Multi-core cable untwisting device
A multi-core cable untwisting device for simultaneously pulling out a sheath while correcting kinks in electric wires, wherein an object is to be able to correct kinks more desirably than with conventional techniques. A multi-core cable untwisting device ( 1 ) includes: a retention clamp ( 11 ) configured to retain a non-tip portion ( 5 B) of a sheath ( 5 ); a gripping clamp ( 26 ) configured to grip a sheath tip portion ( 5 A); a pull-out device ( 30 ) configured to pull out the sheath tip portion ( 5 A) by moving the gripping clamp ( 26 ); a rotating device ( 40 ) configured to rotate the gripping clamp ( 26 ); and a control device ( 50 ) configured to control the pull-out device ( 30 ) and the rotating device ( 40 ). The control device ( 50 ) is configured to perform a first control of pulling out the sheath tip portion ( 5 A) without rotating the sheath tip portion ( 5 A), and a second control of pulling out the sheath tip portion ( 5 A) while rotating the sheath tip portion ( 5 A).
1. A multi-core cable untwisting device for pulling out a tip portion of a sheath of a multi-core cable, which includes a plurality of electric wires and the sheath that covers the electric wires, while correcting kinks in the electric wires, the multi-core cable untwisting device comprising:
a retention member configured to retain a non-tip portion of the sheath that has a cut between the tip portion and the non-tip portion;
a gripping member configured to grip the tip portion of the sheath;
a pull-out device configured to pull out the tip portion of the sheath by moving at least one of the gripping member and the retention member so that the gripping member moves away from the retention member;
a rotating device configured to relatively rotate the tip portion of the sheath that is gripped by the gripping member and the non-tip portion of the sheath; and
a control device configured to control the pull-out device and the rotating device,
wherein the control device is configured to perform a first control and a second control from start until end of the pulling-out of the tip portion of the sheath, wherein the first control is to control the pull-out device and the rotating device so that the amount of rotation per unit travel distance of the tip portion of the sheath is smaller than a predetermined amount of rotation, and the second control is to control the pull-out device and the rotating device so that the amount of rotation per unit travel distance of the tip portion of the sheath is equal to or greater than the predetermined amount of rotation.
2. The multi-core cable untwisting device according to claim 1 , wherein the control device is configured to pull out the tip portion of the sheath without rotating the tip portion of the sheath in the first control, and to pull out the tip portion of the sheath while rotating the tip portion of the sheath in the second control.
3. The multi-core cable untwisting device according to claim 1 , wherein the control device is configured to perform the second control after the first control.
4. The multi-core cable untwisting device according to claim 1 , wherein the control device is configured to repeat the first control and the second control for two iterations or more from start until end of the pulling-out of the tip portion of the sheath.
5. The multi-core cable untwisting device according to claim 4 , wherein a pull-out length of the first control is equal between different iterations and/or a pull-out length of the second control is equal between different iterations.
6. The multi-core cable untwisting device according to claim 4 , wherein:
a total pull-out length of the tip portion of the sheath in an n th iteration (where n is a predetermined natural number) of the first control and the second control is shorter than a total pull-out length of the tip portion of the sheath in an m th iteration (where m is a predetermined natural number other than n) of the first control and the second control; and
the amount of rotation of the tip portion of the sheath in the n th iteration of the second control is smaller than the amount of rotation of the tip portion of the sheath in the m th iteration of the second control.
7. The multi-core cable untwisting device according to claim 4 , wherein α n /L n =α n+1 /L n+1 holds, where L n is a total pull-out length of the tip portion of the sheath in an n th iteration (where n is a predetermined natural number) of the first control and the second control, α n is the amount of rotation of the tip portion of the sheath in the n th iteration of the second control, L n+1 is a total pull-out length of the tip portion of the sheath in an n+1 th iteration of the first control and the second control, and α n+1 is the amount of rotation of the tip portion of the sheath in the n+1 th iteration of the second control.
8. The multi-core cable untwisting device according to claim 1 , wherein the rotating device includes an actuator configured to rotate the gripping member.
9. The multi-core cable untwisting device according to claim 1 , wherein the control device is configured to pull out the tip portion of the sheath by 60 mm or more from the start until the end of the pulling-out of the tip portion of the sheath.