Tape winding device

Abstract

To provide a tape winder that can wind an adhesive tape around an outer periphery of an object to be united, even in a narrow work space.SOLUTION: A tape winder comprises: a tape winding tool 10 that winds an adhesive tape around at least a portion of an outer periphery of an object WH to be united; a first manipulator M1 that moves the tape winding tool; a clip support unit 60 that supports a receiving jig for a clip that is attached to an electric wire bundle; and a second manipulator M2 that moves the clip support unit 60.SELECTED DRAWING: Figure 21

Description

[Technical Field]

[0001] The present invention relates to a tape winding device capable of winding adhesive tape (single-sided adhesive tape) around the outer periphery of an object to be bound. [Background technology]

[0002] One process for manufacturing wire harnesses to be installed in automobiles, etc., involves wrapping multiple electric wires together with adhesive tape. In this process, the bundle of electric wires may be covered with a corrugated tube and then wrapped with tape, or external components such as clips may be wrapped and fixed to the wire harness with tape. Therefore, the object to be wrapped with tape is called the "object to be bundled."

[0003] Conventionally, when carrying out this type of tape winding process, a tape reel (also called a tape roll) wound with a long length of adhesive tape is rotated around the object to be bound, and the adhesive tape is peeled off from the tape reel and wound around the outer circumference of the object to be bound (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-63707 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when rotating the entire tape reel, the rotating body becomes large, making it difficult to wind the tape in a small working space. For example, winding the tape in a narrow area such as a branching point requires removing the wire harness from the assembly jig plate, which is troublesome.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and its purpose is to provide a tape winding device that can wrap adhesive tape around the outer circumference of an object to be bound even in a narrow working space. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the tape winding device according to the present invention has the following features. a tape winding tool for winding adhesive tape around at least a portion of the outer periphery of the object to be bundled; a first manipulator that moves the tape winding tool; the object to be bound a receiving jig support unit for holding a receiving jig for an exterior part to be attached to the a second manipulator that moves the receiving jig support unit; 、 With the exterior part positioned and held by the receiving jig, the second manipulator moves the exterior part to an attachment position, the first manipulator moves the tape winding tool to a tape winding position for the exterior part, and in that state, the tape winding tool is operated to wind the tape and fix the exterior part to the object to be bundled with the adhesive tape. A tape winding device characterized by the above. [Effects of the Invention]

[0008] According to the present invention, adhesive tape can be wrapped around the outer periphery of an object to be bound even in a small working space.

[0009] 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]

[0010] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of a tape winding device according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing a state before tape winding of a tape winding tool (corresponding to a tape winding device in a narrow sense) in the tape winding device according to the embodiment. [Figure 3]FIG. 3 is a perspective view showing a state in which a tape is being wound around a wire harness by the tape winding tool according to the embodiment. [Figure 4] FIG. 4 is a front view showing an outline of the internal configuration of the tape winding tool according to the embodiment. [Figure 5] FIG. 5 is a perspective view showing a state when the tape wrapping around the wire harness is completed. [Figure 6] FIG. 6 is a perspective view showing the state when the tape winding is completed and the empty bobbin is removed. [Figure 7] FIG. 7 is a perspective view showing a state where the tape winding tool does not interfere with the jig fork at the branched portion of the wire harness. [Figure 8] FIG. 8 is a perspective view showing the configuration of the bobbin replacement unit in the tape winding device as seen from the chuck side. [Figure 9] FIG. 9 is a perspective view showing the configuration of a tool holder and a bobbin winding unit in the tape winding device. [Figure 10] FIG. 10 is a cross-sectional view showing an example of a structure for transferring a bobbin between a bobbin chuck of a bobbin changing unit and a bobbin winding shaft of a bobbin winding unit. [Figure 11] FIG. 11 is a perspective view showing the relationship between the shaping piece and cutter provided in the bobbin winding unit and the adhesive tape being unwound from the tape reel. [Figure 12] FIG. 12 is a perspective view showing how the bending piece in FIG. 11 is advanced to bend the adhesive tape near its cut end. [Figure 13] FIG. 13 is a perspective view showing a state in which the cutter is advanced to cut the adhesive tape after the operation shown in FIG. [Figure 14] FIG. 14 is a perspective view showing a state in which the cutter is being retracted after the operation shown in FIG. [Figure 15] FIG. 15 is a perspective view showing the state in which the styling piece is being retracted after the operation shown in FIG. [Figure 16]FIG. 16 is a perspective view showing a state in which the pulled-out end (near the cut end) of the adhesive tape wound around the holder is bent to prevent settling such as curling and curling. [Figure 17] FIG. 17 is a flowchart showing an outline of the overall operation of the tape winding device. [Figure 18] FIG. 18 is a flowchart showing the tape winding operation by the tape winding tool in the tape winding device. [Figure 19] FIG. 19 is a flowchart showing the bobbin replacement operation in the tape winding device. [Figure 20] FIG. 20 is a flowchart showing the bobbin winding operation by the bobbin winding unit in the tape winding device. [Figure 21] Figure 21 is a diagram for explaining an example of work performed by the tape winding device of the embodiment, and is a perspective view showing how a clip is fixed to a wire harness by wrapping tape around it using a tape winding tool held by a first manipulator and a clip support unit held by a second manipulator. [Figure 22] FIG. 22 is an enlarged perspective view of the tape winding operation portion in FIG. [Figure 23] FIG. 23 is a perspective view showing the configuration of the arm tip of the second manipulator having a clip support unit, showing the state before the clip is supported. [Figure 24] FIG. 24 is a perspective view showing a state in which the clip is supported from the state shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] Specific embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a perspective view showing the overall configuration of a tape winding device 100 according to an embodiment, and FIGS. 2 to 7 are perspective views showing the configuration and usage state of a tape winding tool in the tape winding device 100. As shown in FIG.

[0012] 8 is a perspective view showing the configuration of the bobbin replacement unit in the tape winding device 100 as seen from the chuck side, and FIG. 9 is a perspective view showing the configuration of the tool holder and bobbin winding unit in the tape winding device 100.

[0013] This tape winding device 100 does not rotate a tape reel (such as a product provided by an adhesive tape manufacturer) on which a long length of adhesive tape is wound in a roll around an object to be bound. This tape winding device 100 prepares a tape winding bobbin with a much smaller diameter than a tape reel, and rotates the tape winding bobbin around the object to be bound, thereby winding the adhesive tape around the object to be bound.

[0014] In addition, the tape winding device 100 of this embodiment is designed to use two bobbins that can be swapped, and each bobbin is wound with the length (predetermined length) of adhesive tape required for one winding operation (one location).

[0015] 1, the tape winding device 100 has a tape winding tool 10, a bobbin replacement unit 20, a bobbin winding unit 30, and a tool holder 41 to which the tape winding tool 10 is detachably set. The tool holder 41, the bobbin replacement unit 20, and the bobbin winding unit 30 are fixedly mounted on a common base 40. In contrast, the tape winding tool 10 can be removed from the tool holder 41 and handled independently.

[0016] As shown in FIGS. 2 to 7, the tape winding tool 10 corresponds to a "tape winding device" in the narrow sense, and is a device for winding the adhesive tape 2 around an object to be bundled (a wire harness in this embodiment) WH.

[0017] The adhesive tape 2 used here is a typical single-sided adhesive tape with adhesive material on only one side, wound into a roll with the adhesive side on the inside and the non-adhesive side on the outside, and provided by tape manufacturers etc. in the form of a tape reel 3 (see Figure 1). When wrapping this adhesive tape 2 around a bobbin 1 or an object to be bound WH, it is wound while being stuck with the adhesive side facing inward. The side opposite the adhesive side of the single-sided adhesive tape is a non-adhesive side, and is provided with releasability as needed.

[0018] The two bobbins 1 are of the same shape and are formed of hollow cylindrical bodies. In this embodiment, a portion of the adhesive tape 2 pulled out from the tape reel 3, i.e., the adhesive tape 2 cut to a length (predetermined length) required for one winding operation (one location), is wound around the outer periphery of the bobbin 1.

[0019] The bobbin winding unit 30 cuts off a portion (a predetermined length necessary for one winding operation) of the adhesive tape 2 pulled out from the tape reel 3 and winds it around an empty bobbin 1 to prepare a tape-wound bobbin 1. Hereinafter, the tape-wound bobbin 1 wound with the adhesive tape 2 will also be referred to as a full bobbin 1A, and the empty bobbin 1 without the adhesive tape 2 wound thereon will also be referred to as an empty bobbin 1B.

[0020] The bobbin replacement unit 20 is configured to switch between the full bobbin 1A and the empty bobbin 1B between the tape winding tool 10 set in the tool holder 41 and the bobbin winding unit 30. Specifically, as a first operation, the bobbin replacement unit 20 sets the empty bobbin 1B in the bobbin winding unit 30 and sets the full bobbin 1A in the tape winding tool 10. Then, the tape winding tool 10 performs a tape winding operation on the object to be bound WH, and during this operation, the bobbin winding unit 30 winds a predetermined length of adhesive tape 2, which is unwound from the tape reel 3, around the empty bobbin 1.

[0021] Furthermore, as a second operation, the bobbin replacement unit 20 receives the filled bobbin 1A with tape wound thereon from the bobbin winding unit 30, and at the same time receives the empty bobbin 1B with tape wound around the object to be bound from the tape winding tool 10. Then, the bobbin replacement unit 20 exchanges the positions of the filled bobbin 1A and the empty bobbin 1B it has received, and then performs the first operation described above. In this way, the filled bobbin 1A and the empty bobbin 1B can be exchanged between the tape winding tool 10 set in the tool holder 41 and the bobbin winding unit 30.

[0022] In order to perform the above bobbin replacement operation, the bobbin winding unit 30 and the tool holder 41, which are the two mechanisms for replacing the bobbin, are arranged to maintain a fixed positional relationship with respect to the bobbin replacement unit 20. The common base 40 is arranged in a position that does not interfere with the tape winding operation on the object to be bound WH (for example, a wire harness set on an assembly jig plate).

[0023] The structure of each part will be explained in more detail below. <Tool holder 41> The tool holder 41 is configured to detachably set the tape winding tool 10 before and after the tape winding operation, and has a tool insertion section 42 that allows the tool to be inserted and set from above, as shown in Fig. 9. The tool insertion section 42 is provided with a tool sensor (tool seating switch) 43 for detecting that the tape winding tool 10 is set.

[0024] <Tape Winding Tool 10> 2 to 7, the tape winding tool 10 has a rotating drum 12 that detachably holds a bobbin 1 around which an adhesive tape 2 is wound. The tape winding tool 10 rotates the rotating drum 12 around an object to be bound WH (see FIG. 3) that is placed in the internal space of the rotating drum 12, thereby winding the adhesive tape 2 wound on the bobbin 1 around the outer periphery of the object to be bound WH.

[0025] The rotating drum 12 has an opening 12a for introducing the object to be bound WH into the internal space, and a bobbin holding part 13 for detachably holding the bobbin 1 and unwinding the adhesive tape 2 wound around the bobbin 1 into the internal space. As shown in Fig. 4, the internal space and the opening 12a are integrally formed by a U-shaped groove formed from the outer periphery to the center of the rotating drum 12.

[0026] The bobbin holding portion 13 is provided on the opposite side to the opening 12a. The bobbin holding portion 13 has holding claws 14 that can be opened and closed, allowing the bobbin 1 to be attached or detached by moving the bobbin 1 relative to the bobbin holding portion 13 in the direction of the rotation axis of the rotating drum 12. The holding claws 14 are fitted into the hollow portion of the cylindrical bobbin 1, and are configured to hold the inserted bobbin 1 when in an open state, and to release the held bobbin 1 when in a closed state, for example.

[0027] This tape winding tool 10 includes a frame 11 that rotatably supports a rotating drum 12, a gear-type rotation drive mechanism 17 that rotates the rotating drum 12 in a fixed direction (clockwise in Figure 4), and a servo motor 16 that is the drive source for the rotation drive mechanism 17.

[0028] 4, the rotating drum 12 is supported by the frame 11 so as to rotate around the axial center line of the object to be bound WH introduced into the internal space. Therefore, the internal space of the rotating drum 12 is provided within a range that includes the rotation center of the rotating drum 12. The frame 11 is formed in a shape that does not prevent the object to be bound WH from being put in or taken out of the internal space of the rotating drum 12 through the opening 12a that faces directly downward.

[0029] Furthermore, a cushion member 15 made of an elastic material such as sponge or urethane is attached to a part of the peripheral wall of the internal space of the rotating drum 12. The cushion member 15 is provided to serve as a guide member for elastically pressing the adhesive surface of the adhesive tape 2 introduced from the bobbin holding part 13 into the internal space against the outer peripheral surface of the object to be bound WH introduced into the internal space of the rotating drum 12.

[0030] The tape winding tool 10 configured in this manner is attached to the tip of the arm of the first manipulator M1 (see FIG. 21) via an attachment 501 coupled to the upper end of the frame 11. This allows the tape winding tool 10 to be automatically moved and operated to various locations on the object to be bundled WH supported on an assembly jig plate or the like (for example, a location WH2 near the branch of the wire harness shown in FIG. 7). Then, by rotating the rotating drum 12 with the tip of the adhesive tape 2 attached to the outer periphery of the object to be bundled WH housed in the internal space of the rotating drum 12, the adhesive tape 2 can be wound around the outer periphery of the object to be bundled while being attached to it.

[0031] <Bobbin winding unit> As shown in FIG. 9, the bobbin winding unit 30 includes a servo motor 31 for winding, a tape reel holding portion 33, a clamp cylinder 34, a pressing cylinder 35, a drawing cylinder 36, a shaping cylinder 37, and a cutting cylinder 38.

[0032] The servo motor 31 rotates the bobbin winding shaft 32, on which the bobbin 1 is attached, by a rotation angle corresponding to a control signal. The tape reel holding section 33 is a section that rotatably supports the provided large-diameter tape reel 3. The clamp cylinder 34 clamps the adhesive tape 2 unwound from the tape reel 3 just before the bobbin 1 held by the bobbin winding shaft 32, and applies an appropriate tension to the adhesive tape 2. The pressing cylinder 35 presses the leading end of the cut adhesive tape 2 against the outer periphery of the bobbin 1 to adhere it. The drawing cylinder 36 draws the adhesive tape 2 from the tape reel 3 toward the bobbin 1.

[0033] The bending cylinder 37 presses a bending piece 301 against the vicinity of the cut end of the adhesive tape 2 to bend it to prevent it from becoming worn when cutting off the adhesive tape 2 wound to a predetermined length around the bobbin 1. The cutting cylinder 38 moves a cutter 302 that cuts the adhesive tape 2 forward for cutting and moves it back to a retracted position.

[0034] Fig. 11 is a perspective view showing the relationship between the shaping piece 301 and the cutter 302 provided in the bobbin winding unit 30 and the adhesive tape 2 unwound from the tape reel 3, and Figs. 12 to 15 are perspective views for sequentially explaining the operations of the shaping piece 301 and the cutter 302. Fig. 16 is a perspective view showing a state in which a bend has been formed in the pulled-out end (near the cut end) of the adhesive tape 2 wound around the bobbin 1 to prevent settling such as curling and curling.

[0035] To briefly describe the operation, as shown in Fig. 11, in the bobbin winding unit 30, after a predetermined length of adhesive tape 2 has been wound around an empty bobbin 1, tension is applied to the adhesive tape 2 between the bobbin 1 and the tape reel 3, and then, as shown in Fig. 12, a straightening piece 301 is pressed against the adhesive tape 2 near the cut end (end to be cut) (the operation of arrow F1). The pressing surface of the straightening piece 301 is, for example, uneven, and when the straightening piece 301 is pressed against the adhesive tape 2, a bend 2c is imparted to the adhesive tape 2 as shown in Fig. 16. This makes it possible to increase the rigidity (self-standing straightness) of the adhesive tape 2 near the cut end 2a, which would be prone to curling or other settling if there was no bend 2c.

[0036] After the bending piece 301 is pressed against the adhesive tape 2, the cutter 302 is then advanced to cut the adhesive tape 2 (the action of arrow G1) as shown in Fig. 13. After cutting, the cutter 302 is retracted to return to its original position (the action of arrow G2) as shown in Fig. 14, and then the bending piece 301 is returned to its original position (the action of arrow F2) as shown in Fig. 15, thereby completing the bobbin winding operation. In this way, as described above, a bend 2c can be formed in the vicinity 2a of the cut end (the pulling end) of the adhesive tape 2 wound around the bobbin 1, as shown in Fig. 16.

[0037] <Bobbin replacement unit> Next, the bobbin replacement unit 20 will be described. 1 and 8, the bobbin changing unit 20 has a swivel arm 24 equipped with a pair of chucks 25, a chuck rotation motor 27 that rotates the swivel arm 24 by 180° (the movement of arrow D in FIG. 8), and a chuck advance / retract mechanism 26 that moves the pair of chucks 25 forward and backward (the movement of arrows C1 and C2 in FIG. 8) via the swivel arm 24. To this end, the swivel arm 24 is rotatably mounted on an advance / retract slider 23, and the advance / retract slider 23 is mounted on a slide rail 22 on the base frame 21 so as to be slidable in the front-rear direction.

[0038] The positions of the two chucks 25, 25 are set so that the two bobbins 1 held by the chucks 25, 25 simultaneously correspond to the position of the bobbin holding portion 13 of the tape winding tool 10 set in the tool holder 41 and the position of the bobbin winding shaft 32 of the bobbin winding unit 30. The position of the rotation center of the rotating arm 24 having the two chucks 25, 25 at both ends (the shaft center of the rotating motor 27) is set to the midpoint of the line connecting the two chucks 25, 25. As a result, by rotating the rotating arm 24 180°, the two bobbins 1 held by both chucks 25 can be swapped and positioned with respect to the bobbin holding portion 13 of the tape winding tool 10 set in the tool holder 41 and the bobbin winding shaft 32 of the bobbin winding unit 30.

[0039] Incidentally, both chucks 25 are capable of transferring the bobbin 1 from each chuck 25 to the bobbin holding portion 13 of the tape winding tool 10 and the bobbin winding shaft 32 of the bobbin winding unit 30, and are also capable of transferring the bobbin 1 in the opposite direction.

[0040] As a structure for this purpose, as shown in the example of Figure 10, a chuck 25 is provided with holding claws 25a that can be opened and closed and can be inserted into the hollow portion of the cylindrical bobbin 1, and when chucking, a structure can be adopted in which protrusions 25b provided on the holding claws 25a engage with recesses 1e on the inner circumference of the bobbin 1.

[0041] Next, the operation will be described. First, the operation of the tape winding tool 10 will be described. The tape winding tool 10 can be removed from the tool holder 41 and used independently for tape winding work. Prior to this work, as shown in FIG. 2, the actual bobbin 1A is attached to the bobbin holding portion 13 of the rotating drum 12 (the operation indicated by arrow A1 in FIG. 12). This operation is performed by the bobbin replacement unit 20 on the tape winding tool 10 set in the tool holder 41. At this stage, the rotating drum 12 is in its initial position. That is, the rotating position of the rotating drum 12 is such that the opening 12a faces directly downward, and the pulled-out end of the adhesive tape 2 wound around the bobbin 1 hangs down into the internal space of the rotating drum 12.

[0042] In this state, the tape winding tool 10 is removed from the tool holder 41 and moved to the location where work is to be done by the first manipulator M1 (see FIG. 21). Then, the first manipulator M1 is further operated to take the object to be bound WH into the internal space of the rotating drum 12 through the opening 12a, as shown in FIGS. 3 and 4. In this state, the pulled-out end of the adhesive tape 2 hangs down between the cushion member 15 and the object to be bound WH, and the first manipulator M1 is further operated to use the cushion member 15 to press the adhesive surface of the adhesive tape 2 against the outer periphery of the object to be bound WH to adhere it. In other words, by slightly moving the tape winding tool 10 to the right in FIG. 4, the adhesive surface of the adhesive tape 2 is pressed against the outer periphery of the object to be bound WH to adhere it.

[0043] Next, in this state, the tape winding tool 10 rotates the rotating drum 12 clockwise in Figure 4, thereby winding the adhesive tape 2 all the way around the outer periphery of the object to be bound WH. Once the winding is complete, the first manipulator M1 raises the tape winding tool 10 as indicated by the solid arrow B1 in Figure 5, while keeping the rotating drum 12 in its initial rotation position. This causes the object to be bound WH, which has been wound with tape, to detach from the tape winding tool 10 as indicated by the dotted arrow B2. Thereafter, the tape winding tool 10 is returned to the tool holder 41 for the next operation.

[0044] The above operation will be explained with reference to the flowcharts of FIGS. 17 shows the overall operation of the tape winding work. First, in step S1, the tape winding tool 10 is moved to a position on the object WH to be wound.

[0045] Next, in step S2, tape winding work is performed on the object to be bound WH. After the tape winding work is completed, in step S3, the tape winding tool 10 is moved to the position of the tool holder 41, and the tape winding tool 10 is set in the tool holder 41. Then, in step S4, the empty bobbin 1B of the tape winding tool 10 is replaced with a working bobbin 1A. At the same time, the working bobbin 1A of the bobbin winding unit 30 is replaced with an empty bobbin 1B. Details of this operation will be described later.

[0046] Then, as the next operation, steps S1 to S4 are repeated. Meanwhile, while the tape winding tool 10 is winding the tape around the object to be bound WH, in step S5, the adhesive tape 2 is wound from the tape reel 3 onto an empty bobbin 1 by the length required for one winding operation, and the next actual bobbin 1A to be used is prepared.

[0047] FIG. 18 shows the operation of the tape winding tool 10. First, in step S101, it is checked whether the replacement of the empty bobbin 1B with the working bobbin 1A has been completed for the tape winding tool 10. This step S101 is a confirmation of the operation of step S4 in the flowchart of FIG. 17. If the replacement with the working bobbin 1A has been completed, the process proceeds to the next step S102, in which the first manipulator M1 moves the tape winding tool 10 to above the position where tape winding is to be performed. Next, in step S103, the tape winding tool 10 is lowered to the position of the object to be bundled and the object to be bundled is taken into the internal space of the rotating drum 12. At this time, the tape winding tool 10 is taken in so that the unleaded end of the adhesive tape 2 is positioned to the side of the object to be bundled (hereinafter referred to as a harness). That is, as shown in FIG. 4, the tape winding tool 10 is moved to a position just before the unleaded end of the adhesive tape 2 is pressed against the harness.

[0048] Next, in step S104, the tape winding tool 10 is slightly moved laterally to press and attach the adhesive surface of the pulled-out end of the adhesive tape 2 against the outer peripheral surface of the harness. Once the winding start end (pulled-out end) has been attached to the outer peripheral surface of the harness in this manner, in step S105 the tape winding tool 10 is returned to the tape winding position. In other words, the tape winding tool 10, which was slightly moved laterally to attach the pulled-out end, is moved so that the center of rotation of the rotating drum 12 is positioned at the axial center of the harness.

[0049] Then, once the rotating drum 12 and the harness have been centered in this manner, in step S106, the rotating drum 12 is rotated by the servo motor 16 (tool rotor) of the tape winding tool 10. This completes winding the tape around the harness. Once tape winding is complete, in step S107, the tape winding tool 10 is moved above the tape winding work position, and in step S108, it is moved further above the tool holder 41 (above the bobbin replacement position). Then, in step S109, the tape winding tool 10 is set in the tool holder 41 (moved to the bobbin replacement position), and the process returns to the initial step S101.

[0050] Next, the operation of the bobbin replacement unit 20 will be described with reference to the flowchart of FIG. In this operation, first, in step S201, the tape winding tool 10 that has completed the tape winding operation is returned to the tool holder 41, and it is checked whether it is properly set in the tool holder 41. This confirmation is performed based on a signal from the tool sensor (tool seating switch) 43.

[0051] If the tape winding tool 10 is properly set in the tool holder 41, then in the next step S202, the chucks 25 of the bobbin replacement unit 20 are advanced. At this time, no bobbin 1 is chucked in either chuck 25. Next, in step S203, the chucks 25 are opened, and the chucks 25 receive the empty bobbin 1B after tape winding from the tape winding tool 10 (the operation of arrow A2 in FIG. 6), and at the same time, the chucks 25 receive the full bobbin 1A from the bobbin winding unit 30.

[0052] Thereafter, in step S204, the chuck 25 is moved backward, and in step S205, the chuck 25 is rotated 180° to exchange the positions of the full bobbin 1A and the empty bobbin 1B. Next, in step S206, the chuck 25 is moved forward. At this time, the full bobbin 1A is chucked in the chuck 25 located in front of the tape winding tool 10, and the empty bobbin 1B is chucked in the chuck 25 located in front of the bobbin winding unit 30.

[0053] In this state, the chuck 25 is advanced in step S206, and closed in step S207. By doing so, the full bobbin 1A is transferred from the bobbin replacement unit 20 to the tape winding tool 10, and the empty bobbin 1B is transferred from the bobbin replacement unit 20 to the bobbin winding unit 30. This completes the exchange of the full bobbin 1A with the empty bobbin 1B.

[0054] When the transfer of the bobbins 1 (1A, 1B) is completed, in step S209, the empty chuck 25 is rotated 180 degrees and returned to the original standby position, and thereafter the process returns to the first step S201.

[0055] Next, the operation of the bobbin winding unit 30 will be described with reference to the flowchart of FIG. This operation flow starts when a new empty bobbin 1B is attached to the bobbin winding spindle 32 of the bobbin winding unit 30. In this operation, first, in step S301, the clamp cylinder 34 is released to release the clamp on the adhesive tape 2. Next, in step S302, the pull-out cylinder 36 is actuated to pull out the leading end of the adhesive tape 2 wound around the tape reel 3 toward the empty bobbin 1. Next, in step S303, the pressing cylinder 35 is actuated to press the adhesive surface near the leading end of the adhesive tape 2 against the outer circumferential surface of the bobbin 1. As a result, the leading end of the adhesive tape 2 near the outer circumferential surface of the bobbin 1 is adhered to the outer circumferential surface of the bobbin 1. In this state, in step S304, the bobbin 1 is rotated in the reverse direction by a predetermined angle (in the direction opposite to the winding direction). As a result, the entire leading end of the adhesive tape 2 is adhered to the outer circumferential surface of the bobbin 1 from the initial adhesion position to the leading edge.

[0056] In this state, in step S305, the bobbin 1 is rotated in the winding direction by a set angle (for example, an angle corresponding to a number of rotations). This allows the adhesive tape 2 of the set length (the length required for one tape winding) to be wound around the bobbin 1. Once winding is complete, in step S306, the pressing by the pressing cylinder 35 is released, and in step S307, the pulling operation by the pulling cylinder 36 is released. Thereafter, in step S308, the clamp cylinder 34 is operated to press the adhesive tape 2 just before the cutting position. This allows the adhesive tape 2 between the bobbin 1 and the tape reel 3 to be given the necessary tension.

[0057] In this state, in step S309, the straightening cylinder 37 advances the straightening piece 301 (the state shown in FIG. 12). This makes it possible to impart a bend 2c (see FIG. 16) near the cut end of the adhesive tape 2 on the bobbin 1 side to prevent sagging. Once the bend has been imparted, the process proceeds to step S310, where the cutter 302 is advanced by the cutting cylinder 38 to cut the adhesive tape 2. After cutting, in step S311 the straightening piece 301 is returned to its original retracted position, and in step S312 the cutter 302 is returned to its original retracted position. Next, in step S313, the tape-wound bobbin (working bobbin 1A) attached to the bobbin winding spindle 32 is swapped with the empty bobbin (empty bobbin 1B) onto which the next bobbin will be wound, and the process returns to the initial step S301.

[0058] As described above, in the tape winding device 100 of this embodiment, the bobbin replacement unit 20 mounts a bobbin (working bobbin 1A) on which tape has been wound to the tape winding tool 10 set in the tool holder 41, and also mounts an empty bobbin (empty bobbin 1B) to the bobbin winding unit 30. Then, while the tape winding tool 10 removed from the tool holder 41 is winding tape around the object to be bound WH, the bobbin winding unit 30 winds a portion of the adhesive tape 2 pulled out from the tape reel 3 around the empty bobbin.

[0059] Furthermore, when the tape winding operation by the tape winding tool 10 is completed and the bobbin winding process by the bobbin winding unit 30 is completed and the tape winding tool 10 is returned to the tool holder 41, the bobbin replacement unit 20 removes the empty bobbin (empty bobbin 1B) from the tape winding tool 10 and removes the bobbin with tape wound on it (actual bobbin 1A) from the bobbin winding unit 30. Then, the empty bobbin and the bobbin with tape wound on it are swapped, and the tape-wound bobbin (actual bobbin 1A) is attached to the tape winding tool 10 set in the tool holder 41 again, and an empty bobbin (empty bobbin 1B) is attached to the bobbin winding unit 30.

[0060] By repeating the above operations, the tape winding work for the object to be bound WH can be carried out. In this case, it is sufficient to use two bobbins interchangeably, which reduces costs.

[0061] In the tape winding tool 10 used in the above operation, the rotating drum 12 rotates around the object to be bound WH, causing the bobbin 1 to rotate around the object to be bound WH, and the adhesive tape 2 wound around the bobbin 1 is wound around the object to be bound WH. Here, a portion of the adhesive tape 2 is cut from the tape reel 3, wound around the bobbin 1, and held on the rotating drum 12. Because the bobbin 1 can have a smaller diameter than the tape reel 3, the rotating drum 12 can be made smaller, allowing the tape winding tool 10 itself to be made smaller and lighter. Therefore, tape winding can be performed in a smaller space than when the large-diameter tape reel 3 itself is rotated around the object to be bound WH, and tape winding can be performed around narrow areas such as branched portions of a wire harness (see FIG. 7), which were previously not possible. Furthermore, the lightweight design allows the tool to be mounted on the first manipulator M1 or to be held by a worker for tape winding work.

[0062] In addition, in this embodiment, the bobbin 1 is wound with adhesive tape 2 of a length used for binding in one place, so there is no need to give the tape winding tool 10 (tape winding device in the narrow sense) a tape cutting function, making it possible to make it even lighter.

[0063] Furthermore, in this embodiment, by forming a bend near the cut end of the adhesive tape 2, it is possible to prevent settling, such as curling or curling, at the pulled-out end of the adhesive tape 2. This increases the rigidity of the pulled-out end of the adhesive tape 2, allowing the end of the adhesive tape to be smoothly attached to the object to be bound WH or the bobbin 1.

[0064] Incidentally, in some tape wrapping operations, exterior parts are fixed to a wire harness WH (an object to be bound) by wrapping tape. For example, when a clip (exterior part) for fixing the wire harness to a vehicle body is attached to the wire harness, adhesive tape is sometimes wrapped around the clip to fix it.

[0065] Therefore, an embodiment for such a case will be described. Fig. 21 is a diagram for explaining an example of work using a tape winding device, and is a perspective view showing how a clip is wound with tape around a wire harness WH (object to be bound) placed on an assembly jig plate 80, using a tape winding tool 10 held by a first manipulator M1 and a clip support unit 60 held by a second manipulator M2. Fig. 22 is an enlarged perspective view of the tape winding work portion in Fig. 21, Fig. 23 is a diagram showing the configuration of the tip of the arm of the second manipulator M2 having the clip support unit, and is a perspective view showing the state before the clip is supported, and Fig. 24 is a perspective view showing the state in which the clip is supported from the state shown in Fig. 23.

[0066] As shown in Fig. 23, the clip 70 has a clip protrusion 71 that is inserted into and locked into a locking hole on the vehicle body and protrudes from the middle of one surface of a strip-shaped clip base 72. When this clip 70 is fixed to a wire harness, as shown in Fig. 22, the strip-shaped clip base 72 is fixed to the wire harness WH by wrapping tape around it.

[0067] As an auxiliary means for securing the tape, a clip support unit 60 is used, as shown in Figures 22 to 24. Although it is possible to grasp the clip directly with the manipulator hand, doing so may damage the clip, so here we use a dedicated clip support unit 60.

[0068] 23, the clip support unit 60 includes a pair of holding pins 61 provided at the lower end of a curved arm 502a of an attachment 502 attached to the tip of the arm of the second manipulator M2 (see FIG. 21), and a clip support block 63. The clip support block 63 can be joined to the holding pins 61 by engaging the holding pins 61 with the holding grooves 63a and holding holes 63b of the clip support block 63.

[0069] The clip support block 63 is provided with a clip fitting hole 63c into which a clip protrusion 71 protruding from the upper surface of the clip 70 fits. The clip support block 63 is lowered from above the clip 70 to fit the clip protrusion 71 into the clip fitting hole 63c, thereby enabling the clip support unit 60 to handle the clip 70.

[0070] When fixing the clip 70 to the wire harness WH, the clip protrusion 71 is fitted into the clip fitting hole 63c as shown in Fig. 24, and the clip 70 is handled by the clip support unit 60. Then, as shown in Figs. 21 and 22, the second manipulator M2 moves the clip 70 to an attachment position, and the first manipulator M1 moves the tape winding tool 10 to a tape winding position for the clip 70, and in that state, the tape winding tool 10 is operated to wind the tape.

[0071] The clip 70 needs to be fixed to the wire harness WH by wrapping tape around the clip bases 72 on both sides of the clip protrusion 71, so once tape wrapping around one side of the clip base 72 is completed, the tape wrapping tool 10 can be moved to the other side and tape wrapping can be performed in the same way.

[0072] In this way, the clip 70 can be easily, automatically, and accurately attached to the predetermined position of the wire harness WH while being handled by the second manipulator M2. After the clip 70 is attached, the clip support block 63 can be easily detached from the clip 70 by simply lifting the clip support block 63 up. By repeating the above operation, all clips can be attached at the same time as bundling the wire harness WH with tape.

[0073] Therefore, when attaching clips to a wire harness, there is no need to attach many clip receiving jigs to the assembly jig plate in order to maintain attachment accuracy. Also, since no clip receiving jigs are required, there is no need to worry about interference with the wire harness while working. Furthermore, by mounting the clip support block 63 on the second manipulator M2, clips can be attached in narrow spaces.

[0074] 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.

[0075] Here, the features of the tape winding device according to the embodiment of the present invention described above will be briefly summarized and listed below in [1] to [3].

[0076] [1] A tape winding tool (10) for winding an adhesive tape (2) around at least a portion of the outer periphery of an object to be bound (WH); a first manipulator (M1) that moves the tape winding tool; a receiving jig support unit (clip support unit 60) that holds a receiving jig (clip support block 63) for an exterior part (clip 70) to be attached to a wire bundle; and a second manipulator (M2) that moves the receiving jig support unit. A tape winding device (100) characterized by:

[0077] According to the configuration described in [1] above, with the exterior component (clip 70) positioned and held by the receiving jig (clip support block 63), the receiving jig support unit is moved to the attachment position by the second manipulator (M2), and the tape winding tool (10) is moved to the tape winding position for the exterior component by the first manipulator (M1), and tape winding can be performed. Therefore, an exterior component can be automatically attached to a wire bundle without providing a large number of exterior component receiving jigs on the assembly jig plate. In this way, since exterior component receiving jigs are no longer required on the assembly jig plate, there is no need to tilt the exterior component receiving jig to avoid interference when routing the wire bundle. Furthermore, since exterior component receiving jigs are no longer required on the assembly jig plate, automatic tape winding of exterior components becomes possible even in locations where automatic tape winding was previously difficult due to the presence of many receiving jigs and limited working space.

[0078] [2] The receiving jig support unit (clip support unit 60) is A pair of holding pins (61) for holding the receiving jig is provided. The receiving jig is a support block (clip support block 63) having a pair of recesses (retaining grooves 63a, retaining holes 63b) that engage with the pair of retaining pins, and a fitting hole (clip fitting hole 63c) into which a part of the exterior component fits. The tape winding device (100) according to [1] above.

[0079] According to the configuration described in [2] above, the pair of retaining pins (61) are engaged with the pair of recesses (retaining grooves 63a, retaining holes 63b) to couple the support block to the retaining pins, and a portion of the exterior component is fitted into the fitting hole of the support block, thereby holding the exterior component in the receiving jig support unit. In this way, the receiving jig support unit can handle the exterior component. Therefore, the exterior component can be easily, automatically, and accurately attached to a predetermined position on the wire bundle while being handled by the second manipulator. After attachment, the support block can be easily detached from the exterior component by simply moving the support block away from the exterior component. Furthermore, since the receiving jig support unit holds the exterior component via the support block, the pair of recesses can be shared for multiple types of exterior components. Furthermore, since there is no need to prepare multiple receiving jigs when attaching the same exterior component to multiple locations, the number of support blocks can be minimized.

[0080] [3] The tape winding tool (10) A bobbin (1) on which a portion of the adhesive tape (2) pulled out from a tape reel (3) is cut off and wound; a rotating drum (12) that rotates around an object to be bound (wire harness WH) disposed in an internal space, thereby winding the adhesive tape (2) wound around the bobbin (1) around the outer periphery of the object to be bound (WH); a frame (11) that rotatably supports the rotary drum (12), The rotating drum (12) an opening (12a) for introducing the object to be bound (WH) into the internal space; and a bobbin holding section (13) that detachably holds the bobbin (1) and unwinds the adhesive tape (2) wound around the bobbin (1) into the internal space. The tape winding device (tape winding tool 10) according to [1] or [2] above.

[0081] According to the configuration described in [3] above, the rotating drum (12) rotates around the object to be bundled (WH), causing the bobbin (1) to rotate around the object to be bundled (WH), and the adhesive tape (2) wound around the bobbin (1) is wound around the object to be bundled (WH). Here, a portion of the adhesive tape (2) is cut off from the tape reel (3), wound around the bobbin (1), and held by the rotating drum (12). Since the bobbin (1) can have a smaller diameter than the tape reel (3), the rotating drum (12) can be made smaller, and the tape winding device (10) itself can be made smaller and lighter. Therefore, tape winding can be performed in a smaller space than when the large-diameter tape reel (3) itself is rotated around the object to be bundled (wire harness WH), and tape winding can be performed around narrow areas such as branch points (areas WH2 near the branch) of the wire harness, which were previously not possible. [Explanation of symbols]

[0082] WH Cohesion Object 1 bobbin 1A pre-wound bobbin 1B Empty bobbin 2 adhesive tapes 3 tape reels 10 Tape winding tool (tape winding device) 11 frames 12 rotating drum 12a opening 13 Bobbin holder 20 Bobbin exchange unit 30 Bobbin winding unit 100 Tape winding device

Claims

1. a tape winding tool for winding adhesive tape around at least a portion of the outer periphery of the object to be bundled; a first manipulator that moves the tape winding tool; a receiving jig support unit for holding a receiving jig for an exterior part to be attached to the object to be bound; a second manipulator that moves the receiving jig support unit, With the exterior part positioned and held by the receiving jig, the second manipulator moves the exterior part to an attachment position, the first manipulator moves the tape winding tool to a tape winding position for the exterior part, and in that state, the tape winding tool is operated to wind the tape and fix the exterior part to the object to be bundled with the adhesive tape. A tape winding device characterized by the above.

2. The receiving jig support unit is a pair of holding pins for holding the receiving jig; the receiving jig is a support block having a pair of recesses that engage with the pair of holding pins and a fitting hole into which a part of the exterior part fits.

2. The tape winding device according to claim 1.

3. The tape winding tool includes: a bobbin on which a portion of the adhesive tape pulled out from the tape reel is cut off and wound; a rotating drum that rotates around an object to be bundled disposed in an internal space, thereby winding the adhesive tape wound on the bobbin around the outer periphery of the object to be bundled; a frame that rotatably supports the rotary drum, The rotating drum is an opening for introducing the object to be bound into the internal space; a bobbin holding portion that detachably holds the bobbin and pays out the adhesive tape wound on the bobbin into the internal space, 3. The tape winding device according to claim 1 or 2.

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