Automatic wiring device and method for manufacturing wiring board

Abstract

An automatic wiring device (1) comprises a wire assembling machine (3) and a wire processing machine (2). The wire assembling machine (3) includes: an assembly hand (20) that can incorporate a wire (5) into a product (7); and an actuator (28) that can cause the assembly hand (20) to move. The assembly hand (20) includes: a first gripper (22) that can grip the wire (5); a second gripper (23) that can grip the wire (5); a first shaft (24) that can make contact with the wire (5); and a second shaft (25) that is capable of moving or extending toward the wire (5) and that can make contact with the wire (5). The wire processing machine (2) includes a cutter (16) that can cut the wire (5).

Description

[Technical field]

[0001] The present disclosure relates to an automatic wiring device, a method for manufacturing a wiring board, and a board for automatic wiring. [Background technology]

[0002] Japanese Patent Laid-Open Publication No. 7-15198 (Patent Document 1) discloses an automatic wiring device that wires an electric wire to an electric appliance. This automatic wiring device includes an electric wire supplying device, an electric wire holding device, and an electric wire wiring device. The electric wire supplying device feeds the electric wire to the electric wire holding device. The electric wire holding device holds the electric wire fed from the electric wire supplying device. The electric wire supplying device cuts the electric wire when the electric wire of a length required for the electric appliance has been fed to the electric wire holding device. The electric wire wiring device holds the electric wire held by the electric wire holding device and transports it to the electric appliance. The electric wire wiring device inserts both ends of the electric wire into holes in the electric appliance to wire the electric wire to the electric appliance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-15198 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the automatic wiring device disclosed in Patent Document 1 does not have a function of shaping a cut electric wire and a function of maintaining the shape of the shaped electric wire. Therefore, this automatic wiring device cannot wire an electric wire to an electric appliance in a desired shape. The present disclosure has been made in consideration of the above problems, and the object of a first aspect of the present disclosure is to provide an automatic wiring device capable of wiring a wire to a product in a desired shape. The object of a second aspect of the present disclosure is to provide a method for manufacturing a wiring board capable of wiring a wire to a product in a desired shape. The object of a third aspect of the present disclosure is to provide a board for automatic wiring suitable for the automatic wiring device of the present disclosure. [Means for solving the problem]

[0005] The automatic wiring device of the present disclosure includes a wire processing machine and a wire assembly machine. The wire processing machine includes a cutter capable of cutting the wire. The wire assembly machine includes an assembly hand capable of assembling the wire to a product, and an actuator capable of moving the assembly hand. The assembly hand includes a first gripper capable of gripping the wire, a second gripper capable of gripping the wire, a first shaft capable of contacting the wire, and a second shaft movable or extendable toward the wire and capable of contacting the wire.

[0006] A manufacturing method for a wiring board of the present disclosure using the automatic wiring device of the present disclosure includes a step of shaping a wire with an assembly hand, a step of cutting the shaped wire with a cutter, and a step of assembling the cut wire to a terminal included in the product while maintaining the shape of the cut wire with the assembly hand.

[0007] The automatic wiring board of the present disclosure includes a substrate and a terminal provided on the substrate. The terminal is formed of a pair of elastically deformable thin plates. The terminal includes a base portion and a holding portion. A first gap width of the base portion is smaller than a maximum gap width of the holding portion. Effect of the Invention

[0008] In the automatic wiring device of the present disclosure, the first gripper and the second gripper grip the wire until the wire is completely assembled to the product. The wire cut by the wire processing machine can be maintained in a desired shape by the first gripper, the second gripper, the first shaft, and the second shaft until the wire is completely assembled to the product. According to the automatic wiring device of the present disclosure, the wire can be wired to the product in a desired shape.

[0009] In the method for manufacturing a wiring board according to the present disclosure, the wire is assembled to a product including a terminal by using the automatic wiring device according to the present disclosure. According to the method for manufacturing a wiring board according to the present disclosure, the wire can be wired to the product in a desired shape.

[0010] The automatic wiring board of the present disclosure includes a terminal including a root portion and a holding portion. Therefore, by inserting a wire into the holding portion from a distal end of the holding portion relative to the board using the automatic wiring device of the present disclosure, the wire can be assembled to the terminal in a desired shape. The automatic wiring board of the present disclosure is suitable for the automatic wiring device of the present disclosure. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic front view of an automatic wiring device according to a first embodiment. [Diagram 2] 1 is a schematic plan view of a wire processing machine of an automatic wiring device according to a first embodiment. [Diagram 3] 2 is a schematic enlarged front view of an assembly hand of the automatic wiring device according to the first embodiment. FIG. [Figure 4] 3 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device of the first embodiment. FIG. [Diagram 5] FIG. 2 is a schematic plan view of the product. [Figure 6] FIG. 2 is a schematic enlarged partial side view of the product. [Figure 7] 1 is a schematic front view of an automatic wiring device, showing one step of a wiring method using the automatic wiring device of embodiment 1. FIG. [Figure 8] 8 is a schematic enlarged bottom view of the automatic wiring device as viewed in the direction of arrow VIII shown in FIG. 7, showing one step of a wiring method for wiring a wire using the automatic wiring device of the first embodiment. FIG. [Figure 9] 9 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 7 and 8 in the wiring method for wiring a wire using the automatic wiring device of embodiment 1. FIG. [Figure 10] 10 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 9 in the wiring method for wiring a wire using the automatic wiring device of the first embodiment. FIG. [Figure 11] 11 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 10 in the wiring method for wiring a wire using the automatic wiring device of the first embodiment. FIG. [Figure 12]12 is a schematic enlarged bottom view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 11 in the wiring method for wiring a wire using the automatic wiring device of the first embodiment. FIG. [Figure 13] 13 is a schematic side view of the automatic wiring device, showing a step subsequent to the step shown in FIG. 12 in the wiring method for wiring a wire using the automatic wiring device of the first embodiment. FIG. [Figure 14A] 14 is a schematic partial enlarged side view of the product, showing a step subsequent to the step shown in FIG. 13 in the wire wiring method using the automatic wiring device of the first embodiment. FIG. [Figure 14B] 14 is a schematic partial enlarged front view of a product, showing a step subsequent to the step shown in FIG. 13 in the wire wiring method using the automatic wiring device of the first embodiment. FIG. [Figure 15A] 14C is a schematic partial enlarged side view of a product, showing a step subsequent to the step shown in FIG. 14A and FIG. 14B in the wiring method of the wire using the automatic wiring device of the first embodiment. FIG. [Figure 15B] 14C is a schematic partial enlarged front view of a product, showing a step subsequent to the step shown in FIG. 14A and FIG. 14B in the wiring method of the wire using the automatic wiring device of the first embodiment. FIG. [Figure 16] 15 is a schematic plan view of a product, showing a step subsequent to the step shown in FIG. 14 in the wire wiring method using the automatic wiring device of the first embodiment. FIG. [Figure 17] FIG. 11 is a schematic front view of the automatic wiring device according to the second embodiment. [Figure 18] 11 is a schematic enlarged front view of an assembly hand of the automatic wiring device according to the second embodiment. FIG. [Figure 19] 11 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device according to the second embodiment. FIG. [Figure 20] FIG. 2 is a schematic plan view of the product. [Figure 21] FIG. 11 is a schematic front view of the automatic wiring device according to the third embodiment. [Figure 22] 11 is a schematic partially enlarged side view of a product, showing one step of a wiring method using the automatic wiring device of the third embodiment. FIG. [Figure 23]11 is a schematic partially enlarged side view of a product, showing one step of a wiring method using the automatic wiring device of the third embodiment. FIG. [Figure 24] FIG. 11 is a schematic front view of the automatic wiring device according to the fourth embodiment. [Diagram 25] FIG. 13 is a schematic enlarged front view of an assembly hand of the automatic wiring device according to the fourth embodiment. [Figure 26] FIG. 13 is a schematic enlarged bottom view of an assembly hand of the automatic wiring device according to the fourth embodiment. [Figure 27] 13 is a schematic partially enlarged side view of a product, illustrating one step of a wiring method using the automatic wiring device of embodiment 4. FIG. [Figure 28] 28 is a schematic partial enlarged side view of a product, showing a step subsequent to the step shown in FIG. 27 in the wiring method of the wire rod using the automatic wiring device of the fourth embodiment. FIG. [Figure 29] FIG. 13 is a schematic front view of the automatic wiring device of the fifth embodiment. [Diagram 30] FIG. 13 is a schematic enlarged front view of a wire rod forming machine of the automatic wiring device according to the fifth embodiment. [Diagram 31] FIG. 13 is a schematic enlarged plan view of a wire rod forming machine of the automatic wiring device according to the fifth embodiment. [Diagram 32] 13 is a schematic enlarged front view of a wire forming machine of the automatic wiring device, showing one step of a wire wiring method using the automatic wiring device of embodiment 5. FIG. [Diagram 33] 13 is a schematic enlarged plan view of a wire forming machine of the automatic wiring apparatus, showing one step of a wire wiring method using the automatic wiring apparatus of embodiment 5. FIG. [Diagram 34] FIG. 34 is a schematic enlarged front view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 32 and 33 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Diagram 35] FIG. 34 is a schematic enlarged plan view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 32 and 33 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Diagram 36]FIG. 36 is a schematic enlarged front view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 34 and 35 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Figure 37] FIG. 36 is a schematic enlarged plan view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 34 and 35 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Figure 38] FIG. 38 is a schematic enlarged front view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 36 and 37 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Figure 39] 38 is a schematic enlarged plan view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 36 and 37 in the wire wiring method using the automatic wiring apparatus of embodiment 5. FIG. [Diagram 40] FIG. 40 is a schematic front view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the steps shown in FIGS. 38 and 39 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Diagram 41] 41 is a schematic enlarged plan view of the automatic wiring device as seen from the direction of arrow XLI shown in FIG. 40, showing a step subsequent to the steps shown in FIGS. 38 and 39 in the wiring method for wiring a wire using the automatic wiring device of embodiment 5. FIG. [Diagram 42] 42 is a schematic enlarged plan view of the automatic wiring device, showing a step subsequent to the steps shown in FIGS. 40 and 41 in the wiring method for wiring a wire using the automatic wiring device of embodiment 5. FIG. [Diagram 43] FIG. 43 is a schematic front view of a wire forming machine of the automatic wiring apparatus, showing a step subsequent to the step shown in FIG. 42 in the wire wiring method using the automatic wiring apparatus of embodiment 5. [Diagram 44] FIG. 13 is a schematic front view of the automatic wiring device of the sixth embodiment. [Diagram 45] FIG. 23 is a schematic enlarged front view of an assembly hand of the automatic wiring device according to the sixth embodiment. [Diagram 46] FIG. 23 is a schematic enlarged side view of an assembly hand of the automatic wiring device according to the sixth embodiment. [Figure 47]13 is a schematic partial enlarged front view of an automatic wiring device, showing one step of a wiring method of a wire according to a sixth embodiment. FIG. [Figure 48] 13 is a schematic partial enlarged view of an automatic wiring device, showing one step of a wiring method of a wire according to a sixth embodiment. FIG. [Figure 49] FIG. 49 is a schematic partial enlarged front view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 47 and 48 in the wiring method of the wire of the sixth embodiment. [Figure 50] 49 is a schematic partial enlarged view of an automatic wiring device, showing a step subsequent to the steps shown in FIGS. 47 and 48 in the wiring method of the wire of the sixth embodiment. FIG. [Figure 51] 51 is a schematic partial enlarged front view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 49 and 50 in the wiring method of the wire of the embodiment 6. FIG. [Figure 52] 51 is a schematic partial enlarged view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 49 and 50 in the wiring method of the wire of the embodiment 6. FIG. [Figure 53] 53 is a schematic partial enlarged front view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 51 and 52 in the wiring method of the wire of the sixth embodiment. FIG. [Figure 54] 53 is a schematic partial enlarged view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 51 and 52 in the wiring method of the wire of the sixth embodiment. FIG. [Figure 55] 55 is a schematic partial enlarged front view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 53 and 54 in the wiring method of the wire of the sixth embodiment. FIG. [Figure 56] 55 is a schematic partial enlarged view of an automatic wiring device, showing a step subsequent to the step shown in FIGS. 53 and 54 in the wiring method of the wire of the sixth embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described. Note that the same reference numerals are used to refer to the same components, and the description thereof will not be repeated.

[0013] Embodiment 1 An automatic wiring device 1 according to a first embodiment will be described with reference to Figures 1 to 4. The automatic wiring device 1 is a device that cuts a wire 5 fed from a reel 6, forms it into a desired shape, and wires it into a product 7 shown in Figures 5 and 6. The wire 5 may be, for example, an electric wire covered with an insulating coating layer, or may be a bare electric wire without an insulating coating layer.

[0014] With reference to FIG. 1, an automatic wiring apparatus 1 includes a wire processing machine 2 and a wire assembly machine 3. The wire processing machine 2 and the wire assembly machine 3 include a wire processing machine 2 and a wire assembly machine 3. 1 and 2, a wire processing machine 2 includes a base plate 10, rollers 11 and 12, holders 14 and 15, and a cutter 16.

[0015] The base plate 10 supports rollers 11 and 12, holders 14 and 15, and a cutter 16. The rollers 11 and 12 can pull out the wire 5 from the reel 6 and feed it toward the cutter 16. The rollers 11 and 12 guide the wire 5 toward the cutter 16. The rollers 11 and 12 each sandwich the wire 5. The holders 14 and 15 can hold the wire 5. The holders 14 and 15 are, for example, holding chucks that can be opened and closed. The cutter 16 can cut the wire 5.

[0016] Referring to FIG. 1, the wire assembly machine 3 includes an assembly hand 20 and an actuator .

[0017] 1, 3 and 4, the assembly hand 20 can grip the wire 5 and assemble it to a product 7 (see Figs. 5 and 6). The assembly hand 20 includes a support member 21, a first gripper 22, a second gripper 23, a first shaft 24 and a second shaft 25. The assembly hand 20 may further include a cylinder 26 and a connecting plate 27.

[0018] The support member 21 supports the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25. The support member 21 may further support a cylinder 26. The support member 21 is, for example, a support plate. The support member 21 has a first main surface 21a facing the wire 5. The first main surface 21a extends, for example, along the x-axis direction and the y-axis direction. The normal direction of the first main surface 21a is the z-axis direction.

[0019] The first gripper 22 and the second gripper 23 are attached to, for example, the first main surface 21a of the support member 21. The first gripper 22 and the second gripper 23 are capable of gripping the wire 5.

[0020] The first gripper 22 includes a first gripping chuck 22a and a first gripping jaw 22b attached to the tip of the first gripping chuck 22a (the distal end of the first gripping chuck 22a relative to the support member 21). The first gripping chuck 22a is attached to the support member 21. In this embodiment, the first gripping jaw 22b is composed of a first pair of first gripping jaws 22b and a second pair of first gripping jaws 22b. The second pair of first gripping jaws 22b is separated from the first pair of first gripping jaws 22b by a gap g (see Figs. 3, 4 and 14B). The tip of the first pair of first gripping jaws 22b can be opened and closed by the first gripping chuck 22a. The tip of the second pair of first gripping jaws 22b can be opened and closed by the first gripping chuck 22a.

[0021] The second gripper 23 is spaced apart from the first gripper 22. The second gripper 23 includes a second gripping chuck 23a and a second gripping jaw 23b attached to the tip of the second gripping chuck 23a (the distal end of the second gripping chuck 23a relative to the support member 21). The second gripping chuck 23a is attached to the support member 21. In this embodiment, the second gripping jaw 23b is composed of a first pair of second gripping jaws 23b and a second pair of second gripping jaws 23b. The second pair of second gripping jaws 23b are spaced apart from the first pair of second gripping jaws 23b by a gap g (see FIGS. 3 and 4). The tip of the first pair of second gripping jaws 23b can be opened and closed by the second gripping chuck 23a. The tips of the second gripping jaws 23b of the second pair can be opened and closed by the second gripping chuck 23a.

[0022] In this embodiment, the first shaft 24 is a fixed shaft fixed to the support member 21. The first shaft 24 can come into contact with the wire 5. Specifically, when the actuator 28 positions the assembly hand 20 away from the wire processing machine 2, the first shaft 24 is away from the wire. When the actuator 28 positions the assembly hand 20 close to the wire processing machine 2, the first shaft 24 comes into contact with the wire 5. The first shaft 24 may be a shaft that is movable toward the wire 5, or may be a shaft that is extendable and retractable toward the wire 5.

[0023] In this embodiment, the second shaft 25 is a shaft that can move toward the wire material 5. Specifically, the second shaft 25 is connected to the cylinder 26 via a connecting plate 27. The cylinder 26 can move along the normal direction (z-axis direction) of the first main surface 21a of the support member 21. The movement of the cylinder 26 is transmitted to the second shaft 25 via the connecting plate 27. Thus, the second shaft 25 can move toward the wire material 5 along the normal direction (z-axis direction) of the first main surface 21a of the support member 21. The second shaft 25 may be a shaft that can be extended and retracted toward the wire material 5. The second shaft 25 can come into contact with the wire material 5. Specifically, when the assembly hand 20 is disposed away from the wire material processing machine 2 by the actuator 28, the second shaft 25 is away from the wire material. When the assembly hand 20 is positioned near the wire processing machine 2 by the actuator 28 and the second shaft 25 moves or extends toward the wire 5 , the second shaft 25 comes into contact with the wire 5 .

[0024] 1, the actuator 28 can move the assembly hand 20. The actuator 28 is connected to the support member 21. The actuator 28 can move the assembly hand 20 in three directions (x-axis direction, y-axis direction, and z-axis direction). The actuator 28 is, for example, a three-axis actuator or an articulated robot.

[0025] With reference to Figs. 5 and 6, a product 7 in which a wire 5 is wired using the automatic wiring device 1 will be described. The product 7 is, for example, a printed wiring board. The product 7 includes a substrate 8 and a terminal 9 provided on the substrate 8. The terminal 9 is, for example, formed of a metal. Each of the terminals 9 is formed of a pair of elastically deformable thin plates such as a leaf spring. The width w of the terminal 9 (see Fig. 14B) is larger than the already described interval g (see Figs. 3, 4, and 14B). Therefore, when the wire 5 is gripped by the first gripping claw 22b and the second gripping claw 23b to be assembled to the terminal 9, the first gripping claw 22b and the second gripping claw 23b are prevented from interfering with the terminal 9. The width w of the terminal 9 is the length of the terminal 9 in a direction perpendicular to the direction in which the pair of thin plates constituting the terminal 9 are separated from each other among the directions along the surface of the substrate 8 to which the terminal 9 is fixed.

[0026] The terminal 9 includes a root portion 9a, a holding portion 9b, and a tapered portion 9c. The root portion 9a is the portion of the terminal 9 that is closest to the substrate 8. The terminal 9 is fixed to the substrate 8 at the root portion 9a. The root portion 9a prevents the wire 5 from falling off the holding portion 9b. The gap width G1 of the root portion 9a is smaller than the diameter of the wire 5. The gap width G1 of the root portion 9a is the distance between the pair of thin plates at the proximal end of the root portion 9a relative to the holding portion 9b.

[0027] The holding portion 9b can hold the wire 5. The maximum gap width (gap width G2) of the holding portion 9b is equal to or larger than the diameter of the wire 5 and is larger than the gap width G1 of the base portion 9a. The maximum gap width of the holding portion 9b is the maximum distance between the pair of thin plates in the holding portion 9b. The wire 5 is assembled to the product 7 by being accommodated in the holding portion 9b.

[0028] The tapered portion 9c can smoothly guide the wire 5 to the distal end of the holding portion 9b relative to the substrate 8. The gap width of the tapered portion 9c narrows as it approaches the holding portion 9b. The gap width G3 at the proximal end of the tapered portion 9c relative to the holding portion 9b is smaller than the maximum gap width of the holding portion 9b and smaller than the diameter of the wire 5. The gap width G3 is the distance between the pair of thin plates at the proximal end of the tapered portion 9c relative to the holding portion 9b. When the wire 5 is assembled to the product 7, the tapered portion 9c is pushed apart by the wire 5. The wire 5 is inserted into the holding portion 9b through the tapered portion 9c.

[0029] 7 to 16, a wiring method for the wire 5 according to the present embodiment using the automatic wiring device 1 will be described. The wiring method for the wire 5 according to the present embodiment includes a step of shaping the wire 5, a step of cutting the wire 5, and a step of assembling the wire 5 to a product 7.

[0030] <Forming process of wire rod 5> 7 and 8, the rollers 11 and 12 are rotated. The wire 5 is pulled out from the reel 6 by the rollers 11 and 12 and fed toward the cutter 16. The rollers 11 and 12 guide the wire 5 toward the cutter 16. The wire 5 is held by the holders 14 and 15, for example, by closing a holding chuck.

[0031] The assembly hand 20 is moved along the first main surface 21a (specifically, in the -x direction) using the actuator 28, and the first gripper 22 (first gripping jaws 22b) is positioned between the holders 14, 15 in a plan view of the first main surface 21a (plan view from the z-axis direction). At this time, the first shaft 24 comes into contact with a side surface of the wire 5. The first gripping jaws 22b are closed by the first gripping chuck 22a, so that the first gripper 22 (first gripping jaws 22b) grips the wire 5.

[0032] 9, for example, by opening the holding chuck, the wire 5 is released from the holders 14, 15. The assembly hand 20 is moved by the actuator 28 to position the first shaft 24 on the side farther from the reel 6 than the cutter 16 in a plan view of the first main surface 21a (plan view from the z-axis direction) (the side in the -x direction against the cutter 16 in FIG. 9).

[0033] 10, the actuator 28 rotates the assembly hand 20 (support member 21) around the first shaft 24. For example, the assembly hand 20 (support member 21) rotates clockwise around the first shaft 24. Since the first shaft 24 is in contact with the side surface of the wire 5, the wire 5 is bent by the first shaft 24.

[0034] Then, the cylinder 26 (see FIGS. 1 and 3 ) is operated to move the second shaft 25 toward the wire 5 or to extend the second shaft 25 toward the wire 5. In this way, the second shaft 25 comes into contact with the side surface of the wire 5. The side surface of the wire 5 that the second shaft 25 comes into contact with is, for example, opposite to the side surface of the wire 5 that the first shaft 24 comes into contact with.

[0035] 11, the assembly hand 20 (support member 21) is rotated around the second shaft 25 by the actuator 28. For example, the assembly hand 20 (support member 21) rotates counterclockwise around the second shaft 25. Since the second shaft 25 is in contact with the side surface of the wire 5, the wire 5 is bent by the second shaft 25.

[0036] Then, the assembly hand 20 (support member 21) is moved by the actuator 28 along the first main surface 21a (specifically, in the -x direction) to position the second gripper 23 (second gripping jaws 23b) on the side farther from the reel 6 than the cutter 16 in a plan view of the first main surface 21a (plan view from the z-axis direction) (in FIG. 11, on the -x direction side than the cutter 16). The second gripping jaws 23b are closed by the second gripping chuck 23a, so that the second gripper 23 (second gripping jaws 23b) grips the wire 5. In this manner, the wire 5 is shaped.

[0037] <Cutting process of wire rod 5> 12, holders 14 and 15, for example by closing a holding chuck, hold the wire 5. The wire 5 is cut using a cutter 16.

[0038] <Wire rod 5 assembly process> 13, the actuator 28 moves the assembly hand 20 gripping the wire 5 from an upper position above the wire processing machine 2 to an upper position above the product 7. The actuator 28 moves the assembly hand 20 gripping the wire 5 toward the board 8. As shown in FIGS. 14A and 14B, the wire 5 comes into contact with the tapered portion 9c of the terminal 9. Since the wire 5 is gripped by the first gripping jaws 22b and the second gripping jaws 23b, even if the wire 5 is a flexible wire such as a twisted wire or a lead wire, the wire 5 receives a reaction force from the tapered portion 9c, and is prevented from being deformed in a direction away from the board 8. The tapered portion 9c is pushed open by the wire 5, and the tapered portion 9c is deformed outward.

[0039] The actuator 28 moves the assembly hand 20 gripping the wire 5 further toward the substrate 8. As shown in Figs. 15A, 15B and 16, the wire 5 is accommodated in the holding portion 9b of the terminal 9. The gap width G1 (see Fig. 6) of the root portion 9a and the gap width G3 (see Fig. 6) at the proximal end of the tapered portion 9c relative to the holding portion 9b are smaller than the diameter of the wire 5. Therefore, the wire 5 is prevented from slipping out of the holding portion 9b of the terminal 9. In this manner, the wire 5 is assembled to the product 7. The product 7 to which the wire 5 is assembled is the wiring board 100. The manufacturing method of the wiring board 100 of this embodiment includes the above-described steps of forming the wire 5, cutting the wire 5 and assembling the wire 5.

[0040] The first gripper 22 and the second gripper 23 continue to grip the wire 5 until the wire 5 is completely assembled into the product 7. The wire 5 cut by the wire processing machine 2 can be maintained in a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire 5 is completely assembled into the product 7. Therefore, the wire 5 can be wired into the product 7 in a desired shape.

[0041] The effects of automatic wiring device 1, the method for manufacturing wiring board 100, and the automatic wiring board (product 7) of this embodiment will be described.

[0042] The automatic wiring device 1 of this embodiment includes a wire processing machine 2 and a wire assembling machine 3. The wire processing machine 2 includes a cutter 16 capable of cutting the wire 5. The wire assembling machine 3 includes an assembling hand 20 capable of assembling the wire 5 to the product 7, and an actuator 28 capable of moving the assembling hand 20. The assembling hand 20 includes a first gripper 22 capable of gripping the wire 5, a second gripper 23 capable of gripping the wire 5, a first shaft 24 capable of contacting the wire 5, and a second shaft 25 capable of moving or extending toward the wire 5 and capable of contacting the wire 5.

[0043] Therefore, the first gripper 22 and the second gripper 23 grip the wire 5 until the wire 5 is completely assembled to the product 7. The wire 5 cut by the wire processing machine 2 can be maintained in a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire 5 is completely assembled to the product 7. Therefore, the automatic wiring device 1 can wire the wire 5 to the product 7 in a desired shape.

[0044] In the automatic wiring device 1 of the present embodiment, the assembly hand 20 further includes a support member 21. The support member 21 supports a first gripper 22, a second gripper 23, a first shaft 24, and a second shaft 25. The actuator 28 is connected to the support member 21.

[0045] Therefore, the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 can be moved together. The configuration of the automatic wiring device 1 can be simplified. The efficiency of assembling the wire 5 to the product 7 is improved.

[0046] In the automatic wiring device 1 of the present embodiment, the first shaft 24 is a fixed shaft that is fixed to the support member 21. Therefore, the configuration of the automatic wiring device 1 can be simplified.

[0047] In the automatic wiring device 1 of this embodiment, the wire processing machine 2 further includes holders 14 and 15 capable of holding the wire 5.

[0048] The holders 14 and 15 prevent the remaining portion of the wire 5 cut by the cutter 16 from being rewound onto the reel 6, and allow the remaining portion of the wire 5 to be quickly supplied to the assembly hand 20. The holders 14 and 15 make it possible to assemble a larger number of wires 5 to the product 7 in a shorter time. This improves the efficiency of assembling the wire 5 to the product 7.

[0049] In the automatic wiring device 1 of this embodiment, the wire processing machine 2 further includes rollers 11 and 12 capable of feeding the wire 5 from the reel 6 toward the cutter 16 .

[0050] The rollers 11 and 12 enable the wire 5 to be quickly fed to the assembly hand 20. The holders 14 and 15 enable a larger number of wires 5 to be assembled to the product 7 in a shorter time. This improves the efficiency of assembling the wire 5 to the product 7.

[0051] The manufacturing method of the wiring board 100 of this embodiment using the automatic wiring device 1 includes a step of shaping the wire 5 by the assembly hand 20, a step of cutting the shaped wire 5 by the cutter 16, and a step of assembling the cut wire 5 to a terminal 9 included in the product 7 while maintaining the shape of the cut wire 5 by the assembly hand 20.

[0052] In the manufacturing method for wiring board 100 of the present embodiment, wire 5 is assembled to product 7 including terminal 9 by using automatic wiring device 1 of the present embodiment. According to the manufacturing method for wiring board 100 of the present embodiment, wire 5 can be wired to product 7 in a desired shape.

[0053] The automatic wiring board (product 7) of this embodiment includes a substrate 8 and a terminal 9 provided on the substrate 8. The terminal 9 is formed of a pair of elastically deformable thin plates. The terminal 9 includes a root portion 9a, a holding portion 9b, and a tapered portion 9c. A first gap width (gap width G1) of the root portion 9a is smaller than the maximum gap width of the holding portion 9b. The gap width of the tapered portion 9c becomes narrower as it approaches the holding portion 9b. Of the gap widths of the tapered portion 9c, a second gap width (gap width G3) at the proximal end of the tapered portion 9c relative to the holding portion 9b is smaller than the maximum gap width of the holding portion 9b.

[0054] The automatic wiring board (product 7) of this embodiment has a terminal 9 including a root portion 9a, a holding portion 9b, and a tapered portion 9c. Therefore, by inserting wire 5 into holding portion 9b from the distal end of holding portion 9b relative to substrate 8 using automatic wiring device 1 of this embodiment, wire 5 can be assembled to terminal 9 in a desired shape. Tapered portion 9c smoothly guides wire 5 to the distal end of holding portion 9b relative to substrate 8. The automatic wiring board of this embodiment is suitable for automatic wiring device 1 of this embodiment.

[0055] Embodiment 2 An automatic wiring device 1b according to a second embodiment will be described with reference to Figures 17 to 19. The automatic wiring device 1b can wire wires 5 to both a product 7 (see Figure 5) and a product 7b (see Figure 20). The product 7b differs from the product 7 in the arrangement of terminals 9.

[0056] The automatic wiring device 1b of this embodiment has a similar configuration to the automatic wiring device 1 of embodiment 1, but differs mainly in the following respects. In the automatic wiring device 1b, the assembly hand 20 further includes a horizontal shaft movement mechanism 30. The horizontal shaft movement mechanism 30 is provided on the support member 21. The horizontal shaft movement mechanism 30 can change the relative positional relationship between the first shaft 24 and the second shaft 25 in the direction along the first main surface 21a. The horizontal shaft movement mechanism 30 includes, for example, a guide rail 31 and a slide plate 32.

[0057] The guide rail 31 is provided on the support member 21. Specifically, the guide rail 31 is fixed to a first main surface 21a of the support member 21. The guide rail 31 extends along a direction along the first main surface 21a. The guide rail 31 extends, for example, in the y-axis direction.

[0058] The slide plate 32 supports the first shaft 24. The first shaft 24 is supported by the support member 21 via a horizontal shaft movement mechanism 30. The slide plate 32 slides on a guide rail 31. The first shaft 24 moves relative to the second shaft 25 together with the slide plate 32. In this way, the relative positional relationship between the first shaft 24 and the second shaft 25 can be changed. The automatic wiring device 1b can wire the wire 5 to both the product 7 (see FIG. 5) and the product 7b (see FIG. 20).

[0059] The slide plate 32 may further support the first gripper 22. The first gripper 22 is supported by the support member 21 via the shaft horizontal movement mechanism 30. Therefore, in the direction along the first main surface 21a, the relative positional relationship between the first shaft 24 and the second shaft 25 and the relative positional relationship between the first gripper 22 and the second gripper 23 can be changed while the relative positional relationship between the first shaft 24 and the first gripper 22 is maintained.

[0060] In a modification of this embodiment, the shaft horizontal movement mechanism 30 may be capable of moving the first shaft 24 and the first gripper 22 in the x-axis direction and the y-axis direction.

[0061] The automatic wiring device 1b of this embodiment has the following advantages in addition to the advantages of the automatic wiring device 1 of the first embodiment.

[0062] In the automatic wiring device 1b of the present embodiment, the assembly hand 20 further includes a horizontal shaft movement mechanism 30 provided on the support member 21. The support member 21 has a first main surface 21a facing the wire 5. The horizontal shaft movement mechanism 30 can change the relative positional relationship between the first shaft 24 and the second shaft 25 in the direction along the first main surface 21a.

[0063] Therefore, the automatic wiring device 1b can assemble the wire 5 to a plurality of types of products 7, 7b having different arrangements of the terminals 9. This improves the efficiency of assembling the wire 5 to the plurality of types of products 7, 7b.

[0064] In the automatic wiring device 1b of this embodiment, the shaft horizontal movement mechanism 30 includes a first guide rail (guide rail 31) provided on the support member 21, and a first slide plate (slide plate 32) that can slide on the first guide rail. The first slide plate supports the first shaft 24 and the first gripper 22.

[0065] Therefore, in the direction along the first main surface 21a, the relative positional relationship between the first shaft 24 and the second shaft 25 and the relative positional relationship between the first gripper 22 and the second gripper 23 can be changed while maintaining the relative positional relationship between the first shaft 24 and the first gripper 22. This improves the efficiency of assembling the wire 5 to the various types of products 7, 7b.

[0066] Embodiment 3 An automatic wiring device 1c according to a third embodiment will be described with reference to Fig. 21. The automatic wiring device 1c according to this embodiment has a similar configuration to the automatic wiring device 1 according to the first embodiment, but differs mainly in the following respects. In the automatic wiring device 1c according to this embodiment, the wire assembly machine 3 further includes a force sensor 35 provided between the actuator 28 and the assembly hand 20. The force sensor 35 is a sensor that detects the magnitude of a load applied to the force sensor 35 and the direction of the load. The force sensor 35 includes, for example, a plurality of strain gauges.

[0067] 22, when the wire 5 is appropriately positioned with respect to the terminal 9 in the direction along the first main surface 21a (see FIG. 21) of the support member 21, the wire 5 receives a force along the normal direction of the first main surface 21a from the terminal 9 when the wire 5 is inserted into the terminal 9 using the assembly hand 20. The force sensor 35 detects the force along the normal direction of the first main surface 21a.

[0068] 23, if the wire 5 is improperly positioned with respect to the terminal 9 in the direction along the first main surface 21a (see FIG. 21) of the support member 21, when the wire 5 is inserted into the terminal 9 using the assembly hand 20, the wire 5 receives a force from the terminal 9 in a direction inclined with respect to the normal direction of the first main surface 21a. The force sensor 35 detects the force in a direction inclined with respect to the normal direction of the first main surface 21a.

[0069] In this way, depending on the direction of the force detected by the force sensor 35 when inserting the wire 5 into the terminal 9 using the assembling hand 20, it can be confirmed whether the wire 5 is appropriately positioned with respect to the terminal 9 in the direction along the first main surface 21a (see FIG. 21). If the wire 5 is inappropriately positioned with respect to the terminal 9 in the direction along the first main surface 21a of the support member 21, the actuator 28 is moved in the direction along the first main surface 21a to appropriately position the wire 5 with respect to the terminal 9 in the direction along the first main surface 21a before inserting the wire 5 into the holding portion 9b of the terminal 9. After the wire 5 is appropriately positioned with respect to the terminal 9 in the direction along the first main surface 21a, the actuator 28 is moved in the normal direction of the first main surface 21a to insert the wire 5 into the holding portion 9b of the terminal 9.

[0070] The automatic wiring device 1c of this embodiment has the following advantages in addition to the advantages of the automatic wiring device 1 of the first embodiment.

[0071] In the automatic wiring device 1c of this embodiment, the wire assembly machine 3 further includes a force sensor 35 provided between the actuator 28 and the assembly hand 20.

[0072] Therefore, the wire 5 can be accurately positioned with respect to the terminal 9. The automatic wiring device 1c can wire the wire 5 to the product 7 accurately.

[0073] Embodiment 4 An automatic wiring device 1d according to a fourth embodiment will be described with reference to Figures 24 to 26. The automatic wiring device 1d according to this embodiment has a similar configuration to the automatic wiring device 1 according to the first embodiment, but differs mainly in the following respects. In the automatic wiring device 1d according to this embodiment, the assembly hand 20 further includes welding units 36 and 37.

[0074] The welding unit 36 ​​is disposed closer to the first gripper 22 than the second gripper 23. The welding unit 36 ​​includes a welding electrode 36c. Specifically, the welding unit 36 ​​includes a base arm 36a, a movable arm 36b, and the welding electrode 36c.

[0075] The base arm 36a is supported by the support member 21. The base arm 36a may be fixed to the first main surface 21a of the support member 21. The longitudinal direction of the base arm 36a is the normal direction (z-axis direction) of the first main surface 21a. The movable arm 36b is attached to the base arm 36a. The movable arm 36b can move relative to the base arm 36a. The movable arm 36b can move in a direction along the first main surface 21a (e.g., the y-axis direction). The welding electrode 36c is attached to the movable arm 36b. The welding electrode 36c can be moved in a direction along the first main surface 21a (e.g., the y-axis direction) by the movable arm 36b.

[0076] The welding unit 37 is disposed closer to the second gripper 23 than to the first gripper 22. The welding unit 37 is spaced apart from the welding unit 36 ​​in a direction along the first main surface 21a of the support member 21. The welding unit 37 includes a welding electrode 37c. Specifically, the welding unit 37 includes a base arm 37a, a movable arm 37b, and the welding electrode 37c.

[0077] The base arm 37a is supported by the support member 21. The base arm 37a may be fixed to the first main surface 21a of the support member 21. The longitudinal direction of the base arm 37a is the normal direction (z-axis direction) of the first main surface 21a. The movable arm 37b is attached to the base arm 37a. The movable arm 37b can move relative to the base arm 37a. The movable arm 37b can move in a direction along the first main surface 21a (e.g., the y-axis direction). The welding electrode 37c is attached to the movable arm 37b. The welding electrode 37c can be moved in a direction along the first main surface 21a (e.g., the y-axis direction) by the movable arm 37b.

[0078] 27 and 28, a wiring method for the wire 5 according to the present embodiment will be described. The wiring method for the wire 5 according to the present embodiment includes similar steps to the wiring method for the wire 5 according to the first embodiment, but differs mainly in the following points.

[0079] As shown in Fig. 15A and Fig. 15B, after inserting the wire 5 into the terminal 9 (holding portion 9b) of the product 7, the movable arms 36b, 37b are moved to bring the welding electrodes 36c, 37c close to each other as shown in Fig. 27. As shown in Fig. 28, the welding electrodes 36c, 37c contact the outer side surface of the terminal 9 (holding portion 9b) and clamp the wire 5 accommodated in the terminal 9 (holding portion 9b) and the terminal 9 (holding portion 9b). The wire 5 and the terminal 9 (holding portion 9b) are welded to each other by applying a current or voltage to the welding electrodes 36c, 37c. Specifically, heat is generated by applying a current or voltage to the welding electrodes 36c, 37c. If the wire 5 is an electric wire covered with an insulating coating layer, the heat melts the insulating coating layer, and the electric wire exposed from the insulating coating layer is welded to the terminal 9 (holding portion 9b). When the wire 5 is a bare electric wire without an insulating coating layer, the electric wire and the terminal 9 (holding portion 9b) are welded together.

[0080] The automatic wiring device 1d of this embodiment has the following advantages in addition to the advantages of the automatic wiring device 1 of the first embodiment.

[0081] In the automatic wiring device 1d of this embodiment, the assembly hand 20 further includes welding units 36, 37 including welding electrodes 36c, 37c.

[0082] Therefore, the automatic wiring device 1d can more firmly fix the wire 5 to the terminal 9 of the product 7. The wire 5 is further prevented from coming loose from the terminal 9.

[0083] Embodiment 5. An automatic wiring device 1e according to a fifth embodiment will be described with reference to Figs. 29 to 31. The automatic wiring device 1e according to this embodiment has a similar configuration to the automatic wiring device 1 according to the first embodiment, but differs mainly in the following respects. The automatic wiring device 1e according to this embodiment further includes a wire rod forming machine 4. The wire rod forming machine 4 mainly includes a base member 40, a wire rod holding chuck 59, a first pipe 54, a second pipe 45, a wire rod holding chuck moving mechanism 55, and a pipe horizontal moving mechanism 41. The wire rod forming machine 4 may further include a first pipe vertical moving mechanism 61 and a second pipe vertical moving mechanism 62.

[0084] The base member 40 is, for example, a base plate. The base member 40 includes a second main surface 40a. The second main surface 40a of the base member 40 faces the first main surface 21a of the support member 21. The base member 40 supports a wire gripping chuck 59, a first pipe 54, a second pipe 45, a wire gripping chuck moving mechanism 55, and a pipe horizontal moving mechanism 41.

[0085] The first pipe 54 has the first shaft 24 inserted therein (see FIG. 40). The second pipe 45 has the second shaft 25 inserted therein (see FIG. 40). The pipe horizontal movement mechanism 41 can change the relative positional relationship between the first pipe 54 and the second pipe 45 in the direction along the second main surface 40a of the base member 40. The pipe horizontal movement mechanism 41 includes a first pipe horizontal movement mechanism 46 and a second pipe horizontal movement mechanism 42.

[0086] The first pipe horizontally moving mechanism 46 can move the first pipe 54 in a first direction (e.g., the x-axis direction and the y-axis direction) along the second main surface 40a of the base member 40. The first pipe horizontally moving mechanism 46 includes a depth direction moving mechanism 47 and a first width direction moving mechanism 50.

[0087] The depth direction movement mechanism 47 can move the first pipe 54 in the depth direction (y-axis direction) of the base member 40. Specifically, the depth direction movement mechanism 47 includes a guide rail 48 and a slide plate 49. The guide rail 48 is provided on the support member 21. More specifically, the guide rail 48 is fixed to the second main surface 40a of the base member 40. The guide rail 48 extends along the depth direction (y-axis direction) of the base member 40. The slide plate 49 slides on the guide rail 48.

[0088] The first width-direction movement mechanism 50 can move the first pipe 54 in the width direction (x-axis direction) of the base member 40. Specifically, the first width-direction movement mechanism 50 includes a base 51, a movable rod 52, and a fixed plate 53. The base 51 is fixed to the slide plate 49. The movable rod 52 is supported by the base 51. The movable rod 52 can move in the width direction (x-axis direction) of the base member 40 relative to the base 51. The fixed plate 53 is fixed to the movable rod 52. The first pipe 54 is supported by the fixed plate 53. The first pipe 54 is supported by the movable rod 52 via the fixed plate 53. The first pipe 54 can move in the width direction (x-axis direction) of the base member 40 together with the movable rod 52 and the fixed plate 53.

[0089] The second pipe horizontal movement mechanism 42 can move the second pipe 45 in a second direction (e.g., the x-axis direction) along the second main surface 40a of the base member 40. The second pipe horizontal movement mechanism 42 includes a guide rail 43 and a slide plate 44. The guide rail 43 is provided on the support member 21. More specifically, the guide rail 43 is fixed to the second main surface 40a of the base member 40. The guide rail 43 extends along the width direction (x-axis direction) of the base member 40. The slide plate 44 slides on the guide rail 43. The second pipe 45 can move together with the slide plate 44 in the width direction (x-axis direction) of the base member 40.

[0090] At least one of the first pipe 54 and the second pipe 45 is movable toward the wire 5. In this embodiment, both the first pipe 54 and the second pipe 45 are movable toward the wire 5. Specifically, the first pipe vertical movement mechanism 61 is provided on the fixed plate 53. The first pipe vertical movement mechanism 61 can move the first pipe 54 in the normal direction (z-axis direction) of the second main surface 40a of the base member 40. The first pipe vertical movement mechanism 61 is, for example, a linear actuator. The second pipe vertical movement mechanism 62 is provided on the slide plate 44. The second pipe vertical movement mechanism 62 can move the second pipe 45 in the normal direction (z-axis direction) of the second main surface 40a of the base member 40. The second pipe vertical movement mechanism 61 is, for example, a linear actuator.

[0091] In a modification of the present embodiment, at least one of the first pipe 54 or the second pipe 45 may be extendable toward the wire 5. Both the first pipe 54 and the second pipe 45 may be extendable toward the wire 5.

[0092] The wire-holding chuck 59 can hold the wire 5 . The wire gripping chuck moving mechanism 55 can move the wire gripping chuck 59 along the second main surface 40a of the base member 40 (for example, along the x-axis direction). The wire gripping chuck moving mechanism 55 includes a depth direction moving mechanism 47 and a second width direction moving mechanism 56. The first pipe horizontal moving mechanism 46 and the wire gripping chuck moving mechanism 55 share the depth direction moving mechanism 47. In other words, the first pipe horizontal moving mechanism 46 and the wire gripping chuck moving mechanism 55 share the guide rail 48 and the slide plate 49.

[0093] The second width direction moving mechanism 56 can move the wire gripping chuck 59 in a second direction along the second main surface 40a of the base member 40 (e.g., the width direction (x-axis direction) of the base member 40). Specifically, the second width direction moving mechanism 56 includes a base 57 and a movable rod 58. The base 57 is fixed to the slide plate 49. The movable rod 58 is supported by the base 57. The movable rod 58 can move in a second direction along the second main surface 40a of the base member 40 (e.g., the width direction (x-axis direction) of the base member 40) relative to the base 57. The wire gripping chuck 59 is fixed to the movable rod 58 and can move together with the movable rod 58 in the width direction (x-axis direction) of the base member 40.

[0094] A method for wiring the wire 5 using the automatic wiring device 1e of the present embodiment will be described with reference to Figures 13 to 16, 29, and 32 to 43. The method for wiring the wire 5 of the present embodiment includes a step of shaping the wire 5, a step of cutting the wire 5, a step of transferring the wire 5 to an assembly hand 20, and a step of assembling the wire 5 to a product 7.

[0095] <Forming process of wire rod 5> 32 and 33, the wire 5 is gripped by a wire gripping chuck 59. The tip of the first pipe 54 (the distal end of the first pipe 54 relative to the base member 40) and the tip of the second pipe 45 (the distal end of the second pipe 45 relative to the base member 40) are located closer to the base member 40 than the wire 5. Therefore, the first pipe 54 and the second pipe 45 do not mechanically interfere with the wire 5 and do not prevent the wire gripping chuck 59 from gripping the wire 5.

[0096] 34 and 35, the wire gripping chuck moving mechanism 55 (second width-direction moving mechanism 56) moves the wire gripping chuck 59 in the width direction (x-axis direction) of the base member 40. Due to the movement of the wire gripping chuck 59, the wire 5 is further pulled out from the reel 6 (see FIG. 29). The wire gripping chuck 59 is located closer to the depth-direction moving mechanism 47 than the first pipe 54 and the second pipe 45 in the width direction (x-axis direction) of the base member 40. The wire gripping chuck 59 is located in the +x direction relative to the first pipe 54 and the second pipe 45.

[0097] Then, the first pipe vertical movement mechanism 61 moves the first pipe 54 towards the wire 5. The first pipe 54 comes into contact with the side of the wire 5. The second pipe vertical movement mechanism 62 moves the second pipe 45 towards the wire 5. The second pipe 45 comes into contact with the side of the wire 5. The ends of the first pipe 54 and the second pipe 45 are located farther from the base member 40 than the wire 5. If the first pipe 54 and the second pipe 45 are telescopic pipes, the first pipe vertical movement mechanism 61 extends the first pipe 54 towards the wire 5, and the second pipe vertical movement mechanism 62 extends the second pipe 45 towards the wire 5.

[0098] As shown in Fig. 36 and Fig. 37, the first pipe 54 is moved in the depth direction (y-axis direction) of the base member 40 by the first pipe horizontal movement mechanism 46 (depth direction movement mechanism 47). Since the first pipe 54 and the second pipe 45 are in contact with the side surfaces of the wire 5, the wire 5 is bent by the first pipe 54 and the second pipe 45. Since the first pipe horizontal movement mechanism 46 and the wire gripping chuck moving mechanism 55 share the depth direction movement mechanism 47, the wire gripping chuck 59 is also moved in the depth direction (y-axis direction) of the base member 40 by the wire gripping chuck moving mechanism 55 (depth direction movement mechanism 47). The wire gripping chuck 59 further pulls out the wire 5 from the reel 6 (see Fig. 29).

[0099] 38 and 39, the wire rod holding chuck moving mechanism 55 (second width direction moving mechanism 56) moves the wire rod holding chuck 59 in the width direction (x-axis direction) of the base member 40. The wire rod holding chuck 59 may further pull out the wire rod 5 from the reel 6 (see FIG. 29). In this manner, the wire rod forming machine 4 forms the wire rod 5.

[0100] <Cutting process of wire rod 5> 40 and 41 , the actuator 28 moves the assembly hand 20 toward the wire forming machine 4. The first shaft 24 and the second shaft 25 are inserted into the first pipe 54 and the second pipe 45, respectively. The first gripper 22 (first gripping jaw 22b) and the second gripper 23 (second gripping jaw 23b) grip the wire 5.

[0101] The actuator 28 moves the assembly hand 20 and the wire forming machine 4 to position the wire processing machine 2 between the reel 6 and the assembly hand 20 (second gripper 23) of the wire 5. The holders 14, 15 of the wire processing machine 2 hold the wire 5, for example, by closing the holding chucks.

[0102] As shown in FIG. 42, the wire 5 is cut using a cutter 16. <Wire rod 5 delivery process> As shown in Figure 43, the wire 5 formed by the wire forming machine 4 is transferred from the wire forming machine 4 to the wire assembly machine 3 (assembly hand 20) while the shape of the wire 5 formed by the wire forming machine 4 is basically maintained.

[0103] Specifically, the assembly hand 20 is moved away from the wire rod forming machine 4 and the wire rod processing machine 2. The first shaft 24 and the second shaft 25 are pulled out from the first pipe 54 and the second pipe 45, respectively. In a plan view of the second main surface 40a of the base member 40 (or the first main surface 21a of the support member 21), the first shaft 24 is at the same position as the first pipe 54, and the second shaft 25 is at the same position as the second pipe 45. The first gripper 22 and the second gripper 23 continue to grip the wire rod 5. Therefore, when the first shaft 24 and the second shaft 25 are pulled out from the first pipe 54 and the second pipe 45, respectively, the wire rod 5 formed by the first pipe 54 and the second pipe 45 is delivered to the first shaft 24 and the second shaft 25 while the shape of the wire rod 5 formed by the wire rod forming machine 4 is basically maintained.

[0104] <Wire rod 5 assembly process> The process of assembling the wire 5 in this embodiment is the same as the process of assembling the wire 5 in the first embodiment shown in Fig. 13, Fig. 14A and Fig. 14B. Specifically, the actuator 28 moves the assembly hand 20 to a position above the product 7. The actuator 28 moves the assembly hand 20 toward the product 7, and the wire 5 is pushed into the terminal 9 of the product 7. In this way, the wire 5 is assembled into the product 7, as shown in Fig. 15A, Fig. 15B and Fig. 16.

[0105] The first gripper 22 and the second gripper 23 continue to grip the wire 5 until the wire 5 is completely assembled into the product 7. The wire 5 cut by the wire processing machine 2 can be maintained in a desired shape by the first gripper 22, the second gripper 23, the first shaft 24, and the second shaft 25 until the wire 5 is completely assembled into the product 7. Therefore, the wire 5 can be wired into the product 7 in a desired shape.

[0106] The automatic wiring device 1e of this embodiment has the following advantages in addition to the advantages of the automatic wiring device 1 of the first embodiment.

[0107] The automatic wiring device 1e of this embodiment further includes a wire rod forming machine 4. The wire rod forming machine 4 includes a base member 40 including the second main surface 40a, a wire rod holding chuck 59 capable of holding the wire rod 5, a first pipe 54 into which the first shaft 24 can be inserted, a second pipe 45 into which the second shaft 25 can be inserted, a wire rod holding chuck moving mechanism 55, and a pipe horizontal moving mechanism 41. The base member 40 supports the wire rod holding chuck 59, the first pipe 54, the second pipe 45, the wire rod holding chuck moving mechanism 55, and the pipe horizontal moving mechanism 41. The wire rod holding chuck moving mechanism 55 can move the wire rod holding chuck 59 along the second main surface 40a. The pipe horizontal moving mechanism 41 can change the relative positional relationship between the first pipe 54 and the second pipe 45 in the direction along the second main surface 40a.

[0108] The wire 5 is shaped by a wire forming machine 4 separate from a wire assembling machine 3 (assembly hand 20) that assembles the wire 5 to the product 7. Therefore, the process of shaping the wire 5 and the process of assembling the wire 5 to the product 7 can be carried out in parallel. The automatic wiring device 1e of the present embodiment can assemble a larger number of wires 5 to the product 7 in a shorter time. The efficiency of assembling the wire 5 to the product 7 is further improved.

[0109] In the automatic wiring device 1e of this embodiment, the pipe horizontal movement mechanism 41 includes a first pipe horizontal movement mechanism 46 that can move the first pipe 54 in a first direction along the second main surface 40a, and a second pipe horizontal movement mechanism 42 that can move the second pipe 45 in a second direction along the second main surface 40a.

[0110] This improves the degree of freedom in forming the wire 5. The automatic wiring device 1e of the present embodiment can assemble the wire 5 into a plurality of types of products 7 having different arrangements of the terminals 9.

[0111] In the automatic wiring device 1e of this embodiment, the first pipe horizontal moving mechanism 46 and the wire holding chuck moving mechanism 55 share a second guide rail (guide rail 48) and a second slide plate (slide plate 49) that can slide on the second guide rail.

[0112] Therefore, in the direction along the second main surface 40a, the relative positional relationship between the first pipe 54 and the second pipe 45 can be changed while maintaining the relative positional relationship between the first pipe 54 and the wire gripping chuck 59. This improves the efficiency of assembling the wire 5 to the product 7.

[0113] In the automatic wiring device 1e of the present embodiment, at least one of the first pipe 54 and the second pipe 45 is movable or extendable toward the wire 5.

[0114] Therefore, when the wire rod 5 is drawn out by moving the wire rod holding chuck 59, at least one of the first pipe 54 and the second pipe 45 can be prevented from mechanically interfering with the wire rod 5. The wire rod 5 can be smoothly formed.

[0115] Embodiment 6 An automatic wiring device 1f of the sixth embodiment will be described with reference to Figures 44 to 46. The automatic wiring device 1f of the present embodiment has a similar configuration to the automatic wiring device 1 of the first embodiment, but differs mainly in the following points.

[0116] In the automatic wiring device 1f of this embodiment, the assembly hand 20 further includes terminal expanders 70, 71 and support members 72, 73.

[0117] The support member 72 supports the terminal expander 70. For example, the support member 72 includes a first end and a second end opposite to the first end. A recess is formed in the first end of the support member 72, and the terminal expander 70 is fitted into the recess. The first end of the support member 72 protrudes on the opposite side to the support member 21 with respect to the first gripping claw 22b. The second end of the support member 72 is fixed to the support member 21.

[0118] The support member 73 supports the terminal expander 71. For example, the support member 73 includes a first end and a second end opposite to the first end. A recess is formed in the first end of the support member 73, and the terminal expander 71 is fitted into the recess. The first end of the support member 73 protrudes on the opposite side to the support member 21 with respect to the second gripping claw 23b. The second end of the support member 73 is fixed to the support member 21.

[0119] The terminal expanders 70 and 71 can contact the terminal 9 (see Figs. 47 to 56) and expand the terminal 9. Specifically, the terminal expanders 70 and 71 can contact a pair of elastically deformable thin plates forming the terminal 9 and expand the gap width of the terminal 9, which is the distance between the pair of thin plates. The terminal expanders 70 and 71 can make the gap width of the terminal 9 larger than the diameter of the wire 5. In this embodiment, the terminal 9 does not include a tapered portion 9c (see Fig. 6, etc.). The distal end of the terminal 9 from the substrate 8 (e.g., the upper end of the terminal 9) is the distal end of the holding portion 9b from the substrate 8 (e.g., the upper end of the holding portion 9b).

[0120] The terminal expander 70 is on the opposite side of the support member 21 with respect to the first gripping claw 22b. The terminal expander 70 protrudes from the first end of the support member 72 on the opposite side of the first gripping claw 22b with respect to the first end of the support member 72. The portion of the terminal expander 70 protruding from the first end of the support member 72 has a shape that tapers away from the first end of the support member 72. The terminal expander 70 is, for example, a wedge-shaped member. The width of the tapered tip of the terminal expander 70 is smaller than the gap width of the distal end of the terminal 9 (retaining portion 9b) from the substrate 8. The maximum width of the terminal expander 70 (for example, the maximum length of the terminal expander 70 in the y-axis direction of FIG. 48) is larger than the gap width at the base portion 9a of the terminal 9.

[0121] The terminal expander 71 is located on the opposite side of the second gripping claw 23b from the support member 21. The terminal expander 71 protrudes from the first end of the support member 73 on the opposite side of the second gripping claw 23b from the first end of the support member 73. The portion of the terminal expander 71 protruding from the first end of the support member 73 has a shape that tapers away from the first end of the support member 73. The terminal expander 71 is, for example, a wedge-shaped member. The width of the tapered tip of the terminal expander 71 is smaller than the gap width of the distal end of the terminal 9 (retaining portion 9b) from the substrate 8. The maximum width of the terminal expander 71 is larger than the gap width at the base portion 9a of the terminal 9.

[0122] A wiring method for the wire 5 of this embodiment using the automatic wiring device 1f will be described with reference to Fig. 47 to Fig. 56. The wiring method for the wire 5 of this embodiment is similar to the wiring method for the wire 5 of the first embodiment, but is different in the assembly process of the wire 5.

[0123] In the process of assembling the wire 5 in this embodiment, as shown in Figs. 47 and 48, the actuator 28 (see Fig. 44) moves the assembly hand 20 that grips the wire 5 from an upper position of the wire processing machine 2 (see Fig. 44) to an upper position of the product 7. Then, the actuator 28 moves the assembly hand 20 toward the board 8. The terminal expanders 70, 71 are inserted into the gaps of the terminals 9. As shown in Figs. 49 and 50, the terminal expanders 70, 71 come into contact with the base portions 9a of the terminals 9 to expand the terminals 9. The terminal expanders 70, 71 make the gap width of the terminals 9 larger than the diameter of the wire 5.

[0124] The actuator 28 moves the assembly hand 20 further toward the substrate 8. As shown in Figs. 51 and 52, the terminal 9 is further expanded, and the wire 5 is placed in the gap of the holding portion 9b of the terminal 9. As shown in Figs. 53 and 54, the first gripping jaws 22b are opened, and the wire 5 is released from the first gripper 22. Although not shown in Figs. 53 and 54, the second gripping jaws 23b are also opened, and the wire 5 is released from the second gripper 23. As shown in Figs. 55 and 56, the actuator 28 moves the assembly hand 20 along the substrate 8, and the terminal expanders 70, 71 are pulled out from the terminal 9. In this way, the wire 5 is assembled to the product 7, and the wiring board 100 is obtained.

[0125] The automatic wiring device 1f and the automatic wiring board (product 7) of this embodiment have the following advantages in addition to the advantages of the automatic wiring device 1 and the automatic wiring board (product 7) of the first embodiment.

[0126] In the automatic wiring device 1f of this embodiment, the assembly hand 20 further includes terminal expanders 70, 71 capable of expanding the terminals 9. The product 7 includes the terminals 9 into which the wires 5 are inserted.

[0127] According to the automatic wiring device 1f of this embodiment, it is possible to attach the wire 5 to the terminal 9 even if the terminal 9 does not include the tapered portion 9c (see FIG. 6 and the like).

[0128] The automatic wiring board (product 7) of this embodiment includes a substrate 8 and a terminal 9 provided on the substrate 8. The terminal 9 is formed of a pair of elastically deformable thin plates. The terminal 9 includes a base portion 9a and a holding portion 9b. A first gap width (gap width G1) of the base portion 9a is smaller than a maximum gap width (gap width G2) of the holding portion 9b.

[0129] The automatic wiring board (product 7) of this embodiment is provided with a terminal 9 including a base portion 9a and a holding portion 9b. Therefore, by inserting the wire 5 into the holding portion 9b from the distal end of the holding portion 9b relative to the board 8 using the automatic wiring device 1f of this embodiment, the wire 5 can be attached to the terminal 9 in a desired shape. The automatic wiring board of this embodiment is suitable for the automatic wiring device 1f of this embodiment.

[0130] The embodiments 1 to 6 disclosed herein should be considered as illustrative and not restrictive in all respects. At least two of the embodiments 1 to 6 disclosed herein may be combined unless there is a contradiction. The scope of the present disclosure is indicated by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0131] 1,1b,1c,1d,1e,1f automatic wiring device, 2 wire processing machine, 3 wire assembly machine, 4 wire forming machine, 5 wire, 6 reel, 7,7b product, 8 board, 9 terminal, 9a root portion, 9b holding portion, 9c tapered portion, 10 base plate, 11,12 roller, 14,15 holder, 16 cutter, 20 assembly hand, 21 support member, 21a first main surface, 22 first gripper, 22a first gripping chuck, 22b first gripping jaw, 23 second gripper, 23a second gripping chuck, 23b second gripping jaw, 24 first shaft, 25 second shaft, 26 cylinder, 27 connecting plate, 28 actuator, 30 shaft horizontal movement mechanism, 31 guide rail, 32 slide plate, 35 a first pipe; a second pipe; a third pipe; a fourth pipe; a fourth pipe; a fifth pipe; a fifth pipe; a sixth pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth ... fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth pipe; a seventh pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth pipe; a seventh pipe; a fifth pipe; a seventh pipe; a sixth pipe; a seventh pipe; a fifth

Claims

1. a wire processing machine including a cutter capable of cutting a wire; a wire assembly machine including an assembly hand capable of assembling the wire to a product and an actuator capable of moving the assembly hand, the assembly hand includes a first gripper capable of gripping the wire rod, a second gripper capable of gripping the wire rod, a first shaft capable of contacting the wire rod to bend the wire rod, and a second shaft movable or extendable toward the wire rod and capable of contacting the wire rod to bend the wire rod, The wire is bent and shaped by the first shaft and the second shaft while in contact with a side surface of the first shaft and a side surface of the second shaft.

2. The assembly hand further includes a support member, the support member supports the first gripper, the second gripper, the first shaft, and the second shaft, 2. The automatic wiring device according to claim 1, wherein the actuator is connected to the support member.

3. 3. The automatic wiring device according to claim 2, wherein the first shaft is a fixed shaft fixed to the support member.

4. the assembly hand further includes a shaft horizontal movement mechanism provided on the support member, The support member has a first main surface facing the wire, 4. The automatic wiring device according to claim 2, wherein the shaft horizontal movement mechanism is capable of changing a relative positional relationship between the first shaft and the second shaft in a direction along the first main surface.

5. the shaft horizontal movement mechanism includes a first guide rail provided on the support member and a first slide plate capable of sliding on the first guide rail, 5. The automatic wiring apparatus according to claim 4, wherein the first slide plate supports the first shaft and the first gripper.

6. 6. The automatic wiring device according to claim 1, wherein the wire assembly machine further includes a force sensor provided between the actuator and the assembly hand.

7. The automatic wiring device according to claim 1 , wherein the assembly hand further includes a welding unit including a welding electrode.

8. a wire processing machine including a cutter capable of cutting a wire; a wire assembly machine including an assembly hand capable of assembling the wire to a product and an actuator capable of moving the assembly hand, a wire forming machine; the assembly hand includes a first gripper capable of gripping the wire rod, a second gripper capable of gripping the wire rod, a first shaft capable of contacting the wire rod, and a second shaft movable or extendable toward the wire rod and capable of contacting the wire rod, the wire rod forming machine includes a base member including a second main surface, a wire rod gripping chuck capable of gripping the wire rod, a first pipe into which the first shaft can be inserted, a second pipe into which the second shaft can be inserted, a wire rod gripping chuck moving mechanism, and a pipe horizontal moving mechanism; the base member supports the wire gripping chuck, the first pipe, the second pipe, the wire gripping chuck moving mechanism, and the pipe horizontal moving mechanism, The wire gripping chuck moving mechanism may move the wire gripping chuck along the second main surface, The pipe horizontal movement mechanism is capable of changing the relative positional relationship between the first pipe and the second pipe in a direction along the second main surface.

9. 9. The automatic wiring device according to claim 8, wherein the pipe horizontal movement mechanism includes a first pipe horizontal movement mechanism capable of moving the first pipe in a first direction along the second main surface, and a second pipe horizontal movement mechanism capable of moving the second pipe in a second direction along the second main surface.

10. 10. The automatic wiring device according to claim 9, wherein the first pipe horizontal movement mechanism and the wire rod gripping chuck movement mechanism share a second guide rail and a second slide plate capable of sliding on the second guide rail.

11. 11. The automatic wiring device according to claim 8, wherein at least one of the first pipe and the second pipe is movable or extendable toward the wire.

12. 12. The automatic wiring device according to claim 1, wherein the wire processing machine further includes a holder capable of holding the wire.

13. 13. The automatic wiring apparatus according to claim 1, wherein the wire processing machine further includes a roller capable of feeding the wire from a reel toward the cutter.

14. The product includes a terminal into which the wire is inserted, The automatic wiring device according to claim 1 , wherein the assembly hand further includes a terminal expander capable of expanding the terminals.

15. A method for manufacturing a wiring board using the automatic wiring device according to any one of claims 1 to 7, shaping the wire by bending the wire using the first shaft and the second shaft while the wire is in contact with the first shaft and the second shaft; cutting the formed wire rod using the cutter; and assembling the cut wire to a terminal included in the product while maintaining the shape of the cut wire using the first gripper, the second gripper, the first shaft, and the second shaft.

16. A method for manufacturing a wiring board using the automatic wiring device according to any one of claims 8 to 11, forming a wire by the wire forming machine; cutting the formed wire rod using the cutter; and assembling the cut wire to a terminal included in the product while maintaining the shape of the cut wire with the assembly hand.

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