| 摘要 |
PROBLEM TO BE SOLVED: To provide a terminal insertion device hard to cause a failure in insertion of a terminal and capable of shortening a time required for insertion work.SOLUTION: The contour position of the shape of the terminal in each axial direction is measured using a biaxial sensor part, and a roll angle to a reference state in a direction circling around the axis of the terminal inserting direction is calculated based on a diagonal dimension in the rectangular cross-sectional shape at the tip part of the terminal and the width dimension of the terminal obtained by measurement. A roll angle correction control part performs correction of inclination of the terminal in accordance with the roll angle by controlling a parallel joint mechanism before inserting the terminal into a cavity. A wire is gripped, inclination and positional deviation by a curve of the wire from the gripped position to the tip of the terminal are detected, and the terminal is inserted after correcting them. |
