Terminal Insertion Device

Abstract

To provide a terminal insertion device comprising chuck means that does not inhibit displacement of a held terminal to one side in the left-right direction.SOLUTION: A terminal insertion device 1 is a device that inserts terminals 21 of electric wires 2 with a terminal into cavities 4, and comprises a terminal chuck 5 that holds the terminals 21. The terminal chuck 5 includes an upper terminal chuck 51 having a predetermined width in the left-right direction Y, and a lower terminal chuck 52 having a predetermined width in the left-right direction Y and displaceable in the vertical direction Z relative to the upper terminal chuck 51. An upper holding surface 56 is provided on one side in the left-right direction Y of the upper terminal chuck 51, and a lower holding surface 60 is provided on one side in the left-right direction Y of the lower terminal chuck 52. The terminal 21 is sandwiched and held by the upper holding surface 56 and the lower holding surface 60 at a position eccentric to one side in the left-right direction Y of the terminal chuck 5.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a terminal insertion device. [Background technology]

[0002] Conventionally, there has been known a terminal insertion device that inserts a terminal of a terminal-attached electric wire into a cavity provided in a housing (see, for example, Patent Document 1). The terminal insertion device described in Patent Document 1 includes a pair of left and right terminal chucks each having a claw portion that protrudes inward. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5619587 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described terminal insertion device, a plurality of terminals are inserted collectively into corresponding cavities provided in a housing. In this case, multiple pairs of the above-described terminal chucks are prepared, with one terminal held by one pair of terminal chucks and the other terminal held by the other pair of terminal chucks. The held one terminal and the other terminal are then inserted into corresponding cavities provided in the housing. In this case, for example, if the cavities are adjacent in the left-right direction, the terminal insertion device displaces one pair of terminal chucks from the other pair of terminal chucks in the left-right direction to change the left-right separation distance (pitch) between the one terminal and the other terminal to match the separation distance between the left-right adjacent cavities. However, in the above-described conventional terminal insertion device, due to the structure in which terminals are held by a pair of left and right terminal chucks, when the one terminal held by the terminal chucks is brought close to the other terminal in the left-right direction, the terminal chucks on the inner side of the adjacent terminal chucks may interfere with each other, preventing the one terminal from being brought close to the other terminal.

[0005] SUMMARY OF THE INVENTION An object of the present invention is to provide a terminal insertion device having chuck means that does not easily hinder the displacement of a gripped terminal to one side in the left-right direction. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the object, a terminal insertion device is provided which inserts a terminal of a terminal-attached electric wire into a cavity, and which includes a terminal chuck which grips the terminal, and the terminal chuck includes an upper main body portion having a predetermined width in the left-right direction, and a lower main body portion which has a predetermined width in the left-right direction and is provided so as to be displaceable in the up-down direction relative to the upper main body portion, and an upper gripping portion which abuts against an upper portion of the terminal is provided on one left-right side of the upper main body portion, and a lower gripping portion which faces the upper gripping portion in the up-down direction and abuts against a lower portion of the terminal is provided on one left-right side of the lower main body portion, and the terminal is gripped by being sandwiched between the upper gripping portion and the lower gripping portion at a position eccentric to one left-right side of the terminal chuck The terminal is provided with a core wire crimping portion that extends in the terminal insertion direction and crimps a core wire of an electric wire on which the terminal is provided, the upper gripping portion includes a first upper plate portion that extends in the left-right direction and a second upper plate portion that extends from one left-right side of the first upper plate portion in the terminal insertion direction, the lower surface of the second upper plate portion forms an upper gripping surface that abuts against the upper surface of the core wire crimping portion, the lower gripping portion includes a first lower plate portion that extends in the left-right direction and a second lower plate portion that extends from one left-right side of the first lower plate portion in the terminal insertion direction, the upper surface of the second lower plate portion forms a lower gripping surface that abuts against the lower surface of the core wire crimping portion. It is characterized by: [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a terminal insertion device equipped with chuck means that does not easily hinder displacement of the gripped terminal to one side in the left-right direction. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a terminal insertion device according to an embodiment. [Figure 2] FIG. 2 is an enlarged view of a main part of the terminal insertion device shown in FIG. [Figure 3] 4A is a perspective view of a terminal chuck provided in the terminal insertion device, and FIG. 4B is a front view of the terminal chuck. [Figure 4] 3A is an enlarged view of a main part of the terminal chuck in FIG. 3B, and FIG. 3B is a schematic view of a terminal chuck that does not have a protrusion and a receiving portion. [Figure 5]4A is a perspective view of a wire chuck provided in the terminal insertion device, and FIG. 4B is a front view of the wire chuck. [Figure 6] 10 is a perspective view showing the terminal insertion device in a state where the first head and the second head have moved toward gripping positions for the terminal-attached electric wire in the initial state. FIG. [Figure 7] 1 is a perspective view showing a terminal insertion device in an initial state in which a terminal chuck grips a core crimping portion of a terminal-attached electric wire; FIG. [Figure 8] 10 is a perspective view showing the terminal chuck beginning to move from the right side toward the gripping position of the terminal; FIG. [Figure 9] FIG. 10 is a perspective view showing the terminal chuck that has completed moving to the terminal gripping position. [Figure 10] FIG. 10 is a perspective view showing the terminal chuck after completing the gripping of the terminal. [Figure 11] 10 is a perspective view showing a terminal chuck gripping terminals of terminal-attached electric wires adjacent to each other at a narrow pitch; FIG. [Figure 12] 1A is a schematic diagram of a terminal chuck gripping a small-sized core wire crimping portion, and FIG. 1B is a schematic diagram of a terminal chuck gripping a large-sized core wire crimping portion. [Figure 13] FIG. 10 is a side view of the terminal chuck gripping the core wire crimping portion. [Figure 14] FIG. 12 is a front view of the terminal chuck in the state shown in FIG. 11 . [Figure 15] FIG. 10 is a perspective view showing a state in which the wire chuck grips the wire end portion of the terminal-attached wire in an initial state. [Figure 16] FIG. 10 is a perspective view showing the wire chuck starting to move from the right side toward the gripping position of the wire end portion. [Figure 17] FIG. 10 is a perspective view showing the wire chuck that has completed moving to a position for gripping an end portion of the wire. [Figure 18] FIG. 10 is a perspective view showing the wire chuck after completing the gripping of the wire end portion. [Figure 19] FIG. 10 is a perspective view showing a wire chuck gripping wire end portions of terminal-attached wires adjacent to each other at a narrow pitch. [Figure 20]1A is a front view of the electric wire chuck gripping the end portion of a small-sized electric wire, and FIG. 1B is a front view of the electric wire chuck gripping the end portion of a large-sized electric wire. [Figure 21] FIG. 2 is a perspective view showing the terminal insertion device in a state where the first head and the second head have moved to the insertion position. [Figure 22] 22 is a perspective view showing the terminal insertion device in a state where the first head and the second head have been moved to insertion positions different from the insertion positions shown in FIG. 21. [Figure 23] 22 is a perspective view showing the terminal insertion device in a state where the first head and the second head have been moved to insertion positions different from the insertion positions shown in FIGS. 20 and 21. FIG. [Figure 24] 10A to 10D are conceptual diagrams showing examples of variations in insertion patterns of terminals into cavities. [Figure 25] FIG. 10 is a perspective view showing the terminal insertion device in a state where a terminal is being primarily inserted into a cavity. [Figure 26] FIG. 4 is a perspective view showing the terminal insertion device in a state where the terminal chuck is retracted. [Figure 27] 10 is a perspective view showing the terminal insertion device in a state where the terminal is secondarily inserted into the cavity and then tension confirmation is performed. FIG. [Figure 28] FIG. 4 is a perspective view showing the terminal insertion device with the wire chuck released. [Figure 29] FIG. 10 is a perspective view showing the terminal insertion device in a state where the insertion of the terminal is completed. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of a terminal insertion device will be described below. Fig. 1 is a perspective view showing a terminal insertion device 1 according to the embodiment. The terminal insertion device 1 of the present embodiment is, for example, one of devices for manufacturing wire harnesses to be installed in vehicles, etc., and is a device for inserting terminals 21 of terminal-attached electric wires 2 into cavities 4 of a housing 3. In the present embodiment, the terminal insertion device 1 is used in a process of independently holding and moving one terminal 21 and another terminal 21 among a plurality of terminals 21 held by predetermined holders 14 on a frame 10. The terminal insertion device 1 is also used in a process of collectively inserting each of the held and moved terminals 21 into corresponding cavities 4 among a plurality of cavities 4 provided in the housing 3.

[0010] In the drawings, the insertion / removal direction (insertion direction) of the terminal 21 is referred to as the "front-rear direction X," with one side of the front-rear direction X referred to as the "front side X1" and the other side as the "rear side X2." Furthermore, one of the directions perpendicular to the front-rear direction X is referred to as the "left-right direction Y," with one side of the left-right direction Y referred to as the "left side Y1" and the other side as the "right side Y2." Furthermore, the height direction of the terminal insertion device 1 is referred to as the "up-down direction Z," with one side of the up-down direction Z referred to as the "upper side Z1" and the other side as the "lower side Z2." These definitions are provided solely for the sake of convenience and do not necessarily correspond to the front-rear, left-right, and up-down directions in the actual use state of the terminal insertion device 1, and are not intended to limit the directions. Below, we will first explain the terminal-attached electric wire 2 to be gripped by the terminal insertion device 1 and the housing 3 into which the terminal-attached electric wire 2 is inserted, and then explain each part of the terminal insertion device 1.

[0011] As shown in FIG. 2, the electric wire with terminal 2 includes an electric wire 20 and a terminal 21. The electric wire with terminal 2 of this embodiment also includes a twisted wire formed by twisting together a plurality of electric wires with terminal 2. The electric wire 20 is composed of a core wire 22 and a coating 23 that covers the outer periphery of the core wire 22. The core wire 22 is exposed at the end of the electric wire 20 (shown only in FIG. 13), and a terminal 21 is connected to this end. In this embodiment, the part of the electric wire 20 to which the terminal 21 is connected and its vicinity are referred to as the end portion of the electric wire 20. The terminal 21 is, for example, a female terminal, and includes, in order from the rear side X2, a coating crimping portion 24, a core wire crimping portion 25, and an electrical connection portion 26.

[0012] The sheath crimping portion 24 is connected and fixed to the electric wire 20 by crimping an end portion of the electric wire 20 from above the sheath 23. The core wire crimping portion 25 is formed by bending both left and right edge portions of a conductive metal plate extending in the front-rear direction X toward each other toward the top of the core wire 22, thereby covering the outer periphery of the exposed core wire 22 and being crimped and attached to the core wire 22 in this state. As a result of this crimping and attachment, a recess 25a recessed toward the lower side Z2 is formed on the upper surface of the core wire crimping portion 25, as shown in FIG. 12 . Note that the recess 25a may also be formed on the lower surface of the core wire crimping portion 25 by bending both left and right edge portions of the above-mentioned metal plate toward each other toward the lower part of the core wire 22.

[0013] The electrical connection portion 26 is formed, for example, by bending a conductive metal plate into a substantially rectangular tube shape, and allows a male terminal serving as a mating terminal to be inserted and connected inside. The terminal 21 and the end portion of the electric wire 20 of the terminal-attached electric wire 2 configured in this manner constitute a gripped portion that is gripped by a terminal insertion head 16, which will be described later. In this embodiment, the end portion of the electric wire 20 and the terminal 21 are defined as the gripped portion, but only the end portion of the electric wire 20 or only the terminal 21 may be defined as the gripped portion. In other words, the gripped portion is constituted by at least one of the end portion of the electric wire 20 and the terminal 21. The end portion of the electric wire 20 and the terminal 21 that constitute the gripped portion are held by a holder 14.

[0014] As shown in FIG. 1 , the housing 3 is a box member that accommodates the terminals 21 of the terminal-attached electric wire 2. The housing 3 is formed into a substantially rectangular box shape by resin molding or the like, and is fixed to the frame 10 of the terminal insertion device 1 via a housing holder 15 (described later). As shown in FIG. 2 , a surface of the housing 3 facing the front-rear direction X is formed with a plurality of cavities 4 that penetrate in the front-rear direction X and open in the same direction. The cavities 4 are terminal accommodating chambers that accommodate the terminals 21. In this embodiment, six cavities 4 are formed adjacent to each other in the left-right direction Y, and are arranged in two rows in the up-down direction Z. That is, a total of 12 cavities 4 are formed in the housing 3. Note that the number and arrangement of the cavities 4 are merely exemplary, and the number and arrangement can be changed as appropriate as long as at least two cavities are formed adjacent to each other in the left-right direction Y.

[0015] Next, each component of the terminal insertion device 1 will be described. As shown in FIG. 1 , the terminal insertion device 1 includes a frame 10, a retainer 14, a housing holder 15, a terminal insertion head 16, and a three-axis drive source 19. The frame 10 includes a bottom plate 11, support posts 12, and a top plate 13. The bottom plate 11 is formed of a rectangular plate extending in the front-rear direction X and the left-right direction Y. The retainer 14 and the housing holder 15 are installed on the upper surface of the bottom plate 11. The retainer 14 is a component for setting and holding the electric wires 20 and terminals 21. The retainer 14 is formed to rise from the center of the bottom plate 11 in the left-right direction Y to an upper side Z1, and each of the clip-shaped tip portions adjacent in the left-right direction Y can hold the set terminals 21 and electric wires 20 in a position extending in the front-rear direction X.

[0016] In this embodiment, a total of two terminals 21 (and electric wires 20) are held by the holder 14 adjacent to each other in the left-right direction Y at the same height, and this state is referred to as the initial state. Of the two terminals 21 and electric wires 20 in this initial state, the terminal 21 located on the right side Y2 and the electric wire 20 to which the terminal 21 is connected are referred to as one terminal and one electric wire for convenience. Hereinafter, they may be simply referred to as one terminal and another electric wire, or as the terminal 21 (one terminal) and the electric wire 20 (one electric wire). The core wire crimping portion 25 of the one terminal is referred to as a first core wire crimping portion, and hereinafter, they may be simply referred to as the first core wire crimping portion or the core wire crimping portion 25 (first core wire crimping portion). A gripped portion formed by the terminal 21 of the one terminal and the end portion of the electric wire 20 may be referred to as the first gripped portion. Meanwhile, of the two terminals 21 and electric wires 20 in the initial state, the terminal 21 located on the left side Y1 and the electric wire 20 to which the terminal 21 is connected will be referred to as the other terminal and the other electric wire for convenience. Hereinafter, they may be simply referred to as the other terminal and the other electric wire, or as the terminal 21 (the other terminal) and the electric wire 20 (the other electric wire). The core wire crimping portion 25 of the other terminal will be referred to as the second core wire crimping portion, and hereinafter, they may be simply referred to as the second core wire crimping portion or the core wire crimping portion 25 (the second core wire crimping portion). Furthermore, the gripped portion formed by the terminal 21 of the other terminal and the end portion of the electric wire 20 will be referred to as the second gripped portion.

[0017] With the above configuration, in the initial state, the first terminal and the second terminal extend in the front-rear direction X (terminal insertion direction) and are adjacent to each other in the left-right direction Y. Furthermore, the electric wire 20 (first electric wire) and the electric wire 20 (second electric wire) extend in the terminal front-rear direction X and are adjacent to each other in the left-right direction Y. The first terminal and the first electric wire and the second terminal and the second electric wire may be provided at the end portions of different electric wires with terminal 2, or may be provided at both end portions of a single electric wire with terminal 2. Note that the first terminal and the first electric wire provided at both ends of a single electric wire with terminal 2 and the second terminal and the second electric wire may be set in the holder 14 as follows. That is, for example, the electric wire with terminal 2 may be bent at its middle portion into a U-shape, and the first terminal and the first electric wire and the second terminal and the second electric wire may be adjacent to each other in the left-right direction Y.

[0018] In this embodiment, the electric wires 20 and the terminals 21 are held by the clip-shaped tip of the holder 14. However, this configuration is merely an example, and any structure may be used as long as it can hold the electric wires 20 and the terminals 21 of the terminal-attached electric wires 2 adjacent to each other in the left-right direction Y and in a position extending in the front-rear direction X. The housing holder 15 is a portion that holds the housing 3. The housing holder 15 is adjacent to the holder 14 in the left-right direction Y and is formed to rise on the upper side Z1. An installation recess 15a that is recessed to the lower side Z2 is formed in the upper part of the housing holder 15, and the housing 3 is held in this installation recess 15a.

[0019] A pair of support posts 12 are provided, rising from both left and right ends of the bottom plate 11 on the upper side Z1, and each connects the bottom plate 11 to the top plate 13. The top plate 13 is disposed at the upper end of the support posts 12 and faces the bottom plate 11 in the up-down direction Z. A terminal insertion head 16 is disposed on the lower side Z2 surface of the top plate 13. The terminal insertion head 16 is movable in the front-back direction X, the left-right direction Y, and the up-down direction Z by a three-axis drive source 19. The terminal insertion head 16 grips the gripped portion (in this embodiment, the terminal 21 and the end portion of the electric wire 20) of the terminal-attached electric wire 2 held by the holder 14, moves it toward the housing 3 (described later), and inserts it into the cavity 4 of the housing 3. The terminal insertion head 16 includes a right head 17 (first head) disposed on the right side Y2 and a left head 18 (second head) disposed on the left side Y1.

[0020] The right head 17 is equipped with a terminal chuck 5 (first terminal chuck, first terminal chuck) that clamps a core wire crimping portion 25 (first core wire crimping portion) of a terminal 21 (first terminal) described below in the up-down direction Z. The right head 17 also is equipped with a wire chuck 7 (first wire chuck, first wire chuck) that clamps an end portion (first wire end portion) of an electric wire 20 in the up-down direction Z. As shown in FIG. 2, the terminal chuck 5 is equipped with a terminal chuck mounting plate 50, an upper terminal chuck 51 (upper main body portion), and a lower terminal chuck 52 (lower main body portion). The terminal chuck mounting plate 50 is formed in a rectangular parallelepiped shape extending in the front-rear direction X.

[0021] A groove 50a is formed at the front end of the terminal chuck attachment plate 50, opening to the front side X1 and extending in the up-down direction Z. An upper terminal chuck 51 and a lower terminal chuck 52 are held in the groove 50a. As shown in FIG. 3 , the upper terminal chuck 51 includes an upper attachment portion 53, a first upper plate portion 54, and a second upper plate portion 55, and is formed with a predetermined width in the left-right direction Y. The upper attachment portion 53 is immovably fixed at the upper part of the groove 50a of the terminal chuck attachment plate 50 and extends from the groove 50a to the front side X1. The first upper plate portion 54 extends from the edge of the left side Y1 of the front surface of the upper attachment portion 53 to the left side Y1 and curves toward the left side Y1 so as to be positioned on the front side X1.

[0022] The second upper plate portion 55 extends from the left edge (one side in the left-right direction Y) of the first upper plate portion 54 to the front side X1. A front end portion of the second upper plate portion 55 is formed in a claw shape protruding downward Z2. The lower surface of this claw shape forms an upper gripping surface 56 (upper gripping portion) that abuts against the upper surface (upper side Z1 portion) of the core wire clamping portion 25. The upper gripping surface 56 is formed in a shape that follows the outline of the upper surface of the core wire clamping portion 25 (in this embodiment, this shape is referred to as a wire crimper type shape). Specifically, as shown in FIG. 4(A), a convex portion 56a that protrudes downward Z2 is formed in the center of the upper gripping surface 56 in the left-right direction Y, and both left and right sides of the convex portion 56a form curved surfaces 56b that are curved upward Z1. The convex portion 56a is a portion that fits into the concave portion 25a of the core wire clamping portion 25 when the terminal chuck 5 grips the core wire clamping portion 25. By fitting the convex portion 56a into the concave portion 25a, the core wire clamping portion 25 is positioned (centered) at the center in the left-right direction Y of the upper gripping surface 56, and displacement of the gripped core wire clamping portion 25 is restricted.

[0023] As shown in FIG. 3 , the lower terminal chuck 52 includes a lower mounting portion 57, a first lower plate portion 58, and a second lower plate portion 59, and is formed with a predetermined width in the left-right direction Y. The lower mounting portion 57 is held in a lower portion of a groove portion 50a of the terminal chuck mounting plate 50, is movable in the up-down direction Z by a predetermined drive source, and extends from the groove portion 50a to the front side X1. Note that the predetermined drive source may be, for example, air pressure, whereby the lower terminal chuck 52 and the upper terminal chuck 51 may be air chucks. With this configuration, the lower terminal chuck 52 is displaceable relative to the upper terminal chuck 51 in the up-down direction Z. Note that in this embodiment, the upper terminal chuck 51 is immovable and the lower terminal chuck 52 is displaceable, but this is not limited thereto, and the upper terminal chuck 51 may be displaceable.

[0024] The first lower plate portion 58 extends from the edge of the left side Y1 of the front surface of the lower mounting portion 57 to the left side Y1 and curves toward the front side X1 as it extends toward the left side Y1. The second lower plate portion 59 extends from the left edge (one side in the left-right direction Y) of the first lower plate portion 58 to the front side X1. The front end portion of the second lower plate portion 59 is formed in a claw shape that protrudes toward the upper side Z1. The upper surface of this claw-shaped portion faces the upper gripping surface 56 in the vertical direction Z and forms a lower gripping surface 60 (lower gripping portion) that abuts against the lower surface (lower portion) of the core wire clamping portion 25. As shown in FIG. 4(A), the lower gripping surface 60 is formed in a shape that curves toward the lower side Z2 (in this embodiment, this shape is called an anvil-type shape) along the shape of the lower surface of the core wire clamping portion 25 and faces the upper gripping surface 56 in the vertical direction Z. The lower gripping surface 60 functions as a receiving portion 60 a that supports the lower surface of the core wire crimping portion 25 .

[0025] As shown in FIG. 4(B), if the portions that contact the upper and lower surfaces of the core wire clamping portion 25 are formed with flat surfaces 100, the contours of the curved core wire clamping portion 25 and the flat surfaces 100 will not match, and the contact area will be smaller. In this case, the core wire clamping portion 25 will not be stably held and may tilt in the left-right direction Y and the up-down direction Z. Therefore, as in this embodiment, it is preferable that a surface shaped like a wire crimper and a surface shaped like an anvil contact the core wire clamping portion 25. It is also possible that the recess 25a of the core wire clamping portion 25 is formed on the lower surface of the core wire clamping portion 25. In this case, the configurations of the upper gripping surface 56 and the lower gripping surface 60 can be reversed from those in this embodiment. That is, it is preferable that the upper gripping surface 56 has an anvil type shape and the lower gripping surface 60 has a wire crimper type shape.

[0026] In this way, one of the upper gripping surface 56 and the lower gripping surface 60, which has a portion facing the recess 25a in the up-down direction Z, is provided with a convex portion 56a that fits into the recess 25a. The other of the upper gripping surface 56 and the lower gripping surface 60, which is not provided with the convex portion 56a, is provided with a receiving portion 60a shaped to follow the outer shape of the other of the upper and lower surfaces of the core wire clamping portion 25, which is not provided with the recess 25a. In the terminal chuck 5 configured in this way, the core wire clamping portion 25 of the terminal 21 is clamped by the upper gripping surface 56 and the lower gripping surface 60, so that the terminal 21 is clamped at a position eccentric to the left side Y1 of the terminal chuck 5 (one side in the left-right direction Y).

[0027] As shown in FIG. 2, the wire chuck 7 includes a wire chuck mounting plate 70, an upper wire chuck 71 (upper main body), and a lower wire chuck 72 (lower main body). The wire chuck mounting plate 70 is formed in a rectangular parallelepiped shape extending in the front-rear direction X. A groove 70a is formed at the front end of the wire chuck mounting plate 70, opening to the front side X1 and extending in the up-down direction Z. The upper wire chuck 71 and the lower wire chuck 72 are held in the groove 70a via a connecting member 70b. As shown in FIG. 5, the upper wire chuck 71 includes an upper main body 73 and an upper plate 74. The upper main body 73 has a predetermined width in the left-right direction Y, and its rear surface is immovably fixed to the upper part of the groove 70a of the wire chuck mounting plate 70 via the connecting member 70b. The upper plate 74 extends from the end of the left side Y1 of the lower surface of the upper main body 73 toward the lower side Z2. The lower end of the right side of the upper plate 74 forms an inclined surface 74a that approaches the left side as it approaches the lower side Z2, making the lower end of the upper plate 74 tapered. The inclined surface 74a is provided so as to be able to abut against a lower guide inclined surface 83 of the lower electric wire chuck 72, which will be described later. This abutment restricts displacement of the lower electric wire chuck 72 toward the upper side Z1, thereby functioning as a stopper.

[0028] An upper curved surface 76 curved upward toward the upper side Z1 is formed on the lower surface of the lower end of the upper plate portion 74, and this upper curved surface 76 constitutes an upper gripping portion that abuts against the upper side Z1 portion of the electric wire 20. The curvature and width in the left-right direction Y of the upper curved surface 76 are formed to match the outer shape of the electric wire 20 with the largest diameter among the electric wires 20 to be abutted. The left edge of the upper curved surface 76 is continuous with the left edge of the upper plate portion 74 (the left edge of the upper electric wire chuck 71), and this continuous portion constitutes an upper claw 76a that prevents the gripped electric wire 20 from slipping out. A connecting plate portion 75 that protrudes to the lower right of the upper plate portion 74 is formed on the inclined surface 74a of the upper plate portion 74. The connecting plate portion 75 is inserted into a through-hole 84 of the lower electric wire chuck 72, which will be described later. The lower surface of the connecting plate portion 75 constitutes an upper guide inclined surface 77. The upper guide inclined surface 77 is a surface that can slide against the outer surface of the electric wire 20 when the electric wire chuck 7 grips the electric wire 20. The upper guide inclined surface 77 is continuous with the edge of the right side Y2 of the upper curved surface 76, and is inclined so as to be positioned on the lower side Z2 as it extends from the edge of the right side Y2 toward the right side Y2.

[0029] The lower wire chuck 72 includes a lower main body 78 and a lower plate 79. The lower main body 78 has a predetermined width in the left-right direction Y, and its rear surface is held in the lower part of the groove 70a of the wire chuck mounting plate 70 via a connecting member 70b. The lower main body 78 is movable in the up-down direction Z by a predetermined drive source. The predetermined drive source may be, for example, air pressure, thereby forming the lower wire chuck 72 and the upper wire chuck 71 into air chucks. With this configuration, the lower wire chuck 72 is displaceable relative to the upper wire chuck 71 in the up-down direction Z. In this embodiment, the upper wire chuck 71 is immovable and the lower wire chuck 72 is displaceable. However, this is not limited to this, and the upper wire chuck 71 may be displaceable. The lower plate 79 extends downward Z2 from the end of the left side Y1 of the lower surface of the lower main body 78.

[0030] The lower end of the lower plate portion 79 has an inclined portion 80 extending parallel to the inclined surface 74a of the upper plate portion 74 described above, and a left lower end portion 81 extending from the left edge of the inclined portion 80 to the left side Y1. A lower curved surface 82 curved downward Z2 and facing the upper curved surface 76 in the vertical direction Z is formed on the upper surface of the left lower end portion 81, and this lower curved surface 82 constitutes a lower gripping portion that abuts against a lower Z2 portion of the electric wire 20. The curvature and width in the horizontal direction Y of the lower curved surface 82 are formed to match the outer shape of the electric wire 20 with the largest diameter among the electric wires 20 to be abutted. The left edge of the lower curved surface 82 is continuous with the surface of the left lower end portion 81 facing the left side Y1 (the left edge of the lower electric wire chuck 72), and this continuous portion constitutes a lower claw 82a that prevents the gripped electric wire 20 from slipping out.

[0031] The upper surface of the inclined portion 80 forms a lower guide inclined surface 83. The lower guide inclined surface 83 is a surface that can slide against the outer surface of the electric wire 20 when the electric wire chuck 7 grips the electric wire 20. The lower guide inclined surface 83 is continuous with the right side Y2 edge of the lower curved surface 82 and is inclined so as to be positioned on the upper side Z1 as it extends from the right side Y2 edge toward the right side Y2. A through hole 84 that penetrates in the up-down direction Z is formed in the center of the lower guide inclined surface 83 in the front-rear direction X, and the connecting plate portion 75 of the upper plate portion 74 described above is inserted into the through hole 84. As a result, when the lower electric wire chuck 72 moves in the up-down direction Z, the edge of the through hole 84 moves while being guided by the plate surface of the connecting plate portion 75, thereby preventing misalignment between the upper electric wire chuck 71 and the lower electric wire chuck 72.

[0032] In the wire chuck 7 configured as described above, the wire 20 is gripped by the upper curved surface 76 and the lower curved surface 82, so that the wire 20 is gripped at an eccentric position on the left side Y1 (one side in the left-right direction Y) of the wire chuck 7. At this time, the upper wire chuck 71 and the lower wire chuck 72 are relatively displaced in a direction approaching each other in the vertical direction Z, and the upper guide slope 77 and the lower guide slope 83 approach each other. During this approach, the wire 20 is guided to the left side Y1 while sliding against the upper guide slope 77 and the lower guide slope 83. Due to this guidance, the wire 20 is reliably guided to a position where the upper curved surface 76 and the lower curved surface 82 are located and gripped.

[0033] 2, the left head 18 is provided adjacent to the right head 17, with the left-right direction Y being the adjacent direction. Note that the left head 18 and the right head 17 are arranged with their respective components oriented symmetrically, and the orientation of each component may differ. However, because the components themselves are the same, descriptions of the same configuration as the right head 17 will be simplified or omitted.

[0034] The left head 18 includes a terminal chuck 5 (second terminal chuck, other terminal chuck) that clamps the core wire crimping portion 25 (second core wire crimping portion) of the terminal 21 (other terminal) in the vertical direction Z. The left head 18 also includes a wire chuck 7 (second wire chuck, other wire chuck) that clamps the end portion of the electric wire 20 (other electric wire end portion) in the vertical direction Z. The terminal chuck 5 of the left head 18 is formed bilaterally symmetrical to the terminal chuck 5 of the right head 17 shown in FIG. 3 . That is, in the terminal chuck 5 of the left head 18, the first upper plate portion 54 extends from the edge of the front right side Y2 of the upper mounting portion 53 to the right side Y2 and curves toward the right side Y2 so as to be positioned on the front side X1. The second upper plate portion 55 of the left head 18 also extends from the right edge of the first upper plate portion 54 to the front side X1.

[0035] The first lower plate portion 58 of the left head 18 extends from the edge of the right side Y2 of the front surface of the lower mounting portion 57 to the right side Y2 and curves toward the front side X1 as it approaches the right side Y2. The second lower plate portion 59 extends from the right edge of the first lower plate portion 58 to the front side X1. With this configuration of the left head 18, the terminal chucks 5 of the right head 17 and the left head 18 are adjacent to each other in the left-right direction Y and are provided as a pair symmetrically oriented such that the upper gripping surface 56 and the lower gripping surface 60 are located inside each other in the adjacent direction. Of the pair of terminal chucks 5, the terminal chuck 5 of the right head 17 grips one of the multiple terminals 21, and the terminal chuck 5 of the left head 18 grips the other of the multiple terminals 21.

[0036] The wire chuck 7 of the left head 18 is formed symmetrically to the wire chuck 7 of the right head 17 shown in FIG. 5. That is, in the wire chuck 7 of the right head 17, the upper plate portion 74 extends from the end of the right side Y2 of the lower surface of the upper main body 73 toward the lower side Z2. The lower end of the left side of the upper plate portion 74 forms an inclined surface 74a that approaches the right side as it approaches the lower side Z2. The upper guide inclined surface 77 is continuous with the left side Y1 edge of the upper curved surface 76 and is inclined toward the lower side Z2 as it extends from the left side Y1 edge toward the left side Y1. The lower plate portion 79 of the lower wire chuck 72 extends from the end of the right side Y2 of the lower surface of the lower main body 78 toward the lower side Z2. The lower end of the lower plate portion 79 has an inclined portion 80 extending parallel to the inclined surface 74a of the upper plate portion 74 described above, and a right lower end portion 81 extending from the right edge of the inclined portion 80 to the right side Y2.

[0037] The lower guide slope 83 is continuous with the left side Y1 edge of the lower curved surface 82 and is sloped upward Z1 from the left side Y1 edge toward the left side Y1. With this configuration of the left head 18, the wire chucks 7 of the right head 17 and the left head 18 are adjacent to each other in the left-right direction Y, and are provided as a pair symmetrically oriented such that the upper curved surface 76 and the lower curved surface 82 are located inside each other in the adjacent direction. Of the pair of wire chucks 7, the wire chuck 7 of the right head 17 grips one of the multiple electric wires 20, and the wire chuck 7 of the left head 18 grips the other of the multiple electric wires 20.

[0038] Each of the terminal insertion heads 16 (right head 17 and left head 18) is connected to an independent three-axis drive source 19. The three-axis drive source 19 enables each of the right head 17 and left head 18 to be displaced in any or all of the forward / backward direction X, left / right direction Y, and up / down direction Z. The three-axis drive source 19 is also connected to each of the terminal chucks 5 and each of the wire chucks 7, enabling each of the terminal chucks 5 and wire chucks 7 to be displaced in any or all of the forward / backward direction X, left / right direction Y, and up / down direction Z.

[0039] With this configuration, the right head 17 and the left head 18 can be independently displaced in any direction within an imaginary plane extending in the left-right direction Y and the up-down direction Z (i.e., within an imaginary plane perpendicular to the insertion direction of the terminal 21) by the three-axis drive source 19. This configuration also allows each of the pair of terminal chucks 5 and the pair of wire chucks 7 to be independently displaced in any direction within the imaginary plane perpendicular to the insertion direction of the terminal 21. The three-axis drive source 19 can be configured, for example, by preparing a plurality of electric cylinders each equipped with a servo motor, a cylinder tube, a piston rod, etc., and arranging these in any orientation. However, the configuration of the three-axis drive source 19 is not limited thereto, and any drive source may be used as long as it is capable of independently displacing each of the right head 17 and the left head 18 in three axial directions.

[0040] Next, the operation of inserting the terminals 21 into the cavities 4 using the terminal insertion device 1 will be described. In this embodiment, two terminals 21 (one terminal and the other terminal) in the initial state shown in Fig. 2 are gripped by the terminal insertion head 16 of the terminal insertion device 1, moved toward the housing 3, and inserted together into corresponding cavities 4 among the multiple cavities 4. First, the terminal insertion head 16, which is in a fixed position as shown in Fig. 2, is moved to a gripping position for gripping the gripped portion to be gripped (the terminal 21 and the end portion of the electric wire 20). Fig. 6 shows the terminal insertion device 1 in a state where the right head 17 and the left head 18 have moved toward the gripping positions for the terminal-attached electric wire 2 in the initial state.

[0041] In this state, the upper terminal chuck 51 and the lower terminal chuck 52 of the terminal chuck 5 of the right head 17 face one terminal (the terminal 21 on the right side Y2) at a distance in the vertical direction Z. Also, the upper wire chuck 71 and the lower wire chuck 72 of the wire chuck 7 of the right head 17 face the end portion of the wire 20 of one electric wire (the electric wire 20 on the right side Y2) at a distance in the vertical direction Z. On the other hand, the upper terminal chuck 51 and the lower terminal chuck 52 of the terminal chuck 5 of the left head 18 face the other terminal (the terminal 21 on the left side Y1) at a distance in the vertical direction Z. Also, the upper wire chuck 71 and the lower wire chuck 72 of the wire chuck 7 of the left head 18 face the end portion of the electric wire 20 of the other electric wire (the electric wire 20 on the left side Y1) at a distance in the vertical direction Z.

[0042] From this state, the lower terminal chucks 52 of the right head 17 and the left head 18 are each displaced upward Z1, and the terminal 21 is gripped by the terminal chuck 5 as shown in FIG. 7. The movement of the terminal insertion head 16 to the gripping position and the gripping of the terminal 21 will be described in more detail. FIG. 8 is a perspective view showing the terminal chuck 5 (first terminal chuck) starting to move from the right side Y2 toward the gripping position for the terminal 21 (first terminal). FIG. 9 is a perspective view showing the terminal chuck 5 (first terminal chuck) having completed movement to the gripping position for the terminal 21 (first terminal). FIG. 10 is a perspective view showing the terminal chuck 5 (first terminal chuck) having completed gripping of the terminal 21 (first terminal). As shown in FIGS. 8 and 9, the terminal chuck 5 is positioned at a height such that the core wire crimping portion 25 (first core wire crimping portion) is located between the upper gripping surface 56 and the lower gripping surface 60. Then, the terminal chuck 5 is advanced from the right side Y2 to the left side Y1 (that is, from the outer side in the left-right direction Y to the inner side in the left-right direction Y of the pair of terminal chucks 5) and positioned at the gripping position.

[0043] 10 , the lower terminal chuck 52 is displaced upward Z1, and the core wire crimping portion 25 is sandwiched and gripped between the upper gripping surface 56 and the lower gripping surface 60 in the vertical direction Z. The same process is then carried out between the left head 18 and the terminal 21 (another terminal). That is, the terminal chuck 5 (second terminal chuck) of the left head 18 advances from the left side Y1 to the right side Y2 (i.e., from the outer side in the left-right direction Y to the inner side in the left-right direction Y of the pair of terminal chucks 5) and is positioned at the gripping position. Then, the core wire crimping portion 25 (second core wire crimping portion) is gripped between the upper gripping surface 56 and the lower gripping surface 60. When the terminal chuck 5 has completed gripping the terminal 21, as shown in FIG. 11, the terminal 21 (one terminal) and the electric wire 20 (one electric wire) and the terminal 21 (another terminal) and the electric wire 20 (another electric wire) extend in the front-rear direction X and are adjacent to each other in the left-right direction Y.

[0044] 12(A) and 12(B), the convex portion 56a of the upper gripping surface 56 fits into the concave portion 25a of the core wire clamping portion 25, and the curved surface 56b of the upper gripping surface 56 abuts against the upper surface of the core wire clamping portion 25. The lower surface of the core wire clamping portion 25 is supported by the lower gripping surface 60, i.e., the receiving portion 60a. This applies to both the core wire clamping portion 25 shown in FIG. 12(A) that has small dimensions in the left-right direction Y and the up-down direction Z, and the core wire clamping portion 25 shown in FIG. 12(B) that has large dimensions in the left-right direction Y and the up-down direction Z. By fitting the convex portion 56a into the concave portion 25a in this way and supporting the underside of the core wire clamping portion 25 with the receiving portion 60a, displacement of the core wire clamping portion 25, which is gripped at the center in the left-right direction Y of the upper gripping surface 56 and the lower gripping surface 60, particularly in the left-right direction Y and the up-down direction Z, is restricted.

[0045] As shown in FIG. 13 , the upper gripping surface 56 and the lower gripping surface 60 have a predetermined dimension in the front-rear direction X. This ensures a sufficient contact area between these surfaces and the core wire clamping portion 25, and the core wire clamping portion 25 is stably held by the terminal chuck 5. This prevents the core wire clamping portion 25 from tilting relative to the horizontal. As described above, the upper gripping surface 56 and the lower gripping surface 60 of the terminal chuck 5 of the left head 18 and the terminal chuck 5 of the right head 17 are positioned offset inward in the adjacency direction. This prevents interference between other components, such as the first upper plate portion 54 and the first lower plate portion 58, as shown in FIG. 14 . With interference prevented in this manner, the upper gripping surface 56 and the lower gripping surface 60 of the right side Y2 and the upper gripping surface 56 and the lower gripping surface 60 of the left side Y1 can be brought closest to each other, resulting in a narrow separation distance (narrow pitch).

[0046] Here, for example, the shortest distance from the inner edge of the terminal chuck 5 (one terminal chuck) of the right head 17 in the left-right direction Y (adjacent direction) to the inner edge of the terminal chuck 5 (another terminal chuck) of the left head 18 in the left-right direction Y is defined as the shortest distance S1. The shortest distance from the inner edge of the terminal 21 (one terminal) in the left-right direction Y to the edge of the terminal 21 (another terminal) in the left-right direction Y is defined as the shortest distance S2. It is preferable that the shortest distance S1 is greater than the shortest distance S2. This configuration allows the terminal 21 (one terminal) and the terminal 21 (other terminal) to approach each other in the left-right direction Y until they come into contact with each other without interfering with each other. Specifically, the shortest distance S1 can be approximately 1.5 mm, and the terminals 21 can be adjacent to each other at a shorter shortest distance S2. As described above, the upper gripping surface 56 and the lower gripping surface 60 of the terminal chuck 5 are displaced relative to each other in the up-down direction Z, and therefore, during this relative displacement, the upper gripping surface 56 and the lower gripping surface 60 are not displaced in the left-right direction Y. Therefore, in both the operation of gripping the terminals 21 and the operation of terminating the gripping, the terminals 21 can be maintained in a state in which they can approach each other in the left-right direction Y.

[0047] After the terminal chuck 5 has completed gripping of the core wire crimping portion 25, the wire chuck 7 grips the terminal portion of the electric wire 20 as shown in Fig. 15. The gripping of the terminal portion of the electric wire 20 by the wire chuck 7 will be described in more detail. Fig. 16 is a perspective view showing the wire chuck 7 (first electric wire chuck) that has started to move from the right side Y2 toward the gripping position of the electric wire 20 (first electric wire). Fig. 17 is a perspective view showing the wire chuck 7 (first electric wire chuck) that has completed moving to the gripping position of the electric wire 20 (first electric wire). Fig. 18 is a perspective view showing the wire chuck 7 (first electric wire chuck) that has completed gripping of the electric wire 20 (first electric wire). As shown in Figs. 16 and 17, the wire chuck 7 is disposed at a height such that the terminal portion of the electric wire 20 of the first electric wire is located between the upper curved surface 76 and the lower curved surface 82. Then, the wire chuck 7 is advanced from the right side Y2 to the left side Y1 (that is, from the outer side in the left-right direction Y to the inner side in the left-right direction Y of the pair of wire chucks 7) and positioned at the gripping position.

[0048] 18, the lower wire chuck 72 is displaced upward Z1, and the terminal portion of the electric wire 20 is sandwiched and gripped between the upper curved surface 76 and the lower curved surface 82 in the vertical direction Z. The same process is then performed with the left head 18 and the electric wire 20 (another electric wire). That is, the electric wire chuck 7 (second electric wire chuck) of the left head 18 is advanced from the left side Y1 to the right side Y2 (that is, from the outer side in the horizontal direction Y to the inner side in the horizontal direction Y of the pair of electric wire chucks 7) and positioned at the gripping position. Then, the terminal portion of the electric wire 20 (the terminal portion of the electric wire 20 of the other electric wire) is sandwiched and gripped between the upper curved surface 76 and the lower curved surface 82 in the vertical direction Z.

[0049] During this gripping, as the upper wire chuck 71 and the lower wire chuck 72 approach each other, the upper guide inclined surface 77 and the lower guide inclined surface 83 approach each other. During this approach, the wire 20 is in sliding contact with the upper guide inclined surface 77 and the lower guide inclined surface 83 and is gradually guided toward the upper curved surface 76 and the lower curved surface 82. Due to this guidance, the wire 20 reliably moves to a position where the upper curved surface 76 and the lower curved surface 82 are located, and the wire 20 is reliably gripped by the upper curved surface 76 and the lower curved surface 82. Furthermore, one side of the gripped wire 20 in the left-right direction Y is supported by the upper claws 76a and the lower claws 82a, and the other side in the left-right direction Y is supported by the upper guide inclined surface 77 and the lower guide inclined surface 83, with the upper side Z1 supported by the upper curved surface 76 and the lower side Z2 supported by the lower curved surface 82. This prevents the electric wire 20 from slipping out in a direction intersecting the front-rear direction X, and the state in which the electric wire 20 is held by the electric wire chuck 7 is stably maintained.

[0050] As described above, the upper curved surface 76 and the lower curved surface 82 of the wire chuck 7 of the left head 18 and the wire chuck 7 of the right head 17 are located offset inward in the adjacency direction. This prevents interference with other components, such as the wire chuck mounting plate 70, as shown in FIG. 19 . With interference prevented in this manner, the upper curved surface 76 and the lower curved surface 82 of the right side Y2 and the upper curved surface 76 and the lower curved surface 82 of the left side Y1 can be brought closest to each other, resulting in a narrow separation distance (narrow pitch). Here, for example, the shortest distance from the inner edge of the wire chuck 7 (one wire chuck) of the right head 17 in the left-right direction Y (adjacency direction) to the inner edge of the wire chuck 7 (another wire chuck) of the left head 18 in the left-right direction Y is defined as the shortest distance S3. The shortest distance from the inner edge of the electric wire 20 (first electric wire) in the left-right direction Y to the edge of the electric wire 20 (second terminal) in the left-right direction Y is defined as shortest distance S4. It is preferable that shortest distance S3 is greater than shortest distance S4.

[0051] According to this configuration, the electric wires 20 (one electric wire) and the electric wires 20 (another electric wire) can be brought close to each other in the left-right direction Y at most until they come into contact with each other, without interfering with each other between the electric wire chucks 7. Specifically, the shortest distance S3 can be set to approximately 1.5 mm, and the electric wires 20 can be brought adjacent to each other at a shortest distance S4 that is smaller than that. As described above, the upper curved surface 76 and the lower curved surface 82 of the electric wire chuck 7 are displaced relative to each other in the up-down direction Z, and therefore, during this relative displacement, the upper curved surface 76 and the lower curved surface 82 are not displaced in the left-right direction Y. Therefore, in both the operation of gripping the electric wires 20 and the operation of ending gripping, it is possible to maintain a state in which the electric wires 20 can be brought close to each other in the left-right direction Y.

[0052] In addition, when the shortest distance S3 is made greater than the shortest distance S4 as in this configuration, and when the shortest distance S1 is made greater than the shortest distance S2 as described above, the following occurs. That is, the shortest distance from the inner edge of the right head 17 (first head) in the left-right direction Y (adjacent direction) to the inner edge of the left head 18 (second head) in the left-right direction Y becomes greater than the shortest distance from the inner edge of the first gripped portion (one terminal and an end portion of the electric wire 20 of one electric wire) in the left-right direction Y (adjacent direction) to the inner edge of the second gripped portion (another terminal and an end portion of the electric wire 20 of another electric wire). With this configuration, the right head 17 and the left head 18 can move their respective gripped portions inward in the adjacency direction while avoiding interference between each other.

[0053] As described above, the curvatures and widths in the left-right direction Y of the upper curved surface 76 and the lower guide slope 83 are formed to match the outer shape of the electric wire 20 with the largest diameter among the electric wires 20 to be brought into contact with each other. As a result, as shown in Figures 20(A) and 20(B), the electric wires 20 to be held by the electric wire chuck 7 can be stably maintained in a state in which they are held, from the smallest diameter electric wire 20 to the largest diameter electric wire 20.

[0054] Next, the terminal insertion heads 16 holding the terminals 21 and the wires 20 are moved to an insertion position. The insertion position is a position where the front ends of the terminals 21 extending in the front-rear direction X face the corresponding cavities 4 in the front-rear direction X. The terminals 21 held by the right head 17 and the terminals 21 held by the left head 18 are each moved toward the insertion position. As described above, the right head 17 and the left head 18 are independently displaced in any direction within an imaginary plane perpendicular to the insertion direction of the terminals 21 by the three-axis drive source 19. This allows the right head 17 and the left head 18 to be independently displaced in any direction within an imaginary plane extending in the left-right direction Y and the up-down direction Z. FIG. 21 is a perspective view showing the terminal insertion device 1 with the right head 17 and the left head 18 moved to the insertion position. FIG. 22 is a perspective view showing the terminal insertion device 1 with the right head 17 and the left head 18 moved to an insertion position different from the insertion position shown in FIG. 21. FIG. 23 is a perspective view showing the terminal insertion device 1 in a state where the right head 17 and the left head 18 have been moved to insertion positions different from the insertion positions shown in FIGS.

[0055] 21, the terminals 21 and wires 20 (one terminal and one wire) moved by the right head 17 and the terminals 21 and wires 20 (another terminal and another wire) moved by the left head 18 are lined up at the same height in the left-right direction Y, as in the initial state. The distance between the terminals 21 (one terminal) and 21 (another terminal) in the left-right direction Y (adjacent direction) is the same as the distance between the two cavities 4 to be inserted in the left-right direction Y. This allows the terminals 21 (one terminal) and 21 (another terminal) to be inserted together into the two corresponding cavities 4, i.e., the two cavities 4 adjacent in the left-right direction Y.

[0056] 22, the terminal 21 and the wire 20 moved by the right head 17 and the terminal 21 and the wire 20 moved by the left head 18 are aligned in the left-right direction Y at positions shifted in the up-down direction Z, unlike the initial state. That is, the first terminal and the second terminal are aligned diagonally. The distance between the first terminal and the second terminal in the diagonal direction (adjacent direction) is the same as the distance between the cavities 4 in the diagonal direction. This allows the first terminal and the second terminal to be inserted together into each of the cavities 4, even when two corresponding cavities 4 are adjacent to each other in the diagonal direction.

[0057] In the state shown in Fig. 23, the terminal 21 and the electric wire 20 moved by the right head 17 and the terminal 21 and the electric wire 20 moved by the left head 18 are lined up in a diagonal direction, similar to the state shown in Fig. 22. However, the distance between one terminal and the other terminal in the diagonal direction (adjacent direction) is greater than in the state shown in Fig. 22. As a result, even if two corresponding cavities 4 are not adjacent to each other but are located at positions separated in a diagonal direction, the one terminal and the other terminal can be inserted together into each of the cavities 4.

[0058] In summary, one terminal and another terminal can be inserted together into each of two cavities 4 arranged at various distances in the left-right direction Y and diagonal directions. FIGS. 24A to 24D are conceptual diagrams showing variations in the insertion pattern of terminals 21 into cavities 4. In FIG. 24A, two cavities 4 are arranged in the left-right direction Y at a narrow pitch of approximately 1.5 mm, and one terminal and another terminal are inserted together into these two cavities 4. In FIG. 24B, six cavities 4 are arranged in the housing 3 at the narrow pitch in the left-right direction Y, and these six cavities 4 are arranged in two rows in the up-down direction Z. That is, twelve cavities 4 are provided in the housing 3. Among these, one terminal and another terminal are inserted together into two cavities 4 adjacent in the left-right direction Y (indicated by diagonal lines inclined to the left Y1 with respect to the up-down direction Z).

[0059] Furthermore, among the 12 cavities 4, one terminal and another terminal are inserted together into two cavities 4 that are adjacent in a diagonal direction (indicated by oblique lines slanting to the left Y1 and the right Y2 with respect to the vertical direction Z). Among the 12 cavities 4, one terminal and another terminal are inserted together into two cavities 4 that are arranged diagonally apart on the left Y1 and the right Y2 with respect to one cavity 4 in between (indicated by oblique lines slanting to the right Y2 with respect to the vertical direction Z). In FIG. 24(C), two cavities 4 are arranged in the left-right direction Y in the housing 3 at a large pitch that is a distance greater than the narrow pitch. One terminal and another terminal are inserted together into these two cavities 4. In FIG. 24(D), six cavities 4 are arranged in the left-right direction Y in the housing 3 at the large pitch, and the six cavities 4 are arranged in two rows in the vertical direction Z. That is, the housing 3 is provided with 12 cavities 4 .

[0060] Of the 12 cavities 4, one terminal and another terminal are inserted together into two cavities 4 adjacent in the left-right direction Y (indicated by diagonal lines slanting to the left Y1 with respect to the up-down direction Z). Also, of the 12 cavities 4, one terminal and another terminal are inserted together into two cavities 4 adjacent in diagonal directions (indicated by diagonal lines slanting to the left Y1 and diagonal lines slanting to the right Y2 with respect to the up-down direction Z). And, of the 12 cavities 4, one terminal and another terminal are inserted together into two cavities 4 arranged diagonally apart on the left Y1 and right Y2 sides of one cavity 4 (indicated by diagonal lines slanting to the right Y2 with respect to the up-down direction Z).

[0061] Next, as shown in FIG. 25 , the terminals 21 moved to the insertion position are primarily inserted into the cavities 4. Here, each of the terminals 21 at the insertion position is moved forward X1 by the right head 17 and the left head 18. As a result, the terminals 21 are inserted into the corresponding cavities 4 to the extent that they are not completely inserted, and the terminals 21 are positioned relative to the cavities 4. Next, as shown in FIG. 26 , the terminals 21 are secondarily inserted into the cavities 4. Here, first, the terminal chucks 5 of the right head 17 and the terminal chucks 5 of the left head 18 each displace the lower terminal chucks 52 downward Z2, thereby completing the gripping of the core wire crimping portions 25. Then, the three-axis drive source 19 retracts the terminal chucks 5 outward in the left-right direction Y, i.e., in directions in which they move away from each other. Then, as shown in FIG. 27 , the three-axis drive source 19 moves the wire chucks 7 forward X1. With this movement, all of the terminals 21 are inserted into the cavities 4, completing the secondary insertion. Then, each wire chuck 7, which is still gripping the end portion of the wire 20, is displaced rearward X2 (in the direction in which the terminal 21 is removed), and the end portion of the wire 20 of each terminal 21 is pulled rearward X2.

[0062] This pulling action extracts the terminal 21 that is not fully inserted into the cavity 4 from the cavity 4. In this embodiment, this action of pulling the end portion of the electric wire 20 by the electric wire chuck 7 is called pulling confirmation. By the pulling confirmation, it is possible to independently confirm whether one terminal and another terminal are securely inserted into the cavity 4. When the pulling confirmation is completed, as shown in FIG. 28 , the electric wire chuck 7 of the right head 17 and the electric wire chuck 7 of the left head 18 each displace the lower electric wire chuck 72 downward Z2, thereby finishing gripping the electric wire 20. Then, the three-axis drive source 19 retracts the electric wire chucks 7 outward in the left-right direction Y, that is, in directions in which they move away from each other. Then, as shown in FIG. 29 , the three-axis drive source 19 moves the right head 17 and the left head 18 rearward X2, thereby completing the insertion of the terminal 21.

[0063] According to the above-described embodiment, the right head 17 (first head) can independently displace the terminal 21 and the end portion of the electric wire 20 (one terminal and one electric wire, first gripped portion) in any direction within an imaginary plane perpendicular to the front-rear direction X (insertion direction). Furthermore, the left head 18 (second head) can independently displace the terminal 21 and the end portion of the electric wire 20 (another terminal and another electric wire, second gripped portion) in any direction. Therefore, for example, if the insertion direction of the terminal 21 is the front-rear direction X, the first gripped portion and the second gripped portion can be relatively displaced in the left-right direction Y, or the first gripped portion and the second gripped portion can be relatively displaced in the left-right direction Y and the up-down direction Z, i.e., in a diagonal direction. These relative displacements allow, for example, one terminal and another terminal to be inserted together corresponding to each of the adjacent cavities 4 at various distances in the left-right direction Y. Furthermore, it is possible to insert one terminal and another terminal together into each of the cavities 4 arranged at various distances in a diagonal direction, for example. Therefore, it is possible to provide a terminal insertion device 1 that can flexibly accommodate various arrangements of the cavities 4 to be inserted and can insert multiple terminals 21 together into the corresponding cavities 4.

[0064] Furthermore, in this embodiment, the shortest distance between the inner edges in the left-right direction Y of the right head 17 gripping the first gripped portion and the left head 18 gripping the second gripped portion is greater than the shortest distance between the inner edges in the adjacent direction of each gripped portion. This relationship of shortest distances allows the first gripped portion and the second gripped portion to approach each other in the left-right direction Y at most until they come into contact with each other without interfering with each other between the left head 18 and the right head 17. This allows for flexible handling even when the insertion target cavities 4 are close to each other in the left-right direction Y, and allows one terminal and another terminal to be inserted together into the corresponding cavities 4.

[0065] Furthermore, according to this embodiment, the terminal chuck 5 (first terminal chuck) of the right head 17 can grip the core wire crimping portion 25 (first core wire crimping portion) of one terminal. The terminal chuck 5 (second terminal chuck) of the left head 18 can grip the core wire crimping portion 25 (second core wire crimping portion) of another terminal. The core wire crimping portion 25 has a relatively uniform shape among the parts of the terminal 21 and is less likely to deform than the electric wire 20. Because each core wire crimping portion 25 can be clamped in the vertical direction Z, the clamped state of the terminal 21 and the end portion of the electric wire 20 can be maintained more stably. Furthermore, in the conventional terminal insertion device described above, because the electric wire 20 is clamped between the inner and outer claws in the left-right direction Y, when two electric wires 20 are brought closer to each other in the left-right direction Y, the inner claws interfere with each other, preventing the electric wires from being brought closer to each other. However, with this configuration, each terminal chuck 5 sandwiches each core wire crimping portion 25 in the up-down direction Z. The shortest distance S1 between the inner edges of the terminal chucks 5 in the adjacent direction is greater than the shortest distance S2 between the inner edges of the terminal 21 (first terminal) and the terminal 21 (second terminal) in the adjacent direction. Therefore, the terminal chucks 5 can be brought close to each other in the left-right direction Y until they come into contact with each other without interfering with each other.

[0066] Furthermore, according to this embodiment, the wire chuck 7 (first wire chuck) of the right head 17 can check the tension of the wire 20 (first electric wire) when the terminal 21 (first terminal) is inserted into the cavity 4. Furthermore, the wire chuck 7 (second wire chuck) of the left head 18 can check the tension of the wire 20 (second electric wire) when the terminal 21 (second terminal) is inserted into the cavity 4. This tension check allows the terminal 21 that is not sufficiently inserted into the cavity 4 to be extracted from the cavity 4, so that it is possible to independently check whether the first terminal and the second terminal are securely inserted into the cavity 4. Therefore, it is possible to prevent the right head 17 and the left head 18 from overlooking insufficient insertion of the terminal 21.

[0067] Furthermore, according to this embodiment, the electric wire 20 is gripped at a position eccentric to one side in the left-right direction Y of the electric wire chuck 7 by the upper curved surface 76 (upper gripping portion) provided on one side in the left-right direction Y of the upper wire chuck 71 (upper main body portion) and the lower curved surface 82 (lower gripping portion) provided on one side in the left-right direction Y of the lower wire chuck 72 (lower main body portion). Therefore, compared to a configuration in which the structure for gripping the electric wire 20 is provided at the center of the electric wire chuck 7 in the left-right direction Y, the amount by which the electric wire chuck 7 protrudes to one side in the left-right direction Y from the gripped electric wire 20 can be reduced. Therefore, when the gripped electric wire 20 is displaced to one side in the left-right direction Y, the electric wire chuck 7 is less likely to interfere with other structures. Therefore, it is possible to provide a terminal insertion device 1 including an electric wire chuck 7 (chuck means) that is less likely to hinder the displacement of the gripped electric wire 20 to one side in the left-right direction Y. Furthermore, with this configuration, the wire chuck 7 changes the distance in the up-down direction Z between the upper curved surface 76 and the lower curved surface 82 by relatively displacing the upper wire chuck 71 and the lower wire chuck 72 in the up-down direction Z. This causes the wire chuck 7 to switch between a state in which it grips the electric wire 20 and a state in which it does not grip the electric wire 20. Therefore, the position of the wire chuck 7 in the left-right direction Y is unlikely to change when gripping and terminating the gripping of the electric wire 20. This makes it possible to maintain a state in which the wire chuck 7 is unlikely to interfere with other components on one side of the gripped electric wire in the left-right direction Y, both during the gripping operation and the terminating operation of the electric wire 20.

[0068] Furthermore, according to the present embodiment, the upper curved surface 76 is continuous with the edge of the upper wire chuck 71 on one side in the left-right direction Y, and the lower curved surface 82 is continuous with the edge of the lower wire chuck 72 on one side in the left-right direction Y. With this configuration, the electric wire 20 can be gripped near the edge of the electric wire chuck 7 on one side in the left-right direction Y. Therefore, the amount by which the electric wire chuck 7 protrudes on one side in the left-right direction Y from the gripped electric wire 20 can be further reduced.

[0069] Unlike the configuration of this embodiment, the upper curved surface 76 may not be continuous with the edge of the upper wire chuck 71 on one side in the left-right direction Y, and the lower curved surface 82 may not be continuous with the edge of the lower wire chuck 72 on one side in the left-right direction Y. In this case, it is preferable to provide the upper curved surface 76 on one side in the left-right direction Y of the upper wire chuck 71, and the lower curved surface 82 on one side in the left-right direction Y of the lower wire chuck 72. By doing so, it is possible to reduce the amount by which the wire chuck 7 protrudes on one side in the left-right direction Y from the gripped electric wire 20, compared to a configuration in which the structure for gripping the electric wire 20 is provided in the center of the electric wire chuck 7 in the left-right direction Y.

[0070] Furthermore, according to this embodiment, when the upper electric wire chuck 71 and the lower electric wire chuck 72 are relatively displaced in a direction in which they approach each other in the up-down direction Z, the upper guide inclined surface 77 and the lower guide inclined surface 83 approach each other. During this approach, the electric wire 20 is brought into sliding contact with both guide inclined surfaces 77, 83, and the electric wire 20 can be guided to one side in the left-right direction Y. By this guiding, the electric wire 20 can be reliably guided to the positions of the upper curved surface 76 and the lower curved surface 82, and the electric wire 20 can be reliably gripped by the upper curved surface 76 and the lower curved surface 82.

[0071] Furthermore, according to this embodiment, each of the pair of wire chucks 7 can be independently displaced in any direction within an imaginary plane extending in the left-right direction Y and the up-down direction Z (perpendicular to the insertion direction of the terminal 21). The pair of wire chucks 7 are adjacent to each other in the left-right direction Y and are oriented symmetrically such that the upper curved surface 76 and the lower curved surface 82 are positioned inside each other in the adjacent direction. Due to this positional relationship, the upper curved surface 76 and the lower curved surface 82 on the right side Y2 are eccentric toward the wire chuck 7 on the left side Y1 in the wire chuck 7 on the right side Y2. The upper curved surface 76 and the lower curved surface 82 on the left side Y1 are eccentric toward the wire chuck 7 on the right side Y2 in the wire chuck 7 on the left side Y1. That is, the upper curved surface 76 and the lower curved surface 82 on one side and the upper curved surface 76 and the lower curved surface 82 on the other side are eccentric toward each other. Therefore, the amount by which the wire chucks 7 protrude from the gripped wires 20 in the direction in which they approach each other can be reduced, and interference between the wire chucks 7 can be suppressed, allowing one wire to approach another wire in the left-right direction Y.

[0072] Furthermore, according to this embodiment, the shortest distance S3 between the inner end edges in the adjoining direction of the electric wire chuck 7 of the right head 17 and the electric wire chuck 7 of the left head 18 is greater than the shortest distance S4 between the inner end edges in the adjoining direction of the one electric wire and the other electric wire. Therefore, the one electric wire and the other electric wire can be brought close to each other in the left-right direction Y at most until they come into contact with each other without interfering with each other.

[0073] Furthermore, according to this embodiment, the terminal is gripped at a position eccentric to one side of the terminal chuck 5 in the left-right direction Y by the upper gripping surface 56 (upper gripping portion) provided on one side of the upper terminal chuck 51 (upper main body portion) in the left-right direction Y and the lower gripping surface 60 (lower gripping portion) provided on one side of the lower terminal chuck 52 (lower main body portion) in the left-right direction Y. Therefore, compared to a configuration in which the structure for gripping the terminal 21 is provided at the center of the terminal chuck 5 in the left-right direction Y, the amount by which the terminal chuck 5 protrudes from the gripped terminal 21 to one side in the left-right direction Y can be reduced. Therefore, when the gripped terminal 21 is displaced to one side in the left-right direction Y, the terminal chuck 5 is less likely to interfere with other structures. Therefore, it is possible to provide a terminal insertion device 1 including a terminal chuck 5 (chuck means) that is less likely to hinder the displacement of the gripped terminal 21 to one side in the left-right direction Y. Furthermore, with this configuration, the terminal chuck 5 changes the distance in the vertical direction Z between the upper gripping surface 56 and the lower gripping surface 60 by relatively displacing the upper terminal chuck 51 and the lower terminal chuck 52 in the vertical direction Z, thereby switching between a state in which the terminal 21 is gripped and a state in which the terminal 21 is not gripped. Therefore, the position of the terminal chuck 5 in the horizontal direction Y is unlikely to change when gripping and terminating the gripping of the terminal 21. This makes it possible to maintain a state in which the terminal chuck 5 is unlikely to interfere with other components on one side of the gripped terminal in the horizontal direction Y, both during the gripping operation and the terminating operation of the terminal 21.

[0074] According to this embodiment, the upper gripping surface 56 of the second upper plate 55, which extends in the direction in which the core wire clamping portion 25 extends, abuts against the upper surface of the core wire clamping portion 25. Similarly, the lower gripping surface 60 of the second lower plate 59, which also extends in the direction in which the core wire clamping portion 25 extends, abuts against the lower surface of the core wire clamping portion 25. The core wire clamping portion 25 is a part of the terminal 21 that has a relatively constant shape and is less likely to deform than the electric wire 20. The core wire clamping portion 25 can be clamped by being sandwiched between the upper gripping surface 56 and the lower gripping surface 60 in the up-down direction Z, ensuring a contact area of ​​a predetermined length in the direction in which the second upper plate 55 and the second lower plate 59 extend. This allows the terminal chuck 5 to maintain its clamped state of the terminal 21 more stably.

[0075] Furthermore, according to this embodiment, the convex portion 56a is fitted into one of the upper and lower surfaces of the core wire clamping portion 25, on which the concave portion 25a is provided. The receiving portion 60a abuts against the other of the upper and lower surfaces of the core wire clamping portion 25, on which the concave portion 25a is not provided. With this configuration, the core wire clamping portion 25 can be sandwiched and held in the up-down direction Z between the convex portion 56a and the receiving portion 60a. The fitting of the convex portion 56a and the abutment of the receiving portion 60a prevents the core wire clamping portion 25 from tilting in the up-down direction Z and the left-right direction Y, and the terminal 21 can be stably maintained in a predetermined posture while being held in the terminal chuck 5.

[0076] Furthermore, according to this embodiment, each of the pair of terminal chucks 5 can be independently displaced in any direction extending in the left-right direction Y and the up-down direction Z (within a virtual plane perpendicular to the insertion direction of the terminal 21). The pair of terminal chucks 5 are adjacent to each other in the left-right direction Y and are oriented symmetrically such that the upper gripping surface 56 and the lower gripping surface 60 are positioned inside in the adjacent direction. Due to this positional relationship, the upper gripping surface 56 and the lower gripping surface 60 on the right side Y2 are eccentric toward the terminal chuck 5 on the left side Y1 in the terminal chuck 5 on the right side Y2. Furthermore, the upper gripping surface 56 and the lower gripping surface 60 on the left side Y1 are eccentric toward the terminal chuck 5 on the right side Y2 in the terminal chuck 5 on the left side Y1. That is, the upper gripping surface 56 and the lower gripping surface 60 on one side and the upper gripping surface 56 and the lower gripping surface 60 on the other side are eccentric toward each other. This reduces the amount by which the terminal chucks 5 protrude from the gripped terminals 21 in the direction in which they approach each other, thereby preventing interference between the terminal chucks 5 and allowing one terminal to approach another terminal in the left-right direction Y.

[0077] Furthermore, according to this embodiment, the shortest distance S1 between the inner edges in the adjoining direction of the terminal chuck 5 of the right head 17 and the terminal chuck 5 of the left head 18 is greater than the shortest distance S2 between the inner edges in the adjoining direction of one terminal and another terminal. Therefore, the terminal chucks 5 can be brought close to each other in the left-right direction Y until they come into contact with each other at most, without interfering with each other.

[0078] The above describes in detail one embodiment of the present invention and its modified examples with reference to the drawings, but the specific configuration is not limited to these embodiments, and the present invention also includes design changes and the like that do not deviate from the gist of the present invention. [Explanation of symbols]

[0079] X Front-to-back direction (insertion direction) Y Left / right direction (any direction) Z Up / Down direction (any direction) 1 Terminal insertion device 2 Wires with terminals 4 cavities 5 Terminal chuck 7 Wire chuck 17 Right head (first head) 18 Left head (second head) 20 Electric wire (first electric wire, other electric wire, first gripped part, second gripped part) 21 terminal (one terminal, another terminal, first gripped portion, second gripped portion) 51 Upper terminal chuck (upper body part) 52 Lower terminal chuck (lower body part) 56 Upper gripping surface (upper gripping part) 60 Lower gripping surface (lower gripping part) 71 Upper wire chuck (upper body part) 72 Lower wire chuck (lower body part) 76 Upper curved surface (upper gripping part) 82 Lower curved surface (lower grip part)

Claims

1. A terminal insertion device for inserting a terminal of a terminal-attached electric wire into a cavity, a terminal chuck for gripping the terminal; the terminal chuck includes an upper body portion having a predetermined width in the left-right direction, and a lower body portion having a predetermined width in the left-right direction and provided so as to be displaceable in the up-down direction relative to the upper body portion, an upper gripping portion that abuts on an upper portion of the terminal is provided on one side of the upper main body portion in the left-right direction; a lower gripping portion that faces the upper gripping portion in the vertical direction and abuts against a lower portion of the terminal is provided on one side of the lower main body portion in the left-right direction; the terminal is clamped between the upper gripping portion and the lower gripping portion at a position offset to one side in the left-right direction of the terminal chuck, The terminal is provided with a core wire crimping portion that extends in an insertion direction of the terminal and crimps a core wire of an electric wire on which the terminal is provided, the upper gripping portion includes a first upper plate portion extending in the left-right direction and a second upper plate portion extending from one side of the first upper plate portion in the left-right direction in an insertion direction of the terminal, a lower surface of the second upper plate portion forms an upper gripping surface that abuts against an upper surface of the core wire crimping portion, the lower gripping portion includes a first lower plate portion extending in the left-right direction and a second lower plate portion extending from one side of the first lower plate portion in the left-right direction in an insertion direction of the terminal, The terminal insertion device according to claim 1, wherein an upper surface of the second lower plate portion forms a lower gripping surface that abuts against a lower surface of the core wire crimping portion.

2. a recess recessed inward in the up-down direction is provided on one of the upper surface and the lower surface of the core wire crimping portion; one of the upper gripping portion and the lower gripping portion, which has a portion facing the recessed portion in the up-down direction, is provided with a convex portion that fits into the recessed portion; 2. The terminal insertion device according to claim 1, wherein the other of the upper gripping portion and the lower gripping portion, on which the convex portion is not provided, is provided with a receiving portion shaped to conform to the outer shape of the other of the upper surface and the lower surface of the core wire clamping portion, on which the concave portion is not provided.

3. the terminal chucks are provided in a pair, adjacent to each other in the left-right direction, and oriented symmetrically such that the upper gripping portion and the lower gripping portion are positioned on the inner side in the adjacent direction; One of the pair of terminal chucks grips one of the plurality of terminals, and the other of the pair of terminal chucks grips the other of the plurality of terminals; 3. The terminal insertion device according to claim 1, wherein each of the pair of terminal chucks is provided so as to be independently displaceable in any direction within an imaginary plane perpendicular to the terminal insertion direction.

4. The one terminal and the other terminal extend in the terminal insertion direction and are adjacent to each other in the left-right direction, 4. The terminal insertion device according to claim 3, wherein the shortest distance from the inner edge of the one terminal chuck in the adjacent direction to the inner edge of the other terminal chuck in the adjacent direction is greater than the shortest distance from the inner edge of the one terminal in the adjacent direction to the inner edge of the other terminal in the adjacent direction.

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