Robot hand and wire transfer system

Abstract

To provide a robot hand which can prevent a collision between a connector of a sub assembly and a holding tool provided at an arrangement plate when the sub assembly is arranged on a jig plate, and to provide an electric wire transfer system.SOLUTION: A transfer robot transfers a sub assembly 1, in which connectors 2 are attached to both ends of at least one electric wire 3, to an arrangement plate. A robot hand 12 includes: an attachment part 51 which is attached to an arm tip of the transfer robot; a connector holding part 52 which is provided at the attachment part 51 and holds the connector 2; and an electric wire guide part 53 which is provided at the attachment part 51 and holds the electric wire 3. The robot hand 12 swings with the attachment part 51 set to an axis center so that at least one of the connector holding part 52 and the electric wire guide part 53 opens relative to the other.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a robot hand and an electric wire transfer system. [Background technology]

[0002] Patent Document 1 discloses a wire harness manufacturing support device equipped with a transfer robot that transfers sub-assemblies or electric wires held by a holding bar to multiple holders on an assembly board. In this device, a holding bar holding a sub-assembly or an electric wire is supplied to a holding bar supply holder located relatively far from the assembly board. A holding bar hand for holding the holding bar and an electric wire hand for handling the electric wire are attached to the arm of the transfer robot via a common base. The transfer robot grasps the holding bar set in the holding bar supply holder with the holding bar hand and transfers it to a holding bar holder provided in a standby position around the assembly board. The transfer robot then grasps the electric wire with the electric wire hand and transfers the electric wire from the holding bar held in the holding bar holder toward the assembly board.

[0003] Patent Document 2 shows a manufacturing device for manufacturing a wire harness by bundling wiring bodies (subassemblies) laid out on an assembly drawing board. In this device, a movable connector holder is arranged on the assembly drawing board, and the connector of the wiring body held by the hand of a moving device is set in the connector holder with the wires loosened, and after setting, the connector holder is moved to reduce the slack in the wires. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-67437 [Patent Document 2] Japanese Patent Application Publication No. 2019-57418 Summary of the Invention [Problem to be solved by the invention]

[0005] In the manufacturing support device described in Patent Document 1, a hand for a holding bar and a hand for an electric wire are attached to the arm of the transfer robot, so when an electric wire is to be routed on the assembly board, these hands may collide with the holders on the assembly board. Also, in the manufacturing device described in Patent Document 2, when an attempt is made to route a wiring body while supporting the electric wire on the electric wire support on the assembly board, the hand holding the connector may collide with the electric wire support provided on the assembly board.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a robot hand and an electric wire transfer system that can hold an electric wire in a holder provided on a wiring plate while avoiding collision with the holder when wiring a sub-assembly on a jig plate. [Means for solving the problem]

[0007] The above object of the present invention can be achieved by the following configuration. a mounting portion attached to an end of an arm of a transfer robot that transfers a sub-assembly having connectors attached to both ends of at least one electric wire onto a wiring board; a connector gripping portion provided on the mounting portion and configured to grip the connector; a wire guide portion provided on the mounting portion and holding the wire, At least one of the connector gripping portion and the wire guide portion swings around the mounting portion as an axis so as to open relative to the other. Robot hand.

[0008] In order to achieve the above-mentioned object, the electric wire transfer system according to the present invention has the following features. The robot hand; The transfer robot; The wiring plate; Equipped with The sub-assembly held by the robot hand is routed on the routing plate. Electric wire transfer system. [Effects of the Invention]

[0009] According to the present invention, a robot hand and an electric wire transfer system can be provided that, when wiring a sub-assembly on a jig plate, can hold an electric wire in a holder while avoiding collision with the holder provided on the wiring plate.

[0010] The present invention has been briefly described above. The details of the present invention will become clearer by reading the following detailed description of the invention (hereinafter referred to as "embodiments") with reference to the accompanying drawings. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of an electric wire transfer system equipped with an electric wire feeding device. [Figure 2] FIG. 2 is a schematic front view illustrating the configuration of the electric wire transfer system including the electric wire feeding device. [Figure 3] FIG. 3 is a perspective view of a main body portion equipped with a terminal holding portion. [Figure 4] FIG. 4 is a side view of the robot hand in the closed state. [Figure 5] FIG. 5 is a side view of the robot hand in the open state. [Figure 6] FIG. 6 is a perspective view of the electric wire bundling portion. [Figure 7] FIG. 7 is a front view of the wire holder. [Figure 8] FIG. 8 is a schematic front view illustrating the operation of the electric wire transfer system. [Figure 9] FIG. 9 is a schematic front view illustrating the operation of the electric wire transfer system. [Figure 10] FIG. 10 is a schematic front view illustrating the operation of the electric wire transfer system. [Figure 11]FIG. 11 is a schematic front view illustrating the operation of the electric wire transfer system. [Figure 12] FIG. 12 is a side view of the robot hand in an open state, illustrating the operation of holding an electric wire in the electric wire holder. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a side view of an electric wire transfer system including an electric wire feeding device, and Fig. 2 is a schematic front view illustrating the configuration of the electric wire transfer system including an electric wire feeding device.

[0013] 1 and 2, an electric wire feeding device 100 according to this embodiment is provided in an electric wire transfer system 200. The electric wire transfer system 200 further includes a transfer robot 10 and a wiring board 70. The electric wire feeding device 100 is disposed between the wiring board 70 and the transfer robot 10, and supplies a sub-assembly 1 to a take-out position near the transfer robot 10. The transfer robot 10 then takes out the sub-assembly 1 and transfers it to the wiring board 70. The sub-assembly 1 is a component that constitutes a wire harness to be mounted in a vehicle such as an automobile, and in this example includes a plurality of connectors 2 and a plurality of electric wires 3, and the plurality of electric wires 3 are bundled together with the connectors 2 connected to both ends of the electric wires 3.

[0014] In this example, the electric wire transfer system 200 is equipped with two transfer robots 10. The two transfer robots 10 are, for example, vertical articulated robots each equipped with a robot hand 12 at the tip of an arm 11, and are installed in parallel on a base 13. One of these transfer robots 10 is designated as a first transfer robot 10A, and the other is designated as a second transfer robot 10B.

[0015] The routing plate 70 is disposed in a position facing the two transfer robots 10. The routing plate 70 is disposed perpendicular to the floor surface so that the routing surface 70a, which is one of its surfaces, faces the transfer robots 10. In this manner, the transfer robots 10 are disposed in a position facing the routing plate 70. The routing plate 70 has a plurality of connector holders 71 and electric wire holders 72 erected on the routing surface 70a. In the sub-assembly 1, the connectors 2 are held by the connector holders 71, and the electric wires 3 are held by the electric wire holders 72. In this way, the sub-assembly 1 is routed on the routing surface 70a of the routing plate 70.

[0016] The electric wire feeding device 100 has one or more end holding units 31 and a conveying unit 32. The end holding units 31 hold connectors 2 provided at the ends of the electric wires 3 of the sub-assembly 1. The conveying unit 32 has a conveying path 33 and a plurality of main units 34. The end holding units 31 are supported by the main units 34.

[0017] Each terminal holding unit 31 is associated with a respective transfer robot 10. That is, the multiple terminal holding units 31 are composed of multiple first terminal holding units 31A associated with the first transfer robot 10A and multiple second terminal holding units 31B associated with the second transfer robot 10B. The connectors 2 of the sub-assembly 1 are supplied to the first transfer robot 10A by the first terminal holding unit 31A, and the connectors 2 of the sub-assembly 1 are supplied to the second transfer robot 10B by the second terminal holding unit 31B.

[0018] The conveying path 33 has a movable rail 41 and a fixed rail 42. The movable rail 41 is disposed at the lower end position of the wiring board 70 between the transfer robot 10 and the wiring board 70. The fixed rail 42 is disposed to the side of the movable rail 41 so as to be continuous with the movable rail 41 in a straight line. The main body 34 is movably supported by the movable rail 41 and the fixed rail 42 of the conveying path 33, and moves in a first direction X, which is a horizontal direction along the movable rail 41 and the fixed rail 42.

[0019] Movable rails 41 constituting the transport path 33 are supported by support columns 44 via slide mechanisms 45. The movable rails 41 can be raised and lowered by the slide mechanisms 45. When the movable rails 41 are raised and lowered, the main body 34 supported by the movable rails 41 can move in a second direction Z, which is an up-and-down direction intersecting with the first direction X.

[0020] FIG. 3 is a perspective view of a main body portion equipped with a terminal holding portion. 3, the main body 34 of the conveying unit 32 is provided with a plurality of terminal holding units 31 that hold the connectors 2. Each main body 34 moves independently of the other along a conveying path 33 made up of a movable rail 41 and a fixed rail 42. The terminal holding units 31 provided on the main body 34 are each movable independently of the other in the vertical direction (second direction Z) relative to the main body 34.

[0021] In the electric wire feeding device 100, when the main body 34 is arranged on the fixed rail 42, the connector 2 of the sub-assembly 1 is held by the terminal holding part 31. Furthermore, when the main body 34 is moved and arranged on the movable rail 41 and the terminal holding part 31 is arranged near the transfer robot 10, the sub-assembly 1 held by the terminal holding part 31 is removed by the transfer robot 10. The terminal holding part 31 holding the connector 2 of the sub-assembly 1 to be removed moves upward and protrudes from the main body 34 when the connector 2 is grasped by the transfer robot 10. This allows the connector 2 to be smoothly grasped by the transfer robot 10.

[0022] In the electric wire supply device 100, the position where the connector 2 is held by the terminal holding part 31 is defined as the set position, and the position where the connector 2 is removed from the terminal holding part 31 by the transfer robot 10 is defined as the remove position. The set position is a position outside the operating range of the arm 11 of the transfer robot 10, and the remove position is a position between the wiring board 70 and the transfer robot 10 within the operating range of the arm 11 of the transfer robot 10.

[0023] In the electric wire supplying device 100, when the movable rail 41 moves downward along the second direction Z, the main body 34 is disposed downward together with the movable rail 41. Then, the position where the movable rail 41 is lowered and the terminal holding part 31 is retracted from the operating range of the arm 11 of the transfer robot 10 is set as the retracted position.

[0024] Figure 4 is a side view of the robot hand in a closed state, and Figure 5 is a side view of the robot hand in an open state.

[0025] 4 and 5, the robot hand 12 of the transfer robot 10 includes an attachment portion 51, a connector gripping portion 52, and an electric wire guide portion 53. The attachment portion 51 is attached to the tip of the arm 11 of the transfer robot 10, so that the robot hand 12 is supported on the tip of the arm 11. The connector gripping portion 52 and the electric wire guide portion 53 are provided on the attachment portion 51 and extend in the same direction. The connector gripping portion 52 grips the connector 2 of the sub-assembly 1, and the electric wire guide portion 53 holds the electric wires 3 of the sub-assembly 1.

[0026] The connector gripping portion 52 has a pair of gripping claws 52a, and the connector 2 is clamped and gripped by these gripping claws 52a.

[0027] The wire guide portion 53 has an enclosing portion 54 at its tip end. The enclosing portion 54 has a pair of guide claws 54a and a wire presser 54b (see FIG. 7). The enclosing portion 54 of the wire guide portion 53 holds the wires 3 with the guide claws 54a, and further presses the wires 3 held by the guide claws 54a with the wire presser 54b. In this way, the wire guide portion 53 holds the wires 3 so as to cover the periphery of the multiple wires 3 at the enclosing portion 54 at its tip end.

[0028] The connector gripping portion 52 is supported relative to the mounting portion 51 so as to be able to swing about an axis at the point where it is attached to the mounting portion 51. When the connector gripping portion 52 swings, the gripping claws 52a move toward and away from the surrounding portion 54 of the electric wire guide portion 53. In other words, the robot hand 12 can change its posture between a closed state (state in FIG. 4 ) in which the connector gripping portion 52 is close to the electric wire guide portion 53, and an open state (state in FIG. 5 ) in which the connector gripping portion 52 is away from the electric wire guide portion 53.

[0029] The electric wire transfer system 200 also includes an electric wire bundling section 60 (see FIG. 1). The electric wire bundling section 60 is provided between the wiring board 70 and the transfer robot 10, and is disposed at the lower end position of the wiring board 70.

[0030] FIG. 6 is a perspective view of the electric wire bundling portion. As shown in Fig. 6, the electric wire bundling section 60 includes a pair of rollers 61. These rollers 61 are rotatably supported and are movable toward and away from each other. In this electric wire bundling section 60, the electric wires 3 of the sub-assembly 1 held by the robot hand 12 are passed between the rollers 61. In this state, the rollers 61 move toward each other to sandwich and hold the electric wires 3.

[0031] The wire bundling section 60 also has a wire presser bar 62. The wire presser bar 62 is supported so as to be swingable, and moves toward and away from the position where the wire 3 is held by the pair of rollers 61. When the rollers 61 hold the wire 3, the wire presser bar 62 swings, and moves toward the position where the rollers 61 hold the wire 3. As a result, the wire 3 between the rollers 61 is pushed toward the back side of the rollers 61 by the wire presser bar 62, and the wire 3 is bundled.

[0032] The transfer robot 10 arranges the sub-assembly 1 on the wiring plate 70 in a state in which the electric wires 3 are held by the pair of rollers 61 of the electric wire bundling section 60. As a result, the electric wires 3 of the sub-assembly 1 arranged on the wiring plate 70 are converged during routing on the wiring plate 70, and catching on surrounding members and the like is reduced.

[0033] FIG. 7 is a front view of the wire holder. 7, the wire holder 72 provided on the wiring surface 70a of the wiring plate 70 has a support portion 75 fixed to the wiring surface 70a and a holding portion 76 at the tip of the support portion 75. The holding portion 76 has a pair of rod bodies 77 fixed to the tip of the support portion 75 and arranged at a distance from each other, and locking rods 78 provided on the tip portions 77a of the rod bodies 77 and extending in directions approaching each other. The holding portion 76 holds the wires 3 of the sub-assembly 1 between the rod bodies 77.

[0034] The tip ends 77a of the rod bodies 77 of the holding part 76 are arranged with a gap therebetween that allows the electric wire guide part 53 of the robot hand 12 to pass through, and the space between the tip ends 77a of these rod bodies 77 forms an opening 76a. Furthermore, the locking rods 78 provided on the tip ends 77a of the rod bodies 77 are elastic, and the tips of the respective locking rods 78 are overlapped with each other in a direction along the wiring surface 70a. As a result, the opening 76a of the holding part 76 is blocked by the locking rods 78.

[0035] The connector gripping portion 52 gripping the connector 2 has a widthwise size, i.e., a size in the opening / closing direction of the pair of gripping claws 52a, that is larger than the widthwise size of the electric wire guide portion 53 gripping the multiple electric wires 3, i.e., a size in the opening / closing direction of the pair of guide claws 54a. Therefore, when the robot hand 12 in the closed state attempts to pass through the opening 76a of the holding portion 76 to route the sub-assembly 1, the connector gripping portion 52 or the connector 2 gripped by the connector gripping portion 52 interferes with the tip 77a and cannot pass through. Therefore, the robot hand 12 swings the connector gripping portion 52 to change its position to an open state, which allows the connector gripping portion 52 to pass above the holding portion 76 and allows the electric wire guide portion 53 to pass through the opening 76a, thereby avoiding interference between the robot hand 12 and the holding portion 76.

[0036] Next, the operation of the electric wire transfer system 200 including the electric wire feeding device 100 will be described. 8 to 11 are schematic front views illustrating the operation of the electric wire transfer system. Fig. 12 is a side view of the robot hand in an open state illustrating the operation of holding an electric wire in the electric wire holder. The wiring plate 70 is horizontal before the start of transfer of the sub-assembly 1, rises to nearly vertical during transfer, and returns to a horizontal state after transfer.

[0037] (Sub-assembly set) As shown in FIG. 8, the sub-assembly 1 is held by a plurality of terminal holders 31 arranged at a set position outside the operating range of the transfer robot 10.

[0038] (Transportation of sub-assemblies) 9, each main body 34 of the transport unit 32 moves along a first direction X, which is a horizontal direction, toward each removal position within the operating range of the transfer robot 10. As a result, the first terminal holding unit 31A is disposed at an attachment position within the operating range of the associated first transfer robot 10A, and the second terminal holding unit 31B is disposed at an attachment position within the operating range of the associated second transfer robot 10B.

[0039] (Transfer of sub-assembly) Next, the sub-assembly 1 is transferred to the wiring board 70. In this transfer operation, a gripping operation by the robot hand 12, a retraction operation of the terminal holding unit 31, a wire bundling operation by the wire bundling unit 60, and a wiring operation by the transfer robot 10 are performed in this order.

[0040] (1) Grasping action The transfer robot 10 is driven, and the sub-assembly 1 to be transferred is gripped by the robot hand 12. Specifically, the connector gripping portion 52 grips the connector 2 of the sub-assembly 1 to be transferred, and the wire guide portion 53 holds the electric wire 3 of the sub-assembly 1 to be transferred. At this time, in the main body 34 of the transport unit 32, the terminal holding portion 31 holding the connector 2 of the sub-assembly 1 to be transferred rises along the second direction Z. This allows the connector gripping portion 52 of the robot hand 12 to smoothly grip the connector 2. After the gripping operation, the robot hand 12 swings the connector gripping portion 52. As a result, the robot hand 12 is in an open state in which the connector gripping portion 52 is separated from the wire guide portion 53, and the wire guide portion 53 holding the electric wire 3 protrudes beyond the connector gripping portion 52 gripping the connector 2 (see FIG. 5 ).

[0041] (2) Evacuation operation 10, when the sub-assembly 1 is grasped by the robot hand 12, the terminal holding parts 31 that had been raised in the main body parts 34 are lowered, and the movable rails 41 of the transport path 33 are lowered by the slide mechanisms 45, and further, each main body part 34 moves along the first direction X. As a result, all the terminal holding parts 31 are disposed in the retracted positions outside the operating range of the transfer robot 10.

[0042] (3) Wire convergence operation The wire guide portion 53 of the robot hand 12 of the transfer robot 10 passes between the rollers 61 of the wire bundling portion 60. Then, in the wire bundling portion 60, the rollers 61 approach each other to hold the wire 3. Also, the wire presser bar 62 swings toward the holding position for the wire 3, so that the wire 3 is pushed to the back side between the rollers 61. As a result, the wire 3 of the sub-assembly 1 is bundled in the wire bundling portion 60.

[0043] (4) Rope installation The robot hand 12 of the transfer robot 10 moves toward the wiring surface 70a of the wiring board 70, the connector 2 of the sub-assembly 1 is held by the connector holder 71 and the electric wire 3 is held by the electric wire holder 72, and the sub-assembly 1 is wired on the wiring surface 70a.

[0044] Here, when the electric wire 3 is held by the electric wire holder 72, the robot hand 12 is positioned in a position facing the routing surface 70a so that the electric wire guide portion 53 can pass through the opening 76a of the holding portion 76 of the electric wire holder 72. In this state, the robot hand 12 is moved parallel to the routing surface 70a to pass the electric wire guide portion 53 through the opening 76a of the holding portion 76. As a result, in the holding portion 76 of the holder 72, the locking rod 78 is elastically deformed to pass the electric wire 3 through the opening 76a blocked by the locking rod 78, and the electric wire 3 is held.

[0045] At this time, the robot hand 12 is in an open state in which the connector gripping portion 52 is spaced apart from the wire guide portion 53. In this open state, when the wire guide portion 53 is positioned perpendicularly toward the wiring surface 70a, the tip of the connector gripping portion 52 is positioned farther from the wiring surface 70a than in the closed state. That is, while the tips of the connector gripping portion 52 and the wire guide portion 53 are at approximately the same distance from the wiring surface 70a in the closed state, in the open state, as shown in FIG. 12 , the tip of the connector gripping portion 52 is positioned farther from the wiring surface 70a than the tip of the wire guide portion 53. Therefore, when the robot hand 12 moves along the wiring surface 70a to hold the electric wire 3 of the sub-assembly 1 in the electric wire holder 72, the distance D1 from the wiring surface 70a to the tip of the connector holding portion 52 can be made larger than the distance D2 from the wiring surface 70a to the tip of the holder 72, thereby preventing the connector 2 held by the connector holding portion 52 from colliding with the holder 72.

[0046] After the sub-assembly 1 is routed on the routing plate 70, the robot hand 12 releases the connector 2 from the connector gripping portion 52 and the wire 3 from the wire guide portion 53, and swings the connector gripping portion 52 in the opposite direction. As a result, the robot hand 12 moves to a closed state in which the connector gripping portion 52 is close to the wire guide portion 53.

[0047] Thereafter, the movable rail 41 of the conveying path 33 is raised by the slide mechanism 45, the terminal holding portion 31 is positioned at a removal position within the operating range of the transfer robot 10, and the aforementioned grasping action, retraction action, wire converging action, and wiring action are repeated for the number of sub-assemblies 1 held by the terminal holding portion 31.

[0048] As shown in Figure 11, when all of the sub-assemblies 1 held by the terminal holding portion 31 have been installed, the main body 34 of the transport portion 32 moves horizontally along the first direction X toward a set position outside the operating range of the transfer robot 10, and the next sub-assembly 1 to be installed is held by the terminal holding portion 31 (setting of the sub-assembly).

[0049] As described above, according to the electric wire feeding device 100 of this embodiment, multiple electric wires 3 are divided into connectors 2 provided at their ends and supplied to a take-out position near the transfer robot 10. This configuration can reduce tension and tangling of the electric wires 3 compared to the conventional case where the ends are taken out from a holding bar that collectively holds multiple sub-assemblies 1. Furthermore, by transporting the connectors 2 at the ends of the electric wires 3 to a take-out position near the transfer robot 10, the amount of movement of the transfer robot 10 can be reduced. Therefore, the efficiency of transferring electric wires can be improved.

[0050] Furthermore, the conveying unit 32 moves the terminal holding unit 31 in the first direction X and places it at the set position and the take-out position. This facilitates the setting of the connector 2 in the terminal holding unit 31 and the take-out of the connector 2 from the terminal holding unit 31 by the transfer robot 10.

[0051] Moreover, the conveying unit 32 moves the terminal holding unit 31 in the second direction Z and places it in the take-out position and the retracted position. In other words, the terminal holding unit 31 from which the connector 2 has been taken out by the transfer robot 10 can be retracted from the operating range of the arm 11 of the transfer robot 10, thereby suppressing interference between the transfer robot 10 and the terminal holding unit 31 during the transfer operation.

[0052] Furthermore, by moving the movable rail 41 of the conveying path 33 on which the terminal holding portion 31 is arranged in the second direction Z by the slide mechanism 45, the terminal holding portion 31 can be smoothly placed at the take-out position and the retracted position.

[0053] Furthermore, since the terminal holding portion 31 can move independently in the second direction Z relative to the main body portion 34, only the terminal holding portion 31 that holds the connector 2 of the sub-assembly 1 to be removed by the transfer robot 10 can be moved in the second direction Z, making it easier for the transfer robot 10 to remove it.

[0054] In addition, the main body 34 of the conveying unit 32 can be moved to a removal position suitable for each connector 2 to be removed, thereby preventing tension and tangling of the wires 3 when the transfer robot 10 transfers them to the wiring board 70.

[0055] The electric wire transfer system 200 including the electric wire supply device 100 can suppress tension and tangles of the electric wires 3. In addition, the movement distance of the transfer robot 10 can be reduced, and the workability of transferring the sub-assembly 1 to the wiring board 70 can be improved.

[0056] Furthermore, since the first transfer robot 10A and the second transfer robot 10B are respectively associated with the first terminal holding unit 31A and the second terminal holding unit 31B, the first transfer robot 10A and the second transfer robot 10B can simultaneously remove the connector 2 from the associated first terminal holding unit 31A and second terminal holding unit 31B without interfering with each other and transfer it to the wiring board 70. This allows the transfer work of the sub-assembly 1 to be carried out efficiently.

[0057] Furthermore, since the wiring board 70 is disposed substantially vertically and faces the transfer robot 10, it is possible to prevent the hanging wires 3 from getting caught on the wiring board 70 during the transfer operation.

[0058] In the above embodiment, the connector gripping portion 52 of the robot hand 12 is swingable, but the wire guide portion 53 may be swingable instead.

[0059] The present invention is not limited to the above-described embodiments, and can be appropriately modified, improved, etc. Furthermore, the material, shape, size, number, location, etc. of each component in the above-described embodiments are arbitrary and not limited as long as they can achieve the present invention.

[0060] Here, the features of the robot hand and the electric wire transfer system according to the above-described embodiment of the present invention will be briefly summarized and listed below in [1] to [6].

[0061] [1] A mounting portion (51) attached to the tip of an arm (11) of a transfer robot (10) that transfers a sub-assembly (1) having connectors (2) attached to both ends of at least one electric wire (3) onto a wiring board (70); a connector gripping portion (52) provided on the mounting portion and configured to grip the connector; a wire guide portion (53) provided on the mounting portion and configured to hold the wire, At least one of the connector gripping portion and the wire guide portion swings around the mounting portion as an axis so as to open relative to the other. Robotic Hand (12).

[0062] The robot hand having the configuration [1] above can change its posture between an open state in which at least one of the connector gripping portion and the wire guide portion is open relative to the other, and a closed state in which the connector gripping portion and the wire guide portion are closed. This configuration allows the robot hand to remove a sub-assembly in the closed state and route the sub-assembly to a wiring board in the open state, i.e., with the connector and the wire separated. Therefore, with this robot hand, the height (distance from the wiring board) of the wire and the connector can be made different in the open state, so that the connector can be moved at a higher position than the wire while passing the wire through a wire holder provided on the wiring board. This prevents the connector gripping portion from interfering with a holder such as a wire holder, and avoids collisions between the connector gripping portion and the holder.

[0063] [2] The wire guide portion (53) has a surrounding portion (54) at its tip that surrounds the wire (3). The robot hand described in [1] above.

[0064] According to the robot hand having the configuration [2] above, the connector gripping portion swings and the robot hand enters an open state, whereby the electric wires are converged by the enclosing portion, which reduces the possibility of the electric wires getting caught on surrounding components, etc., and makes it easier to route the sub-assembly.

[0065] [3] At least one of the connector gripping portion (52) gripping the connector and the wire guide portion (53) holding the wire swings open relative to the other, thereby applying tension to the at least one wire (3). The robot hand described in [2] above.

[0066] According to the robot hand having the configuration [3] above, the sub-assembly can be routed on the jig plate while tension is being applied to the electric wires, thereby reducing slack in the electric wires.

[0067] [4] The robot hand (12) according to any one of [1] to [3] above; The transfer robot (10), The wiring plate (70), Equipped with The sub-assembly (1) held by the robot hand is routed on the routing plate (70). Wire transfer system (200).

[0068] According to the electric wire transfer system having the configuration [4] above, the sub-assembly to be transferred is picked up by the robot hand in a closed state and moved onto the wiring board, and then the robot hand is changed in position to an open state so that the connector gripping portion opens relative to the electric wire guide portion, and the sub-assembly can be routed. Therefore, the robot hand can move the connector at a position higher than the electric wire while passing the electric wire through the electric wire holder provided on the wiring board, thereby avoiding collision between the connector gripping portion and the holder.

[0069] [5] An electric wire bundling section (60) is provided between the transfer robot (10) and the wiring plate (70) and bundles the electric wires (3). The wire transfer system according to [4] above.

[0070] According to the electric wire transfer system having the configuration [5] above, the sub-assembly is routed to the routing plate with the electric wires being converged by the electric wire converging section, thereby preventing the electric wires from spreading and getting caught on surrounding components, etc.

[0071] [6] The wiring plate (70) is provided with an electric wire holder (holder 72) having an opening (76a) through which the electric wire guide portion (53) can pass. The wire transfer system according to [4] above.

[0072] According to the electric wire transfer system having the configuration [6] above, the electric wire guide portion holding the electric wire passes through the opening of the electric wire holder, thereby setting the electric wire in the electric wire holder. Therefore, according to this electric wire transfer system, the sub-assembly can be smoothly routed on the routing plate. [Explanation of symbols]

[0073] 1: Sub-assembly 2: Connector (terminal) 3:Electric wire 10: Transfer robot 10A: First transfer robot 10B: Second transfer robot 11: Arm 12: Robot Hand 31: Terminal holder 31A: First terminal holding section 31B:Second terminal holding part 32: Transport unit 33: Transport path 34: Main body 45: Slide mechanism 51: Mounting part 52: Connector gripping part 53: Wire guide part 54: Encirclement 60: Wire bundle 70: Cable board 72: Holder 76a: Opening 100: Electric wire supply device 200: Electric wire transfer system X: First direction Z:Second direction

Claims

1. a mounting portion attached to an end of an arm of a transfer robot that transfers a sub-assembly having connectors attached to both ends of at least one electric wire onto a wiring board; a connector gripping portion provided on the mounting portion and configured to grip the connector; a wire guide portion provided on the mounting portion and holding the wire, At least one of the connector gripping portion and the wire guide portion swings around the mounting portion as an axis so as to open relative to the other. Robot hand.

2. The wire guide portion has a surrounding portion at a tip end that surrounds the wire. The robot hand according to claim 1 .

3. At least one of the connector gripping portion gripping the connector and the wire guide portion holding the wire swings open relative to the other, thereby applying tension to the at least one wire. The robot hand according to claim 2 .

4. The robot hand according to any one of claims 1 to 3; The transfer robot; The wiring plate; Equipped with The sub-assembly held by the robot hand is routed on the routing plate. Electric wire transfer system.

5. a wire bundling section that is provided between the transfer robot and the wiring plate and that converges the wires; The electric wire transfer system according to claim 4 .

6. The wiring plate is provided with a wire holder having an opening through which the wire guide portion can pass. The electric wire transfer system according to claim 4 .

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