Wire harness production system

Abstract

To suppress a cost increase related to an additional facility or renewal, with regard to increasing variations or specification changes of wire harnesses to be manufactured.SOLUTION: A wire harness manufacturing system supplies a sub-assembly and other components supplied by supply units 21, 22 on a work bench 10 at which a semifinished wire harness W / H arranged on a jig board 11 is post-processed, and executes assembly work using multi-functional robots 23, 24. Work tools 27, 28 of respective robot arms 23a, 24a are detachable and replaceable. The work tool includes a first tool suitable to wiring work of the sub-assembly and a second tool suitable to mounting work of a sheath material. A control part of a control server 30, etc., determines a working sequence of a robot arm according to an article-number of a wire harness and controls a progress of the work while replacing the work tools to attach to the robot arm according to the working sequence.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a wire harness production system. [Background technology]

[0002] Wire harnesses installed in vehicles generally have very complex shapes and structures. That is, wire harnesses must electrically connect numerous electrical components arranged in various locations on the vehicle to ensure power supply paths and signal transmission paths. For this reason, they must be configured to route and bundle together, for example, several hundred electric wires so that each passes through a predetermined path, and to attach terminals attached to the ends of each electric wire to predetermined locations in a predetermined connector, and to protect the bundle of electric wires by attaching an exterior material such as tape to the outside of the bundle.

[0003] Furthermore, parts manufacturers that manufacture wire harnesses must produce wire harnesses with different configurations depending on the type, grade, destination, and presence or absence of various options of the vehicle.

[0004] For example, the manufacturing system disclosed in Patent Document 1 discloses a technology for improving the manufacturing efficiency of wire harnesses. In addition, in the configuration shown in Patent Document 1, a work table is transported sequentially between multiple work sections by a circulating conveyor, and different work processes for wire harnesses are performed on this work table in each section.

[0005] Furthermore, the manufacturing method of a wire harness in Patent Document 2 discloses a technique for easily performing wiring and bundling operations. In the configuration shown in Patent Document 2, a moving device and a bundling device are arranged around an assembly board used in manufacturing the wire harness. The moving device is a robot with a moving function and has the function of being able to hold electric wires and connectors. The bundling device is a robot with a moving function and has the function of wrapping cable ties or bundling tape. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2019-220441 [Patent Document 2] Japanese Patent Application Publication No. 2019-57418 Summary of the Invention [Problem to be solved by the invention]

[0007] However, when using a production line in which multiple sections performing different tasks are connected in series, as in the production system of Patent Document 1, it is necessary to install a robot that performs the production task in each section individually. Therefore, as the production line becomes longer and the number of sections increases, there is a concern that the configuration of the production equipment will become more complex and the equipment costs will increase.

[0008] Furthermore, in the system of Patent Document 2, multiple robots equipped with different dedicated manufacturing task functions must be arranged around an assembly drawing board. Furthermore, each robot must be equipped with a function for its own movement, which inevitably leads to a complex configuration.

[0009] In particular, as the number of types of wire harnesses produced increases, it becomes necessary to manufacture each wire harness using different work procedures and different work contents, and to add subassemblies and parts in later processes before attaching exterior materials and finishing. This requires adding new equipment such as robots and updating some of the equipment to devices with new functions, raising concerns about increased equipment costs.

[0010] The present invention has been made in consideration of the above-mentioned circumstances, and its object is to provide a wire harness production system that can easily suppress increases in costs associated with adding or updating equipment in response to an increase in the number of types of wire harnesses to be produced or changes in specifications. [Means for solving the problem]

[0011] The above object of the present invention can be achieved by the following configuration.

[0012] A wire harness production system for manufacturing a wire harness by performing wiring and assembling operations of subassemblies of the wire harness and desired components on at least one workbench, comprising: Each work table has at least one robot arm and a plurality of types of work tools that are detachably attached to the robot arm. , at least one parts supply unit; Equipped with The work tools include at least a first tool and a second tool suitable for a different work from the first tool, A control unit that controls the robot arm determines a work sequence of the robot arm according to the product number of the wire harness, and controls the progress of the work by changing the work tools attached to the robot arm according to the work sequence. death , the part supply unit detects whether the subassembly or the desired part has been supplied to a predetermined position on the work table in accordance with the work order; If the supply has been completed, notify the control unit of information indicating that the supply has been completed; If not, supply the subassembly or the desired part to a predetermined position on the work table in accordance with the work order. Wire harness production system. [Effects of the Invention]

[0013] According to the wire harness production system of the present invention, it is possible to suppress increases in costs associated with adding or updating equipment in response to an increase in the number of types of wire harnesses to be produced, changes in specifications, etc. In other words, by replacing the work tool attached to the robot arm, the same equipment such as a robot can be shared and reused in different types of manufacturing work processes, thereby reducing the number of expensive equipment such as robots.

[0014] 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]

[0015] [Figure 1] FIG. 1 is a plan view showing an outline of the configuration of one cell of a wire harness production system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing a specific example of processing for controlling a robot. [Figure 3] FIG. 3 is a schematic diagram showing an example of a work instruction. [Figure 4] FIG. 4 is a sequence diagram showing an example of the operation of each unit in the wire harness production system. DETAILED DESCRIPTION OF THE INVENTION

[0016] Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0017] <System configuration> Fig. 1 is a plan view showing an outline of the configuration of one cell of a wire harness production system 100 according to an embodiment of the present invention. Fig. 1 shows the layout of each component in a plan view of a workbench 10 viewed from above.

[0018] Parts manufacturers that manufacture wire harnesses need to produce wire harnesses with different configurations depending on the type, grade, destination, and presence or absence of various options of the vehicle. When producing such various types of wire harnesses, in order to improve production efficiency, for example, semi-finished products containing only components common to all of the various types of wire harnesses may be manufactured in advance in a "pre-process." By assembling various types of additional parts to this semi-finished product in a "post-process," it becomes possible to efficiently produce various different types of wire harnesses.

[0019] For example, when a single wire harness is produced by combining multiple subassemblies manufactured in advance, the connection work where the wires of the multiple subassemblies are connected to a common connector cannot be performed in the "pre-process," so it is sometimes performed in the "post-process" as a post-fitting. This post-fitting work is generally performed manually. In addition, the work of attaching exterior materials such as tape that cover the entire wire harness must be performed after the assembly of all subassemblies is complete, so it must be performed in the "post-process." In particular, such constraints on work procedures are likely to occur when wire harnesses are produced using equipment that automates assembly work.

[0020] The wire harness production system 100 shown in Fig. 1 can be used to perform "post-process" work, such as assembling additional parts to a semi-finished wire harness W / H that has been assembled in a "pre-process." Furthermore, this wire harness production system 100 automates all of the work included in the "post-process," and can produce a finished or nearly finished wire harness W / H in just this one cell. In other words, unlike a typical production line using a conveyor, there is no need to move the workpiece to a different location for each work process, and all of the work in the "post-process" can be completed on just one work table 10.

[0021] 1, each part of a semi-finished wire harness W / H is arranged on a jig plate 11 placed at a predetermined position on a workbench 10 in a state in which the parts are routed along predetermined paths and maintained in a predetermined shape. This wire harness W / H includes a large number of electric wires 12 and a large number of connectors 13. Each part of the electric wires 12 is guided by each of a large number of jigs 11a placed at various locations on the jig plate 11, and the position and shape are maintained in a predetermined state.

[0022] The jig plate 11 carrying this wire harness W / H is sent onto the work table 10 from the "pre-process" equipment using, for example, a conveying device (not shown), and is positioned at a predetermined position on the work table 10. After various "post-process" operations are performed on the work table 10, the wire harness W / H together with the jig plate 11 is removed from the work table 10 as a finished product.

[0023] 1, a plurality of supply units 21, 22, a plurality of multi-function robots 23, 24, and a plurality of tool storage sections 25, 26 are arranged on the side opposite to the jig plate 11. An inspection device 35 is also arranged above the jig plate 11. A management server 30 that manages the entire system is also arranged near the workbench 10.

[0024] The supply unit 21 can supply one or more subassemblies (sub-assemblies) that need to be added to and assembled on the semi-finished wire harness W / H to predetermined positions on the jig plate 11 on the work table 10 from the left side in Fig. 1. Also, the supply unit 22 can supply various parts that need to be added to and assembled on the semi-finished wire harness W / H to predetermined positions on the jig plate 11 on the work table 10 from the left side in Fig. 1.

[0025] The two multi-function robots 23, 24 are arranged side by side, adjacent to each other in the left-right direction in Figure 1, facing the jig plate 11. The multi-function robot 23 can perform a variety of tasks by freely moving the first robot arm 23a. Furthermore, the work tool 27 attached to the tip of the first robot arm 23a is detachable. Similarly, the multi-function robot 24 can perform a variety of tasks by freely moving the second robot arm 24a. The work tool 28 attached to the tip of the second robot arm 24a is detachable.

[0026] The tool storage section 25 is located on the left side of the multifunction robot 23, and holds in advance a plurality of work tools 25a, 25b that can be used by the multifunction robot 23. The multifunction robot 23 can attach and detach a work tool 27 by moving the first robot arm 23a, and can also replace the work tool 27 with one of the plurality of work tools 25a, 25b in the tool storage section 25.

[0027] The tool storage section 26 is located on the right side of the multifunction robot 24, and holds in advance a plurality of work tools 26a, 26b that can be used by the multifunction robot 24. The multifunction robot 24 can attach and detach a work tool 28 by moving the second robot arm 24a, and can also replace the work tool 28 with one of the plurality of work tools 26a, 26b in the tool storage section 26.

[0028] The inspection device 35 can use, for example, a camera to photograph the appearance of each part of the wire harness W / H from above, and based on the photographed images, inspect the completed wire harness W / H for any manufacturing defects.

[0029] The management server 30 manages the product number indicating the type of each wire harness W / H manufactured on the workbench 10, determines the procedure and content of each task to be performed in post-processing for each product number, and gives appropriate work instructions to the supply units 21, 22, the multi-function robots 23, 24, the inspection device 35, etc. The product number of each wire harness W / H can be read, for example, from a tag attached to the semi-finished wire harness W / H in the previous process.

[0030] The work tools 27 and 28 are both work tools that can be used by the multifunction robots 23 and 24. As an example of the work tools 27 and 28, a wiring work tool has a wire holding chuck and a component holding chuck. By using this wiring work tool, the first robot arm 23a or the second robot arm 24a can hold the wires of each part of the subassembly supplied from the supply unit 21 with the wire holding chuck and can securely hold components such as connectors with the component holding chuck. Therefore, the first robot arm 23a or the second robot arm 24a can easily perform the work of wiring each part of the subassembly in an appropriate position on the jig plate 11.

[0031] As another example of the work tools 27, 28, a tape winding work tool enables the first robot arm 23a or the second robot arm 24a to easily perform the work of winding tape around the outer periphery of the wire harness W / H.

[0032] <Characteristic robot control processing procedures> Fig. 2 is a flowchart showing a specific example of processing for controlling a robot in the wire harness production system 100 shown in Fig. 1. The processing in Fig. 2 will be described below.

[0033] When a semi-finished wire harness W / H to be processed is sent from the previous process onto the work table 10 together with the jig plate 11, the management server 30 reads the product number information of the wire harness W / H from the tag attached to the wire harness W / H or the jig plate 11 (S11). Alternatively, the management server 30 obtains the product number information from a higher-level device that manages the entire process or from a manufacturing device in the previous process.

[0034] Based on the part number information acquired in S11, the management server 30 identifies the work to be performed on the wire harness W / H in this cell, and determines work instructions such as the work procedure, the content of each work, and the work start conditions for each of the multiple robot arms (S12).The management server 30 also determines the type of subassembly to be supplied by the supply unit 21 and the type of part to be supplied by the supply unit 22 for each work, based on the part number of the wire harness W / H.

[0035] The management server 30 identifies the types T1 of the work tools 27, 28 currently attached to each of the first robot arm 23a and the second robot arm 24a (S13).

[0036] The management server 30 identifies the type T2 of the work tool required for each of the first robot arm 23a and the second robot arm 24a based on the content of the next work instruction (S14). For example, if the first robot arm 23a is scheduled to perform routing work on a specific subassembly in the next work, the management server 30 selects the type T2 that matches the tool for routing work. Also, if the first robot arm 23a is scheduled to perform tape winding in the next work, the management server 30 selects the type T2 that matches the tool for tape winding work.

[0037] In S15, the management server 30 identifies whether the types of work tools T1 and T2 for the first robot arm 23a and the second robot arm 24a match, and if it detects a mismatch, it proceeds to processing in S16.

[0038] If a mismatch in type is detected for the work tool 27 of the first robot arm 23a, the management server 30 identifies in S16 the positions of each of the work tools 25a, 25b housed in the left tool storage section 25. Furthermore, if a mismatch in type is detected for the work tool 28 of the second robot arm 24a, the management server 30 identifies in S16 the positions of each of the work tools 26a, 26b housed in the right tool storage section 26.

[0039] If a type mismatch is detected for the work tool 27 of the first robot arm 23a, the management server 30 instructs the control unit of the first robot arm 23a to remove the attached work tool 27 and replace it with the target work tool 25a or 25b (S17). Furthermore, if a type mismatch is detected for the work tool 28 of the second robot arm 24a, the management server 30 instructs the control unit of the second robot arm 24a to remove the attached work tool 28 and replace it with the target work tool 26a or 26b. Furthermore, information on the type T1 of the work tools attached to each of the first robot arm 23a and the second robot arm 24a is stored and maintained. The stored type T1 information can be used to identify the type T1 of the attached work tool in step S13 during the next process.

[0040] When the management server 30 detects in S18 that the conditions for starting work have been met for each of the first robot arm 23a and the second robot arm 24a in accordance with the work instructions determined in S12, it controls the start of work in the next S19.

[0041] When each of the first robot arm 23a and the second robot arm 24a performs a plurality of types of work in sequence, the work is performed one by one according to the work order of the work instructions determined in S12. Then, when one work is completed, the process returns to the processing of S20 to S13 to prepare for the next work, and the above processing is repeated.

[0042] Therefore, before starting each task, the work tools 27, 28 attached to the first robot arm 23a and the second robot arm 24a can be replaced with those appropriate for the task. Therefore, there is no need to prepare dedicated robots for each type of task, and various tasks can be processed sequentially by repeatedly using the common first robot arm 23a and second robot arm 24a in the same cell. Therefore, there is no need to line up multiple work tables 10 for the "post-process" tasks, and there is no need to transport the wire harness W / H to a different process location using a belt conveyor for each task.

[0043] <Examples of work instructions> FIG. 3 is a schematic diagram showing an example of a work instruction. In the example shown in Figure 3, it is assumed that the management server 30 gives five sets of work instructions A1·A2, B1·B2, C1·C2, D1·D2, and E1·E2 to each of the first robot arm 23a and the second robot arm 24a in the order of "Work Order 1" to "Work Order 5."

[0044] In this case, at the timing of the first "Work Order 1," the first robot arm 23a can perform the work according to "Work Instruction A1," and the second robot arm 24a can perform the work according to "Work Instruction A2." In other words, the work corresponding to "Work Instruction A1" and the work corresponding to "Work Instruction A2" can be performed in parallel within one cell.

[0045] 3, information "after completion of work instruction A1" is added as a condition for starting the work. In this case, the timing at which the second robot arm 24a starts the work corresponding to "work instruction B2" in the second "work sequence 2" is after the first robot arm 23a has completed the work corresponding to "work instruction A1." Such constraint conditions of the work instructions make it possible to synchronize the work of the first robot arm 23a and the work of the second robot arm 24a in terms of time.

[0046] 3, the content of the work instruction C2 includes an instruction to "wait until the work of work instruction C1 is completed." In this case, in the third "work sequence 3," the first robot arm 23a performs the work according to "work instruction C1," while the second robot arm 24a simply waits without performing any work. This type of work instruction makes it possible to realize a state in which only one of the first robot arm 23a and the second robot arm 24a works within one cell.

[0047] 3, the condition for starting the work is added as "simultaneously with the start of work instruction D1." In this case, the timing at which the second robot arm 24a starts the work corresponding to "work instruction D2" in the fourth "work sequence 4" is the same as the timing at which the first robot arm 23a starts the work corresponding to "work instruction D1." Such constraints on the work instructions make it possible to synchronize the work of the first robot arm 23a and the work of the second robot arm 24a in time.

[0048] <Example of overall system operation> FIG. 4 is a sequence diagram showing an example of the operation of each unit in the wire harness production system 100. 4, it is assumed that the supply unit 21 first supplies "component 1" onto the jig plate 11, and then the supply unit 22 supplies "component 2" onto the jig plate 11 in accordance with the work instructions determined by the management server 30. It is also assumed that at least one of the multi-function robots 23 and 24 performs a "processing A" operation such as assembling "component 1" to the wire harness W / H on the jig plate 11, and that at least one of the multi-function robots 23 and 24 further performs a "processing B" operation such as assembling "component 2" to the wire harness W / H on the jig plate 11. The operation of FIG. 4 will be described below.

[0049] The management server 30 generates work instructions including work start conditions for each part based on the product number read from the tag of the wire harness W / H to be processed in S31. When the generated work start conditions are met, the process proceeds from S32 to S33, and the management server 30 issues start instructions to the supply units 21, 22 and the multi-function robots 23, 24.

[0050] In accordance with the work instruction from the management server 30, the supply unit 21 detects in S36 whether or not the supply of "component 1" onto the jig plate 11 has been completed, and if not, in S37 executes an operation to supply "component 1" onto the jig plate 11. When the supply unit 21 detects that the supply of "component 1" has been completed, it notifies the management server 30 or the multifunction robots 23, 24 of this fact.

[0051] Before starting the "Processing A" operation on the "Component 1," the multifunction robot 23 and / or 24 checks in S34 whether the type of work tool attached to the first robot arm 23a or the second robot arm 24a is compatible with the "Processing A" operation. If there is no compatibility, the multifunction robot 23 and / or 24 replaces the work tool 27 or 28 with a tool of a type suitable for "Processing A" in S35.

[0052] When the supply of "component 1" is completed and the type of work tool of the multifunction robot 23 and / or 24 satisfies a predetermined condition, the multifunction robot 23 and / or 24 starts the work of "processing A" in S38.

[0053] In accordance with the work instruction from the management server 30, the supply unit 22 detects in S41 whether or not the supply of "member 2" onto the jig plate 11 has been completed, and if not, in S42 executes an operation to supply "member 2" onto the jig plate 11. When the supply unit 22 detects that the supply of "member 2" has been completed, it notifies the management server 30 or the multifunction robots 23, 24 of this fact.

[0054] Before starting the "Processing B" operation on the "Component 2," the multifunction robot 23 and / or 24 checks in S39 whether the type of work tool attached to the first robot arm 23a or the second robot arm 24a is compatible with the "Processing B" operation. If there is no compatibility, the multifunction robot 23 and / or 24 replaces the work tool 27 or 28 with a tool of a type suitable for "Processing B" in S40.

[0055] When the supply of "component 2" is completed and the type of work tool of the multifunction robot 23 and / or 24 satisfies a predetermined condition, the multifunction robot 23 and / or 24 starts the work of "processing B" in S43.

[0056] According to the work order of the work instructions generated by the management server 30 in S31, the supply units 21, 22 and the multi-function robots 23, 24 repeatedly execute the same process as above until all work is completed. After all processing work is completed, the management server 30 instructs the inspection device 35 to perform a visual inspection of the completed wire harness W / H. The wire harness W / H that passes the visual inspection is released as a product from the process of the wire harness production system 100.

[0057] As described above, the wire harness production system 100 shown in Fig. 1 can automate all of the "post-processing" work processes in the production of wire harnesses W / H using only one cell of equipment arranged on one workbench 10. Furthermore, since the main body of the same multi-function robots 23, 24 can be repeatedly used for each of the multiple types of work included in the "post-processing," such as wiring work and tape winding, equipment costs can be reduced. Of course, processing prior to the "post-processing" may also be performed.

[0058] Furthermore, even when a new wire harness W / H with different specifications is produced, the same equipment can be used repeatedly by storing the work tools 27, 28 suitable for each task in the tool storage units 25, 26 in advance and having the management server 30 generate appropriate work instructions according to the product number. Also, when increasing the production volume of wire harness W / H, this can be handled by adding the same wire harness production system 100 and increasing the number of equipment cells.

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

[0060] Here, the features of the wire harness production system according to the embodiment of the present invention described above will be briefly summarized and listed below in [1] to [5]. [1] A wire harness production system (100) for manufacturing a wire harness by performing wiring and assembling operations of subassemblies of a wire harness (W / H) and desired components on at least one workbench (10), Each work table has at least one robot arm (first robot arm 23a, second robot arm 24a) and a plurality of types of work tools (27, 28) that are detachably attached to the robot arm; The work tools include at least a first tool (a tool for routing work) and a second tool (a tool for tape winding work) suitable for a work different from that of the first tool, A control unit (management server 30) that controls the robot arm determines the work sequence of the robot arm according to the product number of the wire harness, and controls the progress of the work by changing the work tools attached to the robot arm according to the work sequence (see FIG. 2). Wire harness production system.

[0061] According to the wire harness production system configured as [1] above, even when downstream processes including multiple types of assembly work are performed using automated equipment, wire harnesses W / H can be produced using only one cell of production equipment, without using a production line with multiple pieces of equipment lined up in series. In other words, because expensive equipment such as robots is repeatedly used for multiple types of work, it is easy to reduce the number of pieces of equipment and cut costs.

[0062] [2] Each of the work tables is equipped with at least a first robot arm (first robot arm 23a) and a second robot arm (second robot arm 24a) as the robot arms, a first set of multiple types of work tools (25a, 25b) that can be attached to the first robot arm, and a second set of multiple types of work tools (26a, 26b) that can be attached to the second robot arm are prepared in advance, The control unit enables switching between a parallel operation mode in which a first operation using the first robot arm and a second operation using the second robot arm are performed substantially simultaneously, and a serial operation mode in which the first operation and the second operation are performed sequentially at different timings, by switching the operation order (see FIG. 3 ). The wire harness production system according to [1] above.

[0063] According to the wire harness production system configured as [2] above, the combination of the work of the first robot arm and the work of the second robot arm increases the degree of freedom in the work performed within one cell, enabling efficient production. That is, by performing the first and second work simultaneously using the parallel operation mode, the total time required for the work can be reduced. Furthermore, by using the serial operation mode, the execution order of the first and second work can be properly managed, preventing interference between multiple work tasks and enabling coordinated work between multiple work tasks.

[0064] [3] The control unit grasps first information (T1) representing the type of the work tool actually attached to the robot arm, acquires second information (T2) representing the type of the work tool to be used before starting the next work based on the work order, and if the first information and the second information do not match, replaces the work tool attached to the robot arm (S13 to S17). The wire harness production system according to [1] above.

[0065] According to the wire harness production system having the configuration [3] above, the work tool attached to the robot arm is replaced only when the first information and the second information do not match, thereby suppressing delays in operation associated with replacing the work tool.

[0066] [4] A first component supply unit (supply unit 21) that supplies at least one of the subassemblies to a predetermined position on the work table, and a second component supply unit (supply unit 22) that supplies components other than the subassembly to a predetermined position on the work table. The wire harness production system according to [1] above.

[0067] According to the wire harness production system having the configuration [4] above, the subassemblies and other parts to be assembled into the wire harness W / H can be easily supplied to their respective predetermined positions.

[0068] [5] An inspection device (35) that can be arranged at a position opposite to the processing portion of the robot arm, The wire harness production system according to [1] above.

[0069] According to the wire harness production system having the configuration [5] above, the results of assembly performed in the post-process can be checked using an inspection device, so visual checking work can be omitted. [Explanation of symbols]

[0070] 10 Workbench 10a Information section 11 Jig plate 11a Jig 12 Electric wire 13 Connectors 21,22 Supply unit 23,24 Multifunctional robot 23a First robot arm 24a Second robot arm 25,26 Tool storage section 25a, 25b, 26a, 26b Work tools 27,28 Work tools 30 Management Server 35 Inspection equipment 100 Wire harness production system W / H Wire harness

Claims

1. A wire harness production system for manufacturing a wire harness by performing wiring and assembling operations of subassemblies of the wire harness and desired components on at least one workbench, comprising: Each work table includes at least one robot arm, a plurality of types of work tools that are detachably attached to the robot arm, and at least one part supply unit; The work tools include at least a first tool and a second tool suitable for a different work from that of the first tool, a control unit that controls the robot arm determines a work sequence of the robot arm in accordance with a product number of the wire harness, and controls progress of the work by changing the work tools to be attached to the robot arm in accordance with the work sequence; the part supply unit detects whether the subassembly or the desired part has been supplied to a predetermined position on the work table in accordance with the work order; If the supply has been completed, notify the control unit of information indicating that the supply has been completed; If not, supply the subassembly or the desired part to a predetermined position on the work table in accordance with the work order. Wire harness production system.

2. Each of the work tables is equipped with at least a first robot arm and a second robot arm as the robot arms, a first set of multiple types of work tools that can be attached to the first robot arm and a second set of multiple types of work tools that can be attached to the second robot arm are prepared in advance, the control unit enables, by switching the operation order, a parallel operation mode in which a first operation using the first robot arm and a second operation using the second robot arm are performed substantially simultaneously, and a serial operation mode in which the first operation and the second operation are performed sequentially at different timings. The wire harness production system according to claim 1 .

3. the control unit grasps first information indicating the type of the work tool actually attached to the robot arm, acquires second information indicating the type of the work tool to be used before starting a next task based on the task order, and, if the first information and the second information do not match, replaces the work tool attached to the robot arm. The wire harness production system according to claim 1 .

4. The parts supply unit includes a first parts supply unit that supplies at least one of the subassemblies to a predetermined position on the workbench, and a second parts supply unit that supplies parts other than the subassembly to a predetermined position on the workbench. The wire harness production system according to claim 1 .

5. an inspection device that can be placed at a position opposite to the processing portion of the robot arm; The wire harness production system according to claim 1 .

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