Wiring device, wiring system, holding jig, and cutting jig

Abstract

This wiring device that performs wiring using a robot comprises: an actuator that can be attached to and detached from the robot; and a lead wire supply mechanism for supplying a lead wire in the wiring. The lead wire supply mechanism comprises: a reel that can wind and store the lead wire and feeds the lead wire to the actuator; and a drive unit that rotates the reel in order to apply a force in a direction in which the reel winds the lead wire. The actuator is provided with a tube that is configured so as to be substantially perpendicular to a wiring board on which a guide pin for the wiring is erected. The tube is configured so that the lead wire is inserted into the tube.

Description

Wiring devices, wiring systems, holding jigs and cutting jigs

[0001] The present disclosure relates to a wiring device, a wiring system, a holding jig, and a cutting jig.

[0002] As an example of a wiring device that performs wiring instead of humans, Patent Document 1 discloses a wiring device that operates a guide pin in an initial position and moves the guide pin to a target position where the tension of an electric wire with fixed start and end points increases.

[0003] Japanese Patent Application Laid-Open No. 2022-145181

[0004] The present disclosure has been devised in view of the above-described conventional situation, and aims to perform wiring with a simple device configuration.

[0005] The present disclosure provides a wiring device that uses a robot to perform wiring, comprising: an actuator that is detachable from the robot; and a lead wire supply mechanism for supplying lead wires for the wiring, wherein the lead wire supply mechanism is capable of winding and storing the lead wires, and comprises a reel that feeds the lead wires to the actuator, and a drive unit that rotates the reel to apply force in the direction in which the reel winds the lead wires, and wherein the actuator comprises a tube configured to be approximately perpendicular to a wiring plate on which guide pins for the wiring are erected, and the tube is configured so that the lead wires are inserted into the tube.

[0006] The present disclosure also provides a wiring system comprising: a robot; a control device for controlling the robot; an actuator detachable from the robot; a wiring board on which guide pins for wiring are erected; and a lead wire supply mechanism for supplying lead wires for the wiring, wherein the lead wire supply mechanism is capable of winding and storing the lead wires, and comprises a reel that feeds the lead wires to the actuator, and a drive unit that rotates the reel to apply force in the direction in which the reel winds the lead wires, the drive unit comprising a motor and a torque limiter for adjusting the torque generated by the motor within a specified range, the actuator comprising a tube configured to be approximately perpendicular to the wiring board, the tube being configured so that the lead wires are inserted into the tube, and the control device performs the wiring by moving the robot equipped with the actuator along the guide pins erected on the wiring board.

[0007] The present disclosure also provides a holding jig comprising a lead wire holding portion capable of holding a lead wire and a lead wire stock portion capable of storing the lead wire, wherein the lead wire holding portion and the lead wire stock portion are connected so that when the lead wire holding portion that is holding the lead wire holds a new lead wire, the lead wire held in the lead wire holding portion is pushed out from the lead wire holding portion to the lead wire stock portion by the new lead wire.

[0008] The present disclosure also provides a cutting tool comprising: a contact portion for receiving a force from an actuator for wiring; a blade for cutting a lead wire; a lead wire holding portion capable of holding the lead wire; and a lead wire guide portion facing the lead wire holding portion across the blade and supporting the lead wire held in the lead wire holding portion, wherein the blade operates to cut the lead wire by receiving a force via the contact portion in response to operation of the actuator while the lead wire is held in the lead wire holding portion and supported by the lead wire guide portion.

[0009] Any combination of the above components, and conversion of the present disclosure into a method, device, system, storage medium, computer program, etc., are also valid aspects of the present disclosure.

[0010] According to the present disclosure, wiring can be performed with a simple device configuration.

[0011] 1 is a top view (XY plan view) illustrating a configuration example of a wiring system according to embodiment 1; a side view (YZ plan view) for explaining the wiring system according to embodiment 1; a block diagram illustrating a configuration example of a control device according to embodiment 1; an external perspective view showing a configuration example of an actuator according to embodiment 1; a schematic view showing a configuration example of a holding mechanism according to embodiment 1; an external perspective view for explaining a lead wire supply mechanism according to embodiment 1; an external perspective view showing a configuration example of a holding jig according to embodiment 1; an external perspective view showing a configuration example of a cutting jig according to embodiment 1; a schematic view for explaining operation of an actuator by a robot according to embodiment 1; a schematic view for explaining operation of an actuator by a robot according to embodiment 1; a side view (YZ plan view) for explaining an example of control of a robot according to embodiment 1; and a flowchart for explaining control of a robot by a control device according to embodiment 1.

[0012] (Background to the present disclosure) Recently, methods have been known in which machines, instead of humans, perform wiring, such as in electrical distribution boards or electronic devices. For example, Patent Document 1 (JP-A-2005-102626) discloses a wiring apparatus that, assuming a wiring scenario where the guide pins are closely spaced, operates a guide pin initially positioned at a position where slack occurs in the wire and moves the guide pin to a target position where the tension of the wire, whose start and end points are fixed, increases. The wiring apparatus of Patent Document 1 performs a temporary wiring and then moves the guide pin so that the tension of the laid wire increases. Therefore, a process of moving the guide pin after the temporary wiring is required. Therefore, there is room for further improvement in terms of smooth wiring itself, taking into account events that may occur during wiring, such as interference with the guide pins, slack, or tangles of the lead wire during wiring. Therefore, the following embodiment describes a technology for smooth wiring with a simple device configuration.

[0013] Hereinafter, with reference to the drawings as appropriate, detailed descriptions will be given of embodiments specifically disclosing the wiring device, wiring system, holding jig, and cutting jig according to the present disclosure. However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of already well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

[0014] First Embodiment [Configuration of Wiring System] FIG. 1 is a top view (XY plan view) showing an example of the configuration of a wiring system 1 according to a first embodiment. The wiring system 1 includes a wiring device 2, a control device 3, and a wiring board 4. The wiring system 1 automates wiring on the wiring board 4 by controlling the wiring device 2 with the control device 3. In each of the figures described below, correspondences in three-dimensional space are shown using three-dimensional coordinate axes consisting of the X-axis, Y-axis, and Z-axis. In each figure, the direction of the arrow in the coordinate system shown in the figure is positive, and the direction opposite the arrow is negative. In the following description, counterclockwise rotation as viewed from the tip of the arrow on an axis is referred to as positive rotation around that axis, and clockwise rotation as viewed from the tip of the arrow on that axis is referred to as negative rotation around that axis. Note that the configuration settings for each axis are merely examples and are not limited to these. In the following description, the "actuator," "reel," "lead wire," "holding jig," "holding portion," and "guide pin" will be described with reference numerals when they need to be explained individually, but the reference numerals will be omitted when they are explained collectively.

[0015] The wiring apparatus 2 includes a robot 5 , an actuator 6A, a lead wire supply mechanism 13 , a stocker 14 , and a guide roller 16 .

[0016] Wiring is performed on a wiring board 4. Guide pins for wiring are set up on the wiring board 4. The wiring board 4 may be provided with, for example, holes for inserting the guide pins so that the guide pins can be set up on the wiring board 4. In the example of FIG. 1 , guide pins P1, P2, P3, P4, P5, P6, P7, P8, P9, and P10 are set up on the wiring board 4. In the following description, it is assumed that the guide pins are set up perpendicular to the wiring board 4.

[0017] A holding jig 7A is installed on the wiring board 4. The holding jig 7A is capable of holding a lead wire. In the example of FIG. 1 , the holding jig 7A holds the lead wire W1. The holding jig 7A is installed at the start position of the wiring board 4. The start position of the wiring is, in other words, the position where the wiring begins. More precisely, the holding jig 7A is installed by an operator or the like at the position where the wiring begins on the wiring board 4, based on wiring specifications prepared in advance by the operator or the like. In the example of FIG. 1 , the holding jig 7A is installed at the position shown in FIG. 1 for wiring using the lead wire W1. For example, for wiring using the lead wire W2, one or more other holding jigs with a configuration similar to the holding jig 7A may be installed at a position different from the installation position of the holding jig 7A. Furthermore, the holding jig 7A may hold not only the lead wire W1 but also the lead wires W2, W3, W4, and W5. An example configuration of the holding jig 7A will be described later with reference to FIG. 7 .

[0018] A cutting jig 8 is installed on the wiring board 4. The cutting jig 8 is a jig capable of holding and cutting a lead wire. In the example of FIG. 1 , the cutting jig 8 holds the lead wire W1 and can cut the lead wire W1 in the state shown in FIG. 1 . The cutting jig 8 is installed at the end position of the wiring. The end position of the wiring is, in other words, the position where the wire ends. More precisely, as with the holding jig 7A, the cutting jig 8 is installed by an operator or the like at the position where the wire ends on the wiring board 4 based on wiring specifications prepared in advance by the operator or the like. In the example of FIG. 1 , the lead wire W1 is routed on the wiring board 4 along guide pins P1, P2, P3, P4, P5, and P6. For example, if the wiring specifications stipulate that the lead wire W1 further crawls on the wiring board 4 along guide pins P7, P8, P9, and P10, the end position of wiring using the lead wire W1 will change, and the installation position of the cutting jig 8 will also differ from the example in Fig. 1. For additional wiring, one or more other cutting jigs having a configuration similar to that of the cutting jig 8 may be installed at positions different from the installation position of the cutting jig 8. An example configuration of the cutting jig 8 will be described later using Fig. 8.

[0019] The robot 5 is configured, for example, as a six-axis articulated robot. Hereinafter, the robot 5 will be described as a multi-joint (multi-axis) robot arm configured with multiple joints. An end effector (not shown) is attached to the tip of the robot 5, and an actuator can be attached and detached. In the example of FIG. 1 , the robot 5 is equipped with an actuator 6A. The robot 5 may be configured so that the attached actuator can be moved to any position in three-dimensional space.

[0020] The actuators are configured to allow lead wires for wiring to be inserted therein. In the example of FIG. 1 , lead wire W1 is inserted into actuator 6A, lead wire W2 into actuator 6B, lead wire W3 into actuator 6C, lead wire W4 into actuator 6D, and lead wire W5 into actuator 6E. The actuators are also capable of holding lead wires for wiring. In the example of FIG. 1 , actuator 6B holds lead wire W2, actuator 6C holds lead wire W3, actuator 6D holds lead wire W4, and actuator 6E holds lead wire W5. Lead wire W1 is inserted into actuator 6A, but is not held by actuator 6A, and its end is held by holding jig 7A. When starting wiring using a certain lead wire, the lead wire is released from the hold of the actuator into which the lead wire is inserted and held by the holding jig, as in the case of lead wire W1 shown in FIG. 1 . Details will be described later using FIG. 9 . The actuators are also configured to be detachable from the robot 5. 1, the actuator 6A is attached to the tip of the robot 5. An example of the configuration of the actuator will be described later with reference to FIG.

[0021] The lead wire supply mechanism 13 is a mechanism for supplying lead wires for wiring to the actuators. The lead wire supply mechanism 13 is configured with reels 10A, 10B, 10C, 10D, and 10E, a shaft 11, a motor 12, and a torque limiter (not shown) for each reel. The respective roles of the shaft 11, the motor 12, and the torque limiter will be described later with reference to FIG. 6.

[0022] The reels are capable of winding and storing lead wires. In the example of FIG. 1, reel 10A winds and stores lead wire W1, reel 10B winds and stores lead wire W2, reel 10C winds and stores lead wire W3, reel 10D winds and stores lead wire W4, and reel 10E winds and stores lead wire W5. In this embodiment, the description will be given assuming that the lead wires are wound clockwise around the reels as viewed from the positive direction of the X axis. The reels feed the stored lead wires to the actuators. In the example of FIG. 1, lead wire W1 is fed to actuator 6A, lead wire W2 is fed to actuator 6B, lead wire W3 is fed to actuator 6C, lead wire W4 is fed to actuator 6D, and lead wire W5 is fed to actuator 6E.

[0023] The stocker 14 stores one or more actuators that are separated from the robot 5. As in the example of FIG. 1 , actuator 6A is attached to the robot 5, but when actuators 6B, 6C, 6D, and 6E are separated from the robot 5, the stocker 14 stores actuators 6B, 6C, 6D, and 6E. The stocker 14 has stock positions in which each actuator is stored. When actuator 6A is separated from the robot 5, it is stored in stock position 15, for example.

[0024] The guide rollers 16 are rollers for guiding the lead wire W1 fed from the reel 10A to the actuator 6A. As shown in Fig. 1, a guide roller is provided for each lead wire. Note that in this embodiment, the guide rollers may be omitted.

[0025] The control device 3 is configured using a general-purpose computer device such as a personal computer. An example configuration of the control device 3 will be described later with reference to FIG. 3 . The control device 3 performs wiring work by moving the robot 5 equipped with an actuator along guide pins erected on the wiring board 4. In the example of FIG. 1 , the control device 3 performs wiring work by moving the robot 5 equipped with the actuator 6A along guide pins P1, P2, P3, P4, P5, and P6. More precisely, the control device 3 moving the robot 5 along the guide pins means moving the robot 5 along a wiring path specified by the control device 3 based on, for example, a wiring specification. By moving the robot 5 along paths C1, C2, and C3, the control device 3 can perform wiring based on, for example, a wiring specification created in advance by a wiring worker.

[0026] Furthermore, the control device 3 serves as a controller for the motor 12 and controls the motor 12. More specifically, in addition to controlling the robot 5, the control device 3 can control the drive timing, motor torque, rotation speed, rotation angle, and changes in rotation direction of the motor 12.

[0027] 1, the wiring board 4 is parallel to the XY plane, the guide pin is perpendicular to the XY plane and parallel to the Z axis, and the shaft 11 is perpendicular to the YZ plane and parallel to the X axis.

[0028] Next, the relationship between the height of the lead wire fed from the reel to the actuator and the guide pin will be described with reference to Figure 2. In this embodiment, the height refers to the height in the Z-axis direction with the working surface of the wiring board 4 as the reference.

[0029] 2 is a side view (YZ plan view) for explaining the wiring system 1 according to the first embodiment. Fig. 2 is a view of the wiring system 1 shown in Fig. 1 as seen from the negative direction of the X axis. For ease of explanation, only the parts necessary for the explanation are shown. Also, for the sake of convenience, the arrangement of guide pins and the wiring situation are different from those in Fig. 1.

[0030] The lead wire W1 is fed from the reel 10A toward the actuator 6A substantially parallel to the wiring board 4 (in other words, the XY plane). The lead wire W1 fed from the reel 10A to the actuator 6A is inserted into the actuator 6A and held by a holding jig 7A. The actuator 6A is attached to a robot 5, and wiring is performed by the movement of the robot 5. As will be described in detail later with reference to FIG. 6, the reel 10A rotates in the positive direction around the X axis, and tension is applied to the lead wire W1 in at least the negative direction of the Y axis. Because the lead wire W1 is held by the holding jig 7A, the lead wire W1 is not wound onto the reel 10A and is in a taut state.

[0031] The reel 10A is installed higher than the guide pin. More precisely, the reel 10A is installed so that the height of the lead wire W1, which is fed from the reel 10A to the actuator 6A and reaches the actuator 6A, relative to the wiring board 4 is greater than the height of the guide pin. As a result, the height of the lead wire W1, which is fed from the reel 10A to the actuator 6A and extends approximately parallel to the wiring board 4, relative to the wiring board 4 is greater than the height of the guide pin erected on the wiring board 4. This makes it possible to prevent interference between the lead wire W1, which is fed from the reel 10A to the actuator 6A and reaches the actuator 6A, and the guide pin. Here, interference means that objects collide with each other.

[0032] The robot 5 may move in the positive or negative direction of the Z axis for wiring. Therefore, the actuator 6A attached to the robot 5 may also move in the positive or negative direction of the Z axis. In such a case, for example, the height L1 of the lead wire W1 near the reel 10A may differ from the height L2 of the lead wire W1 near the actuator 6A. Here, attention is focused on the guide pin P11. The height of the guide pin P11 is L3. In order for the height of the lead wire W1, which is fed from the reel 10A to the actuator 6A and extends substantially parallel to the wiring board 4, relative to the wiring board 4 to be greater than the height of the guide pin erected on the wiring board 4, the relationship between L1 and L3 is L1 > L3. Furthermore, the relationship between L2 and L3 is L2 > L3. The reel 10A is installed and the movement of the robot 5 in the Z axis direction is controlled so as to satisfy these relationships. The position of the robot 5 in the Z-axis direction may be adjusted based on the length L4 of the extension 45 of the actuator 6A and the height L5 of the end of the extension 45 relative to the wiring board 4. For example, the position of the robot 5 in the Z-axis direction is adjusted so that L4 + L5 > L3. This is to prevent interference between the actuator 6A and the guide pins. Note that, for the sake of explanation, attention has been focused on guide pin P11, but in this embodiment, all guide pins have the same configuration.

[0033] 3 is a block diagram showing an example of the configuration of the control device 3 according to embodiment 1. The control device 3 is configured to include at least a processor 20, a memory 21, an input device 22, and a communication device 23. The components included in the control device 3 are connected to each other via an internal bus 24 so as to be able to communicate with each other.

[0034] The processor 20 may be configured using, for example, a Central Processing Unit (hereinafter referred to as "CPU"), a Micro Processing Unit (hereinafter referred to as "MPU"), a Digital Signal Processor (hereinafter referred to as "DSP"), a Field Programmable Gate Array (hereinafter referred to as "FPGA"), etc. The processor 20 realizes control of the robot 5 and the motor 12 by reading and executing various data and programs stored in the memory 21.

[0035] The memory 21 is a storage area for storing and holding various data, information, programs, etc., and may be composed of, for example, a non-volatile storage area such as a read only memory (hereinafter referred to as "ROM") or a hard disk drive (hereinafter referred to as "HDD"), or a volatile storage area such as a random access memory (hereinafter referred to as "RAM") The memory 21 stores, for example, wiring specifications prepared in advance by a wiring operator, configuration information of the lead wire supply mechanism 13, programs for controlling the robot 5 and motor 12 according to this embodiment, etc.

[0036] The input device 22 may include various buttons, keys, a keyboard, a touch panel, a microphone, or other input devices. The input device 22 accepts input of various data or information. The input device 22 is operated, for example, by an administrator who manages the control device 3 or an operator who uses the wiring system.

[0037] The communication device 23 communicates with the robot 5 via a network (not shown) to transmit and receive various data or information. The communication device 23 may support both wired and wireless communication methods. The communication method used by the communication device 23 may be, for example, a Wide Area Network (hereinafter referred to as "WAN"), a Local Area Network (hereinafter referred to as "LAN"), Long Term Evolution (hereinafter referred to as "LTE"), mobile communication such as 5G, power line communication, short-range wireless communication such as Wi-Fi (registered trademark) and Bluetooth (registered trademark), or a combination of these.

[0038] The communication device 23 sends various operational instructions for wiring to the robot 5. The communication device 23 acquires information such as the position, angle, and posture of each part of the robot 5 (for example, a part to which the actuator 6A is attached) from the robot 5. The communication device 23 also sends various operational instructions to the motor 12.

[0039] [Actuator Configuration] Fig. 4 is an external perspective view showing an example configuration of actuator 6A according to embodiment 1. Note that for the sake of explanation, attention will be focused on actuator 6A, but in this embodiment, all actuators have the same configuration. Note that the orientation of the three-dimensional coordinate system in Fig. 4 corresponds to that in Figs. 1 and 2.

[0040] The actuator 6A includes a tool change mechanism 40, a tube 41, a holding mechanism 42, a blade holder 44, and an extension 45.

[0041] The tool change mechanism 40 is a mechanism that enables the actuator 6A to be attached to and detached from the robot 5. The actuator 6A can be attached to the robot 5 by connecting the end effector 30 attached to the tip of the robot 5 to the tool change mechanism 40. In addition, the actuator 6A can be removed from the robot 5 by separating the end effector 30 from the tool change mechanism 40.

[0042] A portion of the tube 41 is inserted into the actuator 6A. The tube 41 is configured to be approximately perpendicular to the wiring board 4. In the example of Figure 4, the tube 41 is inserted into the extension 45 of the actuator 6A, and under the assumption that the extension 45 is approximately perpendicular to the wiring board 4, the tube 41 becomes approximately perpendicular to the wiring board 4. The lead wire W1 is inserted into the tube 41. That is, the tube 41 is configured so that the lead wire W1 is inserted into the tube 41. The lead wire W1 supplied from the reel 10A to the actuator 6A becomes approximately perpendicular to the wiring board 4 by being inserted into the tube 41. In other words, the tube 41 changes the direction of the lead wire W1. In the example of FIG. 4 , the tube 41 redirects the positive Y-axis direction of the lead wire W1, which is generally parallel to the wiring board 4 (i.e., the XY plane), from the positive Y-axis direction to the negative Z-axis direction, so that the lead wire W1 is generally perpendicular to the wiring board 4. The tube 41 is configured, for example, curved, so that the direction of the lead wire W1 can be changed. For example, if the lead wire W1 sent from the reel 10A is routed for wiring without changing its direction as shown in FIG. 4 , the following problem may occur. That is, because the lead wire W1 is brought closer to the wiring board 4 for wiring, the distance in the Z-axis direction between the lead wire W1 and the guide pin erected on the wiring board 4, which must be maintained to avoid interference between the lead wire W1 and the guide pin, may become smaller. More precisely, the distance in the Z-axis direction between the lead wire W1 and the guide pin from the time it is sent from the reel 10A to the actuator 6A until it reaches the actuator 6A may become smaller. Using the example of Figure 2, the heights L1 and L2 of the lead wire W1 may become smaller and may become smaller than the height L3 of the guide pin. This may result in interference between the lead wire W1 and the guide pin. However, by changing the direction of the lead wire as shown in Figure 4, it is possible to ensure a sufficient gap in the Z-axis direction between the lead wire W1 and the guide pin from the time it is fed from the reel 10A to the actuator 6A until it reaches the actuator 6A. This prevents interference with the guide pin when the lead wire W1 is laid out.

[0043] When the lead wire W1 is laid, the lead wire W1 and the tube 41 are in contact with each other. At this time, it is preferable that the frictional force generated between the lead wire W1 and the tube 41 be small. Therefore, it is preferable that the coefficient of friction of the tube 41 be small. For example, the tube 41 may be made of a fluororesin. Furthermore, it is preferable that the tube 41 be flexible so that it can be bent. For example, the tube 41 may be a flexible tube with a low coefficient of friction, such as a Teflon (registered trademark) tube. This allows the actuator 6A to be constructed more inexpensively and simply than, for example, when an inflexible metal or non-metal material is processed into a shape similar to that of the tube 41. Note that, in the example of FIG. 4 , the tube 41 is shown configured so that the reel 10A side (the lead wire supply side) is bendable, but the tip side (lower side) of the extension portion 45 may also be bendable.

[0044] The holding mechanism 42 is a mechanism for holding the lead wire W1 fed out from the tube 41. The holding mechanism 42 is configured to include holding portions 43A and 43B having grooves for holding the lead wire W1. The holding portions 43A and 43B may be configured, for example, in a plate shape. The grooves of the holding portions 43A and 43B may be configured, for example, in a wedge shape. It is assumed that the holding portions 43A and 43B have the same configuration.

[0045] The blade holder 44 is a portion that holds down the blade provided in the cutting jig 8. Details will be described later with reference to Figs. 8 and 10 .

[0046] 5 is a schematic diagram showing an example of the configuration of the holding mechanism 42 according to the first embodiment. For the sake of explanation, it is assumed that the surface 46 to which the holding portions 43A and 43B of the actuator 6A are attached is parallel to the XZ plane. It is also assumed that the holding portions 43A and 43B are rectangular parallelepipeds with grooves, and that the surfaces of the holding portions 43A and 43B that do not have the grooves are parallel to the XY plane.

[0047] 5A is an XY plan view of the holding mechanism 42 as viewed from the positive direction of the Z axis. The holding portions 43A and 43B are provided within the range of a surface 46. The distance L6 between the holding portions 43A and 43B is determined in relation to the configurations of the holding jig 7A and the cutting jig 8. The length L7 of the holding portions 43A and 43B in the Y-axis direction is also determined in relation to the configurations of the holding jig 7A and the cutting jig 8. Hereinafter, L6 may be referred to as the distance between the holding portions, and L7 may be referred to as the length of the holding portions. Details will be described later using FIGS. 7, 8, 9, and 10.

[0048] FIG. 5( b) is a YZ plane view of the holding mechanism 42 as viewed from the positive direction of the X axis. The depth L8 of the groove 47 of the holding portion 43A is determined in relation to the configuration of the holding jig 7A. Hereinafter, L8 may be referred to as the groove depth of the holding portion. The length L9 of the holding portion 43A in the Z axis direction is determined so that the holding portion 43A fits within the surface 46. The width L10 of the groove 47 of the holding portion 43A is determined based on, for example, the diameter of the lead wire. For example, the holding portion 43A cannot hold a lead wire with a diameter smaller than the width L10 of the groove 47. Furthermore, for example, if the holding portion 43A holds a lead wire with a diameter excessively larger than the width L10 of the groove 47, the lead wire may be damaged. As shown in the example of FIG. 5( b), the width of the entrance portion of the groove 47 may be wider. This makes it easier for the lead wire to enter the groove 47. Furthermore, the width of the groove 47 may narrow as it deepens, i.e., as it progresses in the positive direction of the Y axis. This makes it possible to hold lead wires of different diameters, and for example, holding portion 43A can hold a lead wire with a large diameter in the shallow part of groove 47, and can hold a lead wire with a small diameter in the deep part of groove 47. Therefore, when using multiple types of lead wires with different diameters, an actuator having a holding mechanism with a different configuration corresponding to the lead wires may be used.

[0049] [Configuration of Lead Wire Supply Mechanism] Figure 6 is an external perspective view illustrating the lead wire supply mechanism 13 according to the first embodiment. The lead wire supply mechanism 13 includes reels 10A, 10B, 10C, 10D, and 10E, a shaft 11, a motor 12, a torque limiter 60 for reel 10A, and, although not shown in Figure 6, torque limiters for reels 10B, 10C, 10D, and 10E, respectively. Hereinafter, the motor 12 and the torque limiters may be collectively referred to as a drive unit. Note that the orientation of the three-dimensional coordinate system in Figure 6 corresponds to that in Figures 1, 2, and 4.

[0050] 6, each reel is fixed to a shaft 11. Therefore, for example, when the shaft 11 rotates in the positive direction around the X axis, each reel also rotates in the positive direction around the X axis.

[0051] The motor 12 generates torque to rotate the shaft 11 in the positive direction about the X-axis. The torque generated by the motor 12 is transmitted to the shaft 11 and then to each reel fixed to the shaft 11. As a result, the motor 12 rotates each reel in the positive direction about the X-axis via the shaft 11. In other words, the drive unit rotates each reel to apply force in a direction that winds up the lead wire that each reel has fed out to the actuator. As a result, tension is applied to the lead wire fed out from each reel in at least the negative direction about the Y-axis, and each lead wire becomes taut.

[0052] The torque limiter 60 is provided between the shaft 11 and the reel 10A. When torque generated by the motor is transmitted to the reel 10A via the shaft 11, the torque limiter 60 adjusts the torque transmitted to the reel 10A to a value within a specified range. The adjustment may be performed, for example, by a wiring operator. This prevents excessive torque from being transmitted to the reel 10A and ensures that a predetermined tension is always applied to the lead wire W1. Although not shown in FIG. 6 , torque limiters for each of the reels 10B, 10C, 10D, and 10E are also provided between the shaft 11 and each reel. In the example shown in FIG. 6 , wiring is performed using the lead wire W1. However, predetermined tensions are also applied to the lead wires W2, W3, W4, and W5. Although not shown in FIG. 6 , the lead wire W1 is held by a holding jig 7A and is therefore not wound onto the reel 10A. Furthermore, since lead wires W2, W3, W4 and W5 are held by the respective holding mechanisms of actuators 6B, 6C, 6D and 6E, they are not wound onto reels 10B, 10C, 10D and 10E.

[0053] The predetermined tension applied to the lead wire by the lead wire supply mechanism 13, in other words, the force with which the reel winds up the lead wire, is adjusted to be smaller than the force with which the robot 5 pulls the lead wire via the actuator. This is because if the force with which the reel winds up the lead wire is greater than the force with which the robot 5 pulls the lead wire via the actuator, the robot 5 would not be able to route the lead wire for wiring.

[0054] With the above configuration, the lead wire supply mechanism 13 not only supplies the lead wire for wiring to the actuator, but also applies a predetermined tension to the lead wire using the drive unit, thereby preventing the lead wire from becoming loose during the wiring work.

[0055] [Configuration of Holding Jig] Fig. 7 is an external perspective view showing a configuration example of a holding jig 7A according to embodiment 1. For convenience of explanation, in Fig. 7, the long side of the holding jig 7A is described as being parallel to the Y axis, and the short side is described as being parallel to the X axis.

[0056] The holding jig 7A is a jig for holding the lead wires at their starting ends on the wiring board 4 when starting wiring. The holding jig 7A is composed of an upper part 70, a lower part 71, a holding spring 72, a lead wire entrance guide part 73, a lead wire holding part 74, and a lead wire stock part 75. A force in the negative direction of the Z axis is applied to the upper part 70 by the holding spring 72. A force in the positive direction of the Z axis is applied to the lower part 71 by the holding spring 72. In this embodiment, the lower part 71 is fixed to the wiring board 4.

[0057] The lead wire entrance guide portion 73 is where the lead wire held by the holding jig 7A enters. The lead wire is inserted into the lead wire entrance guide portion 73 while held by the actuator's holding mechanism. The width of the opening of the lead wire entrance guide portion 73 in the Z-axis direction is L11, and the width narrows to L13 as it moves in the positive direction of the Y-axis. In other words, L11 is greater than L13. The length of the lead wire entrance guide portion 73 in the Y-axis direction is L12. In this embodiment, the diameter of the lead wire held by the holding jig 7A is assumed to be smaller than L11. If the diameter of the lead wire is greater than L11, the electric wire cannot enter the lead wire entrance guide portion 73. Furthermore, by making the width L11 of the opening of the lead wire entrance guide portion 73 in the Z-axis direction larger than the diameter of the lead wire, the lead wire can easily enter the lead wire entrance guide portion 73. Furthermore, the description will be given assuming that the lead wire entering the lead wire entrance guide portion 73 is approximately parallel to the XY plane and approximately parallel to the X-axis.

[0058] The lead wires are held by the two holding parts of the actuator and are inserted into the lead wire inlet guide part 73 approximately parallel to the XY plane and approximately parallel to the X axis. Therefore, the height L18 of the holding jig 7A, the height L19 of the bottom end of the opening of the lead wire inlet guide part 73, and the height L20 of the top end of the opening of the lead wire inlet guide part 73 are determined in relation to the length L7 of the holding part of the actuator's holding mechanism and the depth L8 of the groove of the holding part.

[0059] The manner in which the lead wire enters the lead wire entrance guide portion 73 is shown in Figure 9. For example, if the difference between the height L18 of the holding jig 7A and the height L20 of the upper end of the opening of the lead wire entrance guide portion 73 is greater than the length L7 of the holding portion, the lead wire held in the holding portion cannot enter the lead wire entrance guide portion 73.

[0060] 10 , lead wires that are fed out from the actuator extension portion 45 and are routed on the wiring board 4 without being held by the actuator's holding mechanism are also placed in the lead wire inlet guide portion 73. Therefore, it is preferable that the height L19 of the bottom end of the opening of the lead wire inlet guide portion 73 is smaller than the height L3 of the guide pin. This is because if the height L19 of the bottom end of the opening of the lead wire inlet guide portion 73 is larger than the height L3 of the guide pin, there is a possibility that the lead wire will come off the guide pin when the control device 3 moves the robot 5 in the positive direction of the Z axis to route the routed lead wire into the lead wire inlet guide portion 73.

[0061] The lead wire holding portion 74 can hold the lead wire that enters from the lead wire inlet guide portion 73. The lead wire holding portion 74 has a width L13 in the Z-axis direction. The lead wire holding portion 74 also has a length L14 in the Y-axis direction. The length L14 of the lead wire holding portion 74 in the Y-axis direction is greater than the diameter of the lead wire to be held. When the lead wire that enters from the lead wire inlet guide portion 73 is moved in the positive direction of the Y-axis by the actuator and reaches the lead wire holding portion 74, the lead wire is sandwiched and held between the upper portion 70 and the lower portion 71. Note that in this embodiment, the diameter of the lead wire is greater than the width L13 of the lead wire holding portion 74 in the Z-axis direction. As a result, the lead wire that reaches the lead wire holding portion 74 pushes up the upper portion 70. The pushed-up upper portion 70 attempts to return to its original position due to the holding spring 72. As a result, the lead wire holding portion 74 can sandwich and hold the lead wire between the upper portion 70 and the lower portion 71.

[0062] In this embodiment, the lead wire holding portion 74 will be described as being capable of holding one lead wire. For example, a case will be described in which, while the lead wire W1 is held by the lead wire holding portion 74, a lead wire W2 having a smaller diameter than the lead wire W1 is to be further held. In this case, because the upper portion 70 is pushed up by the lead wire W1, the lead wire holding portion 74 cannot sandwich the lead wire W2, which has a smaller diameter than the lead wire W1, between the upper portion 70 and the lower portion 71, and therefore cannot hold the lead wire W2. In other words, even if the lead wire holding portion 74 is intended to hold a thick lead wire and a thin lead wire together, the width of the lead wire holding portion 74 in the Z-axis direction expands to match the diameter of the thick lead wire, and therefore the thin lead wire cannot be held.

[0063] After completing wiring using a lead wire whose end is held by the lead wire holding portion 74, the worker may wish to perform wiring using a different lead wire. In such a case, the worker may prepare a holding jig with a configuration similar to that of the holding jig 7A, or may reuse the holding jig 7A. When the holding jig 7A is reused, the lead wire holding portion 74 already holds a lead wire that has already been wired. In this case, the actuator inserts the newly held lead wire into the lead wire entrance guide portion 73 and moves it to the lead wire holding portion 74, so that the newly held lead wire pushes the already held lead wire in the positive direction of the Y axis and moves it to the lead wire stock portion 75. The lead wire stock portion 75 is a location where the previously used lead wire that has been pushed out of the lead wire holding portion 74 by the newly held lead wire accumulates.

[0064] The lead wire stock section 75 can store one or more lead wires. The lead wires transferred from the lead wire holding section 74 to the lead wire stock section 75 are not held by the holding jig 7A. However, since the lead wires transferred to the lead wire stock section 75 have already been laid out, there is no need to prevent slack, and therefore they do not need to be held by the holding jig 7A. Also, as will be described in detail later with reference to FIG. 10 , the lead wires that have been laid out are cut off from the reels and are therefore not wound onto the reels. Because the lead wire stock section 75 can store one or more lead wires, the worker does not need to prepare the same number of holding jigs as the number of lead wires used for laying, and in some cases it may be sufficient to prepare fewer holding jigs than the number of lead wires used for laying.

[0065] The lead wire holding portion 74 and the lead wire stock portion 75 are connected and integrally formed. In the example of FIG. 7 , the lower end of the lead wire stock portion 75 is lower in the Z-axis direction than the lower end of the lead wire holding portion 74. In the example of FIG. 7 , the lower end of the lead wire stock portion 75 is located further in the negative Z-axis direction than the lower end of the lead wire holding portion 74 by the difference between the width L15 of the lead wire stock portion 75 and the width L13 of the lead wire holding portion 74. In other words, the lead wire stock portion 75 is formed by a recess in the lower portion 71. This allows the lead wire held by the lead wire holding portion 74 to be stored in the lead wire stock portion 75 when it is pushed into the lead wire stock portion 75. Although not shown in the figure, the height of the lower end of the lead wire holding portion 74 in the Z-axis direction may be equal to the height of the lower end of the lead wire stock portion 75 in the Z-axis direction. In this case, the lead wire stock portion 75 can store lead wires by making the height of the upper end of the lead wire stock portion 75 in the Z-axis direction greater than the height of the upper end of the lead wire holding portion 74 in the Z-axis direction. In other words, the lead wire stock portion 75 is formed by a recess in the upper portion 70, and the lead wire stock portion 75 can store lead wires. The lead wire stock portion 75 may also be formed by a recess in the upper portion 70 and a recess in the lower portion 71 as shown in FIG. 7. The length of the lead wire stock portion 75 in the Y-axis direction is L16. The longer the length L16 of the lead wire stock portion 75, the more lead wires the lead wire stock portion 75 can store.

[0066] 5, the actuator 6A is provided with a holding mechanism 42 including two holding portions. As will be described in detail later with reference to FIG. 9, the distance L6 between the two holding portions of the actuator is greater than the length L17 in the X-axis direction of a holding jig 7A, which will be described later.

[0067] [Configuration of Cutting Jig] Fig. 8 is an external perspective view showing an example configuration of the cutting jig 8 according to embodiment 1. For convenience of explanation, in Fig. 8, the long side of the holding jig 7B is assumed to be parallel to the Y axis, and the short side is assumed to be parallel to the X axis. Note that the holding jig 7B has the same configuration as the holding jig 7A.

[0068] The cutting jig 8 is a jig for cutting the lead wires when the wiring is completed. The cutting jig 8 is configured with a holding jig 7B, a blade 80, a contact portion 81, a return spring 82, a lead wire guide portion 83, a protrusion 84, a blade receiving portion 85, and a lead wire holding portion 86. The cutting jig 8 holds the lead wires using the holding jig 7B and cuts the held lead wires.

[0069] A contact portion 81 is attached to the blade 80. A force in the positive direction of the Z axis is applied to the blade 80 by a return spring 82. When a force in the negative direction of the Z axis is applied to the contact portion 81, the blade 80 moves in the negative direction of the Z axis and fits into the blade receiving portion 85. At this time, if there is a lead wire between the blade 80 and the blade receiving portion 85, the lead wire is cut by the blade 80. When the force in the negative direction of the Z axis applied to the contact portion 81 is released, the blade 80 moves in the positive direction of the Z axis by the return spring 82 and returns to its original position.

[0070] In this embodiment, the blade holder of the actuator presses the contact portion 81 in the negative direction of the Z axis. Therefore, the control device 3 controls the robot 5 so that the blade holder of the actuator presses the contact portion 81 in the negative direction of the Z axis, and adjusts the position of the robot 5 in the Z axis direction so that the height of the blade holder of the actuator is greater than the height L21 of the contact portion 81 in the Z axis direction. Details will be described later using FIG. 10 .

[0071] The length in the Y-axis direction of the surface of blade 80 that cuts the lead wire is L24. It is preferable that the length L24 of the surface of blade 80 that cuts the lead wire be able to cover lead wire holding portion 86 of holding jig 7B in the Y-axis direction. This is to avoid a case where, when cutting the lead wire held by lead wire holding portion 86 of holding jig 7B, the length of blade 80 in the Y-axis direction is insufficient to cut the lead wire.

[0072] The lead wire guide portion 83 is a portion for supporting the lead wire. The lead wire guide portion 83 is located on the opposite side of the blade 80 from the lead wire holding portion 86 of the holding jig 7B. In other words, the lead wire guide portion 83 faces the holding jig 7B across the blade 80. The lead wire guide portion 83 supports the lead wire held by the lead wire holding portion 86 of the holding jig 7B and prevents the lead wire from moving in the Y-axis direction. As in the example of FIG. 8 , the lead wire guide portion 83 may have a groove for supporting the lead wire and an opening for guiding the lead wire into the groove.

[0073] The lead wires held by the lead wire holding portions 86 of the holding jig 7B and supported by the lead wire guide portions 83 are also supported by the protrusions 84. The lead wires are supported by the protrusions 84 so that they cannot move in the negative direction of the Z axis. In order for the protrusions 84 to support the lead wires, it is preferable that the height L25 of the protrusions 84 in the Z axis direction is almost equal to the height of the lower end of the lead wire holding portion 86 of the holding jig 7B relative to the wiring board 4. Furthermore, as will be described in detail later with reference to FIG. 10, it is also required that the length L26 of the lead wire guide portions 83 in the Z axis direction is not excessively large. Furthermore, as will be described in detail later with reference to FIG. 10, the distance L6 between the two holding portions of the actuator is greater than the width L22 of the protrusions 84 in the X axis direction.

[0074] [Holding of Lead Wire by Holding Jig] Next, with reference to Fig. 9, holding of the lead wire W1 by the holding jig 7A when starting wiring will be described. Fig. 9 is a schematic diagram for explaining the operation of the actuator 6A attached to the robot 5 according to the first embodiment. In Fig. 9, the explanation will be given assuming that the long side of the holding jig 7A is parallel to the Y axis and the short side is parallel to the X axis. Although not shown in the figure, the actuator 6A is attached to the robot 5. The robot 5 is also operated by the control device 3. The holding jig 7A is also installed on the wiring board 4.

[0075] 9A, a lead wire W1 is supplied to the actuator 6A from a reel 10A. The lead wire W1 is held by the holding mechanism 42 of the actuator 6A. Furthermore, no lead wire is held by the holding jig 7A. When the actuator 6A is rotated and tilted in the negative direction about the Y axis so that the lead wire W1 held by the holding mechanism 42 is approximately parallel to the XY plane and the X axis, the control device 3 moves the robot 5 so that the height of the lead wire W1 held by the holding mechanism 42 relative to the wiring board 4 falls within the width of the opening of the lead wire inlet guide portion 73 of the holding jig 7A in the Z axis direction. That is, the robot 5 is moved so that the height of the lead wire W1 relative to the wiring board 4 is greater than the height L19 of the lower end of the opening of the lead wire inlet guide portion 73 but less than the height L20 of the upper end of the opening of the lead wire inlet guide portion 73. The control device 3 may tilt the actuator 6A and then move the robot 5 in the Z-axis direction to adjust the height of the lead wire W1 held by the holding mechanism 42 relative to the wiring board 4. At this time, the lead wire W1 held by the holding mechanism 42 is located in the negative direction of the Y-axis relative to the holding jig 7A.

[0076] FIG. 9B shows the tilted actuator 6A. The control device 3 adjusts the position of the robot 5 so that the holding portion 43A is located further in the negative direction of the X axis than the holding jig 7A, and the holding portion 43B is located further in the positive direction of the X axis than the holding jig 7A. The control device 3 adjusts the position of the tip of the robot 5 so that the holding portions 43A and 43B do not interfere with the holding jig 7A when the actuator 6A moves in the positive direction of the Y axis. In other words, when the actuator 6A moves in the positive direction of the Y axis, the control device 3 adjusts the position of the robot 5 so that the holding portion 43A and the holding portion 43B can sandwich the holding jig 7A between them, as shown in FIG. 9C. Because the distance L6 between the holding portions 43A and 43B is greater than the length L17 of the short side of the holding jig 7A in the X axis direction, the holding portion 43A and the holding portion 43B can sandwich the holding jig 7A between them, as shown in FIG. 9C.

[0077] Since the position of the robot 5 is adjusted so that the lead wire W1 enters the lead wire entrance guide portion 73 when the actuator 6A moves in the positive direction of the Y axis, the control device 3 can enter the lead wire W1 into the lead wire entrance guide portion 73 of the holding jig 7A by moving the actuator 6A in the positive direction of the Y axis. The control device 3 can move the lead wire W1 to the lead wire holding portion 74 by further moving the actuator 6A in the positive direction of the Y axis. As a result, the lead wire W1 is held in the lead wire holding portion 74 of the holding jig 7A, as shown in FIG. 9C. In FIG. 9C, the lead wire W1 also remains held by the holding mechanism 42 of the actuator 6A.

[0078] The control device 3 moves the robot 5 to raise the tilted actuator 6A back to its original position. When the actuator 6A is raised, the lead wire W1 comes out of the grooves of the two holding portions 43A and 43B of the holding mechanism 42. At this time, the lead wire W1 remains held by the lead wire holding portion 74 of the holding jig 7A. Therefore, as shown in FIG. 9( d ), the lead wire W1 is released from the holding mechanism 42 of the actuator 6A while remaining held by the lead wire holding portion 74 of the holding jig 7A.

[0079] With the lead wire W1 held by the holding jig 7A, the robot 5 equipped with the actuator 6A moves over the wiring board 4, thereby performing wiring using the lead wire W1 fed from the extension 45 of the actuator 6A. Because the lead wire W1 is held by the holding jig 7A, it is not wound onto the reel 10A, and a constant tension is applied to the lead wire W1. Because a constant tension is applied to the lead wire W1, it is possible to prevent slack in the lead wire W1 during wiring.

[0080] 9A, the lead wire may already be held in the lead wire holding portion 74 of the holding jig 7A. In this case, the movement of the actuator 6A allows the lead wire W1 held by the holding mechanism 42 to push the lead wire already held in the lead wire holding portion 74 into the lead wire stock portion 75.

[0081] [Cutting of lead wire with cutting jig] Next, cutting of lead wire W1 with cutting jig 8 will be described with reference to Fig. 10. Fig. 10 is a schematic diagram for explaining the operation of actuator 6A by robot 5 according to embodiment 1. In Fig. 10, the description will be given assuming that the long side of holding jig 7B of cutting jig 8 is parallel to the Y axis and the short side is parallel to the X axis. Although not shown in the figure, actuator 6A is attached to robot 5. Furthermore, robot 5 is operated by control device 3. Furthermore, cutting jig 8 is installed on wiring board 4.

[0082] 10(a), a lead wire W1 is supplied to the actuator 6A from a reel 10A, and the lead wire W1 is fed out from an extension portion 45 of the actuator 6A. Although not shown in the figure, the lead wire W1 is held by a holding jig 7A at the start position of the wiring. Wiring is performed using the lead wire W1 based on, for example, wiring specifications, and the lead wire W1 runs on the wiring board 4. The lead wire is not held by the holding jig 7B of the cutting jig 8.

[0083] The control device 3 adjusts the position of the robot 5 so that the actuator 6A can move in the positive direction of the Y axis to insert the lead wire W1 into the lead wire inlet guide portion of the holding jig 7B. That is, the control device 3 adjusts the position of the robot 5 so that the height of the lead wire W1, relative to the wiring board 4, is greater than the height L19 of the lower end of the opening of the lead wire inlet guide portion of the holding jig 7B and less than the height L20 of the upper end of the opening of the lead wire inlet guide portion of the holding jig 7B. The control device 3 also adjusts the position of the robot 5 so that the actuator 6A and the lead wire W1 are positioned in the negative direction of the Y axis relative to the cutting jig 8. At this time, the lead wire is approximately parallel to the XY plane. When the actuator 6A moves in the positive direction of the Y axis, the control device 3 also adjusts the position of the actuator 6A so that the actuator 6A and the cutting jig 8 do not interfere with each other. For example, the control device 3 adjusts the position of the robot 5 so that the extension 45 of the actuator 6A is positioned between the blade 80 and the protrusion 84 in the X axis direction.

[0084] When the actuator 6A is moved in the positive direction of the Y axis from the state shown in Fig. 10(a) to the state shown in Fig. 10(b), it is required that the contact portion 81 of the cutting jig 8 and the actuator 6A do not interfere with each other. This may be taken into consideration when determining, for example, the height L21 of the contact portion 81.

[0085] Since the position of the robot 5 is adjusted so that the lead wire W1 enters the lead wire entrance guide portion of the holding jig 7B of the cutting jig 8 when the actuator 6A moves in the positive direction of the Y axis, the control device 3 can move the actuator 6A in the positive direction of the Y axis to enter the lead wire W1 into the lead wire entrance guide portion of the holding jig 7B. The control device 3 can move the actuator 6A further in the positive direction of the Y axis to move the lead wire W1 to the lead wire holding portion of the holding jig 7B. As a result, the lead wire W1 is held in the lead wire holding portion of the holding jig 7B, as shown in FIG. 10(b).

[0086] The control device 3 moves the robot 5 so that the lead wire W1 is supported by the lead wire guide portion 83. For example, the control device 3 moves the actuator 6A in the X-axis direction while adjusting the position of the robot 5 in the Z-axis direction so that the extension portion 45 of the actuator 6A, which is located between the blade 80 and the protrusion 84 in the X-axis direction, passes over the lead wire guide portion 83. At this time, if the length L26 of the lead wire guide portion 83 is too large, for example, moving the actuator 6A in the positive direction of the Z-axis so that it can pass over the lead wire guide portion 83 may also move the lead wire W1 between the lead wire holding portion of the holding jig 7B and the extension portion of the actuator 6A in the positive direction of the Z-axis, which may cause the lead wire W1 to come into contact with the blade 80. Furthermore, if the length L26 of the lead wire guide portion 83 is too large, the movement distance of the robot 5 may also increase, which may require additional time. Therefore, the length L26 of the lead wire guide portion 83 may not be excessively large.

[0087] In FIG. 10( c), the lead wire W1 is held by the holding jig 7B and supported by the lead wire guide portion 83. The control device 3 moves the robot 5 to adjust the position and orientation of the actuator 6A as follows. That is, when the actuator 6A is rotated and tilted in the negative direction around the Y axis, the control device 3 adjusts the position and orientation of the actuator 6A so that the blade holder 44 presses the contact portion 81 in the negative direction of the Z axis, the holding portions 43A and 43B sandwich the convex portion 84, and the lead wire W1 enters the grooves of the two holding portions. The distance L6 between the holding portions 43A and 43B is greater than the length L22 of the convex portion 84 in the X-axis direction, making it possible for the holding portions 43A and 43B to sandwich the convex portion 84. The height L21 of the contact portion 81 and the length L26 of the lead wire guide portion 83 may be determined taking into consideration the feasibility of this series of operations. For example, the height L21 of the contact portion 81 is required to be large enough to allow the blade holder 44 of the actuator 6 to press the contact portion 81 in the negative direction of the Z axis. Furthermore, for example, if the length L26 of the lead wire guide portion 83 is greater than the length L7 of the holding portion 43A, the actuator 6A may interfere with the lead wire guide portion 83 before the holding portion 43A holds the lead wire W1.

[0088] When the blade holder 44 of the actuator 6A presses the contact portion 81 of the cutting jig 8 in the negative direction of the Z axis, the blade 80 moves in the negative direction of the Z axis and fits into the blade receiving portion 85, as shown in Figure 10(d). At this time, the lead wire W1 is cut by the blade 80. Furthermore, at this time, the holding mechanism 42 of the actuator 6A holds the lead wire W1.

[0089] The control device 3 moves the robot 5 to raise the tilted actuator 6A to its original position. When the actuator 6A is raised, the blade 80 also returns to its original position by the return spring 82. The lead wire W1 is held by the holding mechanism 42 of the actuator 6A. Furthermore, the lead wire W1a, which has been cut off from the lead wire W1, remains held by the lead wire holding portion of the holding jig 7B.

[0090] When wiring is performed using a lead wire different from the lead wire W1, for example, lead wire W2, the cutting jig 8 in the state shown in FIG. 10( e) may be used again to cut the lead wire W2. In FIG. 10( e), the lead wire W1a is already held in the lead wire holding portion of the holding jig 7B of the cutting jig 8. In this case, the lead wire W2, which is inserted by the actuator 6B from the lead wire inlet guide portion of the holding jig 7B into the lead wire holding portion, pushes the lead wire W1a already held in the lead wire holding portion in the positive direction of the Y axis and moves it to the lead wire stock portion. This allows the cutting jig 8 to hold and cut the lead wire W2. Also, in FIG. 10( a), even when a lead wire is already held in the lead wire holding portion of the holding jig 7B, the newly held lead wire W1 pushes the already held lead wire into the lead wire stock portion by the movement of the actuator 6A, allowing the holding jig 7B to hold the new lead wire W1. There are cases where workers do not need to prepare cutting jigs in the same number as the number of lead wires used for wiring, and it is sufficient to prepare cutting jigs in a number smaller than the number of lead wires used for wiring.

[0091] [Example of Robot Control] Next, an example of control of the robot 5 by the control device 3 will be described with reference to Fig. 11. Fig. 11 is a side view (YZ plan view) for describing an example of control of the robot 5 according to embodiment 1. For the purpose of explanation, both the state of wiring work using the lead wire W1 and the state of wiring work using the lead wire W2 are shown side by side.

[0092] The bending state (curvature or range of bending) of the lead wires near the tip of the extension portion of the actuator during wiring varies depending on, for example, the diameter or hardness of the lead wires. In FIG. 11, the diameter L27 of lead wire W1 is assumed to be larger than the diameter L30 of lead wire W2. Furthermore, lead wire W1 is assumed to be harder than lead wire W2. Generally, the larger the diameter of the lead wire or the harder the lead wire is, the larger the minimum bending value. Simply put, the lead wires become more difficult to bend. In the example of FIG. 11, lead wire W1 is more difficult to bend than lead wire W2.

[0093] In FIG. 11 , the height of the laid-out lead wire W1 relative to the wiring board 4 is L28, and the height of the actuator 6A relative to the wiring board 4 is L29. The height of the laid-out lead wire W2 relative to the wiring board 4 is L31, and the height of the actuator 6B relative to the wiring board 4 is L32. The height L28 of the lead wire W1 and the height L31 of the lead wire W2 are assumed to be equal, but both are smaller than the height L3 of the guide pins P12 and P13. When the robot 5 is mounting the actuator 6A and performing wiring using the lead wire W1, the control device 3 controls the robot 5 so that the height L28 of the lead wire W1 does not exceed the height L3 of the guide pin P12. When the robot 5 is mounting the actuator 6B and performing wiring using the lead wire W2, the control device 3 controls the robot 5 so that the height L31 of the lead wire W2 does not exceed the height L3 of the guide pin P13. In addition, the height L28 of the lead wire W1 and the height L31 of the lead wire W2 may both be 0, that is, the lead wire W1 and the lead wire W2 may both be in contact with the wiring board 4.

[0094] The control device 3 controls the robot 5, under the assumption that the height L28 of the lead wire W1 and the height L31 of the lead wire W2 are equal, so that the height L29 of the actuator 6A when wiring using the lead wire W1 is greater than the height L32 of the actuator 6B when wiring using the lead wire W2. This is because the lead wire W1 is more difficult to bend than the lead wire W2, and if the actuator 6A is brought closer to the wiring board 4 so that the height L29 of the actuator 6A is equal to the height L32 of the actuator 6B, the repulsion of the lead wire W1 or the friction between the lead wire W1 and the tube 41 increases, making smooth wiring difficult.

[0095] In the example of FIG. 11 , the bend R1 of lead wire W1 is larger than the bend R2 of lead wire W2. The control device 3 controls the robot 5 to adjust the height of the actuator relative to the wiring board 4, thereby changing the bend of the lead wire and reducing the repulsion of the lead wire or the friction between the lead wire and the tube, thereby enabling smooth wiring. However, the control device 3 controls the robot 5 so that the height of the wired lead wire relative to the wiring board 4 does not exceed the height of the guide pin. Simply put, the control device 3 prevents the robot 5 from moving more than necessary in the positive direction of the Z axis so that the wired lead wire does not come off the guide pin. Furthermore, the control device 3 adjusts the height of the actuator mounted on the robot 5 relative to the wiring board 4 during wiring, based on the range of the bend of the lead wire. In other words, the control device 3 adjusts the height of the actuator mounted on the robot 5 relative to the wiring board 4 during wiring, based on the diameter or hardness of the lead wire.

[0096] [Processing Flow of Control Device] Figure 12 is a flowchart for explaining the control of the robot 5 by the control device 3 according to the first embodiment. It is assumed that, at the start of this flowchart, wiring specifications, etc., created by, for example, a wiring worker, etc., are stored in the memory 21. In this flowchart, the control device 3 causes the robot 5 to perform wiring work based on the wiring specifications, etc. It is also assumed that, at the start of this flowchart, the worker, etc., has set necessary guide pins on the wiring board 4 and installed necessary holding jigs and cutting jigs based on the wiring specifications, etc. It is also assumed that, at the start of this flowchart, the control device 3 has driven the motor 12 to rotate the reel in the direction in which the lead wire is wound onto the reel.

[0097] The processor 20 acquires information for wiring, such as wiring specifications, stored in the memory 21 (step St100). Here, acquiring information for wiring means reading various information so that the processor 20 can execute each process for wiring in the following steps. Examples of information for wiring include configuration information, such as wiring specifications and position information for the lead wire supply mechanism 13 and the stocker 14. More specifically, the processor 20 acquires information such as the fact that the lead wire supply mechanism 13 has five reels and is installed in the negative Y-axis direction relative to the wiring board 4, and that the stocker 14 is installed near the lead wire supply mechanism 13 on the wiring board 4. The processor 20 also acquires information such as the arrangement of the reels in the lead wire supply mechanism 13, the diameter of the lead wires stored in each reel, and the stock position of each reel in the stocker 14 (e.g., stock position 15).

[0098] The processor 20 determines the actuators to be attached to the robot 5 based on the wiring specifications and the like acquired in step St100 (step St101). In other words, among the actuators holding lead wires to be used for wiring, attention is focused on actuators holding lead wires that have not yet been used for wiring. For the sake of explanation, it is assumed here that the processor 20 has determined to attach the actuator 6A to the robot 5. The lead wire W1 is held by the holding mechanism 42 of the actuator 6A.

[0099] The processor 20 attaches the actuator 6A determined in step St101 to the robot 5 (step St102).

[0100] The processor 20 identifies the positions of the holding jig 7A and the cutting jig 8 installed on the wiring board 4 and the wiring path based on the wiring specifications acquired in step St100 (step St103). The processor 20 identifies, for example, paths C1, C2, and C3 as the wiring paths. Alternatively, the processor 20 may identify, for example, paths C1, C2, and C3 as a single path. That is, the processor 20 may identify one path as one, or may identify it as multiple divided paths.

[0101] The processor 20 determines the height of the lead wire W1 relative to the wiring board 4 for wiring based on the wiring specifications acquired in step St100 (step St104). For example, the lead wire to be wired may be wired so as to be placed on top of an already wired lead wire, in other words, so that the lead wires are stacked. Also, for example, the lead wire to be wired may be wired so as to be placed directly on the wiring board 4. In this way, the height of the lead wire relative to the wiring board 4 may vary depending on the wiring specifications.

[0102] To start wiring the lead wire W1, the processor 20 controls the robot 5 to hold the lead wire W1, which is held by the holding mechanism 42 of the actuator 6A attached to the robot 5 in step St101, in the holding jig 7A whose position was identified in step St103 (step St105). The processor 20 moves the robot 5 so that the lead wire W1 is released from the holding mechanism 42 of the actuator 6A while remaining held by the holding jig 7A.

[0103] The processor 20 controls the robot 5 to perform wiring (step St106) based on the wiring path identified in step St103 and the height of the lead wire W1 determined in step St104. When performing wiring, the processor 20 adjusts the height of the actuator 6A relative to the wiring board 4 based on the range of bending of the lead wire W1, in other words, the diameter and hardness of the lead wire W1, as described with reference to FIG.

[0104] The cutting jig 8 is installed at the end of the wiring path identified in step St103. The processor 20 controls the robot 5 to cut the lead wire W1 with the cutting jig 8 whose position was identified in step St103 and hold the lead wire W1 in the holding mechanism 42 of the actuator 6A (step St107). More specifically, to complete the wiring of the lead wire W1, the processor 20 moves the robot 5 so that the laid lead wire W1 is cut by the blade 80 in accordance with the operation of the actuator 6A and held in the holding mechanism 42 of the actuator 6A.

[0105] The processor 20 controls the robot 5 to move the actuator 6A, which holds the lead wire W1 in step St107, to the stocker 14 (step St108). The actuator 6A is stored in the stock position 15 of the stocker 14.

[0106] The processor 20 determines whether to separate the actuator 6A from the robot 5 based on the wiring specifications acquired in step St100, etc. (step St109). The actuator 6A is separated from the robot 5 when all wiring based on the wiring specifications acquired in step St100 has been completed, or when all wiring using the actuator 6A, in other words, when wiring using the lead wire W1, has been completed, etc. The actuator 6A is not separated from the robot 5 when, for example, wiring using the actuator 6A, in other words, when wiring using the lead wire W1, is to be performed again, etc.

[0107] When the processor 20 determines not to separate the actuator 6A from the robot 5 (step St109; NO), the processor 20 returns to step St103 and repeats the process. In this case, wiring using the lead wire W1 is performed again.

[0108] If the processor 20 determines that the actuator 6A should be separated from the robot 5 (step St109; YES), the processor 20 separates the actuator 6A from the robot 5 (step St110).

[0109] The processor 20 determines whether all wiring based on the wiring specifications, etc., acquired in step St100 has been completed. If it determines that wiring has not been completed (step St111; NO), the processor 20 returns to step St101 and repeats the process. At this time, all wiring for the actuator 6A, i.e., the lead wire W1, has been completed, but wiring for other leads, such as the lead wire W2, has not been completed. Therefore, the processor 20 returns to step St101 and focuses on an actuator other than the actuator 6A. Then, wiring using leads other than the lead wire W1 is performed again.

[0110] If the processor 20 determines that all wiring based on the wiring specifications etc. acquired in step St100 has been completed (step St111; YES), it ends this flow.

[0111] <Other Modifications> In the first embodiment described above, wiring is performed by one robot 5 as an example. However, this is not limiting, and the control device 3 may control and cooperate with multiple robots to achieve one or more wiring specifications. In the example of FIG. 1, one robot 5 is installed so as to be able to perform wiring work for one wiring board 4, but this is not limiting. Multiple robots may be installed so as to be able to work in the work area on one wiring board 4. In this case, the workable areas of the multiple robots may partially overlap or may be different.

[0112] In the first embodiment, the wiring apparatus 2 is configured with one lead wire supply mechanism 13. However, this is not limiting, and the wiring apparatus 2 may include multiple lead wire supply mechanisms. The example in which the lead wire supply mechanism 13 includes one motor 12, one shaft 11, five reels 10A, 10B, 10C, 10D, and 10E, and torque limiters for each of the five reels has been described. However, the lead wire supply mechanism 13 may include more motors, shafts, reels, and torque limiters. For example, the lead wire supply mechanism 13 may include the same number of motors as the number of reels. In other words, the lead wire supply mechanism 13 may include one or more drive units.

[0113] In the first embodiment, the stocker 14 is configured to be able to store five actuators: actuator 6A, actuator 6B, actuator 6C, actuator 6D, and actuator 6E. However, the number of actuators that the stocker 14 can store is not limited to five. The wiring apparatus 2 may include actuators according to the number of reels, i.e., the number of lead wires. The wiring apparatus 2 may include multiple stockers.

[0114] In the first embodiment, the positions of the robot 5, stocker 14, lead wire supply mechanism 13, etc. shown in Fig. 1 are merely an example for explanation and are not limited to these. For example, the stocker 14 may be configured to be supported by the lead wire supply mechanism 13. Furthermore, for example, a wiring worker or the like may change the positions of the robot 5, stocker 14, lead wire supply mechanism 13, etc. as needed to achieve desired wiring specifications.

[0115] In the first embodiment, the lead wire holding portion 74 has been described as being capable of holding one lead wire. This is because, for example, even if the lead wire holding portion 74 is intended to hold both a thick lead wire and a thin lead wire, the width L13 of the lead wire holding portion 74 in the Z-axis direction expands to accommodate the diameter of the thick lead wire, making it unable to hold the thin lead wire. However, the lead wire holding portion 74 may be configured to absorb the force of the lead wire pushing up on the upper portion 70, in other words, the change in the width L13 of the lead wire holding portion 74 in the Z-axis direction. For example, the lead wire holding portion 74 may be made of a material, such as a cushioning material, that can absorb the force of the lead wire pushing up on the upper portion 70. More precisely, at least the portions of the upper portion 70 and the lower portion 71 that form the lead wire holding portion 74 may be made of a cushioning material. As a result, when the lead wire holding portion 74 holds a thick lead wire, the force of the thick lead wire pushing up on the upper portion 70 is absorbed, so the width L13 of the lead wire holding portion 74 in the Z-axis direction does not change. Therefore, the lead wire holding portion 74 can hold a thick lead wire while also holding a thin lead wire. In this way, the lead wire holding portion 74 may be made of a cushioning material or the like so as to be able to hold multiple lead wires.

[0116] (Summary of the Present Embodiment) The above description of the present embodiment discloses at least the following techniques. Note that, in parentheses, examples of corresponding components in the present embodiment are shown, but the present invention is not limited to these.

[0117] (Technology 1) A wiring apparatus (e.g., wiring apparatus 2) that performs wiring using a robot (e.g., robot 5) according to this embodiment includes an actuator (e.g., actuator 6A) that is detachable from the robot, and a lead wire supply mechanism (e.g., lead wire supply mechanism 13) for supplying lead wires (e.g., lead wire W1) for wiring. The lead wire supply mechanism is capable of winding and storing the lead wire and includes a reel (e.g., reel 10A) that feeds the lead wire to the actuator, and a drive unit that rotates the reel to apply force in the direction in which the reel winds the lead wire. The actuator includes a tube (e.g., tube 41) that is configured to be approximately perpendicular to a wiring board (e.g., wiring board 4) on which a guide pin (e.g., guide pin P1) for wiring is erected, and the lead wire is inserted into the tube.

[0118] As a result, the wiring apparatus according to this embodiment can perform wiring while applying tension to the lead wires using the drive unit. This allows the wiring apparatus to perform wiring while preventing loosening and tangling of the lead wires, thereby enabling smooth wiring. Furthermore, the wiring apparatus inserts the lead wires into tubes that are approximately perpendicular to the wiring board, and by aligning the lead wires approximately perpendicular to the wiring board, it is possible to prevent interference between the lead wires and the guide pins, thereby enabling smooth wiring.

[0119] (Technology 2) In the wiring device described in Technology 1, a holding jig (for example, holding jig 7A) capable of holding a lead wire is installed at the starting end position of the wiring on the wiring board.

[0120] As a result, when starting wiring, the wiring apparatus according to this embodiment can hold the lead wires in the holding jig. Also, by holding the lead wires in the holding jig, the wiring apparatus can apply tension to the lead wires without winding them up on the reel.

[0121] (Technology 3) In the wiring device described in Technology 1 or Technology 2, a cutting tool (e.g., cutting tool 8) equipped with a blade (e.g., blade 80) for cutting the lead wire is installed at the end position of the wiring on the wiring board, and the actuator is equipped with a holding mechanism (e.g., holding mechanism 42) capable of holding the end of the lead wire, and the holding mechanism holds the end of the lead wire cut by the blade in accordance with the operation of the actuator.

[0122] As a result, when the wiring apparatus according to this embodiment is to finish wiring, for example, the lead wire can be cut by the cutting jig, and the lead wire cut by the cutting jig can be held by the holding mechanism of the actuator.

[0123] (Technology 4) In the wiring device described in any one of Technology 1 to Technology 3, the holding mechanism is configured to include two holding portions (e.g., holding portion 43A) having grooves (e.g., groove 47) for holding lead wires.

[0124] As a result, in the wiring device according to this embodiment, the holding mechanism of the actuator can hold the lead wires by the grooves of the two holding portions.

[0125] (Technology 5) In the wiring device described in any one of Technology 1 to Technology 4, the drive unit includes a motor (e.g., motor 12) and a torque limiter (e.g., torque limiter 60) for adjusting the torque generated by the motor within a specified range.

[0126] As a result, the wiring device according to this embodiment can apply a predetermined tension to the lead wires.

[0127] (Technology 6) In the wiring device according to any one of Technology 1 to Technology 5, the wiring device includes a stocker (for example, stocker 14) that stores one or more actuators in a state separated from the robot.

[0128] As a result, the wiring device according to this embodiment can accommodate one or more actuators separate from the robot.

[0129] (Technology 7) In the wiring device according to any one of Technology 1 to Technology 6, the tube is made of fluororesin.

[0130] This reduces the friction between the tube and the lead wires in the wiring device according to this embodiment, allowing for smooth wiring. Furthermore, the wiring device can be constructed at low cost compared to tubes made of materials that require processing, such as metal.

[0131] (Technology 8) A wiring system (for example, wiring system 1) according to this embodiment includes a robot (for example, robot 5), a control device (for example, control device 3) that controls the robot, an actuator (for example, actuator 6A) that is detachable from the robot, a wiring board (for example, wiring board 4) on which guide pins (for example, guide pin P1) for wiring are erected, and a lead wire supply mechanism (for example, lead wire supply mechanism 13) for supplying lead wires (for example, lead wire W1) for wiring. The lead wire supply mechanism is capable of winding and storing the lead wires, and sends the lead wires to the actuator. The wiring system includes a reel (e.g., reel 10A) that unwinds the lead wire, and a drive unit that rotates the reel to apply force in the direction in which the reel winds up the lead wire. The drive unit includes a motor (e.g., motor 12) and a torque limiter (e.g., torque limiter 60) that adjusts the torque generated by the motor within a specified range. The actuator includes a tube (e.g., tube 41) that is configured to be approximately perpendicular to the wiring board, the lead wire is inserted into the tube, and the control device performs wiring by moving the robot equipped with the actuator along guide pins erected on the wiring board.

[0132] As a result, the wiring system according to this embodiment can perform wiring by controlling the robot while applying tension to the lead wires with the motor. As a result, the wiring system can perform wiring while preventing loosening and tangling of the lead wires, thereby enabling smooth wiring. Furthermore, the wiring system inserts the lead wires into tubes that are approximately perpendicular to the wiring board, and by aligning the lead wires approximately perpendicular to the wiring board, interference between the lead wires and the guide pins can be prevented, enabling smooth wiring.

[0133] (Technology 9) In the wiring system according to Technology 8, the actuator includes a holding mechanism (for example, a holding mechanism 42) that can hold an end of a lead wire.

[0134] As a result, in the wiring system according to this embodiment, the actuator can hold the end of the lead wire.

[0135] (Technology 10) In the wiring system described in Technology 8 or Technology 9, a holding jig (e.g., holding jig 7A) capable of holding a lead wire is installed at the starting position of the wiring on the wiring board, and when starting wiring using the lead wire, the control device moves a robot equipped with an actuator so that the lead wire held by the holding mechanism is held by the holding jig and released from the holding mechanism.

[0136] As a result, the wiring system according to this embodiment can control the robot to hold the lead wire in the holding jig, for example, when starting wiring. Furthermore, when holding the lead wire in the holding jig, the wiring system can release the lead wire from the holding mechanism of the actuator. Furthermore, by holding the lead wire in the holding jig, the wiring system can apply tension to the lead wire without winding it onto a reel.

[0137] (Technology 11) In the wiring system described in any one of Technology 8 to Technology 10, a cutting tool (e.g., cutting tool 8) equipped with a blade (e.g., blade 80) for cutting the lead wire is installed at the end position of the wiring on the wiring board, and when the wiring using the lead wire is completed, the control device moves the robot equipped with the actuator so that the laid lead wire is cut by the blade in accordance with the operation of the actuator and held in the holding mechanism.

[0138] As a result, the wiring system according to this embodiment can control the robot to cause the cutting jig to cut the lead wire in accordance with the operation of the actuator when, for example, wiring is to be completed. Also, by controlling the robot, the wiring system can cause the holding mechanism of the actuator to hold the lead wire cut by the cutting jig.

[0139] (Technology 12) In the wiring system described in any one of Technology 8 to Technology 11, the control device adjusts the height of the actuator attached to the robot relative to the wiring board when performing wiring, based on the bending of the lead wire (e.g., bending R1).

[0140] As a result, the wiring system of this embodiment controls the robot to adjust the height of the actuator relative to the wiring board so that the lead wire does not bend more than necessary, for example, when the bending range of the lead wire is small, i.e., the minimum bending value of the lead wire is large and the lead wire is difficult to bend.

[0141] (Technology 13) A holding jig (e.g., holding jig 7A) according to this embodiment includes a lead wire holding portion (e.g., lead wire holding portion 74) capable of holding a lead wire (e.g., lead wire W1), and a lead wire stock portion (e.g., lead wire stock portion 75) capable of storing one or more lead wires, and the lead wire holding portion and the lead wire stock portion are connected so that when the lead wire holding portion that has held a lead wire holds a new lead wire, the lead wire held in the lead wire holding portion is pushed out of the lead wire holding portion into the lead wire stock portion by the lead wire newly held in the lead wire holding portion.

[0142] As a result, the holding jig according to this embodiment can hold the lead wire in the lead wire holding portion. Furthermore, the lead wire holding portion and the lead wire stock portion are connected and integrally formed so that the lead wire to be newly held can push the lead wire already held into the lead wire stock portion. This allows the new lead wire to be held without being obstructed by the lead wire already held in the lead wire holding portion.

[0143] (Technology 14) A cutting jig (e.g., cutting jig 8) according to this embodiment includes a contact portion (e.g., contact portion 81) for receiving a force from an actuator (e.g., actuator 6A) for wiring, a blade (e.g., blade 80) for cutting a lead wire (e.g., lead wire W1), a lead wire holding portion (e.g., lead wire holding portion 86) capable of holding the lead wire, and a lead wire guide portion (e.g., lead wire guide portion 83) facing the lead wire holding portion across the blade and supporting the lead wire held in the lead wire holding portion, and the blade operates to cut the lead wire by receiving a force via the contact portion in response to the operation of the actuator while the lead wire is held in the lead wire holding portion and supported by the lead wire guide portion.

[0144] As a result, the cutting jig according to this embodiment can hold the lead wire and cut the held lead wire with a blade in response to the operation of the actuator. Furthermore, the cutting jig holds the lead wire to be cut in the lead wire holding portion and supports it in the lead wire guide portion, so that the lead wire can be cut without, for example, moving to a position where it is difficult to cut.

[0145] In addition, the functions of the above-mentioned embodiment 1 can also be realized by supplying a program and application for realizing the functions of the above-mentioned embodiment 1 to a system or device using a network or a storage medium, etc., and having one or more processors in the computer of that system or device read and execute the program.

[0146] Alternatively, the functions may be realized by a circuit that realizes one or more functions (for example, an Application Specific Integrated Circuit (hereinafter referred to as "ASIC") or an FPGA).

[0147] Although the first embodiment of the present disclosure has been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such an example. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0148] The present disclosure is useful as a wiring device, a wiring system, a holding jig, and a cutting jig.

[0149] REFERENCE SIGNS LIST 1 Wiring system 2 Wiring device 3 Control device 4 Wiring board 5 Robot 6A, 6B, 6C, 6D, 6E Actuator 7A, 7B Holding jig 8 Cutting jig 10A, 10B, 10C, 10D, 10E Reel 12 Motor 13 Lead wire supply mechanism 14 Stocker 41 Tube 42 Holding mechanism 43A, 43B Holding section 74 Lead wire holding section 75 Lead wire stock section 80 Blade 81 Contact section 83 Lead wire guide section 86 Lead wire holding section W1, W2, W3, W4, W5 Lead wire

Claims

1. A wiring device for performing wiring using a robot, comprising: an actuator detachable from the robot; and a lead wire supply mechanism for supplying lead wires for the wiring, wherein the lead wire supply mechanism is capable of winding and storing the lead wire, and comprises: a reel for feeding the lead wire to the actuator; and a drive unit for rotating the reel to apply a force in the direction in which the reel winds up the lead wire, wherein the actuator comprises a tube configured to be approximately perpendicular to a wiring plate on which guide pins for the wiring are erected, and the tube is configured so that the lead wire is inserted into the tube.

2. The wiring device according to claim 1, wherein a holding jig capable of holding the lead wire is provided at a starting end position of the wiring board.

3. The wiring device as described in claim 1, wherein a cutting tool equipped with a blade for cutting the lead wire is installed at the termination position of the wiring on the wiring board, the actuator further comprises a holding mechanism capable of holding an end of the lead wire, and the holding mechanism holds the end of the lead wire cut by the blade in response to the operation of the actuator.

4. The wiring device according to claim 3, wherein the retaining mechanism includes two retaining portions, each of the two retaining portions having a groove for retaining the lead wire.

5. The wiring device according to claim 1, wherein the drive unit comprises a motor and a torque limiter for adjusting the torque generated by the motor within a specified range.

6. The wiring device according to claim 1, further comprising a stocker for storing one or more of the actuators in a state separated from the robot.

7. The wiring device according to claim 1, wherein the tube is made of fluororesin.

8. A wiring system comprising: a robot; a control device for controlling said robot; an actuator detachable from said robot; a wiring board on which guide pins for wiring are erected; and a lead wire supply mechanism for supplying lead wires for the wiring board, wherein the lead wire supply mechanism is capable of winding and storing the lead wire and comprises: a reel for feeding the lead wire to the actuator; and a drive unit for rotating the reel to apply a force in a direction in which the reel winds the lead wire, wherein the drive unit comprises: a motor; and a torque limiter for adjusting a torque generated by the motor within a specified range, wherein the actuator comprises a tube configured to be approximately perpendicular to the wiring board, the tube being configured such that the lead wire is inserted into the tube, and the control device performs the wiring board by moving the robot to which the actuator is attached along the guide pins erected on the wiring board.

9. The wiring system according to claim 8, wherein the actuator further comprises a holding mechanism capable of holding an end of the lead wire.

10. The wiring system as described in claim 9, wherein a holding jig capable of holding the lead wire is installed at the starting position of the wiring on the wiring board, and when starting wiring using the lead wire, the control device moves the robot equipped with the actuator so that the lead wire held by the holding mechanism is held by the holding jig and released from the holding mechanism.

11. The wiring system as described in claim 9, wherein a cutting tool equipped with a blade for cutting the lead wire is installed at the end position of the wiring on the wiring board, and when the wiring using the lead wire is terminated, the control device moves the robot equipped with the actuator so that the lead wire is cut by the blade in response to the operation of the actuator and held in the holding mechanism.

12. The wiring system according to claim 8, wherein the control device adjusts the height of the actuator mounted on the robot relative to the wiring board when performing the wiring, based on the bending of the lead wire.

13. A holding tool comprising: a lead wire holding portion capable of holding a lead wire; and a lead wire stock portion capable of storing the lead wire, wherein the lead wire holding portion and the lead wire stock portion are connected so that when the lead wire holding portion, which holds the lead wire, holds a new lead wire, the lead wire held in the lead wire holding portion is pushed out of the lead wire holding portion into the lead wire stock portion by the new lead wire.

14. A cutting tool comprising: a contact portion for receiving a force from an actuator for wiring; a blade for cutting a lead wire; a lead wire holding portion capable of holding the lead wire; and a lead wire guide portion facing the lead wire holding portion across the blade and supporting the lead wire held in the lead wire holding portion, wherein the blade operates to cut the lead wire by receiving a force via the contact portion in response to the operation of the actuator while the lead wire is held in the lead wire holding portion and supported by the lead wire guide portion.

Images