Linear object storage system and linear object storage method

Abstract

To provide a system for storing a thin and flexible linear object in a cylindrical container.SOLUTION: A linear object storage system 10 has a linear object storage device 20 and a cylindrical container 51. The linear object storage device comprises a first chuck 21 capable of gripping a linear object C and movable in the vertical direction, and a second chuck 31 disposed below the first chuck, capable of gripping the linear object, and movable in the vertical direction independently of the first chuck.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a system and method for accommodating a linear object in a cylindrical container, and more particularly, to a system and method for accommodating a thin and flexible linear object in a cylindrical container.

Background Art

[0002] In various operations targeting thin, flexible, and easily deformable linear objects, automation of handling the linear objects using robots has been carried out. For example, when performing processing such as crimping of terminals, fastening of components such as connectors, soldering, welding, and connection on cables such as electric wires, optical fibers, and various thin tubes, the linear object to be processed is gripped by a robot hand and transferred to a target processing device or inspection device for setting.

[0003] Such long linear objects may be put into a cylindrical container and supplied to a robot hand or the next process. For example, Patent Documents 1 to 3 describe putting a linear object into a cylindrical container and supplying it to a robot hand. Also, a cylindrical container may be used to temporarily or long-term store a linear object.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the operation of accommodating a thin and flexible linear object in a cylindrical container was not easily automated. Since the thin and flexible linear object is easily deformed, when it is accommodated in the cylindrical container, the descending linear object may be curled due to friction with the inner wall and become clogged on the way. Further, when adding and accommodating the linear objects one by one in the cylindrical container, the linear object to be accommodated later may be caught by the linear objects already in the container and deformed, and it was particularly prone to clogging.

[0006] The present invention has been made in consideration of the above, and is a system and method for accommodating a thin and flexible linear object that is easily deformed in a cylindrical container, and aims to provide a system and method that are less likely to become clogged when inserting the linear object into the container.

Means for Solving the Problems

[0007] The linear object accommodating system of the present invention includes a linear object accommodating device and a cylindrical container, preferably a vertically provided cylindrical container. And the linear object accommodating device includes a first chuck that can grip a linear object, preferably a vertical linear object, and can move in the vertical direction, and a second chuck that is disposed below the first chuck, can grip the linear object, and can move in the vertical direction independently of the first chuck. With this configuration, when accommodating a thin and flexible linear object in a cylindrical container, the probability of the linear object becoming clogged on the way can be reduced.

[0008] Preferably, the above linear object accommodating system further includes a gas ejection device that blows gas from obliquely above the container toward the inner wall surface of the upper end portion of the container. By the airflow, the linear objects already accommodated in the cylinder are brought closer to the inner wall, making it less likely for the linear object to be accommodated later to be caught by other linear objects.

[0009] Preferably, any of the above linear object accommodating systems has a plurality of the containers and further includes a vibration mechanism that vibrates the plurality of containers. By vibrating the containers, it becomes less likely for the linear object to be accommodated later to be caught by the linear objects already accommodated in the cylinder.

[0010] Preferably, any of the above-described linear object storage systems further includes a third chuck that is disposed below the second chuck and is movable vertically independently of the first chuck. The third chuck functions as a guide for preventing displacement of the linear object when the linear object is inserted into the container or when the second chuck releases the linear object.

[0011] The method for storing a linear object according to the present invention includes a step of gripping an upper end portion of a vertically disposed linear object with a first chuck, gripping a portion below the portion of the linear object gripped by the first chuck with a second chuck, and holding the linear object so as to be movable in the length direction of the linear object; a step of raising the first chuck relative to the second chuck and moving a lower end portion of the linear object to the second chuck; a step of moving the first chuck, the second chuck, or a cylindrical container, preferably a vertically provided cylindrical container, to make the linear object and the container substantially coaxial; a first insertion step of lowering the first chuck and the second chuck to insert a lower end of the linear object into the container; a second insertion step of opening and raising the second chuck, gripping a portion of the linear object midway to the first chuck, or holding the linear object so as to be movable in the length direction of the linear object, and lowering the first chuck and the second chuck to insert a portion of the linear object below the second chuck into the container, and repeating this until the second chuck approaches a predetermined distance to the first chuck; and a third insertion step of opening the second chuck and retracting it laterally from the linear object, lowering the first chuck to insert a portion of the linear object below the first chuck into the container, and then opening the first chuck to release the linear object. Here, opening the chuck means releasing the grip on the linear object. Also, "vertical" means substantially vertical.

[0012] Preferably, in the second insertion step of the above-described method for storing a linear object, the first chuck continues to descend without stopping. As a result, since the linear object descends smoothly, the probability that the linear object gets clogged during insertion into the container can be further reduced.

[0013] Preferably, in any of the above-described linear object housing methods, while at least the first insertion step and the second insertion step are being performed, a gas is blown from obliquely above the container toward the inner wall surface of the upper end portion of the container.

Advantages of the Invention

[0014] According to the linear object housing system or the linear object housing method of the present invention, when housing a thin and flexible linear object that is easily deformed in a cylindrical container, the linear object is less likely to be clogged during insertion.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0016] A cable housing system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3.

[0017] Referring to FIG. 1, the linear object housing system 10 of the present embodiment includes a linear object housing device 20 and a plurality of cylindrical containers 51. The linear object housing device 20 receives a cable C, which is a linear object, from a robot hand 70 and houses it in one of the containers 51.

[0018] The linear object handled by the linear object storage system 10 of this embodiment is a flexible thin wire. The diameter of the linear object is preferably 0.6 to 5.0 mm, more preferably 1.0 to 3.0 mm. Examples of the linear object include electric wires used for wiring of electric appliances and wire harnesses, optical fibers, and resin tubes used for medical devices such as catheters. The length of the linear object is not particularly limited, but is preferably 3 m or less as a length that allows a cylindrical container for storage to be vertically installed in a factory building. On the other hand, the length of the linear object is preferably 300 mm or more, more preferably 500 mm or more. This is because if the linear object is shorter than this, it can be easily stored in the cylindrical container without using the linear object storage system of this embodiment, depending on the ease of deformation of the linear object. Note that terminals may be attached to one or both ends of the linear object.

[0019] The linear object storage device 20 includes a first chuck 21 and a second chuck 31 that can grip a vertical cable C and are movable in the vertical direction.

[0020] Referring to FIG. 2, the first chuck 21 includes a pair of fingers 22 and 24. The first chuck is installed with both the gripping surface 23 of the finger 22 and the gripping surface 25 of the finger 24 being perpendicular and the gripping surfaces 23 and 25 being parallel to each other. The first chuck can grip or release the vertical cable C by narrowing or widening the interval between the pair of fingers 22 and 24. Hereinafter, widening the interval between the pair of fingers is referred to as opening the chuck or the fingers, and narrowing the interval between the pair of fingers is referred to as closing the chuck or the fingers.

[0021] Returning to FIG. 1, the first chuck 21 is supported by a support member 27 on a support column 26 and is movable in the vertical direction by an actuator (not shown). Further, the first chuck is movable in the longitudinal direction of the fingers 22 and 24 by an actuator (not shown), can approach to grip the cable, and can release the cable and move away to a retracted position.

[0022] Referring to FIG. 2, the second chuck 31 includes a pair of fingers 32, 34. The second chuck is installed with both the gripping surface 33 of the finger 32 and the gripping surface 35 of the finger 34 perpendicular, and the gripping surfaces 33, 35 are parallel to each other. The second chuck can grip or release the vertically arranged cable C by narrowing or widening the distance between the pair of fingers 32, 34.

[0023] Also, the second chuck 31 can hold the cable C movably in the longitudinal direction of the cable. That is, the second chuck can hold the cable C while allowing it to move in the longitudinal direction of the cable C, so that the cable does not come off and detach from the second chuck. Specifically, by leaving a gap between the cable and one or both of the gripping surfaces 33, 35 and narrowing the distance between the fingers 32, 34, the cable C can be held movably in its longitudinal direction. Hereinafter, holding the cable movably in the longitudinal direction is referred to as "movably holding" or "loosely gripping".

[0024] Referring to FIG. 1, the second chuck 31 is disposed below the first chuck 21. The second chuck 31 is supported by a support member 37 on a support column 36 and can move vertically independently of the first chuck 21 by an actuator (not shown). Also, the second chuck can move in the longitudinal direction of the fingers 32, 34 by an actuator (not shown), approach to grip the cable, and move away to a retracted position to release the cable. Thereby, the second chuck can grip or movably hold the portion of the cable below the first chuck that is gripped by the first chuck.

[0025] Further, the linear object storage device 20 may further include a third chuck below the second chuck. Referring to FIG. 3, the third chuck 41 includes a pair of fingers 42 and 44. The third chuck is installed with both the gripping surface 43 of the finger 42 and the gripping surface 45 of the finger 44 perpendicular, and the gripping surfaces 43 and 45 parallel to each other. The third chuck can narrow or widen the distance between the pair of fingers 42 and 44. However, unlike the first chuck 21 and the second chuck 31, the third chuck does not need to be able to grip the cable C. The third chuck serves a guiding function to prevent the cable C from shifting in position when the cable C is inserted into the container 51 or when the second chuck releases the cable C. The third chuck can be omitted, but it is preferably provided.

[0026] The third chuck 41 is supported by the column 36 in FIG. 1 via a support member 47 and can move vertically independently of the first chuck 21 with the cable C placed between the fingers 42 and 44 by an actuator. Further, the third chuck 41 can move in the longitudinal direction of the fingers 42 and 44 and can approach or move away from the cable.

[0027] The third chuck is provided close to the second chuck 31 and may be integrally moved in the vertical direction with the second chuck 31. By being provided close to the second chuck, the effect of preventing the displacement of the cable C when the second chuck releases the cable C is enhanced. Also, by moving the third chuck and the second chuck up and down with a common actuator, the device configuration and control for chuck movement can be simplified. Note that the third chuck being provided close to the second chuck means that the third chuck is provided with a gap between it and the second chuck, or in contact with or integrated with the second chuck. When the third chuck is provided with a gap between it and the second chuck, the gap is preferably about 50 mm or less, more preferably about 10 mm or less, for a cable having a diameter of about 0.6 to 5.0 mm and a length of about 500 mm to 1000 mm. When the third chuck is integrated with the second chuck, it can also be regarded as a two-stage chuck composed of an upper chuck (the second chuck) that can be movably held and a lower chuck (the third chuck) that has a guiding function.

[0028] The linear object storage system 10 has a plurality of containers, preferably a plurality of vertically provided containers 51. The containers 51 are arranged in rows and columns to form a container group 50. The container group 50 is arranged on an XY stage 53 and is movable as a whole in the horizontal direction. Each container 51 is cylindrical, with the upper end being an opening (52 in FIG. 4) for inserting and removing a cable, and having a bottom at the lower end. If the container 51 is cylindrical, for example, its cross-section may be elliptical or polygonal, but it is preferably cylindrical because it is low-cost and easily available. Note that the number of containers 51 may be only one instead of a plurality.

[0029] The XY stage 53 preferably has a function of vibrating the container 51, that is, a function of moving it little by little in the X-axis or Y-axis direction. By vibration, it becomes difficult for a cable to be accommodated later to get caught on the cables already accommodated. Although vibration with a low frequency may be called rocking, the vibration in this specification includes such rocking. In an experiment by the present inventor, for a coated electric wire with a length of 700 to 800 mm and a diameter of 1.3 to 1.6 mm, by vibrating the cylindrical container 51 in the horizontal direction with an amplitude of about 10 mm and a period of about 1 second, the clogging of the cable to be accommodated later could be dramatically reduced.

[0030] The linear object accommodating system 10 further includes an air ejection device 60. The air ejection device 60 includes a compressor 62 and a nozzle 61 connected thereto. The air ejection device is movable so that the tip of the nozzle 61 is above a desired container 51, and with reference to FIG. 4, air can be ejected from the nozzle 61 obliquely upward of the container toward the inner wall surface of the upper end portion of the container. Due to the air flow, the cables already accommodated in the container 51 can be brought closer to the inner wall surface, and the cable to be accommodated later can be inserted into a region where the cable density is low, so that it becomes difficult for the cable to be accommodated to get caught on other cables. Preferably, air is ejected so that the center of the air flow passes through a position slightly displaced horizontally from the central axis Z of the container. Thereby, the air flow advances in a spiral shape along the inner wall surface of the container, particularly a cylindrical container, enhancing the effect of bringing the cables already accommodated in the container closer to the inner wall, and enabling the cable to be accommodated later to be inserted into the central portion of the container where the cable density is low.

[0031] Returning to FIG. 1, the robot hand 70 delivers the cable C to the linear object accommodating device 20 of the present embodiment. The robot hand is preferably attached to a multi-joint robot.

[0032] Next, a cable accommodation method using the cable accommodation system of the present embodiment will be described with reference to FIGS. 6 to 8 along the flow of FIG. 5. The reference numerals of each part are those shown in FIGS. 1 to 3. The case where the linear object accommodating device includes a third chuck will be described later.

[0033] In the present specification, the upper end portion of the cable means the upper end of the cable and the portion in the vicinity thereof, and does not strictly define the range. The same applies to the lower end portion of the cable. Also, the portion of the cable excluding the upper end portion and the lower end portion from the whole cable may be referred to as the central portion.

[0034] (Receiving of Cable) The robot hand 70 transfers the cable C with the upper end portion gripped to the first chuck 21 of the linear object storage device 20, and the first chuck grips the upper end portion of the cable. The cable C is transferred from the robot hand 70 to the first chuck, and the upper end portion is gripped by the first chuck, and it becomes a state of hanging down substantially vertically (FIG. 6A). When a terminal or the like is attached to the upper end of the cable C, the robot hand 70 and the first chuck 21 grip the cable main body portion avoiding the terminal. This is to prevent damage to the terminal.

[0035] The second chuck 31 is advanced from the side of the cable C with the fingers 32 and 34 opened, and holds the cable so that it can move in its longitudinal direction under the portion gripped by the first chuck 21 of the cable (FIG. 6B).

[0036] (Holding at Both Ends) Raise the first chuck 21 relative to the second chuck 31. The cable held by the first chuck rises while sliding between the fingers 32 and 34 of the second chuck. When the lower end of the cable reaches the second chuck, stop the upward movement of the first chuck 21 relative to the second chuck 31. At this time, the second chuck holds the cable movably so that the lower end of the cable remains below the second chuck. Here, the second chuck may be closed to firmly grip the lower end of the cable, but it may remain in a movably held state, i.e., a light gripping state. The cable C is in a vertical posture, with the upper end held by the first chuck 21 and the lower end movably held by the second chuck, and both ends are held (Fig. 6C). When a terminal or the like is attached to the lower end of the cable, the second chuck lightly grips the cable body while avoiding the terminal so that the terminal remains below the second chuck.

[0037] (Container movement) When the lower end of the cable C is at a position lower than the upper end of the container 51, raise the first chuck 21 and the second chuck 31 until the lower end of the cable is higher than the container 51. Actuate the XY stage (53 in Fig. 1) to move the container group (50 in Fig. 1) so that the cable C gripped by the first and second chucks is substantially coaxial with the container 51 into which the cable is to be housed (Fig. 6D). To make the cable C and the container 51 substantially coaxial, the first and second chucks may be moved to move the gripped cable onto the container, or both the cable and the container group may be moved. Usually, moving the container group is preferable in that the linear object housing device 20 can be fixed and installed at a fixed position, and it is also preferable in that the XY stage can be used as a vibration mechanism for the container.

[0038] (Insertion first step) Lower the first chuck 21 and the second chuck 31 to insert the lower end of the cable C into the opening 52 of the container 51 (Fig. 7E). At this time, the second chuck can insert the cable while remaining in a lightly gripping state. Preferably, this first insertion step is performed while ejecting air from the nozzle 61 (omitted in Fig. 7E).

[0039] (Second Insertion Step) Next, following the lower end of the cable C, the lower end portion and the central portion are inserted into the container 51. A specific example of the working method is as follows. Open and raise the second chuck 31 to movably hold a portion of the cable C midway to the first chuck 21 (Fig. 7F). Similar to the case of the above-described both-end holding (Fig. 6C), the second chuck may firmly grip a position in the middle of the cable, or a movable holding, i.e., a light grip, may be sufficient. The distance by which the second chuck 31 is raised can be shortened when the cable is more deformable and lengthened when the cable is relatively less deformable, depending on the strength of the cable's waist. For a linear object having a diameter of about 0.6 to 5.0 mm and a length of about 500 mm to 1000 mm, a raising distance of about 50 to 200 mm is preferable. Lower the first chuck 21 and the second chuck 31 to insert the portion of the cable C below the second chuck into the container 51 (Fig. 7G). Repeat the above-described raising and gripping or light gripping of the second chuck, and the lowering of the first chuck and the second chuck until the second chuck approaches a predetermined distance L to the first chuck (Fig. 7H). The predetermined distance L can be set shorter when the cable is more deformable and longer when the cable is relatively less deformable, similar to the distance by which the second chuck is raised in Fig. 7F, depending on the strength of the cable's waist.

[0040] In this second insertion step, preferably, the first chuck 21 continues to descend at a constant speed without stopping. Thereby, since the cable C descends smoothly, the probability that the cable gets jammed during the insertion into the container 51 can be further reduced. Also, preferably, the ejection of air from the nozzle 61 is continued during the implementation of this step. Also, preferably, this step is carried out while vibrating the container 51 in the horizontal direction.

[0041] When the cable C is simply held at its upper end by the first chuck 21 and descends within the container 51, when the tip (lower end) of the cable hits the wall surface of the container or another cable, it deforms, and the cable is likely to get clogged during descent. On the other hand, when the cable C held or lightly gripped at a lower position by the second chuck 31 descends within the container 51, since the distance from the lower end to the second chuck is short, the repulsive force of the cable when the lower end of the cable hits the wall surface of the container or another cable becomes large, and the lower end of the cable can continue to descend without stagnating.

[0042] (Insertion Step 3) Open the second chuck 31 and retract it to the side of the cable C (Fig. 8I), lower the first chuck 21 and insert the portion of the cable below the first chuck into the container (Fig. 8J), and then open the first chuck 21 to release the cable (Fig. 8K). The cable C falls due to gravity, and the accommodation in the container 51 is completed. Note that the ejection of air from the nozzle 61 can be continued even during the implementation of this step.

[0043] The following supplements the case where the linear object accommodation device 20 is provided with the third chuck 41.

[0044] (Receiving of Cable) When the second chuck 31 holds the cable C movably (corresponding to Fig. 6B. The same applies hereinafter), advance the third chuck 41 together with the second chuck toward the cable C with the fingers 42 and 44 open, and insert the cable C between the fingers 42 and 44. Thereafter, the third chuck 41 may narrow the interval between the fingers 42 and 44 to such an extent that it does not hinder the movement of the cable. The third chuck does not need to grip the cable, and hereafter, until the third chuck retracts laterally from the cable C together with the second chuck (Figs. 6C to 7H), there is no need to change the interval between the fingers of the third chuck.

[0045] (Both - end Holding) Stop the upward movement of the first chuck 21 relative to the second chuck 31 (Fig. 6C) when the lower end of the cable C reaches the third chuck 41.

[0046] (Container movement) When moving the second chuck 31, move the third chuck 41 together with the second chuck (Fig. 6D).

[0047] (First insertion step) Move the third chuck 41 together with the second chuck 31 (Fig. 7E).

[0048] (Second insertion step) While repeating the raising and gripping or gently biting and gripping of the second chuck 31 and the lowering of the first chuck 21 and the second chuck 31 (Figs. 7F - H), the third chuck 41 may be moved together with the second chuck, or the third chuck may not be moved and stopped directly above the opening 52 of the container 51. Note that when the third chuck 41 is integrated with the second chuck 31, the third chuck naturally moves up and down with the second chuck. By providing the third chuck, the cable C is stabilized even while the second chuck is open and rising.

[0049] (Third insertion step) The third chuck 41 opens its fingers together with the second chuck 31 and retracts to the side of the cable C (Fig. 8I).

[0050] The present invention is not limited to the above - described embodiments, and various modifications are possible within the scope of its technical idea.

[0051] For example, the structure of the linear - object storage device 20, the first chuck 21, and the second chuck 31, and the shape of each finger may be different from the above - described embodiments as long as they can grip the vertical cable C and move it in the vertical direction, and the second chuck can hold the cable so as to be movable in its length direction.

Explanation of reference numerals

[0052] 10 Linear - object storage system 20 Linear - object storage device 21 First chuck 22, 24 Fingers 23, 25 Gripping surfaces 26 strut 27 support member 31 second chuck 32, 34 fingers 33, 35 gripping surfaces 36 strut 37 support member 41 third chuck 42, 44 fingers 43, 45 gripping surfaces 47 support member 50 container group 51 container 52 opening 53 XY stage 60 air ejection device (gas ejection device) 61 nozzle 62 compressor 70 robot hand C cable (linear object) L predetermined distance Z central axis of the container

Claims

1. A linear object storage system having a linear object storage device and a cylindrical container, wherein the linear object storage device comprises a first chuck capable of gripping a linear object and moving vertically, and a second chuck disposed below the first chuck, capable of gripping the linear object, and independently movable vertically relative to the first chuck. A linear object storage system.

2. The linear object storage system according to claim 1, further comprising a gas ejection device for ejecting gas from obliquely above the container toward the inner wall surface of the upper end portion of the container. The linear object storage system according to claim 1.

3. The linear object storage system according to claim 1, further comprising a plurality of the containers and a vibration mechanism for vibrating the plurality of containers. The linear object storage system according to claim 1.

4. The linear object storage system according to claim 1, further comprising a third chuck disposed below the second chuck and independently movable vertically relative to the first chuck. The linear object storage system according to claim 1.

5. A process of gripping the upper end portion of a vertically positioned linear object with a first chuck, holding the portion below the portion gripped by the first chuck of the linear object with a second chuck such that the linear object is movable in the length direction thereof, raising the first chuck relative to the second chuck and moving the lower end portion of the linear object to the second chuck, moving the first chuck and the second chuck, or the cylindrical container, to make the linear object and the container substantially coaxial, a first insertion step of lowering the first chuck and the second chuck to insert the lower end of the linear object into the container, a second insertion step of opening and raising the second chuck, gripping a portion of the linear object midway to the first chuck or holding the linear object such that it is movable in the length direction thereof, and repeatedly lowering the first chuck and the second chuck to insert the portion of the linear object below the second chuck into the container until the second chuck approaches the first chuck by a predetermined distance, a third insertion step of opening the second chuck and retracting it laterally from the linear object, lowering the first chuck to insert the portion of the linear object below the first chuck into the container, and then opening the first chuck to release the linear object. A method for storing a linear object.

6. The method for storing a linear object according to claim 5, characterized in that in the second insertion step, the first chuck continues to descend without stopping. The method for storing a linear object according to claim 5.

7. During at least the first insertion step and the second insertion step, gas is blown from obliquely above the container toward the inner wall surface of the upper end portion of the container. The method for accommodating a linear object according to claim 5.

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