated by arrow J1, or on a curved path as indicated by arrow J2.

[0058] As described above, the lower claw 23a is moved so that the wires W to be bundled can be scooped up without any omissions, and simultaneously or subsequently, the pair of gripping claws 23 and 23 will... Figure 10 The clamping mechanism 11 closes as shown. Then, all the wires W to be bundled are surrounded by a pair of gripping claws 23 and 23 without any omissions. From this state, the gripping mechanism 11 returns to its original position. Figure 11 The original horizontal posture is shown, and the pair of grasping claws 23 and 23 are further as follows: Figure 12 The ground is closed as shown, so that wires W can be bundled and grabbed as needed.

[0059] Next, when it is necessary to straighten the bundled wires W, while the gripping claws 23 and 23 are holding the bundled wires W, the robotic arm 10 moves relative to the wires W along the length of the wires W, and the wires W are straightened to the binding section. Specifically, while the bundled wires W are being gently gripped by the gripping mechanism 11, the robotic arm 1 moves the robotic arm 10 along the wires W to the binding section. When the wires W are straightened to the binding section in this way, the wires W are in a stretched state. In this state, the binding tape (see...) Figure 2 (See figure 110) The wire W is wrapped around the binding part. Thus, the bundled wire W is bound at the binding part.

[0060] When binding with tape, such as Figure 2 As shown, in the closed state between the first gripping part 21 and the second gripping part 22 constituting the gripping mechanism 11, a working space 28 of the required size is ensured, so that the tape winding work can be performed smoothly by inserting the winding head 100 of the automatic winding device into the working space 28.

[0061] As described above, in the clustering robot of this embodiment, the wires W to be clustered can be scooped up and clustered by the lower claw portion 23a provided in the gripping claws 23 and 23, without any omissions. Therefore, it is unlikely to be affected by the number and position of the wires W to be clustered, and it is not necessary to specially increase the size of the gripping claws 23 and 23. In addition, since it is not necessary to provide an auxiliary hand separate from the gripper (corresponding to the gripping claw 23) as in the prior art, the structure can be simplified.

[0062] Furthermore, according to the clustering robot of this embodiment, since the lower claw portion 23a and the upper claw portion 23b formed by the V-shaped recess are disposed in both of the pair of gripping claws 23 and 23, the space around the wire W can be reduced in a balanced manner during the closing operation of the gripping claws 23 and 23, and the wire W can be easily clustered.

[0063] Furthermore, according to the cluster robot of this embodiment, since the working space 28 for tape winding, etc., is ensured between the first gripping part 21 and the second gripping part 22, as described above, tape winding can be stably performed while the front and rear parts of the tape winding target part are gripped by the first and second gripping parts 21 and 22, and the tape winding quality can be improved.

[0064] Although in the above embodiment, both of the pair of gripping claws 23 and 23 are provided with a lower claw portion 23a and an upper claw portion 23b formed by a V-shaped recess, the lower claw portion 23a and the upper claw portion 23b formed by the V-shaped recess may be provided only in one gripping claw 23, while the other gripping claw 23 may be formed into a linear shape extending in the vertical direction.

[0065] Figure 13 This is a schematic diagram illustrating another embodiment of the invention, and a front view showing an example of a single gripper 123 having a linear shape in a pair of gripping claws 23 and 123 of the gripping mechanism 11 of the robotic arm 10.

[0066] In this embodiment, the gripper 23 of the pair of grippers 23 and 123 facing each other has a downwardly angled lower claw portion 23a and an upwardly angled upper claw portion 23b by providing a V-shaped recess as a space for receiving the wire W on the surface of the gripper 123 facing the other side.

[0067] On the other hand, the other gripper 123 of the pair of gripping claws 23 and 123 facing each other is constructed as a linear claw extending linearly in the vertical direction.

[0068] Furthermore, a pair of gripping claws 23 and 123 are arranged adjacent to each other at a staggered position in the extension direction of the wire W. During the closing operation, the lower claw portion 23a and upper claw portion 23b of one gripping claw 23 and the linear claw portion of the other gripping claw 123 overlap in an interleaved state, thereby reducing the space around the wire W defined by the lower claw portion 23a, upper claw portion 23b, and linear claw portion, and bundling the wire.

[0069] According to this embodiment, since one gripper 123 is configured as a linear gripper, the width dimension of the linear gripper in the arrangement direction of the wires W can be reduced. Therefore, even when the spacing between the wires W is narrow, the linear gripper can be easily inserted between the wires W and the bundling operation can be performed smoothly.

[0070] According to this embodiment, a wire bundling robot includes:

[0071] A robotic arm (1) is installed in a workspace in which multiple wires (W) are arranged in parallel on a generally horizontal plane;

[0072] A robotic arm (10), disposed at the end of the robotic arm (1) and including a gripping mechanism (11), the gripping mechanism (11) being configured to gather and grip any of the plurality of wires (W) by being controlled to any position and posture; and

[0073] A control device that drives and controls the robotic arm (1) and the robotic hand (10) to cause the gripping mechanism (11) to perform the operation of bundling and gripping any plurality of wires (W).

[0074] The gripping mechanism (11) includes at least one pair of gripping claws (23, 123), which face each other in a horizontal direction intersecting the extension direction of the wires (W) and perform opening and closing operations, and use the closing operation to bundle and grip the plurality of wires (W).

[0075] Among them, at least one of the pair of grasping claws (23, 123) facing each other has a lower claw portion (23a) that performs a scooping action by moving obliquely upward from below, and

[0076] Before or during the bundling operation, the control device drives and controls at least one of the robotic arm (1) and the robotic hand (10) to move the lower claw portion (23a) of the gripper (23) from a downward oblique upward direction, thereby scooping up the wires (W) to be bundled.

[0077] According to the wire bundling robot with the above-described structure, the wires to be bundled can be scooped up and bundled by the lower claw portion provided in the gripper, without any omissions. Therefore, it is less likely to be affected by the number and position of the wires to be bundled. In addition, it is not necessary to pre-set an auxiliary hand separate from the gripper (corresponding to the gripper claw) for surrounding the wires as in the prior art, making it easier for the gripper to bundle the wires, thus simplifying the structure.

[0078] In wire bundling robots

[0079] Each of the pair of opposing gripping claws (23) can have a downwardly angled lower claw portion (23a) and an upwardly angled upper claw portion (23b) by providing a V-shaped recess as a space for receiving wires (W) on the surface of the gripping claw (23) facing the other side, and

[0080] The pair of gripping claws (23) can be arranged adjacent to each other at staggered positions in the extension direction of the wire (W), and during the closing operation, the two lower claw portions (23a) can overlap each other in an staggered state, and the two upper claw portions (23b) can overlap each other in an staggered state. Therefore, the space around the wire (W) defined by the lower claw portions (23a) and the upper claw portions (23b) can be reduced, and the wire (W) can be bundled together.

[0081] According to the wire bundling robot with the above structure, since the lower claw and upper claw formed by the V-shaped recess are located in both of a pair of gripping claws, the space around the wire can be reduced smoothly during the closing operation of the gripping claws, and the wire can be easily bundled.

[0082] In wire bundling robots

[0083] One of the pair of gripping claws (23, 123) facing each other can have a downwardly angled lower claw portion (23a) and an upwardly angled upper claw portion (23b) by providing a V-shaped recess as a space for receiving wires (W) on the surface of the gripping claw (123) facing the other side.

[0084] The other of the pair of gripping claws facing each other can be configured as a linear claw portion (123) extending linearly in the vertical direction, and

[0085] The pair of gripping claws (23, 123) can be arranged adjacent to each other at staggered positions in the extension direction of the wire (W). During the closing operation, the lower claw portion (23a) and the upper claw portion (23b) of one gripping claw (23) and the linear claw portion (123) of the other gripping claw overlap each other in the staggered state. Therefore, the space around the wire defined by the lower claw portion (23a), the upper claw portion (23b), and the linear claw portion (123) can be reduced, and the wire (W) can be bundled together.

[0086] According to the wire bundling robot with the above structure, since one of the gripping claws is constructed as a linear claw, the width dimension of the linear claw in the direction of wire W arrangement can be reduced.

[0087] Therefore, even when the spacing between wires is narrow, the linear claw can easily insert between the wires and can smoothly perform the bundling operation.

[0088] In wire bundling robots

[0089] The pair of gripping claws (23) facing each other include a first gripping claw (23) and a second gripping claw (23) separated from each other in the extension direction of the wire (W), and a workspace (28) for applying tape or the like to the wire (W) bundled by the two closed gripping claws (23) can be ensured between the first gripping claw (23) and the second gripping claw (23).

[0090] According to the wire bundling robot with the above-described structure, since the working space for tape winding, etc., is ensured between the first gripper and the second gripper, for example, tape winding can be stably performed while the front and rear parts of the tape winding target part are gripped by the first and second grippers, and the tape winding quality can be improved.

[0091] According to this embodiment, the wires to be bundled can be scooped up and bundled by the lower claw portion provided in the gripper, without any omissions. Therefore, it is unlikely to be affected by the number and position of the wires to be bundled, and there is no need to specifically increase the size of the gripper. Furthermore, since it is not necessary to provide an auxiliary hand separate from the gripper as in the prior art, the structure can be simplified.

Claims

1. A wire bundling robot, comprising: A robotic arm, which is installed in a workspace in which multiple wires are arranged in parallel on a roughly horizontal plane; A robotic arm, disposed at the end of the robotic arm and including a gripping mechanism configured to gather and grip any of the plurality of wires by being controlled to any position and posture; as well as A control device drives and controls the robotic arm and the robotic hand, causing the gripping mechanism to perform the operation of bundling and gripping any plurality of wires. The gripping mechanism includes at least one pair of gripping claws. These claws face each other in a horizontal direction intersecting the extension direction of the wires and perform opening and closing operations. The closing operation is used to gather and grip the plurality of wires. In this pair of opposing gripping claws, at least one gripping claw has a downward-sloping lower claw portion and an upward-sloping upper claw portion by providing a V-shaped recess as a space for receiving wires on the surface of the gripping claw facing the other side. The lower claw portion performs a scooping action by moving obliquely upward from below. Before or during the bundling operation, the control device drives and controls at least one of the robotic arm and the robotic hand to move the lower claw of a gripping claw from a downward angle upward, thereby scooping up the wires to be bundled.

2. The wire bundling robot according to claim 1, in, Each of the pair of opposing grippers has a downward-sloping lower gripper portion and an upward-sloping upper gripper portion by providing the V-shaped recess as a space for receiving wires on the surface of the gripper facing the other side. The pair of gripping claws are arranged adjacent to each other at staggered positions in the extension direction of the wire, and during the closing operation, the lower claw portions of the two claws overlap each other in a staggered state, and the upper claw portions of the two claws overlap each other in a staggered state, thereby reducing the space around the wire defined by the lower claw portions and the upper claw portions, and bundling the wire.

3. The wire bundling robot according to claim 1, in, One of the pair of gripping claws facing each other has a downwardly angled lower claw portion and an upwardly angled upper claw portion by providing the V-shaped recess as a space for receiving wires on the surface of the gripping claw facing the other side. Of these, the other of the pair of gripping claws facing each other is constructed as a linear claw portion extending linearly in the vertical direction, and The pair of gripping claws are arranged adjacent to each other at staggered positions in the extension direction of the wire, and during the closing operation, the lower claw and upper claw of one gripping claw and the linear claw of the other gripping claw overlap each other in an staggered state, thereby reducing the space around the wire defined by the lower claw, the upper claw and the linear claw, and bundling the wire.

4. The wire bundling robot according to any one of claims 1-3, in, The pair of gripping claws facing each other include a first gripping claw and a second gripping claw that are separated from each other in the direction of extension of the wire, and between the first gripping claw and the second gripping claw, a working space is ensured for tape wrapping of the wires bundled together by the two closing gripping claws.

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