| 摘要 |
A biaxial sensor is used to measure the contour positions of the shape of a terminal in each axial direction, and on the basis of the diagonal dimension of the rectangular cross sectional shape of the leading end of the terminal and the width dimension of the terminal obtained by measurement, this terminal insertion device calculates with a roll angle calculation unit the roll angle, with respect to a reference state, in the direction of revolution about the axis in the insertion direction of the terminal. Before inserting the terminal into the cavity, a roll angle correction control unit controls a parallel joint mechanism to correct the inclination of the terminal in accordance with the roll angle. The electric wire is held, the inclination and positional shift resulting from bend in the electric wire from the held position to the leading end terminal are detected and corrected, and the terminal is inserted. |
