Wire Processing Equipment

Abstract

To stably transfer a wire by a clamp even when a length of the wire is long or short, in a wire processing apparatus provided with the clamp moving while gripping one end portion of the wire.SOLUTION: A wire processing apparatus includes a clamp that grips one end of a wire, and a controller that moves the clamp from a first position to a second position. The controller includes an acceleration control unit that accelerates and moves the clamp from the first position, a deceleration control unit that decelerates and moves the clamp to the second position, an acceleration changing unit that changes the acceleration of the accelerating movement to a first acceleration that is smaller than the standard acceleration when a length of the wire is longer than that of the first threshold value; and a deceleration changing portion for changing the deceleration of the deceleration movement to a first deceleration smaller than the standard deceleration when the length of the wire is smaller than the second threshold value smaller than the first threshold value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an electric wire processing device. [Background technology]

[0002] Electric wires having a core wire made of a conductor and a covering made of an insulator surrounding the core wire have been used as materials for wire harnesses and the like. Electric wire processing devices that perform various processes on such electric wires are known. The electric wire processing device performs processes such as cutting the electric wire, stripping the covering, and crimping a terminal. The electric wire processing device includes a clamp that moves while gripping one end of the electric wire. For example, Japanese Patent Application Laid-Open Publication No. 2010-262877 discloses an electric wire processing device including a discharge clamp that grips one end of the electric wire. The discharge clamp receives one end of the electric wire from another clamp and moves the electric wire above a collection tray. When the discharge clamp grips one end of the electric wire, the other end of the electric wire is not gripped by the clamp. When the discharge clamp moves one end of the electric wire, the other end of the electric wire is pulled by the one end and moves.

[0003] The electric wire processing apparatus disclosed in JP 2010-262877 A allows an operator to input the discharge acceleration / deceleration speed on an input screen. Patent Document 2010-262877 A describes that extending the discharge acceleration / deceleration time can reduce the inertial force acting on the electric wire, thereby improving the alignment of the discharge and preventing the electric wire from bending. Specifically, a first example is described in which the electric wire is short and soft. In the first example, it is described that a discharge acceleration / deceleration speed smaller than normal is input in consideration of the softness of the electric wire. Furthermore, a second example is described in which the electric wire is long and hard. In the second example, it is described that the discharge acceleration / deceleration speed is set to a normal value in consideration of the hardness of the electric wire. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-262877 Summary of the Invention [Problem to be solved by the invention]

[0005] JP 2010-262877 A describes setting the discharge acceleration / deceleration rate based on the hardness of the electric wire, but does not describe how to set the discharge acceleration / deceleration rate based on the length of the electric wire. In the first example where the electric wire length is short, the discharge acceleration / deceleration rate is smaller than in the second example where the electric wire length is long. Conversely, in the second example where the electric wire length is long, the discharge acceleration / deceleration rate is larger than in the first example where the electric wire length is short. In other words, the longer the electric wire length, the greater the discharge acceleration / deceleration rate.

[0006] However, the longer the wire, the more likely it is to bend during acceleration. Therefore, the longer the wire, the more difficult it is to prevent the wire from bending when the discharge acceleration / deceleration is increased.

[0007] Therefore, in order to prevent the wire from bending, it is conceivable to reduce the acceleration / deceleration rate of discharge as the wire length increases. In this case, the acceleration / deceleration rate of discharge increases as the wire length decreases. However, if the wire length is short, the influence of inertia generated at the other end of the wire increases when the clamp holding one end of the wire is stopped. Therefore, the other end of the wire is more likely to sway when the clamp is stopped.

[0008] As described above, simply decreasing the discharge acceleration / deceleration speed as the length of the electric wire increases makes it difficult to suitably suppress bending of the electric wire during acceleration and swaying of the electric wire when stopped. However, in order to stably transport the electric wire using a clamp, it is preferable to suitably suppress bending of the electric wire during acceleration and swaying of the electric wire when stopped. Note that this problem arises not only when the electric wire is moved above the collection tray, but also when the electric wire is moved to any position. Furthermore, this problem is not limited to electric wires having a core and a coating, but also arises for any electric wire.

[0009] An object of the present invention is to provide an electric wire processing device that has a clamp that moves while holding one end of an electric wire, and that can stably transport the electric wire using the clamp regardless of whether the length of the electric wire is long or short. [Means for solving the problem]

[0010] The electric wire processing device disclosed herein includes a clamp that grips one end of an electric wire, an actuator that moves the clamp, and a control device that controls the actuator to move the clamp from a first position to a second position. The electric wire processing device is configured such that when the clamp moves while gripping the one end of the electric wire, the other end of the electric wire is pulled by the one end and moves. The control device includes an acceleration control unit that accelerates the clamp from the first position, a deceleration control unit that decelerates the clamp to the second position, a memory unit that stores a standard acceleration that is preset as the acceleration of the accelerating movement and a standard deceleration that is preset as the deceleration of the decelerating movement, an electric wire length input unit to which information on the length of the electric wire is input, an acceleration changing unit that determines whether the length of the electric wire input to the electric wire length input unit is equal to or greater than a first threshold, and if so, changes the acceleration of the accelerating movement to a first acceleration that is smaller than the standard acceleration, and a deceleration changing unit that determines whether the length of the electric wire input to the electric wire length input unit is less than a second threshold that is equal to or less than the first threshold, and if so, changes the deceleration of the decelerating movement to the first deceleration that is smaller than the standard deceleration.

[0011] According to the above electric wire processing device, when the length of the electric wire is equal to or greater than the first threshold, the acceleration at which the clamp accelerates from the first position is reduced from the standard acceleration to the first acceleration. Therefore, even if the electric wire is relatively long, bending of the electric wire during acceleration can be prevented. When the length of the electric wire is less than the second threshold, the deceleration at which the clamp decelerates to the second position is reduced. Therefore, even if the electric wire is relatively short, swinging of the other end of the electric wire when the clamp stops at the second position can be prevented. Therefore, according to the above electric wire processing device, the electric wire can be stably transported by the clamp regardless of whether the length of the electric wire is long or short.

[0012] The clamp may be configured to be able to grip and release the electric wire.A collection tray for collecting the electric wire may be disposed below the second position.

[0013] As a result, the clamp functions as a discharge clamp that discharges the electric wire into the collection tray. After the clamp moves from the first position to the second position, the clamp releases its grip on the electric wire, allowing the electric wire to be collected into the collection tray. Even if the electric wire is relatively long, bending of the electric wire is suppressed, so the electric wire collected into the collection tray is in a relatively straight state. Even if the electric wire is relatively short, vibration of the other end of the electric wire is suppressed, so the electric wire collected into the collection tray is in a relatively straight state. When collecting multiple electric wires into the collection tray, the electric wires can be well aligned. Therefore, the worker can easily bundle the electric wires collected into the collection tray.

[0014] The configuration of the clamp is not particularly limited. For example, the clamp may include a first arm, a second arm facing the first arm, and a clamp actuator that drives one or both of the first arm and the second arm so that the first arm and the second arm move toward or away from each other.

[0015] The wire processing device may include another clamp configured to grip the one end of the wire, and the clamp may be configured to receive the one end of the wire from the other clamp in the first position.

[0016] The control device may be configured to execute a first control to repeat a first operation of moving the clamp from the first position to the second position, releasing the clamp, and moving the clamp from the second position to the first position. The control device may be configured to execute a second control to repeat a second operation of transferring the one end of the electric wire from the other clamp to the other clamp at a third position, moving the other clamp from the third position to a fourth position, and moving the other clamp from the fourth position to the third position. The control device may be configured to execute the first control and the second control simultaneously. The first acceleration and the first deceleration may be set so that the time required for the first operation is equal to or shorter than the time required for the second operation.

[0017] As a result, the time required for the first operation is equal to or shorter than the time required for the second operation, whether the acceleration of the accelerating movement is reduced from the standard acceleration to the first acceleration or the deceleration of the decelerating movement is reduced from the standard deceleration to the first deceleration. Therefore, whether the length of the electric wire is equal to or longer than the first threshold value or shorter than the second threshold value, the takt time of the electric wire processing device can be prevented from becoming longer.

[0018] The wire processing device may include a base that supports at least the other end of the wire when the clamp is in the first position.

[0019] The control device may include a constant velocity control section that moves the clamp at a constant velocity after the accelerating movement and before the decelerating movement.

[0020] The clamp may be configured to move in a linear direction perpendicular to the longitudinal direction of the wire.

[0021] The acceleration change unit may be configured to determine whether the length of the electric wire inputted to the electric wire length input unit is equal to or greater than a third threshold value that is greater than the first threshold value, and if the length is equal to or greater than the third threshold value, change the acceleration of the accelerated movement to a second acceleration that is smaller than the first acceleration.

[0022] The deceleration change unit may be configured to determine whether the length of the electric wire inputted to the electric wire length input unit is equal to or less than a fourth threshold value that is smaller than the second threshold value, and if the length is equal to or less than the fourth threshold value, change the deceleration of the decelerating movement to a second deceleration that is smaller than the first deceleration. [Effects of the Invention]

[0023] According to the present invention, it is possible to provide an electric wire processing device that has a clamp that moves while holding one end of an electric wire, and that can stably transport the electric wire using the clamp regardless of whether the length of the electric wire is long or short. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 2 is a plan view schematically illustrating the configuration of the wire processing apparatus. [Figure 2] FIG. 10 is a front view of the discharge clamp. [Figure 3] FIG. 10 is a side view of the exhaust clamp and electrical wires. [Figure 4] FIG. 2 is a block diagram of a control device. [Figure 5] 10 is a diagram showing the relationship between the elapsed time and the speed at which the discharge clamp moves from the first position to the second position. FIG. [Figure 6] 5 when the acceleration of the accelerated movement is changed. FIG. [Figure 7] 6 is a diagram equivalent to FIG. 5 when the deceleration rate of the deceleration movement is changed. [Figure 8] 10A and 10B are diagrams illustrating how the wire is bent when the discharge clamp is moved at an accelerated speed. [Figure 9]10A and 10B are diagrams illustrating how the end of the electric wire sways when the discharge clamp decelerates and moves. [Figure 10] FIG. 10 is a diagram showing an example of the relationship between processing content and required time for processing using a first gripping clamp, processing using a second gripping clamp, and processing using a discharge clamp. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0026] FIG. 1 is a plan view schematically illustrating the configuration of an electric wire processing device 1 according to one embodiment. The electric wire processing device 1 is a device that performs various processes on an electric wire 10. Although not shown, the electric wire 10 has a core wire made of a conductor and a covering made of an insulating material. The covering surrounds the core wire. The electric wire processing device 1 includes a feeding device 2 that feeds out the electric wire 10, a length measuring device 3 that measures the length of the electric wire 10, a first holding clamp 4F and a second holding clamp 4R that hold the electric wire 10, a cutting blade 5 that cuts the electric wire 10, a first stripping blade 6F and a second stripping blade 6R that strip the covering from the tip of the electric wire 10, a first terminal crimping machine 7F and a second terminal crimping machine 7R that crimp a terminal 11 onto the tip of the electric wire 10, a discharge clamp 8, and a collection tray 9. The electric wire processing device 1 also includes a control device 20.

[0027] The feeding device 2 is a device that feeds the electric wire 10 in the longitudinal direction of the electric wire 10. The configuration of the feeding device 2 is not limited in any way, but for example, a device including a pair of rollers 2A, 2B and a motor (not shown) that drives at least one of the rollers 2A and 2B can be suitably used.

[0028] The length measuring device 3 is a device that measures the length of the electric wire 10 being fed out. The configuration of the length measuring device 3 is not limited in any way. The length measuring device 3 includes, for example, a pair of rollers 3A that rotate as the electric wire 10 is fed out, and an encoder 3B that measures the amount of rotation of the rollers 3A. The rollers 3A rotate by an amount equal to the length of the electric wire 10 being fed out. The length measuring device 3 is configured to detect the length of the electric wire 10 based on the amount of rotation of the rollers 3A.

[0029] The first gripping clamp 4F and the second gripping clamp 4R are configured to be able to grip and release the grip of the electric wire 10. The first gripping clamp 4F and the second gripping clamp 4R are configured to be able to move in a direction perpendicular to the longitudinal direction of the electric wire 10. The first gripping clamp 4F and the second gripping clamp 4R are also configured to be able to move in the longitudinal direction of the electric wire 10. The second gripping clamp 4R is an example of the "other clamp" according to the present invention. The second gripping clamp 4R is movable between a third position P3 and a fourth position P4. In this embodiment, the first gripping clamp 4F and the second gripping clamp 4R are configured to be able to move in a linear direction perpendicular to the longitudinal direction of the electric wire 10. The first gripping clamp 4F is movable in the direction of arrow A in FIG. 1. The second gripping clamp 4R is movable in the direction of arrow B in FIG. 1. However, the first holding clamp 4F and the second holding clamp 4R may be configured to be movable in a circumferential direction perpendicular to the longitudinal direction of the electric wire 10. The configuration of the first holding clamp 4F and the second holding clamp 4R is not limited in any way. Any conventionally known clamps can be used as the first holding clamp 4F and the second holding clamp 4R.

[0030] The cutting blade 5, the first stripping blade 6F, and the second stripping blade 6R each comprise a pair of blades. For example, the cutting blade 5, the first stripping blade 6F, and the second stripping blade 6R each comprise a pair of upper and lower blades. The cutting blade 5 is configured to cut the core wire and covering of the electric wire 10. The first stripping blade 6F and the second stripping blade 6R are configured to cut only the covering without cutting the core wire of the electric wire 10. The first stripping blade 6F and the second stripping blade 6R strip the covering of the electric wire 10 cut by the cutting blade 5. Hereinafter, of the cut electric wires 10, the electric wire located closer to the first gripping clamp 4F than the cutting blade 5 and the electric wire located closer to the second gripping clamp 4R than the cutting blade 5 will be denoted by the symbols 10A and 10B, respectively.

[0031] After the first holding clamp 4F approaches the first stripping blade 6F, the first stripping blade 6F cuts into the covering of the electric wire 10A. After the first stripping blade 6F cuts into the covering of the electric wire 10A, the first holding clamp 4F moves away from the first stripping blade 6F, thereby stripping the covering from the end of the electric wire 10A held by the first holding clamp 4F. Similarly, after the second holding clamp 4R approaches the second stripping blade 6R, the second stripping blade 6R cuts into the covering of the electric wire 10B. After the second stripping blade 6R cuts into the covering of the electric wire 10B, the second holding clamp 4R moves away from the second stripping blade 6R, thereby stripping the covering from the end of the electric wire 10B held by the second holding clamp 4R.

[0032] The first terminal crimping machine 7F crimps a terminal 11 onto the end of the electric wire 10A held by the first holding clamp 4F. The second terminal crimping machine 7R crimps a terminal 11 onto the end of the electric wire 10B held by the second holding clamp 4R.

[0033] The discharge clamp 8 is a clamp that grips one end of the electric wire 10B. The discharge clamp 8 is an example of a "clamp" according to the present invention. In the following description, of both ends of the electric wire 10B, the end gripped by the discharge clamp 8 will be referred to as the first end 10a, and the end not gripped by the discharge clamp 8 will be referred to as the second end 10b. The discharge clamp 8 is configured to receive the first end 10a of the electric wire 10B from the second gripping clamp 4R and transport the electric wire 10B to the collection tray 9. In FIG. 1, the position of the discharge clamp 8 represented by a virtual line will be referred to as the first position. The position of the discharge clamp 8 represented by a solid line will be referred to as the second position. Symbol P1 represents the first position. Symbol P2 represents the second position. The collection tray 9 is located below the second position P2. The discharge clamp 8 moves between the first position P1 and the second position P2 as indicated by arrow C. The electric wire processing device 1 includes an actuator 83 (see FIG. 2) that moves the discharge clamp 8. For example, a motor or the like can be used as the actuator 83. The discharge clamp 8 receives the electric wire 10B at a first position P1 and discharges the electric wire 10B at a second position P2.

[0034] The discharge clamp 8 is configured to be able to grip and release the grip of the electric wire 10B. The configuration of the discharge clamp 8 is not particularly limited. For example, as shown in FIG. 2 , the discharge clamp 8 may include a base 80, a first arm 81, a second arm 82, a rotation shaft 85 that rotatably supports the first arm 81 and the second arm 82 on the base 80, a clamp actuator 87 that rotates the first arm 81 and the second arm 82, and a slider 88 movably engaged with the guide rail 70.

[0035] The clamp actuator 87 drives the first arm 81 and the second arm 82 so that the first arm 81 and the second arm 82 move toward and away from each other. When the first arm 81 and the second arm 82 move toward each other, the first arm 81 and the second arm 82 grip the electric wire 10B. Conversely, when the first arm 81 and the second arm 82 move away from each other, the first arm 81 and the second arm 82 release their grip on the electric wire 10B. The type of the clamp actuator 87 is not particularly limited. For example, an air cylinder, a motor, or the like can be suitably used as the clamp actuator 87.

[0036] The mechanism for moving the discharge clamp 8 between the first position P1 and the second position P2 is not limited in any way. Any conventionally known mechanism can be suitably used. For example, an endless belt may be attached to the slider 88, and the endless belt may be wound around a pair of pulleys. In this case, the actuator 83 may be a servo motor or the like that rotates one of the pulleys. Also, the mechanism for moving the discharge clamp 8 may be a ball screw mechanism. That is, the guide rail 70 may be a screw shaft with a screw groove formed on its outer circumferential surface, and the slider 88 may be formed with a screw groove that meshes with the screw shaft. In this case, the actuator 83 may be a servo motor or the like that rotates the screw shaft.

[0037] The wire processing device 1 includes a base 12 capable of supporting a portion of the wire 10B. As shown in FIG. 3 , the discharge clamp 8 is disposed above the base 12. The base 12 supports at least the second end 10b of the wire 10B when the discharge clamp 8 is in the first position P1. When the wire 10B is held by the discharge clamp 8, the first end 10a of the wire 10B is positioned above the base 12. In this embodiment, when the wire 10B is held by the discharge clamp 8, the second end 10b of the wire 10B contacts the base 12, but the first end 10a of the wire 10B is spaced upward from the base 12. However, this is not particularly limited. When the wire 10B is held by the discharge clamp 8, both the first end 10a and the second end 10b of the wire 10B may be spaced upward from the base 12. When the wire 10B is relatively short, the second end 10b tends to be spaced upward from the base 12. When the electric wire 10B is relatively short, the electric wire 10B is held by the discharge clamp 8 in a suspended state in the air.

[0038] The control device 20 is configured by a computer. The control device 20 may be a computer dedicated to the electric wire processing device 1, or may be a general-purpose computer such as a personal computer. The control device 20 may be a computer connected via a network. The control device 20 may be a computer on the cloud. The control device 20 controls the operation of the wire processing device 1.

[0039] Next, the operation of the electric wire processing device 1 will be described. In the following description, the lower and upper sides of Fig. 1 will be referred to as the front and rear sides, respectively. The left and right sides of Fig. 1 will be referred to as the left and right sides, respectively. The electric wire processing device 1 continuously repeats the cycle described below.

[0040] First, the feeding device 2 feeds the electric wire 10 forward by a predetermined length that has been set in advance. The holding clamps 4F and 4R hold the electric wire 10. The length measuring device 3 measures the length of the electric wire 10.

[0041] Next, the cutting blade 5 cuts the electric wire 10. As a result, the electric wire 10 is separated into a front electric wire 10B and a rear electric wire 10A. The first holding clamp 4F holds the front end of the electric wire 10A. The second holding clamp 4R holds the rear end (first end 10a) of the electric wire 10B.

[0042] Next, the first gripping clamp 4F moves to the right, and the second gripping clamp 4R moves to the left. The first gripping clamp 4F moves forward, and the first stripping blade 6F makes an incision in the coating at the front end of the electric wire 10A. The second gripping clamp 4R moves rearward, and the second stripping blade 6R makes an incision in the coating at the rear end of the electric wire 10B. Then, as the first gripping clamp 4F moves rearward, the coating at the front end of the electric wire 10A is stripped. As the second gripping clamp 4R moves frontward, the coating at the rear end of the electric wire 10B is stripped.

[0043] The first gripping clamp 4F moves further to the right, and the second gripping clamp 4R moves further to the left. The first terminal crimping machine 7F crimps a terminal 11 onto the front end of the electric wire 10A. The second terminal crimping machine 7R crimps a terminal 11 onto the first end 10a of the electric wire 10B.

[0044] Thereafter, the first gripping clamp 4F moves to the left and returns to its initial position behind the cutting blade 5 (the position shown by the solid line in FIG. 1). The second gripping clamp 4R moves further to the left to the third position P3. Then, the discharge clamp 8 grips the first end 10a of the electric wire 10B, and the second gripping clamp 4R releases its grip on the first end 10a of the electric wire 10B. As a result, the first end 10a of the electric wire 10B is transferred from the second gripping clamp 4R to the discharge clamp 8. Thereafter, the second gripping clamp 4R moves to the right and returns to its initial position in front of the cutting blade 5 (the position shown by the solid line in FIG. 1, i.e., the fourth position P4).

[0045] The discharge clamp 8 moves from the first position P1 to the second position P2 while gripping the electric wire 10B. The second end 10b of the electric wire 10B is not gripped by a clamp or the like and is placed on the platform 12. When the discharge clamp 8 moves the first end 10a of the electric wire 10B to the left, the second end 10b of the electric wire 10B is pulled by the first end 10a and moves to the left. As a result, the electric wire 10B is transported above the collection tray 9. After reaching the second position P2, the discharge clamp 8 releases its grip on the electric wire 10B. As a result, the first end 10a of the electric wire 10B falls, and the electric wire 10B is collected in the collection tray 9. Then, the discharge clamp 8 returns from the second position P2 to the first position P1.

[0046] The above is one cycle of operation. The wire processing device 1 repeats the above cycle to continuously produce wires 10B each having a terminal 11 crimped to the first end 10a and the second end 10b.

[0047] The wire processing device 1 according to this embodiment is configured to control the movement of the discharge clamp 8 in accordance with the length of the wire 10B. The control device 20 can control the movement of the discharge clamp 8 by controlling the actuator 83. FIG. 4 is a block diagram of the control device 20. As shown in FIG. 4, the control device 20 has an acceleration control unit 21, a constant velocity control unit 22, a deceleration control unit 23, a memory unit 24, a wire length input unit 25, an acceleration change unit 26, and a deceleration change unit 27.

[0048] 5 is a diagram showing the relationship between the time T that elapses until the discharge clamp 8 moves from the first position P1 to the second position P2 and the speed V of the discharge clamp 8. The discharge clamp 8 starts moving from a stopped state at the first position P1 at T1, accelerates between T1 and T2, moves at a constant speed between T2 and T3, decelerates between T3 and T4, and reaches the second position and stops at T4. Note that "accelerated movement" means moving while accelerating. "Constant speed movement" means moving at a constant speed. "Decelerated movement" means moving while decelerating.

[0049] The acceleration control unit 21 is configured to accelerate the discharge clamp 8 from the first position P1. The deceleration control unit 23 is configured to decelerate the discharge clamp 8 to the second position P2. The constant speed control unit 22 is configured to move the discharge clamp 8 at a constant speed after the accelerated movement and before the decelerated movement.

[0050] The storage unit 24 stores a standard acceleration that is preset as the acceleration for accelerating movement, and a standard deceleration that is preset as the deceleration for decelerating movement. If the standard acceleration is α0, then α0=V1 / (T2-T1) in Fig. 5. If the standard deceleration is β0, then β0=V1 / (T4-T3) in Fig. 5.

[0051] Information on the length of the electric wire 10B (hereinafter simply referred to as electric wire length) is input to the electric wire length input unit 25. The electric wire length input unit 25 may be configured to acquire the information on the electric wire length from the length measuring device 3. Furthermore, the electric wire processing device 1 may be configured to allow an operator to input the electric wire length from an operation screen (not shown) or the like. The electric wire length input unit 25 may be configured to acquire the information on the electric wire length based on an input by the operator. There is no limitation on the method by which the electric wire length input unit 25 acquires the electric wire length.

[0052] The acceleration change unit 26 is configured to determine whether the electric wire length input to the electric wire length input unit 25 is equal to or greater than a first threshold, and if equal to or greater than the first threshold, change the acceleration of the accelerated movement to a first acceleration α1 that is smaller than the standard acceleration α0. The first threshold and the first acceleration α1 are preset values ​​and are stored, for example, in the storage unit 24. If the electric wire length is equal to or greater than the first threshold, for example, as shown in FIG. 6, the acceleration of the accelerated movement is changed to a first acceleration α1=V1 / (T21-T1).

[0053] The deceleration change unit 27 is configured to determine whether the electric wire length input to the electric wire length input unit 25 is less than a second threshold value that is equal to or less than the first threshold value, and if the electric wire length is less than the second threshold value, to change the deceleration of the decelerating movement to a first deceleration β1 that is smaller than the standard deceleration β0. The second threshold value and the first deceleration β1 are preset values ​​and are stored in, for example, the storage unit 24. If the electric wire length is less than the second threshold value, for example, as shown in FIG. 7, the deceleration of the decelerating movement is changed to the first deceleration β1=V1 / (T41-T31).

[0054] When the discharge clamp 8 starts to accelerate from the first position P1, inertia occurs in the electric wire 10B. As shown in FIG. 8 , if the electric wire 10B is relatively long, the electric wire 10B tends to bend when the discharge clamp 8 accelerates. When the electric wire 10B is bent, it becomes difficult for the discharge clamp 8 to stably transport the electric wire 10B. Furthermore, when the electric wire 10B is bent, when the discharge clamp 8 reaches the second position P2 and releases its grip on the electric wire 10B, the electric wire 10B may be collected in the collection tray 9 while still in a bent state. In this case, the plurality of electric wires 10B may not be properly aligned with one another in the collection tray 9. Therefore, it takes a lot of time and effort for the worker to bundle the electric wires 10B collected in the collection tray 9.

[0055] However, according to this embodiment, when the length of the electric wire is equal to or greater than the first threshold value, the acceleration of the accelerated movement is reduced from the standard acceleration α0 to the first acceleration α1. The acceleration of the accelerated movement is suppressed. Therefore, even if the electric wire 10B is relatively long, bending of the electric wire 10B is suppressed. The discharge clamp 8 can stably transport the electric wire 10B. Furthermore, the electric wire 10B can be favorably collected in the collection tray 9, and the electric wires 10B in the collection tray 9 can be favorably aligned with each other. Therefore, the worker can easily perform the task of bundling the electric wires 10B collected in the collection tray 9.

[0056] When the discharge clamp 8 decelerates and moves to the second position P2, inertia occurs in the electric wire 10B. As shown in FIG. 9 , if the electric wire 10B is relatively short, the second end 10b of the electric wire 10B tends to sway when the discharge clamp 8 decelerates and stops at the second position P2. That is, the second end 10b of the electric wire 10B tends to vibrate. Note that, when the second end 10b is spaced above the base 12, the vibration of the second end 10b becomes more pronounced. If the second end 10b of the electric wire 10B sways, the electric wire 10B is likely to tilt left or right when the discharge clamp 8 releases its grip on the electric wire 10B. In this case, too, the electric wires 10B may not be properly aligned in the collection tray 9. It takes time and effort for the worker to bundle the electric wires 10B collected in the collection tray 9.

[0057] However, according to this embodiment, when the length of the electric wire is less than the second threshold value, the deceleration of the deceleration movement is reduced from the standard deceleration β0 to the first deceleration β1. The deceleration of the deceleration movement is suppressed. Therefore, even if the electric wire 10B is relatively short, the vibration of the electric wire 10B is suppressed when the discharge clamp 8 is stopped. The discharge clamp 8 can stably transport the electric wire 10B to the second position P2. The electric wire 10B can be favorably collected in the collection tray 9, and the electric wires 10B in the collection tray 9 can be favorably aligned with each other. Therefore, the worker can easily perform the task of bundling the electric wires 10B collected in the collection tray 9.

[0058] In this embodiment, when the wire length is equal to or greater than the first threshold, the deceleration of the deceleration movement remains at the standard deceleration β0 as shown in FIG. 6. When the wire length is equal to or greater than the first threshold, the deceleration of the deceleration movement is not reduced. When the wire length is less than the second threshold, the acceleration of the acceleration movement remains at the standard acceleration α0 as shown in FIG. 7. When the wire length is less than the second threshold, the acceleration of the acceleration movement is not reduced. Therefore, the time it takes for the discharge clamp 8 to move from the first position P1 to the second position P2 does not become too long.

[0059] In the electric wire processing device 1, processing using the first gripping clamp 4F, processing using the second gripping clamp 4R, and processing using the discharge clamp 8 are performed simultaneously. Fig. 10 is a diagram showing an example of the relationship between processing content and required time for processing using the first gripping clamp 4F, processing using the second gripping clamp 4R, and processing using the discharge clamp 8. The takt time of the electric wire processing device 1 is determined by the longest required time among the required time for processing using the first gripping clamp 4F, the required time for processing using the second gripping clamp 4R, and the required time for processing using the discharge clamp 8.

[0060] 10(a) to 10(c), the time T300 required for processing using the discharge clamp 8 is originally shorter than the time T100 required for processing using the first gripping clamp 4F and shorter than the time T200 required for processing using the second gripping clamp 4R. As shown in FIG. 10(d), even if the movement time of the discharge clamp 8 becomes slightly longer, the time T300A required for processing using the discharge clamp 8 is shorter than the time T100 required for processing using the first gripping clamp 4F and shorter than the time T200 required for processing using the second gripping clamp 4R. Therefore, the takt time of the wire processing apparatus 1 does not become longer.

[0061] In this embodiment, whether the acceleration of the accelerating movement is changed from the standard acceleration α0 to the first acceleration α1 or the deceleration of the decelerating movement is changed from the standard deceleration β0 to the first deceleration β1, the time T300A required for processing using the discharge clamp 8 is set to be equal to or less than at least one of the time T100 required for processing using the first gripping clamp 4F and the time T200 required for processing using the second gripping clamp 4R. In other words, the first acceleration α1 and the first deceleration β1 are set so as not to lengthen the takt time of the wire processing device 1.

[0062] The control device 20 executes control (first control) to repeat a first operation of moving the discharge clamp 8 from the first position P1 to the second position P2, releasing the grip of the discharge clamp 8, and moving the discharge clamp 8 from the second position P2 to the first position P1. The control device 20 also executes control (second control) to repeat a second operation of transferring the first end 10a of the electric wire 10B from the second gripping clamp 4R to the discharge clamp 8 at the third position P3, moving the second gripping clamp 4R from the third position P3 to the fourth position P4, and moving it from the fourth position P4 to the third position P3. The first control and the second control are executed simultaneously. The first acceleration α1 and the first deceleration β1 are set so that the required time for the first operation is equal to or shorter than the required time for the second operation.

[0063] As described above, according to the present embodiment, when the electric wire 10B is relatively long, the acceleration when the discharge clamp 8 accelerates and moves from the first position P1 is reduced. Therefore, bending of the electric wire 10B due to inertia can be suppressed. Therefore, even when the electric wire 10B is relatively long, the discharge clamp 8 can stably transport the electric wire 10B from the first position P1 to the second position P2. When the electric wire 10B is relatively short, the deceleration when the discharge clamp 8 decelerates and moves to the second position P2 is reduced. Therefore, when the discharge clamp 8 stops at the second position P2, swinging of the second end 10b of the electric wire 10B due to inertia can be suppressed. Therefore, even when the electric wire 10B is relatively short, the discharge clamp 8 can stably transport the electric wire 10B from the first position P1 to the second position P2. As described above, according to the present embodiment, the discharge clamp 8 can stably transport the electric wire 10B from the first position P1 to the second position P2.

[0064] According to this embodiment, the change in the acceleration of the accelerating movement and the change in the deceleration of the decelerating movement are automatically performed by the control device 20 in accordance with the length of the electric wire. Therefore, unlike when the worker manually changes the acceleration or deceleration, there is no risk of forgetting to change the acceleration or deceleration. Furthermore, there is no risk of forgetting to change the acceleration and deceleration back to their original values ​​if the electric wire length is restored after the change.

[0065] According to the present embodiment, after the discharge clamps 8 move from the first position P1 to the second position P2, the electric wires 10B are released from their grip, and thereby the electric wires 10B are collected in the collection tray 9. As described above, even when the electric wires 10B are relatively long, bending of the electric wires 10B is suppressed. Therefore, the electric wires 10B collected in the collection tray 9 are in a relatively straight state. Furthermore, when the electric wires 10B are relatively short, swinging of the second end 10b of the electric wires 10B is suppressed when the discharge clamps 8 stop at the second position P2. Therefore, when the discharge clamps 8 release their grip on the electric wires 10B, the electric wires 10B are collected in the collection tray 9 in a relatively straight state. Therefore, according to the present embodiment, the electric wires 10B in the collection tray 9 can be well aligned. The operator can easily bundle the electric wires 10B collected in the collection tray 9.

[0066] According to this embodiment, the first acceleration α1 and the first deceleration β1 are set so that the time required for the first operation is equal to or shorter than the time required for the second operation. Whether the wire length is equal to or longer than the first threshold value or shorter than the second threshold value, the time T300A required for processing by the discharge clamp 8 is equal to or shorter than the time T200 required for processing by the second holding clamp 4R. Therefore, the above-described effect can be obtained without increasing the takt time of the wire processing device 1.

[0067] One embodiment of the present invention has been described above. However, the above embodiment is merely an example. Various other embodiments are possible. Examples of other embodiments will be briefly described below.

[0068] In the above embodiment, only one threshold is set as the threshold for determining whether the electric wire 10B is long. However, multiple thresholds may be set. For example, the acceleration change unit 26 of the control device 20 may further determine whether the electric wire length input to the electric wire length input unit 25 is equal to or greater than a third threshold that is greater than the first threshold, and if the electric wire length is equal to or greater than the third threshold, change the acceleration of the accelerated movement to a second acceleration α2 that is smaller than the first acceleration α1. Note that the second acceleration α2 is preferably set so that the time required for the process by the discharge clamp 8 is equal to or less than the time required for the process by at least one of the first gripping clamp 4F and the second gripping clamp 4R.

[0069] In the above embodiment, only one threshold is set as the threshold for determining whether the electric wire 10B is short. However, multiple thresholds may be set. For example, the deceleration change unit 26 of the control device 20 may further determine whether the length of the electric wire input to the electric wire length input unit 25 is equal to or less than a fourth threshold that is smaller than the second threshold, and if the length is equal to or less than the fourth threshold, change the deceleration of the decelerating movement to a second deceleration β2 that is smaller than the first deceleration β1. Note that the second deceleration β2 is preferably set so that the time required for the process by the discharge clamp 8 is equal to or less than the time required for the process by at least one of the first gripping clamp 4F and the second gripping clamp 4R.

[0070] The second threshold may be smaller than the first threshold, or may be equal to the first threshold. For example, when the length of the electric wire is 200 mm or more, the acceleration of the accelerating movement may be changed to the first acceleration α1, and when the length of the electric wire is less than 200 mm, the deceleration of the decelerating movement may be changed to the first deceleration β1.

[0071] In the above embodiment, the movement direction of the discharge clamp 8 is a linear direction perpendicular to the longitudinal direction of the electric wire 10B. However, the movement direction of the discharge clamp 8 is not particularly limited as long as it is a direction intersecting the longitudinal direction of the electric wire 10B. Furthermore, the movement direction of the discharge clamp 8 is not limited to a linear direction. For example, the movement direction of the discharge clamp 8 may be a circumferential direction perpendicular to the longitudinal direction of the electric wire 10B.

[0072] In the above embodiment, a base 12 is provided to support at least the second end 10b of the electric wire 10B, but the base 12 may be omitted if it does not interfere with processing using the second holding clamp 4R and retrieval of the electric wire 10B.

[0073] The time required for the discharge clamp 8 to operate is preferably, but not necessarily, equal to or less than the time required for the first and / or second holding clamps 4F and 4R. The time required for the discharge clamp 8 to operate may be longer than the time required for the first and / or second holding clamps 4F and 4R.

[0074] In the above embodiment, the discharge clamp 8 moves from the first position P1 to the second position P2 by accelerating, moving at a constant speed, and then decelerating. However, the constant speed movement is not necessary. The discharge clamp 8 may be configured to move from the first position P1 to the second position P2 by accelerating and decelerating.

[0075] In the above embodiment, the discharge clamp 8 is configured to reciprocate between the first position P1 and the second position P2. However, the discharge clamp 8 may be configured to move from the first position P1 to the second position P2, and then move to another position before returning from the second position P2 to the first position P2.

[0076] In the above embodiment, the clamp that moves from the first position to the second position is the discharge clamp 8 that discharges the electric wire 10B onto the collection tray. However, the clamp that moves from the first position to the second position while gripping one end of the electric wire is not limited to the discharge clamp that discharges the electric wire. According to the present invention, an effect that the electric wire can be stably transported can be obtained. The present invention can be applied to any clamp that moves while gripping one end of the electric wire.

[0077] There is no particular limitation on the processing performed by the electric wire processing device 1. The electric wire 10B conveyed by the discharge clamp 8 does not necessarily have to have a terminal 11 crimped thereon. In addition, the electric wire is not limited to an electric wire having a core wire and a coating. [Explanation of symbols]

[0078] 1. Wire processing equipment 4F No. 1 gripping clamp 4R Secondary holding clamp (other clamp) 8 Discharge clamp (clamp) 9 Collection Tray 10B electric wire 12 units 20 Control device 81 First Arm 82 Second Arm 83 Actuator 87 Clamp Actuator

Claims

1. a clamp that holds one end of the electric wire; an actuator for moving the clamp; a control device that controls the actuator to move the clamp from a first position to a second position; When the clamp moves while gripping the one end of the electric wire, the other end of the electric wire is pulled by the one end and moves, The control device an acceleration control unit that accelerates the movement of the clamp from the first position; a deceleration control unit that decelerates the movement of the clamp to the second position; a storage unit that stores a standard acceleration that is preset as the acceleration of the accelerating movement and a standard deceleration that is preset as the deceleration of the decelerating movement; an electric wire length input unit into which information on the length of the electric wire is input; an acceleration change unit that determines whether the length of the electric wire inputted to the electric wire length input unit is equal to or greater than a first threshold value, and if the length is equal to or greater than the first threshold value, changes the acceleration of the accelerated movement to a first acceleration that is smaller than the standard acceleration; a deceleration change unit that determines whether the length of the electric wire inputted to the electric wire length input unit is less than a second threshold value that is equal to or less than the first threshold value, and changes the deceleration of the decelerating movement to a first deceleration that is smaller than the standard deceleration when the length of the electric wire inputted to the electric wire length input unit is less than the second threshold value; An electric wire processing device comprising:

2. The clamp is configured to be able to grip and release the electric wire, The wire processing apparatus according to claim 1 , further comprising a collection tray disposed below the second position for collecting the wires.

3. 3. The wire processing device according to claim 2, wherein the clamp has a first arm, a second arm opposite to the first arm, and a clamp actuator that drives one or both of the first arm and the second arm so that the first arm and the second arm move toward or away from each other.

4. another clamp for gripping the one end of the electric wire; The wire processing apparatus according to claim 2 or 3, wherein the clamp is configured to receive the one end of the wire from the other clamp at the first position.

5. The control device a first control that repeats a first operation of moving the clamp from the first position to the second position, releasing the clamp, and moving the clamp from the second position to the first position; and a second control that repeats a second operation of transferring the one end of the electric wire from the other clamp to the other clamp at a third position, moving the other clamp from the third position to a fourth position, and moving the other clamp from the fourth position to the third position, 5. The wire processing apparatus according to claim 2, wherein the first acceleration and the first deceleration are set so that a required time for the first operation is equal to or less than a required time for the second operation.

6. 6. The wire processing apparatus according to claim 1, further comprising a base for supporting at least the other end of the wire when the clamp is in the first position.

7. 7. The wire processing apparatus according to claim 1, wherein the control device has a constant speed control section that moves the clamp at a constant speed after the accelerating movement and before the decelerating movement.

8. The electric wire processing device according to any one of claims 1 to 7, wherein the clamp is configured to move in a linear direction perpendicular to the longitudinal direction of the electric wire.

9. The wire processing device according to any one of claims 1 to 8, wherein the acceleration change unit is configured to determine whether the length of the wire inputted to the wire length input unit is equal to or greater than a third threshold value that is greater than the first threshold value, and if the length is equal to or greater than the third threshold value, change the acceleration of the accelerated movement to a second acceleration that is smaller than the first acceleration.

10. The wire processing device according to any one of claims 1 to 9, wherein the deceleration change unit is configured to determine whether the length of the wire input to the wire length input unit is equal to or less than a fourth threshold value that is smaller than the second threshold value, and if the length is equal to or less than the fourth threshold value, change the deceleration of the decelerated movement to a second deceleration that is smaller than the first deceleration.

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