Processing device for multi-core cable

Abstract

A processing device (1) for a multi-core cable (3) is provided with: a holding member (41) that holds a non-tip portion (5B) of a sheath (5); a gripping device (50) that grips the distal end (5A) of the sheath (5) or the electric wires (4, 6) exposed from the sheath (5); an extraction device (60) that extracts the tip (5A) of the sheath (5); a rotation device (70) that rotates the holding member (41) and the gripping member (56) relative to each other; a detection device (80) that detects at least one of the twist pitch and the twist strength of the plurality of electric wires (4, 6) of the multi-core cable (3); and a control device (100). The control device (100) adjusts at least one of the operating conditions of the gripping device (50), the extraction device (60), and the rotating device (70) on the basis of the detection by the detection device (80).

Description

Technical Field

[0001] The invention relates to a processing device for multi-core cables. Background Art

[0002] Conventionally, multi-core cables comprising multiple wires and a sheath covering these wires are known. In these multi-core cables, a cut is formed at the front end of the sheath, and the front end of the sheath is removed to expose the front ends of the wires. Subsequently, for example, a terminal is crimped onto the front ends of the wires. However, if a twisted structure remains on the wires when the front ends of the sheath are removed, subsequent processing of the wires cannot be performed properly. Therefore, devices for correcting the twisted structure of the wires have been proposed.

[0003] For example, Patent Document 1 discloses a device for untwisting an electric wire. The device comprises: a gripping fixture that grips the front end of a sheath having a slit formed therein; a holding fixture that holds the non-front end portion of the sheath; a pulling device that moves the gripping fixture away from the holding fixture to pull out the front end of the sheath; and a rotating device that rotates the front end of the sheath held by the gripping fixture. The untwisting device described in Patent Document 1 combines control for pulling out the front end of the sheath without rotating the gripping fixture with control for pulling out the front end of the sheath while rotating the gripping fixture, thereby achieving both untwisting and untwisting of the electric wire.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2022 / 091788 Summary of the Invention

[0007] (1) Technical issues to be resolved

[0008] In multi-core cables, the twisting state of the wires varies. The inventors of this application have noted that this variation is significant if the wires of a multi-core cable are to be consistently and properly untwisted. According to the inventors' understanding, this variation in the twisting state of the wires in a multi-core cable causes variation in the state of the wires after untwisting. As a result, multi-core cables can be produced in which the wires are twisted in the opposite direction due to insufficient untwisting or excessive untwisting.

[0009] The present invention has been made in view of this point, and an object of the present invention is to suppress variations in the state of the wires after untwisting due to variations in the twisted state of the plurality of wires in a multi-core cable.

[0010] (2) Technical solution

[0011] The multi-core cable processing device disclosed herein is a device for processing a multi-core cable having a plurality of twisted wires and a sheath covering the plurality of wires. The device comprises: a holding member for holding a non-front end portion of a sheath having a slit formed between a front end portion and a non-front end portion; a gripping device comprising a gripping member for gripping the front end portion of the sheath or the exposed plurality of wires; a pulling device for pulling out the front end portion of the sheath; a rotating device for relatively rotating the holding member and the gripping member; a detecting device for detecting at least one of a twist pitch and a twist strength of the plurality of wires; and a control device for controlling the gripping device, the pulling device, and the rotating device. The control device comprises a condition adjustment unit for adjusting at least one of the operating conditions of the gripping device, the pulling device, and the rotating device based on the detection of the detecting device.

[0012] The multi-core cable handling device detects at least one of the lay length and twist strength as an indicator of the twist state of the wires in the multi-core cable, and adjusts at least one of the operating conditions of the gripping device, extraction device, and rotation device based on the detection. Therefore, at least one of the lay length and twist strength of the wires is reflected in the untwisting condition of the wires. This can suppress variations in the state of the wires after untwisting, which can be caused by variations in the twist state of the multiple wires in the multi-core cable.

[0013] According to a preferred embodiment of the multi-core cable processing device, the condition adjustment unit adjusts at least one of the following: the rotation angle and the rotation speed when the rotating device causes the retaining part and the holding part to rotate relative to each other; the pulling out speed and the pulling out force when the pulling out device pulls out the front end portion of the sheath; and the holding force of the holding device.

[0014] According to the multi-core cable processing device, the condition adjustment unit adjusts the aforementioned operating conditions. By adjusting at least one of the aforementioned operating conditions, the influence of variations in the lay lengths or twist strengths of the plurality of wires can be suppressed, thereby suppressing variations in the states of the wires after untwisting.

[0015] According to a preferred embodiment of the multi-core cable processing device, the control device includes a first registering unit that registers at least one of a standard lay length and a standard twist strength of the plurality of wires. The condition adjusting unit adjusts at least one of a rotation angle and a rotation speed of the rotating device, a pulling speed and a pulling force of the pulling device, and a gripping force of the gripping device based on at least one of a comparison between the lay length of the plurality of wires detected by the detection device and the standard lay length, and a comparison between the twist strength of the plurality of wires detected by the detection device and the standard twist strength.

[0016] According to this multi-core cable processing device, at least one of the lay lengths and twist strengths of the plurality of wires is compared with a registered standard lay length or twist strength, and the operating conditions are adjusted based on the difference from the standard. With this configuration, since the lay length or twist strength serving as the reference is constant, highly reproducible adjustments can be made.

[0017] According to a preferred embodiment of the multi-core cable processing device, the control device includes: a first registration unit that registers the standard lay lengths of the plurality of wires; and a second registration unit that registers the standard rotation angle when the rotation device relatively rotates the holding member and the gripping member. The detection device is configured to detect the lay lengths of the plurality of wires. The condition adjustment unit sets the rotation angle of the rotation device to be greater than the standard rotation angle when the detected lay length is shorter than the standard lay length, and sets the rotation angle of the rotation device to be less than the standard rotation angle when the detected lay length is longer than the standard lay length.

[0018] This multi-core cable processing device can adjust the detwist amount to increase for multi-core cables with a shorter lay length than the standard and a greater number of twisted wires. Furthermore, it can adjust the detwist amount to decrease for multi-core cables with a longer lay length than the standard and a smaller number of twisted wires. This can thus suppress variations in the state of the detwisted wires in a multi-core cable caused by variations in the lay lengths of the multiple wires.

[0019] According to a preferred embodiment of the multi-core cable handling device, the rotating device is configured to relatively rotate the holding member and the gripping member about a predetermined rotational axis. The detecting device is configured to detect the rotational position of a specific wire among the plurality of wires at least at a first detection position along the rotational axis and a second detection position distal to the first detection position. The condition adjustment unit includes a first detection control unit, a calculation unit, a second detection control unit, and a correction unit. The first detection control unit causes the detecting device to detect the rotational position of the specific wire at the first detection position, with the distal end of the sheath withdrawn a first distance, wherein the first distance allows the plurality of wires to be exposed at the first and second detection positions. Based on the rotational position of the specific wire at the first detection position, the calculation unit calculates an estimated rotational position of the specific wire at the second detection position when the lay length is equal to the standard lay length. The second detection control unit causes the detecting device to detect the rotational position of the specific wire at the second detection position. The correction unit corrects the rotation angle of the rotating device based on the difference between the estimated rotational position calculated by the calculation unit and the rotational position of the specific wire detected at the second detection position.

[0020] According to this multi-core cable processing device, the rotational position of a specific wire can be determined by detecting the specific wire at a first detection position. This allows the rotational position of the specific wire to be predicted at a second detection position when the wire lay length is equal to the standard lay length. This predicted rotational position is the rotational position that the specific wire should be in. By correcting the difference between the predicted rotational position and the actual rotational position of the specific wire, variations in the state of the wire after untwisting can be suppressed.

[0021] According to a preferred embodiment, the multi-core cable processing device further includes a root-side rotating device that rotates the multi-core cable about a rotation axis that coincides with the rotation axis of the rotating device. The condition adjustment unit includes a movement control unit that controls the root-side rotating device based on the rotation position of the specific wire at the first detection position detected by the first detection control unit to move the specific wire to a predetermined rotation position. The calculation unit is configured to calculate an estimated rotation position of the specific wire after movement by the movement control unit.

[0022] According to this multi-core cable processing device, the detection device only needs to be configured to detect when a specific electric wire is located at a predetermined rotational position at the first detection position, and does not need to be configured to detect the specific electric wire regardless of its rotational position at the first detection position. Therefore, the structure of the detection device can be simplified.

[0023] According to a preferred embodiment of the multi-core cable processing apparatus, the condition adjustment unit includes another movement control unit configured to control the rotation device to move the specific electric wire at the second detection position to the expected rotation position.

[0024] According to this multi-core cable processing device, the untwisted state of the electric wire can be directly corrected by moving the specific electric wire at the second detection position to the expected rotation position, thereby improving the state of the electric wire after untwisting.

[0025] According to a preferred embodiment of the multi-core cable processing device, the detection device has a probe that changes position by contacting the sheath, and is configured to obtain the twist length of the multiple wires in the state of being covered by the sheath based on the variation cycle of the displacement of the probe.

[0026] According to this multi-core cable processing device, the lay length of the wire can be known in advance before the sheath is pulled out to expose the wire. Therefore, there is no need to stop the untwisting of the wire midway to detect the lay length of the wire.

[0027] According to a preferred embodiment of the multi-core cable processing device, the detection device has a non-contact displacement meter capable of measuring the distance between the multiple wires exposed from the sheath, and is configured to calculate the lay length of the multiple wires based on the variation period of the distance between the multiple wires measured by the non-contact displacement meter.

[0028] According to another preferred embodiment of the multi-core cable processing device, one of the plurality of wires is a drain wire having exposed metal wires, and the detection device includes an electrode that contacts the drain wire exposed from the sheath to detect the drain wire. The detection device is configured to determine the lay length of the plurality of wires based on the spacing in the long-side direction of the multi-core cable at which the drain wires are detected by the electrodes.

[0029] According to another preferred embodiment of the multi-core cable processing device, the detection device includes an imaging device for acquiring images of the plurality of wires exposed from the sheath, and is configured to determine the lay lengths of the plurality of wires based on the images acquired by the imaging device.

[0030] According to these multi-core cable processing devices, the lay lengths of the electric wires are measured while the plurality of electric wires are exposed from the sheaths. Therefore, the lay lengths of the electric wires can be measured more accurately.

[0031] According to a preferred embodiment, the multi-core cable processing device further includes a length measuring device. The length measuring device includes a conveying device that conveys the multi-core cable in predetermined lengths at a time, and a cutting device that cuts the multi-core cable conveyed by the conveying device into the predetermined lengths. The conveying device includes a conveying motor. The detection device is configured to measure the rotational torque of the conveying motor. The condition adjustment unit includes a pitch estimating unit that estimates the lay length of the plurality of wires based on the fluctuation period of the rotational torque measured by the detection device.

[0032] This multi-core cable processing device allows the lay length of the wires to be known before the sheath is removed to expose the wires. This eliminates the need to stop the untwisting process to check the lay length. Furthermore, the lay length can be measured concurrently with the process of cutting the multi-core cable to a specified length. This improves the productivity of multi-core cable processing.

[0033] According to a preferred embodiment of the multi-core cable processing device, the detection device is configured to acquire transmission sound of the multi-core cable being transported by the transport device. The condition adjustment unit includes a pitch estimating unit that estimates the lay length of the plurality of wires based on a fluctuation period of the transmission sound acquired by the detection device.

[0034] According to this multi-core cable processing apparatus, the productivity of multi-core cable processing can also be improved.

[0035] According to a preferred embodiment of the multi-core cable processing device, the extraction device is configured to extract the front end portion of the sheath by moving at least one of the holding member and the holding member in a manner that the holding member is away from the holding member. The control device includes a first registration portion and a second registration portion. The first registration portion registers the standard twist strength of the plurality of wires. The second registration portion registers the standard rotation speed when the rotating device rotates the holding member relative to the holding member, and the standard extraction speed when the extraction device extracts the front end portion of the sheath. The detection device is configured to detect the twist strength of the plurality of wires. When the detected twist strength is stronger than the standard twist strength, the condition adjustment portion sets the rotation speed of the rotating device to be slower than the standard rotation speed, and sets the extraction speed of the extraction device to be slower than the standard extraction speed.

[0036] According to this multi-core cable processing device, when the twist of the wire is strong, the twist of the wire is restored more slowly than under the standard untwisting condition. Therefore, since it takes time to correct the twist shape, even if the twist shape of the wire is strong, it is easy to correct it.

[0037] According to a preferred embodiment of the multi-core cable processing device, the extraction device is configured to extract the front end portion of the sheath by moving at least one of the holding member and the holding member in a manner such that the holding member is away from the holding member. The control device includes: a first registration unit that registers the standard twist strength of the plurality of wires; and a second registration unit that registers the standard extraction force when the extraction device extracts the front end portion of the sheath. The detection device is configured to detect the twist strength of the plurality of wires. When the detected twist strength is stronger than the standard twist strength, the condition adjustment unit sets the extraction force of the extraction device to be greater than the standard extraction force.

[0038] According to this multi-core cable processing device, when the wires are tightly twisted, the wires are pulled harder than under standard back-twisting conditions. Thus, the twisted shape is more strongly corrected, making it easier to correct even tightly twisted wires.

[0039] According to a preferred embodiment of the multi-core cable handling device, the control device includes: a first registering unit that registers the standard twist strength of the plurality of wires; and a second registering unit that registers the standard gripping force of the gripping device. The detection device is configured to detect the twist strength of the plurality of wires. If the detected twist strength is greater than the standard twist strength, the condition adjustment unit sets the gripping force of the gripping device to be greater than the standard gripping force.

[0040] According to this multi-core cable handling device, the rotational force of the gripping member is efficiently transmitted to the electric wires. Therefore, even if the electric wires have a strong twist, it can be easily corrected.

[0041] According to a preferred embodiment of the multi-core cable processing device, the control device includes: a first registration unit that registers the standard twist strength of the plurality of wires; and a second registration unit that registers the standard rotation angle and standard rotation direction when the rotating device causes the holding member and the holding member to rotate relative to each other. The detection device is configured to detect the twist strength of the plurality of wires. When the detected twist strength is stronger than the standard twist strength, the condition adjustment unit sets the relative rotation angle of the holding member and the holding member to be rotated in the standard rotation direction to be greater than the standard rotation angle, and after the holding member and the holding member are rotated in the standard rotation direction, the holding member and the holding member are rotated relative to each other in the opposite direction of the standard rotation direction by the following rotation angle, which is the same as the rotation angle increased in the standard rotation direction.

[0042] According to this multi-core cable processing device, when the twist of the wires is strong, the wires are detwisted more than under standard detwisting conditions. This allows for strong correction of the twist even when the wires are strongly twisted. However, this can cause the wires to twist in the opposite direction due to excessive detwisting. Therefore, the processing device detwists the wires in the opposite direction by the amount of the excessive detwisting.

[0043] According to a preferred embodiment of the multi-core cable processing device, the detection device is configured to measure a rotational torque when the rotation device relatively rotates the holding member and the gripping member. In the first registration unit, a standard rotational torque when the rotation device relatively rotates the holding member and the gripping member is registered as the standard strand strength.

[0044] According to the multi-core cable processing device, the twist strength of the electric wires can be measured as the rotational torque of the rotating device.

[0045] (3) Beneficial effects

[0046] According to the present invention, it is possible to suppress variations in the state of the untwisted electric wires in a multi-core cable due to variations in the twisted state of the plurality of electric wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a block diagram of a multi-core cable processing device according to one embodiment.

[0048] Figure 2 This is a top view of a multi-core cable.

[0049] Figure 3 It is a plan view showing the interior of the front end portion of the multi-core cable.

[0050] Figure 4 It is a perspective view of a backtwist device according to one embodiment.

[0051] Figure 5 It is a side view of the back-twist device.

[0052] Figure 6 This is a flowchart showing the steps of untwisting an electric wire.

[0053] Figure 7 It is a schematic side view of a backtwist device according to a modified example, and is a diagram showing a plurality of detection positions of a detection device.

[0054] Figure 8 It is a schematic plan view of a length measuring device according to a second embodiment.

[0055] Figure 9 It is a schematic side view of a detection device according to a first modified example of the second embodiment.

[0056] Figure 10 It is a schematic plan view of a detection device and a conveying device according to a second modified example of the second embodiment.

[0057] Figure 11 It is a schematic side view of a detection device according to a third modified example of the second embodiment.

[0058] Figure 12 It is a schematic plan view of a detection device according to a fourth modified example of the second embodiment.

[0059] Figure 13 It is a schematic side view of a detection device according to a fifth modified example of the second embodiment.

[0060] Figure 14 This is a table summarizing methods of adjusting the back-twist conditions in modified examples of the first to third embodiments. DETAILED DESCRIPTION

[0061] [First embodiment]

[0062] Hereinafter, a multi-core cable processing device according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 It is a multi-core cable 3 (refer to Figure 2 ) is a block diagram of a processing device 1. Figure 2 It is a top view of the multi-core cable 3. Figure 3 3 is a top view showing the interior of the front end portion of the multi-core cable 3. Figure 1As shown, the processing device 1 comprises: a length measuring device 10, which cuts the multi-core cable 3 into a predetermined length; a cutting device 20, which cuts the sheath 5 of the multi-core cable 3 (refer to Figure 2 ) is formed on the surface of the slit (also called a slit) 5C (refer to Figure 2 Back-twist device 30, which pulls out the front end of the multi-core cable sheath 5 3 (reference Figure 2 ), and the wires 4 and 6 in the sheath 5 (refer to Figure 3 ) to correct the twisted shape; and a control device 100 that controls the length measuring device 10, the notching device 20, and the backtwisting device 30. The processing device 1 may also include, for example, a stripping device for stripping the covering of the wires 4 and 6, a crimping device for crimping terminals to the wires 4 and 6, etc., but illustration and description thereof are omitted here.

[0063] like Figure 2 as well as Figure 3 As shown, the multi-core cable 3 has: a plurality of covered electric wires 4; an uncovered electric wire 6; and a sheath 5 covering these electric wires 4 and 6. Although not shown in the figure, the electric wire 6 has a plurality of wires made of a conductor such as metal. The electric wire 4 has a plurality of wires made of a conductor such as metal and a covering layer made of an insulator such as synthetic resin covering these wires. In the following content, the covered electric wires 4 and the uncovered electric wires 6 are referred to as core wires and drain wires, respectively. Here, the multi-core cable 3 has four core wires 4. However, the number of core wires 4 is not particularly limited. In addition, the number of drain wires 6 is not particularly limited. The material of the sheath 5 is not particularly limited, and may be, for example, chloroprene rubber, vinyl chloride, polyethylene, etc.

[0064] After the multi-core cable 3 is cut into a predetermined length by the length measuring device 10, a slit 5C is formed on the sheath 5 by the cutting device 20. The sheath 5 is cut into the front end portion 5A and the non-front end portion 5B by the slit 5C. Figure 3 As shown, the core wire 4 and the drain wire 6 are twisted together inside the sheath 5. That is, the core wire 4 and the drain wire 6 inside the sheath 5 extend spirally and are twisted together. The core wire 4 and the drain wire 6 are twisted together at a predetermined pitch. However, there are deviations in the twist pitch and the strength of the twist based on the individual or position. The detwisting device 30 pulls out the front end portion 5A of the sheath 5 and corrects the twisted shape of the exposed core wire 4 and the drain wire 6.

[0065] Figure 4 It is a perspective view of the backtwist device 30 . Figure 5 30 is a side view of the back-twist device 30. Figure 4As shown, the back-twist device 30 includes: a holding device 40 that holds the non-front end portion 5B of the sheath 5 of the multi-core cable 3; a gripping device 50 that grips the front end portion 5A; a pulling device 60 that pulls out the front end portion 5A; a rotating device 70 that rotates the front end portion 5A; and a detecting device 80 that measures the lay length of the core wire 4 and the drain wire 6. In the following description, for convenience, the front end portion 5A side of the sheath 5 ( Figure 4 The right side of the front end is called the front side, and the non-front end 5B side ( Figure 4 The left side of the front end 5A is called the rear side. The front end portion 5A is a portion pulled out forward.

[0066] like Figure 4 As shown, the holding device 40 includes a holding fixture 41 having a pair of left and right clamping claws 41L and 41R; an actuator 42 that drives the clamping claws 41L and 41R to move toward or away from each other; and a rotating device 43 that rotates the clamping claws 41L and 41R. The actuator 42 is not particularly limited and is comprised of an air cylinder. When the clamping claws 41L and 41R are brought toward each other, the holding fixture 41 closes. As a result, the non-front end portion 5B of the sheath 5 is held by being clamped by the clamping claws 41L and 41R. When the clamping claws 41L and 41R are separated from each other, the holding fixture 41 opens. As a result, the non-front end portion 5B of the sheath 5 is released from being held.

[0067] The rotating device 43 of the holding device 40 rotates the multi-core cable 3 (specifically, the portion of the multi-core cable 3 closer to the base than the slit 5C) about a rotation axis Ax, which is aligned with the axis of the multi-core cable 3 while being held by the clamping claws 41L and 41R. The rotating device 43 includes a pair of sliding plates 44 that clamp the multi-core cable 3 and a motor (not shown) that moves the pair of sliding plates 44 in opposite directions, thereby rotating the multi-core cable 3. However, the actuator that applies driving force to the sliding plates 44 is not limited to a motor.

[0068] The holding device 50 includes a holding clamp 56 and an actuator 55 for opening and closing the holding clamp 56. The holding clamp 56 includes a first clamping claw 51 and a second clamping claw 52. The first clamping claw 51 and the second clamping claw 52 are opposed to each other in a manner capable of holding the front end portion 5A of the sheath 5. The actuator 55 is not particularly limited, but is composed of an air cylinder here. The holding clamp 56 includes a link mechanism 53 connected to the first clamping claw 51 and the second clamping claw 52 and a piston rod 54 connected to the link mechanism 53. The piston rod 54 is connected to the actuator 55. If the piston rod 54 extends forward, the holding clamp 56 opens and the grip based on the holding clamp 56 is released. On the other hand, if the actuator 55 moves the piston rod 54 backward, the first clamping claw 51 and the second clamping claw 52 approach each other. That is, when the piston rod 54 contracts, the holding jig 56 closes, and the holding jig 56 holds the distal end portion 5A of the sheath 5 .

[0069] When the first clamping claw 51 and the second clamping claw 52 approach each other, the distal end portion 5A of the sheath 5 is clamped by the first clamping claw 51 and the second clamping claw 52. Thus, the distal end portion 5A is gripped by the first clamping claw 51 and the second clamping claw 52. When the first clamping claw 51 and the second clamping claw 52 separate from each other, the grip of the distal end portion 5A is released.

[0070] The rotating device 70 rotates the holding fixture 56 around the rotation axis Ax. The rotation axis of the rotating device 70 coincides with the rotation axis Ax of the holding device 40. Figure 5 As shown, the rotating device 70 has: a support plate 73 that rotatably supports the holding clamp 56; and a motor 71 that applies a rotational force to the holding clamp 56. The motor 71 is supported by the support plate 73. The rotating shaft 71a of the motor 71 is connected to the holding clamp 56 by a belt 72. The belt 72 is a transmission component that transmits the power of the motor 71 to the holding clamp 56. However, the transmission component is not limited to the belt 72, and it can also be a transmission component in other forms such as a gear or a chain. In addition, the motor 71 is an example of an actuator that applies a rotational force to the holding clamp 56, but the actuator that applies a rotational force to the holding clamp 56 is not limited to the motor 71. In this embodiment, the rotating device 70 is configured to rotate the front end portion 5A of the sheath 5 by rotating the holding clamp 56.

[0071] The extraction device 60 is configured to extract the front end portion 5A of the sheath 5 by moving the holding fixture 56 along the long side direction of the multi-core cable 3 away from the holding fixture 41. The extraction device 60 includes: a movable table 61, which supports the holding device 50 and the rotating device 70; a motor 62, which moves the movable table 61 forward and backward; and a fixed table 65, which supports the movable table 61 and the motor 62. A guide rail 66 extending forward and backward is provided above the fixed table 65. A slider 67 is fixed to the lower right part of the movable table 61, which is slidably engaged with the guide rail 66. A ball screw 63 is connected to the motor 62. As shown in FIG. Figure 5 As shown, a slider 64 engaged with the ball screw 63 is fixed to the lower left part of the movable table 61. A hole (not shown) into which the ball screw 63 is inserted is formed on the slider 64. A spiral groove engaged with the ball screw 63 is formed on the inner circumferential surface of the hole. If the motor 62 rotates in one direction, the ball screw 63 rotates in the same direction, and the slider 64 moves forward. As a result, the holding fixture 56 moves forward. If the motor 62 rotates in the opposite direction, the ball screw 63 also rotates in the opposite direction, and the slider 64 moves backward. As a result, the holding fixture 56 moves backward. In this way, the holding fixture 56 moves forward or backward by rotating the motor 62 in one direction or the opposite direction.

[0072] The detection device 80 detects the rotational position of a specific wire among the multiple wires 4 and 6 around the rotational axis Ax at a first detection position P1 along the rotational axis Ax and a second detection position P2 closer to the front end side than the first detection position P1. Here, the detection device 80 detects the rotational position of the drain wire 6 at the first detection position P1 and the second detection position P2. However, the detection device 80 only needs to be configured to detect the rotational position of the drain wire 6 around the rotational axis Ax at least at the first detection position P1 and the second detection position P2, and may also be capable of detecting the rotational position of the drain wire 6 around the rotational axis Ax at other detection positions.

[0073] like Figure 5As shown, the detection device 80 includes: an electrode 81, which detects the rotation position of the drain wire 6 at a first detection position P1; and a camera 82, which detects the rotation position of the drain wire 6 at a second detection position P2. Here, the first detection position P1 is set just in front of the position of the slit 5C of the multi-core cable 3 in a state held by the holding device 40. The electrode 81 is set at the first detection position P1 in the front-to-back direction. The electrode 81 is set above the rotation axis Ax. The electrode 81 is configured to detect the drain wire 6 by passing an electric current through the drain wire 6. The electrode 81 can detect that the drain wire 6 is at a zero point position around the rotation axis Ax. However, the electrode 81 can also be configured to detect that the drain wire 6 is at other rotation positions around the rotation axis Ax. The detection device 80 includes a moving device, not shown, that brings the electrode 81 close to or separates from the multi-core cable 3.

[0074] The camera 82 is arranged above the rotation axis Ax. The camera 82 is arranged in a manner that at least the second detection position P2 is included in the shooting range, and shoots the upper side half of the multi-core cable 3 at the second detection position P2. The detection device 80 detects the rotation position of the drain wire 6 at the second detection position P2 from the image captured by the camera 82. The drain wire 6 has a metallic luster, and the coated core wire 4 does not have a metallic luster. Therefore, the drain wire 6 can be identified by the presence or absence of the metallic luster in the image captured by the camera 82. The detection device 80 may also have other cameras arranged below the rotation axis Ax, so that the drain wire 6 can be detected even when the drain wire 6 is located in the lower side half of the multi-core cable 3.

[0075] The rotational position of the drain wire 6 at the first detection position P1 may also be detected by the camera 82. Alternatively, the rotational position of the drain wire 6 at the first detection position P1 may also be detected by another camera arranged behind the camera 82. The detection device 80 may also be configured to detect a core wire 4 covered with a coating layer of a specific color instead of detecting the drain wire 6. Based on the detection using a camera or other photographing device, a specific core wire 4 can also be detected. Alternatively, the rotational position of the drain wire 6 at the second detection position P2 may also be detected by an electrode. The types of wires 4 and 6 detected by the detection device 80 and the detection method thereof are not particularly limited.

[0076] like Figure 1As shown, the control device 100 is connected to the length measuring device 10, the cutting device 20, the holding device 40 of the back-twisting device 30, the gripping device 50, the extraction device 60, the rotation device 70, and the detection device 80 to control their operation. The structure of the control device 100 is not particularly limited. The control device 100 may include, for example, a central processing unit (hereinafter referred to as a CPU) and a ROM, RAM, etc. that stores programs executed by the CPU. The various components of the control device 100 may be composed of software or hardware. In addition, each component may be a processor or a circuit. The control device 100 may also be, for example, a programmable controller, a computer, etc.

[0077] like Figure 1 As shown, the control device 100 includes a registration unit 110 and a condition adjustment unit 120. The registration unit 110 includes a first registration unit 111, which registers the standard lay lengths of the plurality of wires 4 and 6, and a second registration unit 112, which registers the standard backtwist conditions. The "standard lay length" of the plurality of wires 4 and 6 refers to a representative lay length, such as the lay length specified in the delivery specifications of the multi-core cable 3. In actual multi-core cables 3, the lay lengths of the wires 4 and 6 generally include tolerances and vary within the tolerance range. The "standard backtwist conditions" are backtwist conditions corresponding to the tolerance center. In this embodiment, the backtwist conditions include the rotation angle of the gripping fixture 56, the rotation speed of the gripping fixture 56, the extraction force of the extraction device 60, and the extraction speed of the extraction device 60. Alternatively, multiple standard lay lengths for multiple types of multi-core cables 3 may be registered in the first registration unit 111. In this case, multiple standard backtwist conditions corresponding to the multiple standard lay lengths may be registered in the second registration unit 112.

[0078] The standard rotation angle of the holding fixture 56 is the standard rotation angle (corresponding to and registered with the standard lay length) achieved when the rotation device 70 rotates the distal end portion 5A of the sheath 5. The standard rotation angle of the holding fixture 56 is the total rotation angle achieved by the holding fixture 56 for untwisting. The standard rotation speed of the holding fixture 56 is the standard rotation speed (corresponding to and registered with the standard lay length) achieved when the rotation device 70 rotates the distal end portion 5A of the sheath 5. Furthermore, the standard rotation speed may be subject to speed variation as described in Patent Document 1.

[0079] The standard extraction force of the extraction device 60 is the standard extraction force when the extraction device 60 extracts the front end portion 5A of the sheath 5, and here, it is the torque of the motor 62. The torque of the motor 62 can be adjusted according to the magnitude of the current flowing through the motor 62, for example. The standard extraction speed of the extraction device 60 is the standard extraction speed when the extraction device 60 extracts the front end portion 5A of the sheath 5, and here, it is the rotation speed of the motor 62. The rotation speed of the motor 62 can be measured directly or indirectly by, for example, an encoder built into the motor 62 or provided at other parts of the extraction device 60, and can be controlled based on the measurement. In addition, the standard extraction force and the standard extraction speed may also be accompanied by changes in torque and speed during the process.

[0080] The condition adjustment unit 120 adjusts at least one of the operating conditions of the gripping device 50, the extraction device 60, and the rotation device 70 based on the lay pitches of the wires 4 and 6 detected by the detection device 80. The condition adjustment unit 120 adjusts the rotation angle by which the rotation device 70 rotates the distal end portion 5A of the sheath 5 based on a comparison of the lay pitches of the plurality of wires 4 and 6 detected by the detection device 80 with a standard lay pitch. This process ensures highly reproducible adjustments because the reference lay pitch remains constant. Specifically, if the lay pitch detected by the detection device 80 is shorter than the standard lay pitch, the condition adjustment unit 120 adjusts the rotation angle by which the distal end portion 5A of the sheath 5 is rotated to be greater than the standard rotation angle. Furthermore, if the lay pitch detected by the detection device 80 is longer than the standard lay pitch, the condition adjustment unit 120 adjusts the rotation angle by which the distal end portion 5A of the sheath 5 is rotated to be less than the standard rotation angle. This allows the backtwist condition to be corrected to eliminate the difference between the lay pitch detected by the detection device 80 (the actual lay pitch) and the standard lay pitch.

[0081] like Figure 1 As shown, the condition adjustment unit 120 includes a first detection control unit 121 , a movement control unit 122 , a calculation unit 123 , a second detection control unit 124 , and a correction unit 125 .

[0082] The first detection control unit 121 causes the detection device 80 to detect the rotational position of the drain wire 6 at the first detection position P1, while rotating the front end portion 5A of the sheath 5 by a specified rotation angle (also referred to as the first rotation angle) that is smaller than the standard rotation angle and pulling the front end portion 5A out by a specified distance (also referred to as the first distance), wherein the specified distance exposes the plurality of wires 4 and 6 at the first detection position P1 and the second detection position P2. In the following description, the state in which the front end portion 5A of the sheath 5 is rotated by the first rotation angle and pulled out by the first distance is also referred to as the temporarily stopped state.

[0083] The movement control unit 122 controls the rotation device 43 of the holding device 40 based on the rotation position of the drain wire 6 at the first detection position P1 detected by the control of the first detection control unit 121, so that the drain wire 6 moves to a specified rotation position. Here, the above-mentioned specified rotation position is the zero point position. In this embodiment, the movement control unit 122 controls the rotation device 43 of the holding device 40 to rotate the multi-core cable 3 until the drain wire 6 is detected by the electrode 81 of the detection device 80.

[0084] The calculation unit 123 calculates the estimated rotational position of the drain wire 6 at the second detection position P2 when the lay pitch is equal to the standard lay pitch based on the rotational position of the drain wire 6 at the first detection position P1 (here, the zero point position). Here, the calculation unit 123 calculates the estimated rotational position of the drain wire 6 after it is moved by the movement control unit 122. The detailed calculation content and numerical examples are described later.

[0085] The second detection control unit 124 causes the detection device 80 to detect the rotational position of the drain wire 6 at the second detection position P2. The correction unit 125 corrects the rotation angle based on the difference between the estimated rotational position calculated by the calculation unit 123 and the rotational position of the drain wire 6 at the second detection position P2. A detailed correction method and numerical examples are described below.

[0086] The above is the configuration of the processing device 1 for the multi-core cable 3 according to the first embodiment. Next, a method for untwisting the electric wires 4 and 6 using the processing device 1 will be described.

[0087] Figure 6 1 is a flowchart showing the steps of untwisting the electric wires 4 and 6 . Figure 6 The description of the steps starts from the time when the holding device 40 holds the multi-core cable 3 and the holding device 50 holds the front end portion 5A of the sheath 5. Figure 6 As shown, in the step of untwisting the wires 4 and 6, in step S01, the holding fixture 56 rotates at a standard rotation speed and moves at a standard extraction speed. In step S02, after the holding fixture 56 rotates to a first rotation angle and moves a first distance, the rotation and movement of the holding fixture 56 are stopped. As a result, the multi-core cable 3 is temporarily stopped. In addition, the temporary stop state of step S02 is achieved as long as the rotation angle of the holding fixture 56 is the first rotation angle and the movement distance is the first distance up to this moment. Therefore, in step S01, the holding fixture 56 may rotate at a speed other than the standard rotation speed and may move at a speed other than the standard extraction speed.

[0088] In step S03, the rotating device 43 of the holding device 40 rotates synchronously with the rotating device 70, and the multi-core cable 3 is rotated until the drain wire 6 is detected by the electrode 81 of the detection device 80. Thereby, the drain wire 6 moves to the zero position. In addition, the movement of the drain wire 6 may not be performed until the drain wire 6 is initially detected by the electrode 81, but preferably, it is performed until the central part of the drain wire 6 in the left and right directions is detected by the electrode 81. Specifically, the multi-core cable 3 may also be rotated until the drain wire 6 is initially detected by the electrode 81, and then further rotated until it is no longer detected by the electrode 81, and then retreated to half of the rotation angle from the initial detection of the drain wire 6 to the no longer detection of the drain wire 6.

[0089] In step S04, the expected rotational position of the drain wire 6 after the movement is determined when the lay pitch is equal to the standard lay pitch. In step S05, the rotational position of the drain wire 6 at the second detection position P2 after the movement in step S03 is detected by the detection device 80. Steps S04 and S05 can be performed in reverse order or simultaneously. In step S06, the remaining rotation angle is corrected based on the difference between the expected rotational position determined in step S04 and the rotational position of the drain wire 6 detected in step S05. Below, the action of the detwisting device 30 and the content of the calculation so far are explained using numerical examples.

[0090] For example, assuming the standard lay length is 20 mm and the position of slit 5C is 40 mm from the front end (i.e., the distance to the front end 5A is 40 mm), the distance between the first detection position P1 and slit 5C in the front-to-back direction is essentially zero, and the distance between the second detection position P2 and slit 5C in the front-to-back direction is 30 mm, resulting in a first distance of 30 mm. The distance from slit 5C to the second detection position P2 does not necessarily have to be the same as the first distance, but setting them equal simplifies calculation. If the lay length of the wires 4 and 6 is the same as the standard lay length of 20 mm, the 20 mm distance to be pulled out of the front end 5A corresponds to a rotation angle of 360 degrees. Therefore, under standard backtwist conditions, the rotation angle / pulling distance is 360 degrees / 20 mm. If the holding fixture 56 rotates at the standard rotation speed and moves at the standard withdrawal speed, the rotation angle / pulling distance is 360 degrees / 20 mm. Therefore, if the rotation position of the drain wire 6 at the first detection position P1 is set to 0 degrees, the expected rotation position of the drain wire 6 at the second detection position P2 (here, 30 mm from the first detection position P1 = 1.5 times the standard lay length) is 540 degrees (180 degrees after one turn, 1.5 times 360 degrees) (step S04). In addition, the rotation amount of the holding clamp 56 is also 540 degrees at this moment.

[0091] Here, it is assumed that the rotation position of the drain wire 6 actually detected is 600 degrees (step S05). Thus, the actual lay length of the wires 4 and 6 is calculated to be 360 degrees / 600 degrees×30 mm=18 mm. In this case, since the actual lay length is smaller than the standard lay length, if the holding fixture 56 is rotated by the standard rotation angle while maintaining this state, the wires 4 and 6 cannot be completely untwisted. On the contrary, if the actual lay length is larger than the standard lay length, if the holding fixture 56 is rotated by the standard rotation angle while maintaining this state, the wires 4 and 6 will be excessively untwisted and twisted in the opposite direction. In addition, if the rotation position of the drain wire 6 deviates from the expected rotation position by more than 180 degrees, the direction of the deviation cannot be determined, so the first distance should preferably not be much larger than the standard lay length. The first distance is preferably not less than 1.5 times and not more than 3 times the standard lay length.

[0092] The above example shows that the rotation angle / extraction distance required to completely untwist the multi-core cable 3 is 360 degrees / 18 mm. Converting this to a 40 mm extraction distance, the rotation angle / extraction distance becomes 800 degrees / 40 mm. Therefore, during the rotation and movement of the gripping fixture 56 after the correction (step S06), the gripping fixture 56 is rotated 260 degrees (800 degrees - 540 degrees) during the remaining 10 mm (40 mm - 30 mm) of movement. Under standard extraction conditions, the rotation angle / extraction distance is 720 degrees / 40 mm, so the gripping fixture 56 is rotated an additional 80 degrees.

[0093] In step S07, the gripping fixture 56 is moved the remaining distance while being rotated by the rotation angle corrected in step S06. Thus, even when the lay pitch of the wires 4 and 6 in the multi-core cable 3 differs from the standard lay pitch, the wires 4 and 6 can be detwisted without causing insufficient or excessive detwisting. This method, for example, has the advantage of reducing the number of times the drain wire 6 position is detected and aligned, thereby improving productivity, compared to the modified example described below.

[0094] Furthermore, if the detection device 80 is configured so as to be able to detect the position of the drain wire 6 (or the core wire 4) at the first detection position P1 regardless of the rotational position around the rotation axis Ax, the rotation of the holding fixture 56 for moving the drain wire 6 (or the core wire 4) to the predetermined rotational position can be omitted ( Figure 6 In this case, the predicted rotation position of the drain wire 6 (or core wire 4) at the second detection position P2 is calculated based on the rotation position of the drain wire 6 (or core wire 4) detected at the first detection position P1.

[0095] However, according to the structure of this embodiment, the detection device 80 only needs to be configured in a manner that can detect that the noise-draining wire 6 is located at a predetermined rotational position (here, the zero point position) at the first detection position P1, and it is not necessary to configure the detection device 80 in a manner that can detect the noise-draining wire 6 regardless of the rotational position at the first detection position P1. Therefore, the structure of the detection device 80 can be simplified. Here, by adopting the electrode 81, the detection device 80 can be simplified and the cost can be reduced.

[0096] Furthermore, when the lay pitch detected by the detection device 80 differs from the standard lay pitch, the condition adjustment unit 120 may maintain the rotational speed of the distal end portion 5A of the sheath 5 at the standard rotational speed and maintain the speed at which the extraction device 60 extracts the distal end portion 5A at the standard extraction speed. For example, when the lay pitch detected by the detection device 80 differs from the standard lay pitch, the condition adjustment unit 120 may rotate the gripping fixture 56 by a calculated correction amount immediately before the distal end portion 5A of the sheath 5 is extracted from the electrical wires 4 and 6. This simplifies control and reduces the load on the control device 100.

[0097] The detwisting device 30 may be configured to re-detect the positions of the wires 4 and 6 based on the estimated detwisted position in step S07 using the detection device 80. If the result of the re-detected positions of the wires 4 and 6 does not satisfy a predetermined criterion, the processing device 1 for the multi-core cable 3 may re-detwist the wires 4 and 6 using the detwisting device 30 or another device based on the re-detected positions of the wires 4 and 6.

[0098] [Modification of the First Embodiment]

[0099] The multi-core cable processing device 1 of the first embodiment can also be implemented through other embodiments. The following describes a modified example of the multi-core cable processing device of the first embodiment. In the following description of the modified example, components that perform the same functions as the first embodiment are labeled with the same reference numerals as the first embodiment. Furthermore, repeated descriptions are omitted or simplified as appropriate. The same applies to the other embodiments described after this modified example.

[0100] Figure 7 1 is a schematic side view of the back-twist device 30 of this modified example, and is a diagram showing a plurality of detection positions P1 to P4 of the detection device 80. Figure 7 As shown, in this modified example, the detection device 80 is configured to detect the rotational position of the drain wire 6 at a plurality of detection positions P1 to P4 arranged along the rotation axis Ax. The structure for detecting the rotational position of the drain wire 6 at the detection positions P1 to P4 can be a plurality of electrodes or a plurality of cameras. Alternatively, if possible, it can be a single camera.

[0101] In this modification, the condition adjustment unit 120 includes another movement control unit 122B, which controls the rotation device 70 when the extraction device 60 is stopped, so that the drain wire 6 at each detection position P2 to P4 is moved to the expected rotation position. In this modification, the condition adjustment unit 120 is configured to immediately rotate the multi-core cable 3 to eliminate the deviation if it is known that the actual rotation position of the drain wire 6 deviates from the expected rotation position. In this modification, for example, the extraction of the front end portion 5A of the sheath 5 is stopped at the second detection position P2, and from this state, the multi-core cable 3 is rotated in a manner that the drain wire 6 moves to the expected rotation position. In addition, the extraction of the front end portion 5A of the sheath 5 is also stopped at the third detection position P3, and from this state, the multi-core cable 3 is rotated in a manner that the drain wire 6 moves to the expected rotation position. The following is the same even if the number of detection positions is changed.

[0102] This configuration allows the wires 4 and 6 to be untwisted without causing insufficient or excessive untwisting, even when the lay pitch of the wires 4 and 6 in the multi-core cable 3 differs from the standard lay pitch. Furthermore, in this variation, since the untwisting amount is corrected at each stage of untwisting, the wires 4 and 6 can be untwisted with greater precision than in the first embodiment. Furthermore, the number of detection locations is not particularly limited, as long as it is two or more, and their locations are also not particularly limited.

[0103] [Second embodiment]

[0104] In the second embodiment, the twist length of the electric wires 4 and 6 is directly measured by the detection device 80. In this embodiment, the detection device 80 is provided in the length measuring device 10, and measures the twist length of the electric wires 4 and 6 while the distal end portion 5A of the sheath 5 is not removed.

[0105] Figure 8 FIG is a schematic top view of the length measuring device 10. Figure 8 As shown, the length measuring device 10 includes a conveying device 11 and a cutting device 15. The conveying device 11 conveys the multi-core cable 3 at a predetermined length each time. The cutting device 15 cuts the multi-core cable 3 conveyed by the conveying device 11 into the predetermined length. When the multi-core cable 3 stops after being conveyed by the conveying device 11 for the predetermined distance, the cutting device 15 cuts the multi-core cable 3 at the same position. Figure 8 As shown, the conveyor device 11 includes left and right conveyor belts 12 facing each other; a pair of pulleys 13 around each conveyor belt 12, each of which is wound around the conveyor belt 12; and a conveying motor 14. The conveyor belt 12 is an endless belt. The conveying motor 14 is connected to at least one of the four pulleys 13 and rotates it. The multi-core cable 3 is conveyed while being held between the rotating left and right conveyor belts 12, and its winding shape is corrected.

[0106] The detection device 80 is configured to measure the rotation torque of the conveying motor 14. The condition adjustment unit 120 includes a pitch estimation unit 126A that estimates the lay lengths of the plurality of electric wires 4 and 6 based on the variation cycle of the rotation torque measured by the detection device 80. Figure 3 As shown, the surfaces of the wires 4 and 6 inside the sheath 5 have periodic irregularities corresponding to the lay length due to twisting. The detection device 80 estimates the lay length of the wires 4 and 6 based on the periodic fluctuation of the rotational torque of the conveying motor 14 caused by the irregularities.

[0107] In this embodiment, the actual lay length is determined before back-twisting. Therefore, when the lay length detected by the detection device 80 is shorter than the standard lay length, the condition adjustment unit 120 sets the rotation angle of the front end portion 5A of the sheath 5 to be greater than the standard rotation angle. In addition, when the lay length detected by the detection device 80 is longer than the standard lay length, the condition adjustment unit 120 sets the rotation angle of the front end portion 5A of the sheath 5 to be less than the standard rotation angle. For example, the condition adjustment unit 120 increases or decreases the final rotation angle while maintaining the rotation speed of the holding clamp 56, and at the same time corrects the extraction speed in such a way that the front end portion 5A of the sheath 5 is extracted from the wires 4 and 6 when the final rotation angle is reached. However, the method for correcting the back-twisting condition is not limited to the above case.

[0108] The apparatus 1 for processing multi-core cables 3 according to this embodiment allows the actual lay length of the wires 4 and 6 to be estimated without temporarily stopping the untwisting process as in the first embodiment. Furthermore, the lay length of the wires 4 and 6 can be measured in parallel with the length measurement process of cutting the multi-core cables 3 to a predetermined length. Consequently, the productivity of processing multi-core cables 3 is improved.

[0109] [Modification 1 of the Second Embodiment]

[0110] In a modified example of the second embodiment, a detection device 80 includes a probe 83 that changes position by contacting the sheath 5 , and the twist lengths of the plurality of wires 4 and 6 covered by the sheath 5 are determined based on the variation cycle of the displacement of the probe 83 . Figure 9It is a schematic side view of the detection device 80 of this modification. The probe 83 of the detection device 80 of this modification is configured to move in the up and down directions by being pushed by an object in contact with the lower end. A roller 84 is provided at the lower end of the probe 83. The detection device 80 is configured to measure the periodic unevenness of the wires 4, 6 by the probe 83, thereby determining the twist lengths of the plurality of wires 4, 6. According to the processing device 1 for the multi-core cable 3 of this modification, it is also possible to estimate the actual twist lengths of the wires 4, 6 without temporarily stopping the detwisting process. The probe 83 can measure the twist lengths of the wires 4, 6 by contacting the sheath 5 of the multi-core cable 3 conveyed by the conveying device 11, or it can measure the twist lengths of the wires 4, 6 by contacting the sheath 5 of the multi-core cable 3 at other positions. For example, the probe 83 can also be provided in the detwisting device 30.

[0111] Furthermore, even without using a contact-type displacement meter equipped with probe 83, it is possible to use a non-contact displacement meter to measure the lay lengths of the plurality of wires 4 and 6 covered by the sheath 5. However, since the probe 83 presses against the outer surface of the sheath 5, the sheath 5 follows the irregularities of the wires 4 and 6. Therefore, a contact-type displacement meter equipped with probe 83 makes it easier to estimate the lay lengths of the wires 4 and 6.

[0112] [Modification 2 of the Second Embodiment]

[0113] In another modified example of the second embodiment, the detection device 80 is configured to acquire the transmission sound of the multi-core cable 3 being transported by the transport device 11 . Figure 10 : is a schematic top view of the detection device 80 and the conveying device 11 of this modification. Figure 10 As shown, the detection device 80 includes a sound pickup microphone 85. The condition adjustment unit 120 includes a pitch estimation unit 126B that estimates the lay length of the plurality of wires 4 and 6 based on the transmission sound fluctuation period acquired by the detection device 80. The processing device 1 is configured to estimate the lay length of the plurality of wires 4 and 6 by measuring the periodic fluctuation of the transmission sound caused by the periodic unevenness of the wires 4 and 6. The processing device 1 for a multi-core cable 3 of this modified example can estimate the actual lay length of the wires 4 and 6 without temporarily suspending the untwisting process. Furthermore, the lay length of the wires 4 and 6 can be measured in parallel with the length measurement process.

[0114] [Variation 3 of Second Embodiment]

[0115] The twist lengths of the electric wires 4 and 6 may also be determined while the electric wires 4 and 6 are exposed from the sheath 5 . Figure 11 FIG. 8 is a schematic side view of a detection device 80 according to a third modified example of the second embodiment. Figure 11As shown, in this modification, the detection device 80 has a non-contact displacement meter 86 capable of measuring the distance between the plurality of wires 4 and 6 exposed from the sheath 5. The non-contact displacement meter 86 is, for example, a laser displacement meter. The detection device 80 is configured to calculate the lay length of the plurality of wires 4 and 6 based on the variation period of the distance between the plurality of wires 4 and 6 measured by the non-contact displacement meter 86. The non-contact displacement meter 86 measures the height of the wires 4 and 6 at a plurality of points along the long side direction of the multi-core cable 3, for example, and takes the spacing between the peaks or valleys of the height as the lay length of the wires 4 and 6. The spacing between the measured peaks or valleys can also be averaged or other processing. In addition, the non-contact displacement meter 86 may not be arranged above the multi-core cable 3. The non-contact displacement meter 86 only needs to be configured to be arranged at any position around the axis of the multi-core cable 3 to measure the distance to the wires 4 and 6.

[0116] With this configuration, the wires 4 and 6 are exposed from the sheath 5 when the lay length is measured. Therefore, the lay length of the wires 4 and 6 can be measured more accurately. In this modified example, the wires 4 and 6 are exposed from the sheath 5, but the detection device 80 does not come into contact with the exposed wires 4 and 6. Therefore, the lay length measurement does not affect the condition of the wires 4 and 6.

[0117] [Variation 4 of the Second Embodiment]

[0118] Figure 12 FIG. 8 is a schematic top view of a detection device 80 according to a fourth modified example of the second embodiment. Figure 12 As shown, in this modification, the detection device 80 includes a camera 87 for acquiring images of the plurality of wires 4 and 6 exposed from the sheath 5. The detection device 80 is configured to determine the lay lengths of the plurality of wires 4 and 6 based on the images acquired by the camera 87.

[0119] The method for obtaining the lay lengths of the plurality of electric wires 4 and 6 from the image is not particularly limited, and for example, Figure 12 As shown, the detection device 80 can detect from the image whether the drain wire 6 is located in the area AL to the left of the axis of the multi-core cable 3, in the area AM on the axis, or in the area AR to the right of the axis. The areas AL, AM, and AR are appropriately set determination areas for determining the presence or absence of the drain wire 6. The areas AL, AM, and AR are preferably set as long and flat areas in the axial direction of the multi-core cable 3. A plurality of areas AL, AM, and AR can be set in the axial direction of the multi-core cable 3. For example, it is determined that the interval between the location where the drain wire 6 is detected in the area AR on the right and the location where the drain wire 6 is detected in the area AL on the left is half the lay length of the wires 4 and 6.

[0120] According to this structure, when measuring the lay length, the wires 4 and 6 are exposed from the sheath 5. Therefore, the lay length of the wires 4 and 6 can be measured more accurately. In this modification, the measurement of the lay length will not affect the state of the wires 4 and 6. In addition, in the first embodiment, the detection of the drain wire 6 based on the camera 82 is performed after the wires 4 and 6 are untwisted to a certain extent. In this modification, the detection of the drain wire 6 based on the camera 87 is part of the lay length measurement performed in advance before the wires 4 and 6 are untwisted.

[0121] [Variation 5 of the Second Embodiment]

[0122] Figure 13 It is a schematic side view of the detection device 80 of the fifth variant of the second embodiment. In this variant, the detection device 80 has: an electrode 88, which contacts the drain wire 6 exposed from the sheath 5 to detect the drain wire 6; and a moving device 89, which moves the electrode 88 in the long side direction (axial direction) of the multi-core cable 3. The electrode 88 contacts the drain wire 6 exposed from the metal wire and energizes it, thereby detecting the drain wire 6. The electrode 88 detects the drain wire 6 multiple times while moving in the long side direction of the multi-core cable 3 through the moving device 89. The detection device 80 is configured to calculate the lay length of the multiple wires 4 and 6 based on the spacing in the long side direction of the multi-core cable 3 where the drain wire 6 is detected by the electrode 88. In addition, the multi-core cable 3 may be moved along the axial direction of the multi-core cable 3 instead of the electrode 88.

[0123] According to this configuration, by using the electrode 88 , the detection device 80 can be configured at a lower cost than when using, for example, the non-contact displacement meter 86 or the camera 87 .

[0124] [Third embodiment]

[0125] In the third embodiment, the detection device 80 detects the twist strength of the plurality of electric wires 4 and 6, and the processing device 1 of the multi-core cable 3 corrects the deviation in the twist strength of the electric wires 4 and 6. There may be deviations in the twist strength of the electric wires 4 and 6 in the multi-core cable 3, and sometimes due to the deviation in the twist strength, it is not possible to smoothly untwist. Here, the detection device 80 is configured to measure the rotational torque when the rotating device 70 rotates the front end 5A of the sheath 5. In the first registration unit 111, as a standard twist strength, the standard rotational torque when the rotating device 70 rotates the front end 5A of the sheath 5 is registered. The standard rotational torque can also be, for example, the rotational torque of the rotating device 70 measured when untwisting the multi-core cable 3 selected without special intention under the conditions of a standard rotation speed and a standard pull-out speed. In this embodiment, the "standard untwist condition" is a untwist condition corresponding to the standard twist strength.

[0126] In this embodiment, the gripping device 50 is configured to adjust the gripping force applied by the gripping fixture 56 to the distal end portion 5A of the sheath 5. For example, the gripping device 50 includes a pressure-varying mechanism capable of varying the air pressure supplied to the actuator 55 (air cylinder). Alternatively, the gripping device 50 may include a torque-controllable motor as the actuator 55. In this embodiment, the second registration unit 112 registers, as one of the standard back-twist conditions, the standard gripping force applied by the gripping fixture 56 when the gripping device 50 grips the distal end portion 5A of the sheath 5.

[0127] In this embodiment, the condition adjustment unit 120 sets the rotation speed of the distal end portion 5A of the sheath 5 slower than the standard rotation speed and the speed at which the extraction device 60 extracts the distal end portion 5A of the sheath 5 slower than the standard extraction speed when the twist strength detected by the detection device 80 is stronger than the standard twist strength. Furthermore, the condition adjustment unit 120 sets the rotation speed of the distal end portion 5A of the sheath 5 faster than the standard rotation speed and the speed at which the extraction device 60 extracts the distal end portion 5A of the sheath 5 faster than the standard extraction speed when the twist strength detected by the detection device 80 is weaker than the standard twist strength.

[0128] According to the above control, when the twist of the wires 4 and 6 is strong, the twist of the wires 4 and 6 is restored more slowly than under standard untwisting conditions. This allows for correction of the twist shape, even when the twist of the wires 4 and 6 is strong, because time is taken to correct the twist shape. When the twist of the wires 4 and 6 is weak, the twist of the wires 4 and 6 is restored more quickly than under standard untwisting conditions, thereby improving productivity. Furthermore, even when the twist of the wires 4 and 6 is weaker than the standard twist strength, untwisting can be performed at the standard rotation speed and standard extraction speed.

[0129] Furthermore, the condition adjustment unit 120 of this embodiment sets the extraction force used by the extraction device 60 to extract the distal end portion 5A of the sheath 5 to be greater than the standard extraction force when the twist strength detected by the detection device 80 is greater than the standard twist strength. Furthermore, the condition adjustment unit 120 sets the extraction force used by the extraction device 60 to extract the distal end portion 5A of the sheath 5 to be less than the standard extraction force when the twist strength detected by the detection device 80 is less than the standard twist strength.

[0130] According to the above control, when the twist of the wires 4 and 6 is strong, the wires 4 and 6 are pulled more strongly than under the standard detwist condition. This stretches the wires 4 and 6 more strongly, allowing them to be corrected even if the twist is strong. When the twist of the wires 4 and 6 is weak, the wires 4 and 6 are pulled less than under the standard detwist condition, thus preventing unnecessary tension from being applied to the wires 4 and 6. Furthermore, even when the twist of the wires 4 and 6 is weaker than the standard twist strength, detwist can be performed at the standard pulling strength.

[0131] Furthermore, the condition adjustment unit 120 of this embodiment controls the holding device 50 to set the gripping force of the gripping jig 56 holding the distal end portion 5A of the sheath 5 to be greater than the standard gripping force when the twist strength detected by the detection device 80 is greater than the standard twist strength. Furthermore, the condition adjustment unit 120 controls the holding device 50 to set the gripping force of the gripping jig 56 holding the distal end portion 5A of the sheath 5 to be less than the standard gripping force when the twist strength detected by the detection device 80 is less than the standard twist strength.

[0132] According to the above control, when the twist of the wires 4 and 6 is strong, the tip 5A of the sheath 5 and the wires 4 and 6 inside the tip 5A are gripped more strongly than under standard untwisting conditions. As a result, when the tip 5A is pulled out, the wires 4 and 6 are strongly stretched. Furthermore, by increasing the gripping force, the rotational force of the gripping clamp 56 is transmitted to the wires 4 and 6 without waste (with minimal slippage between the gripping clamp 56 and the wires 4 and 6). Therefore, even if the twist of the wires 4 and 6 is strong, it can be corrected. When the twist of the wires 4 and 6 is weak, the grip is weaker than under standard untwisting conditions, suppressing the application of unnecessary gripping force to the wires 4 and 6. Furthermore, even when the twist of the wires 4 and 6 is weaker than the standard twist strength, the tip 5A of the sheath 5 can be gripped with the standard gripping force.

[0133] Furthermore, in this embodiment, the rotation speed, extraction speed, extraction force, and holding force of the front end portion 5A of the sheath 5 are adjusted based on the twist strength of the wires 4 and 6. However, it is also possible to adjust only some of these. Preferably, at least the rotation speed and extraction speed of the front end portion 5A of the sheath 5 are adjusted based on the twist strength of the wires 4 and 6, and the extraction force and holding force of the front end portion 5A may or may not be adjusted.

[0134] [Modification of the Third Embodiment]

[0135] In a variation of the third embodiment, when the detected twist strength of the wires 4 and 6 is greater than the standard twist strength, the detwisting device 30 detwists the wires 4 and 6 further than the standard detwisting condition and then re-twists them. In this variation, the second registration unit 112 registers the standard rotation angle and standard rotation direction used by the rotation device 70 to rotate the tip end 5A of the sheath 5. When the twist strength detected by the detection device 80 is greater than the standard twist strength, the condition adjustment unit 120 sets the rotation angle at which the tip end 5A of the sheath 5 is rotated in the standard rotation direction to a value greater than the standard rotation angle. The condition adjustment unit 120 is further configured to rotate the tip end 5A in the opposite direction of the standard rotation direction by the same angle as the rotation angle increased in the standard rotation direction after the tip end 5A has completed rotation in the standard rotation direction.

[0136] According to the above control, when the twist of the wires 4 and 6 is strong, the wires 4 and 6 are detwisted more than under the standard detwisting condition. This allows the twist of the wires 4 and 6 to be strongly corrected even when the twist is strong. However, this can cause the wires 4 and 6 to twist in the opposite direction due to excessive detwisting. Therefore, the detwisting device 30 is configured to retwist the wires 4 and 6 (detwisting in the opposite direction) by the amount of excessive detwisting. The control of this modified example can also be added to the control of the third embodiment.

[0137] [Combination of Embodiments]

[0138] Generally speaking, when the twist strength of the wires 4 and 6 is strong, the lay length is short, and when the twist strength of the wires 4 and 6 is weak, the lay length is long. Therefore, when the twist strength of the wires 4 and 6 is stronger than the standard twist strength, the rotation angle of the tip end 5A of the sheath 5 may be set larger than the standard rotation angle to achieve a greater degree of untwisting. Alternatively, when the twist strength of the wires 4 and 6 is weaker than the standard twist strength, the rotation angle of the tip end 5A of the sheath 5 may be set smaller than the standard rotation angle to achieve a smaller degree of untwisting. Adjusting the untwisting condition based on the detected twist strength may involve adjusting only the rotation angle of the tip end 5A of the sheath 5 (in the previously described embodiments, this corresponds to the first and second embodiments, their variations, and the variations of the third embodiment), adjusting only the rotation speed, extraction speed, extraction force, or gripping force of the tip end 5A (corresponding to the third embodiment), or adjusting both.

[0139] Alternatively, as an adjustment of the untwisting condition based on the detected lay length of the wires 4 and 6, only the rotational speed, extraction speed, extraction force, or gripping force of the front end portion 5A of the sheath 5 may be adjusted, or the rotation angle of the front end portion 5A of the sheath 5 may be adjusted in conjunction with the adjustment. Both the lay length and the strand strength of the wires 4 and 6 may be detected, or only one of them may be detected. The first embodiment, the second embodiment, or their variations can be combined with the third embodiment or their variations, and any combination of these can be performed as long as they can be implemented simultaneously.

[0140] exist Figure 14 hereinafter is a table summarizing adjustment methods of the back-twist conditions of the modified examples of the first to third embodiments. Figure 14 The following situations are classified: the case where the detected lay length is shorter than the standard lay length, the case where the detected lay length is longer than the standard lay length, the case where the detected twist strength is stronger than the standard twist strength, and the case where the detected twist strength is weaker than the standard twist strength. The case where the lay length is shorter than the standard lay length and the case where the twist strength is stronger than the standard twist strength can be replaced or combined with each other. Furthermore, the case where the lay length is longer than the standard lay length and the case where the twist strength is weaker than the standard twist strength can be replaced or combined with each other.

[0141] [Other Implementation Methods]

[0142] The above describes some preferred embodiments of the present invention. However, the above embodiments are merely illustrative and can be implemented in other ways. Except for the cases specifically mentioned, the embodiments do not limit the present invention.

[0143] For example, the method for rotating the distal end portion 5A of the sheath 5 is not particularly limited. The structure for rotating the distal end portion 5A is not particularly limited. For example, the gripping clamp 56 may include a pair of upper and lower clamp members, which move in opposite directions in the left-right direction while holding the distal end portion 5A. In this case, the distal end portion 5A rotates by rolling on the pair of upper and lower clamp members.

[0144] In the above embodiment, the non-tip portion 5B of the sheath 5 is kept stationary while the tip portion 5A is rotated. However, as long as the tip portion 5A of the sheath 5 can be rotated relative to the non-tip portion 5B, the structure and operation of the rotating device are not particularly limited. Alternatively, the non-tip portion 5B of the sheath 5 can be rotated while the tip portion 5A is not rotated. Alternatively, both the tip portion 5A and the non-tip portion 5B can be rotated in opposite directions.

[0145] The structure of the gripping jig 56 is not particularly limited. The gripping jig 56 may have any structure capable of gripping the distal end 5A of the sheath 5. For example, the gripping jig 56 may include a pair of plate-shaped members for gripping the distal end 5A of the sheath 5 instead of the first and second gripping jaws 51 and 52.

[0146] The holding jig 56 of the holding device 50 may also be configured to hold the exposed wires 4, 6 during untwisting, rather than the front end 5A of the sheath 5. In this case, the rotating device 70 is also configured to rotate the holding jig 41 and the holding jig 56 relative to each other.

[0147] In the above-mentioned embodiment, the multi-core cable 3 has four core wires 4 and one drain wire 6. However, the number of core wires 4 and the number of drain wires 6 are not particularly limited. In addition, the drain wire 6 is not necessarily required. The multi-core cable 3 may also have a plurality of coated wires and no uncoated wires. In addition, the multi-core cable 3 may also have a plurality of uncoated wires and no coated wires.

[0148] In the above-described embodiment, the extraction device 60 is configured to extract the front end portion 5A of the sheath 5 by moving the holding jig 56. However, the extraction device 60 may also be configured to extract the front end portion 5A by moving the holding jig 41 away from the holding jig 56. Furthermore, the extraction device 60 may also be configured to extract the front end portion 5A by moving both the holding jig 56 and the holding jig 41 away from the holding jig 41. Furthermore, if the holding jig 56 is configured to directly grasp the plurality of wires 4 and 6 for untwisting, the extraction device 60 may, for example, include another jig for extracting the front end portion 5A of the sheath 5 and be configured to extract the front end portion 5A of the sheath 5 by moving at least one of the other jig and the holding jig 41.

[0149] In the first embodiment described above, the wires 4 and 6 are partially untwisted before the drain wire 6 is detected. However, the wires 4 and 6 may not be untwisted before the drain wire 6 is detected. In this case, the front end portion 5A of the sheath 5 is pulled out to a certain extent or more without the wires 4 and 6 being untwisted, and the rotational position of the drain wire 6 is measured at the first detection position P1 and the second detection position P2. In a modified example of the first embodiment, such control can also be repeated intermittently.

[0150] The structure of the detwisting device 30 in the above embodiment is merely an example. Any device that can perform the above control can be used as the detwisting device. The same applies to the length measuring device 10 and the notching device 20.

[0151] The processing device 1 for the multi-core cable 3 may also include a straightening device that straightens the wires 4 and 6 after untwisting when the detected lay length of the wires 4 and 6 is shorter than the standard lay length or the twist strength is stronger than the standard twist strength. Examples of the straightening device include a device that clamps and straightens the wires 4 and 6 with a plurality of rollers, and a device that grips and pulls the wires 4 and 6.

[0152] Description of reference numerals:

[0153] 1: Handling device; 3: Multi-core cable; 4: Core wire (electrical wire); 5: Sheath; 5A: Front end; 5B: Non-front end; 6: Drain wire (specific electric wire); 10: Length measuring device; 11: Conveying device; 14: Conveying motor; 15: Cutting device; 30: Back-twisting device; 40: Holding device; 41: Holding fixture (holding component); 43: Rotating device (root-side rotating device); 50: Holding device; 56: Holding fixture (holding component); 60: Extraction device; 70: Rotating device; 80: Detection device; 83: probe; 85: sound pickup microphone; 86: non-contact displacement meter; 87: camera (photographing device); 88: electrode; 100: control device; 111: first registration unit; 112: second registration unit; 120: condition adjustment unit; 121: first detection control unit; 122: movement control unit; 122B: movement control unit (other movement control units); 123: operation unit; 124: second detection control unit; 125: correction unit; 126A: spacing estimation unit; 126B: spacing estimation unit.

Claims

1. A multi-core cable processing device, comprising: a holding member for holding the non-front end portion of the sheath having a slit formed therebetween; a holding device including a holding member for holding the front end portion of the sheath or the exposed plurality of electric wires; an extraction device for extracting the front end portion of the sheath; a rotating device for rotating the holding member and the gripping member relative to each other; a detection device for detecting at least one of a lay length and a twist strength of the plurality of electric wires; and a control device that controls the holding device, the extraction device, and the rotation device, The control device includes a condition adjustment unit that adjusts at least one of the operating conditions of the gripping device, the extracting device, and the rotating device based on the detection of the detection device.

2. The multi-core cable processing device according to claim 1, characterized in that: The condition adjustment unit adjusts at least one of the following: a rotation angle and a rotation speed when the rotating device rotates the holding member and the gripping member relative to each other; a pulling speed and a pulling force when the pulling device pulls out the front end portion of the sheath; and a gripping force of the gripping device.

3. The multi-core cable processing device according to claim 2, characterized in that: The control device includes a first registration unit that registers at least one of a standard lay length and a standard twist strength of the plurality of electric wires. The condition adjustment unit adjusts at least one of the rotation angle and rotation speed of the rotating device, the extraction speed and extraction force of the extraction device, and the gripping force of the gripping device based on at least one of a comparison between the lay lengths of the plurality of wires detected by the detection device and the standard lay length, and a comparison between the twist strengths of the plurality of wires detected by the detection device and the standard twist strength.

4. The multi-core cable processing device according to any one of claims 1 to 3, characterized in that: The control device comprises: a first registration section in which standard lay lengths of the plurality of electric wires are registered; and a second registration unit for registering a standard rotation angle when the rotating device relatively rotates the holding member and the gripping member; The detection device is configured to detect the lay lengths of the plurality of electric wires, The condition adjustment unit sets the rotation angle of the rotating device to be greater than the standard rotation angle when the detected lay pitch is shorter than the standard lay pitch, and sets the rotation angle of the rotating device to be less than the standard rotation angle when the detected lay pitch is longer than the standard lay pitch.

5. The multi-core cable processing device according to claim 4, characterized in that: The rotating device is configured to rotate the holding member and the gripping member relative to each other around a predetermined rotation axis. The detection device is configured to detect the rotational position of a specific electric wire among the plurality of electric wires at least at a first detection position along the rotation axis and a second detection position closer to the front end than the first detection position. The condition adjustment unit includes: a first detection control unit configured to cause the detection device to detect a rotational position of the specific electric wire at a first detection position in a state in which the front end portion of the sheath is pulled out by a first distance, wherein the first distance allows the plurality of electric wires to be exposed at the first detection position and the second detection position; a calculation unit for determining an estimated rotational position of the specific electric wire at the second detection position when the lay length is equal to the standard lay length based on the rotational position of the specific electric wire at the first detection position; a second detection control section that causes the detection device to detect a rotational position of the specific electric wire at the second detection position; and A correction unit corrects the rotation angle of the rotating device based on a difference between the estimated rotation position determined by the calculation unit and the rotation position of the specific electric wire detected at the second detection position.

6. The multi-core cable processing device according to claim 5, characterized in that: A root-side rotating device is further provided, wherein the root-side rotating device rotates the multi-core cable around a rotating axis that coincides with the rotating axis of the rotating device. The condition adjustment unit includes a movement control unit that controls the root-side rotation device to move the specific electric wire to a predetermined rotation position based on the rotation position of the specific electric wire at the first detection position detected by the control of the first detection control unit. The calculation unit obtains an estimated rotational position of the specific electric wire after being moved by the movement control unit.

7. The multi-core cable processing device according to claim 5, characterized in that: The condition adjustment unit includes another movement control unit configured to control the rotation device so as to move the specific electric wire at the second detection position to the expected rotation position.

8. The multi-core cable processing device according to claim 4, characterized in that: The detection device includes a probe that changes position by contacting the sheath, and is configured to obtain the twist lengths of the plurality of electric wires covered with the sheath based on a fluctuation cycle of the displacement of the probe.

9. The multi-core cable processing device according to claim 4, characterized in that: The detection device includes a non-contact displacement meter capable of measuring the distance to the plurality of wires exposed from the sheath, and is configured to determine the lay length of the plurality of wires based on a fluctuation cycle of the distance to the plurality of wires measured by the non-contact displacement meter.

10. The multi-core cable processing device according to claim 4, characterized in that: One of the plurality of wires is a drain wire having exposed metal wires, The detection device includes an electrode that contacts the drain wire exposed from the sheath to detect the drain wire, and is configured to calculate the lay length of the plurality of electric wires based on the interval in the longitudinal direction of the multi-core cable where the drain wire is detected by the electrode.

11. The multi-core cable processing device according to claim 4, characterized in that: The detection device includes an imaging device that acquires an image of the plurality of electric wires exposed from the sheath, and is configured to determine the lay lengths of the plurality of electric wires based on the image acquired by the imaging device.

12. The multi-core cable processing device according to claim 4, characterized in that: The apparatus further comprises a length measuring device comprising a conveying device for conveying the multi-core cable in predetermined lengths each time and a cutting device for cutting the multi-core cable conveyed by the conveying device into the predetermined lengths. The conveying device includes a conveying motor, The detection device is configured to measure the rotational torque of the conveying motor. The condition adjustment unit includes a pitch estimating unit that estimates the lay lengths of the plurality of electric wires based on a fluctuation cycle of the rotation torque measured by the detection device.

13. The multi-core cable processing device according to claim 4, characterized in that: The apparatus further comprises a length measuring device comprising a conveying device for conveying the multi-core cable in predetermined lengths each time and a cutting device for cutting the multi-core cable conveyed by the conveying device into the predetermined lengths. The detection device is configured to obtain the transmission sound of the multi-core cable being transmitted by the transmission device. The condition adjustment unit includes a pitch estimating unit that estimates the lay lengths of the plurality of electric wires based on a fluctuation cycle of the transmission sound acquired by the detection device.

14. The multi-core cable processing device according to any one of claims 1 to 13, characterized in that: The extraction device is configured to extract the distal end portion of the sheath by moving at least one of the gripping member and the holding member so that the gripping member is separated from the holding member. The control device comprises: a first registration section in which standard twist strengths of the plurality of electric wires are registered; and The second registration unit registers a standard rotation speed when the rotating device rotates the holding member and the grasping member relative to each other, and a standard extraction speed when the extraction device extracts the distal end portion of the sheath. The detection device is configured to detect the twist strength of the plurality of electric wires, The condition adjustment unit sets the rotation speed of the rotating device to be slower than the standard rotation speed and sets the extraction speed of the extraction device to be slower than the standard extraction speed when the detected twist strength is higher than the standard twist strength.

15. The multi-core cable processing device according to any one of claims 1 to 14, characterized in that: The extraction device is configured to extract the distal end portion of the sheath by moving at least one of the gripping member and the holding member so that the gripping member is separated from the holding member. The control device comprises: a first registration section in which standard twist strengths of the plurality of electric wires are registered; and a second registration portion for registering a standard extraction force when the extraction device extracts the front end portion of the sheath; The detection device is configured to detect the twist strength of the plurality of electric wires, The condition adjustment unit sets the extraction force of the extraction device to be greater than the standard extraction force when the detected twist strength is greater than the standard twist strength.

16. The multi-core cable processing device according to any one of claims 1 to 15, characterized in that: The control device comprises: a first registration section in which standard twist strengths of the plurality of electric wires are registered; and a second registration unit registering a standard gripping force of the gripping device; The detection device is configured to detect the twist strength of the plurality of electric wires, The condition adjustment unit sets the gripping force of the gripping device to be greater than the standard gripping force when the detected twist strength is greater than the standard twist strength.

17. The multi-core cable processing device according to any one of claims 1 to 16, characterized in that: The control device comprises: a first registration section in which standard twist strengths of the plurality of electric wires are registered; and The second registration unit registers a standard rotation angle and a standard rotation direction when the rotation device rotates the holding member and the gripping member relative to each other. The detection device is configured to detect the twist strength of the plurality of electric wires, When the detected twisting strength is stronger than the standard twisting strength, the condition adjustment unit sets the relative rotation angle of the holding part and the holding part in the standard rotation direction to be greater than the standard rotation angle, and after the holding part and the holding part are rotated in the standard rotation direction, the holding part and the holding part are rotated relative to each other in the opposite direction of the standard rotation direction by the following rotation angle, which is the same as the rotation angle increased in the standard rotation direction.

18. The multi-core cable processing device according to any one of claims 14 to 17, characterized in that: The detection device is configured to measure the rotational torque when the rotation device rotates the holding member and the gripping member relative to each other. In the first registration unit, a standard rotational torque when the rotating device relatively rotates the holding member and the grasping member is registered as the standard twist strength.

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