Linear article feeding device, linear article feeding method, and linear article take-up method

Abstract

To provide a linear article feeding device to take up one linear article from a bundle of thin and soft linear articles.SOLUTION: A linear article feeding device 10 comprises: a table 20 on which a bundle of linear articles is placed; a plurality of push-down members 30, 35 that are disposed so as to be dispersed in a longer direction of the bundle placed on the table and can push down the bundle from above; and a first brush 50 that is disposed above the table and has a plurality of teeth aligned in a width direction of the bundle and can move in the longer direction of the bundle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus and method for supplying a linear object to a robot hand or the like, and more particularly, to an apparatus and method for supplying a bundle of thin and flexible linear objects to a robot hand or the like.

Background Art

[0002] In various operations targeting thin, flexible, and easily deformable linear objects, automation of handling of linear objects using a robot has been carried out. For example, when performing processing such as terminal crimping, fastening of components such as connectors, soldering, welding, and connection on cables such as electric wires, optical fibers, and various tubes with a small diameter, the linear object serving as the workpiece is gripped by a robot hand and transferred to a target processing device or inspection device for setting. At this time, when a large number of linear objects are supplied in a bundled state, the robot hand first needs to grip one linear object from among the supplied large number of linear objects.

[0003] There is known an apparatus for supplying linear objects in a dispersed state so that a robot hand can easily pick up one linear object. For example, Patent Document 1 describes a linear object dispersion apparatus that disperses a plurality of flexible linear objects accommodated in a cylindrical container by blowing gas onto the upper end portion protruding from the container, so that a robot hand can easily grip and pull out one linear object for supply. Patent Document 2 describes a linear object dispersion apparatus that disperses a plurality of flexible linear objects accommodated in a cylindrical container by mechanically spreading the upper end portion protruding from the container with a bellows-like member, so that a robot hand can easily grip and extract one linear object for supply.

[0004] Also, a device for picking up one linear object in advance from a bundle of linear objects is known. By using such a device, the picked-up linear object can be easily transferred to a robot hand. For example, in Patent Document 3, a flexible bundle of linear objects is placed across both sides of a gap provided in the middle of a placement surface, and the bundle of linear objects is pushed up from below the gap by a first pressing member having a V-shaped upper surface, and then, a linear object is pushed up by a second pressing member having a recess on the upper surface into which one linear object fits. A linear object extraction device is described. Patent Document 4 describes a suction nozzle that presses from above on a flexible bundle of linear objects placed on a tray having a V-shaped cross section and sucks and picks up one linear object. Patent Document 5 describes a linear object gripping device having a groove formed between a pair of fingers into which one linear object fits and a suction means for sucking the linear object toward the groove, and gripping and picking up the linear object sucked into the groove from among a large number of flexible linear objects on the tray by closing the fingers.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the linear object dispersion devices described in Patent Documents 1 and 2, when the number of linear objects increases, it is necessary to considerably increase the size of the device.

[0007] In the apparatus described in Patent Document 3, when the linear objects are entangled, when the deformation of the linear objects is large, or when the linear objects are bent, the linear objects do not gather at the center of the V shape of the first pressing member, and the second pressing member may fail to push up a single linear object.

[0008] In the apparatus described in Patent Document 4, when the linear objects are entangled, when lifting the held linear objects, other linear objects are dragged, and thus the shape of the bundle of linear objects is likely to collapse. And when the shape of the bundle collapses beyond the allowable limit, it is necessary to interrupt continuous operation for correction. Further, when terminals or the like are attached to the linear objects and the terminals are caught on each other, there is a risk that the held linear objects may fall off from the suction nozzles. In the apparatus described in Patent Document 5, when the linear objects are entangled, when lifting the grasped linear objects, other linear objects are dragged, and thus the shape of the bundle of linear objects is likely to collapse. Also, when terminals or the like are attached to the linear objects and the terminals are caught on each other, unlike Patent Document 4, since the fingers are closed to sandwich the linear objects, the grasped linear objects do not fall off, but there is a risk of damaging weak portions such as the protrusions of the terminals.

[0009] The present invention has been made in consideration of the above, and even when picking up a single linear object from a bundle of linear objects that are thin, flexible, and thus easily deformed with a robot hand, other linear objects are not dragged on the picked-up linear object, and also, even when terminals or the like are attached to the linear objects, to provide a linear object supply device and method that rarely damage the terminals or the like. Also, an object is to provide a linear object picking method using such a linear object supply method.

Means for Solving the Problems

[0010] With respect to the above problems, in the apparatus and method of the present invention, by inserting the teeth of a brush into a bundle of linear objects and moving it in the longitudinal direction of the bundle, the linear objects are combed, the entanglement of the linear objects is loosened, and it can be supplied to a robot hand or the like.

[0011] Specifically, the linear material supply device of the present invention is a linear material supply device used to pick up one linear material from a bundle of linear materials, and includes a table for placing the bundle, a plurality of pressing members that are arranged dispersedly in the longitudinal direction of the bundle placed on the table and can press the bundle from above, and a first brush that is arranged above the table and has a plurality of teeth arranged side by side in the width direction of the bundle placed on the table and is movable in the longitudinal direction of the bundle placed on the table.

[0012] Here, pressing the bundle with the pressing member means pressing the bundle against the table with the pressing member to suppress the movement of the bundle. Also, the first brush may have teeth arranged in a single row or multiple rows.

[0013] With this configuration, the bundle of thin, flexible, and easily deformable linear materials placed on the table can be combed with the first brush without significantly deforming the shape of the bundle, and when picking up one linear material from the bundle of linear materials with a robot hand, it is possible to suppress the collapse of the shape of the bundle. By providing a plurality of pressing members, even if there is a bias in the thickness and density of the bundle, any of the pressing members can press the bundle against the table, so the shape of the bundle can be made more difficult to collapse. Also, by combing the bundle to loosen the entanglement of the linear materials, even when terminals or the like are attached to the linear materials, the terminals themselves or the main body of the linear materials can be picked up by the robot hand without being damaged by the terminals or the like attached to other linear materials. Further, it is possible to pick up one linear material from the bundle of linear materials without dragging other linear materials by the terminals or the like of the picked-up linear material.

[0014] Preferably, in the above-described linear object supply device, the first brush can further move rearward beyond the rear end of the table and move vertically with the teeth of the first brush facing the table side. When a terminal or the like is attached to the rear end of the linear object, by placing the bundle of linear objects on the table such that the rear part of the bundle protrudes from the rear end of the table to form a hanging part, it is less likely to damage the terminal or the like at the rear end of the linear object when the robot hand extracts one linear object from the bundle. Also, when the linear object is long, the device can be miniaturized. According to this configuration, the hanging part of the bundle can also be combed with the first brush.

[0015] Preferably, any of the above-described linear object supply devices further includes a second brush that is disposed below the rear end of the table, has a plurality of teeth arranged in the width direction of the bundle placed on the table, and is movable in the vertical direction. According to this configuration, when the bundle of linear objects is placed on the table such that the rear part protrudes from the rear end of the table to form a hanging part, the hanging part can be combed with the second brush. Further, until immediately before the robot hand extracts one linear object from the bundle, the rear part of the bundle can be supported by the second brush, so that damage to the terminal or the like at the rear end of the linear object can be further reduced.

[0016] Preferably, any of the above-described linear object supply devices further includes a displacement sensor that is disposed above the table and can scan in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle placed on the table. Thereby, with a small amount of calculation, one linear object can be selected from a bundle of thin, flexible, and easily deformable linear objects and reliably picked up by the robot hand.

[0017] The linear material supply method of the present invention includes a placing step of placing a bundle of linear materials on a table, a pressing step of pressing the bundle from above with one or more of a plurality of pressing members distributed in the longitudinal direction of the bundle placed on the table, and selecting one of the pressing members as a first selected pressing member, the first selected pressing member being in a state of not pressing the bundle, and using a first brush having a plurality of teeth arranged in the width direction of the bundle in a state where the bundle is pressed from above by one or more of the pressing members other than the first selected pressing member, and brushing the bundle in a region extending on both sides across the first selected pressing member in the longitudinal direction of the bundle.

[0018] Here, the region extending on both sides across the selected pressing member is the region between the front end when there is no pressing member pressing the bundle in front of the selected pressing member or the front end when there is no pressing member pressing the bundle in front, and the rear end when there is no pressing member pressing the bundle behind the selected pressing member or the rear end when there is no pressing member pressing the bundle behind. By brushing the bundle of thin, flexible, and easily deformable linear materials with the first brush, when the robot hand picks up one linear material, it is difficult for other linear materials to be dragged along with the picked-up linear material.

[0019] Preferably, in the above linear material supply method, in the brushing step, one of the pressing members other than the first selected pressing member is further selected as a second selected pressing member, the second selected pressing member is in a state of not pressing the bundle, and using the first brush in a state where the bundle is pressed from above by one or more of the pressing members other than the second selected pressing member, the bundle is brushed in a region extending on both sides across the second selected pressing member. Thereby, when the deformation of the linear material is large or when the linear material is likely to have a kink, a wider range of the bundle can be brushed with the first brush.

[0020] Preferably, in any of the above linear material supply methods, the first selected pressing member is the pressing member located at the foremost position in the longitudinal direction of the bundle. By combing the front of the bundle, the greatest effect can be obtained when the robot hand grips the front end portion of the linear material.

[0021] Preferably, in the placing step of any of the above linear material supply methods, the bundle is placed on the table such that the rear portion of the bundle protrudes from the rear end of the table to form a hanging portion. Thereby, even when a terminal or the like is attached to the rear end of the linear material, it is less likely to damage the terminal or the like at the rear end of the linear material when the robot hand extracts one linear material from the bundle. Also, when the linear material is long, the apparatus can be miniaturized.

[0022] Preferably, in the above linear material supply method for forming a hanging portion, in a state where the bundle is pressed by at least one of the plurality of pressing members, a second brushing step is further provided in which a second brush having a plurality of teeth arranged in the width direction of the bundle and disposed below the rear end of the table is used to comb the hanging portion. Thereby, the hanging portion can be combed with the second brush.

[0023] The linear material picking method of the present invention includes all steps of any of the above linear material supply methods, scanning a displacement sensor in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle, selecting the linear material at the highest position in the scanned area as the selected linear material, calculating the position and orientation of the selected linear material in the scanned area, aligning the position and orientation of the robot hand with the position and orientation of the selected linear material, gripping the selected linear material with the robot hand, and a extracting step of moving the robot hand while releasing the pressing member to separate and extract the selected linear material from the bundle.

[0024] By this method, it is possible to reliably grip a single linear object from a bundle of thin, flexible, and easily deformable linear objects with a small amount of calculation. Also, depending on the properties of the linear object, even if the linear object is loosened by brushing, if the selected linear object is simply gripped and pulled out of the bundle without pressing the bundle with the pressing member, other linear objects may be dragged. However, by pressing the bundle with a plurality of pressing members and pulling out the selected linear object from the bundle while sequentially releasing the pressing members, it is possible to suppress the bundle from losing its shape.

[0025] Preferably, in the above-described linear object picking-up method, the extraction step is a step of moving the robot hand to separate and extract the selected linear object from the bundle while sequentially releasing the plurality of pressing members from the pressing member closest to the gripping position of the selected linear object by the robot hand.

[0026] Preferably, the above-described linear object picking-up method includes all steps of any of the above-described linear object supply methods for forming a hanging portion, scanning a displacement sensor in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle, selecting the linear object at the highest position within the scanned region as the selected linear object, and calculating the position and orientation of the selected linear object in the scanned region, aligning the position and orientation of the robot hand with the position and orientation of the selected linear object, gripping the selected linear object with the robot hand, sequentially releasing the pressing members from the front, moving the robot hand to separate the selected linear object from the portion of the bundle placed on the table, and then moving the robot hand to the rear of the table so that the rear end of the selected linear object moves downward away from the lower end of the bundle, and extracting the selected linear object from the bundle.

[0027] According to this method, with a small amount of computation, a single linear object can be reliably grasped by a robot hand from a bundle of thin, flexible, and easily deformable linear objects. Also, when the robot hand extracts one linear object from the bundle of linear objects, other linear objects are not dragged along by the extracted linear object, and the shape of the bundle can be prevented from collapsing. And even when a terminal or the like is attached to the rear end of the linear object, when the robot hand extracts one linear object from the bundle, damage to the terminal or the like at the rear end of the linear object can be further reduced.

Advantages of the Invention

[0028] According to the linear object supply device or the linear object supply method of the present invention, a bundle of thin, flexible, and easily deformable linear objects placed on a table can be combed with a first brush without collapsing the shape of the bundle. Also, when picking up one linear object from the bundle of linear objects with a robot hand, it is possible to suppress other linear objects from being dragged along by the picked-up linear object and prevent the shape of the bundle from collapsing. Further, by combing the bundle to untangle the linear objects, even when a terminal or the like is attached to the linear object, it can be picked up by the robot hand without damaging the terminal or the like.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Mode for Carrying Out the Invention

[0030] The configuration of the linear material supply device according to an embodiment of the present invention will be described based on FIGS. 1 - 8.

[0031] Referring to FIG. 1, the linear material supply device 10 of the present embodiment has a table 20, a first pressing member 30 and a second pressing member 35, a first brush 50 and a second brush 55, and a laser displacement sensor 60. The linear material supply device 10 places a bundle of linear materials on the table 20, makes it in a state where the linear materials can be picked up by the robot hand 70, and supplies them to the robot hand 70.

[0032] In this specification, the longitudinal direction of Table 20 means the longitudinal direction of the bundle of linear objects placed on the table, and the longitudinal direction of the bundle of linear objects means the longitudinal direction of the linear objects constituting the bundle. The width direction of Table 20 means the width direction of the bundle of linear objects placed on the table, and the width direction of the bundle of linear objects means the diameter direction of the linear objects constituting the bundle. Also, one end in the longitudinal direction of Table 20 (the left back in Fig. 1, X direction) is the front end, the part including the front end and its vicinity is the front end portion, the front end side is the front, the part in the front is the front part, the other end (the front right in Fig. 1, the opposite direction of X) is the rear end, the part including the rear end and its vicinity is the rear end portion, the rear end side is the rear, and the part in the rear is the rear part. The same applies to the linear objects placed on the table, which are referred to as the front end, the front end portion, the front, the front part, the rear end, the rear end portion, the rear, and the rear part. The front end portion and the rear end portion are collectively referred to as the end portion. Also, when simply referring to the "longitudinal direction", it means the longitudinal direction of Table 20 and the bundle of linear objects placed on the table, or a direction parallel thereto (±X direction in Fig. 1), and when simply referring to the "width direction", it means the width direction of the table and the bundle of linear objects placed on the table, or a direction parallel thereto (±Y direction in Fig. 1).

[0033] Referring to Fig. 2, in addition to the first pressing member 30, the second pressing member 35, the first brush 50, the second brush 55, and the laser displacement sensor 60 shown in Fig. 1, the linear object supply device 10 includes a control unit 11, a calculation unit 12, and a communication unit 13. The control unit 11 controls the entire linear object supply device 10, the calculation unit 12 performs various calculations, and the communication unit 13 communicates with the robot communication unit 77 of the robot 74 that receives the supply of the linear object from the linear object supply device 10. On the other hand, the robot 74 that receives the supply of the linear object from the linear object supply device 10 includes, in addition to the robot hand 70 shown in Fig. 1, a robot control unit 75, a robot calculation unit 76, and a robot communication unit 77. The robot control unit 75 controls the entire robot 74 including the arm 78 and the robot hand 70, the robot calculation unit 76 performs various calculations such as trajectory calculation for reaching the robot hand to the target position, and the robot communication unit 77 communicates with the communication unit 13 of the linear object supply device 10.

[0034] The linear material handled by the linear material supply device 10 of this embodiment is a flexible thin wire. The diameter of the linear material is preferably 0.1 to 10.0 mm, more preferably 0.5 to 5.0 mm. Also, a linear material with a somewhat soft surface is suitable for being supplied by the linear material supply device of this embodiment. Examples of the linear material include a metal wire, a metal wire coated with resin, a resin-made one, etc. For example, a coated electric wire used for wiring or wire harnesses of electric appliances, various wires, cables, optical fibers, and a resin tube used for medical devices such as catheters. The linear material supply device 10 of this embodiment is particularly suitable for handling a linear material that is easily deformed so as to get entangled when bundled or a linear material that is prone to kinking. Being prone to kinking means being easily deformed and difficult to return to its original state after deformation. The linear material may have an accessory member such as a terminal attached to one or both ends or end portions. The accessory member includes those called by names such as a male type or a female type, plug, jack, contact pin, receptacle, housing, pin terminal, terminal, terminal terminal, crimp terminal, metal terminal, tab, socket, coupler, etc. Also, the linear material may have a deformed portion with a different cross-sectional shape at one or both end portions. Examples of the deformed portion include a portion where a resin-made fiber or tube is bent or a portion where the diameter is changed. The linear material supply device of this embodiment is particularly suitable for handling a linear material with an accessory member such as a terminal attached thereto or a linear material having a deformed portion. Further, it is particularly suitable for handling a linear material having an accessory member such as a terminal attached near both ends or a linear material having a deformed portion.

[0035] Hereinafter, in this embodiment, an example will be described in which the cable with terminals attached to both ends is supplied to the robot hand 70 so that the robot hand 70 grips and lifts the front end portion of the cable by the linear material supply device 10.

[0036] Table 20 is installed horizontally, and referring to FIG. 3A, a bundle 95 of cables 90 is placed on its upper surface. Although FIG. 3A depicts a reduced number of cables 90, the number of cables 90 constituting the bundle 95 is typically from several tens to several hundreds. The cable bundle 95 is placed on the table with its rear part protruding from the rear end 21 of the table to form a hanging part 96. Each cable 90 constituting the bundle 95 has terminals 92 and 93 attached to the front end and the rear end of the cable main body 91, respectively, referring to FIG. 3B. Providing the hanging part 96 is effective in preventing interference between the terminals of adjacent cables when terminals are attached to the rear ends of the cables. Also, it is effective in reducing the size of the entire apparatus when the linear object is long.

[0037] The linear object supply device 10 is provided with a first pressing member 30 in the front and a second pressing member 35 in the rear, dispersed in the longitudinal direction. The structures of the first pressing member 30 and the second pressing member 35 are the same. Note that the linear object supply device may be further provided with other pressing members behind the second pressing member. When the linear object is long or has a strong kink, it is preferable to provide a large number of pressing members. The width of the pressing member can be arbitrarily designed with respect to the length of the linear object. The linear object supply device 10 is suitable for linear objects having a length of about 100 mm to 3 m. When handling a linear object of this length, the width of the pressing member is about 3.0 mm to 300 mm, more preferably 5.0 mm to 100 mm.

[0038] Referring to FIG. 4, the first pressing member 30 is a rod-shaped or plate-shaped member, and rotates about a shaft 31 on the side of the table 20 so as to draw an arc in a plane substantially orthogonal to the longitudinal direction. The solid lines in FIGS. 1 and 4 indicate the state where the first pressing member is raised, and the dashed lines indicate the state where the first pressing member is lowered. When the first pressing member 30 is lowered, it can press the entire width direction of the bundle 95 on the table 20 from above, and when it is raised, it releases the pressing of the bundle 95 and opens the bundle. Further, when the first pressing member 30 is raised, it is in a position retracted laterally from above the table 20 so as not to overlap the table in plan view, and as will be described later, it can move longitudinally through the side of the first pressing member in a state where the first brush 50 is lowered.

[0039] The first pressing member 30 may have any shape that can press and release the bundle 95. For example, a plurality of rod-shaped or plate-shaped members may be aligned in the longitudinal direction of the table, and these plurality of rod-shaped or plate-shaped members may be integrated and rotate about the shaft 31 as a fulcrum.

[0040] The first pressing member 30 is composed of an elastic portion 33 made of an elastic material on the surface in contact with the bundle so as to press all the cables 90 included in the bundle 95, and a rigid portion 32 made of a rigid material on the opposite side. The elastic portion is preferably of a thickness and material that can absorb the unevenness in the height direction of the bundle and hold the entire bundle with little slippage even if there is a bias in the bundle of linear objects. For the elastic portion, for example, an EPDM sponge with a thickness of about 10 mm can be used.

[0041] Note that the first pressing member 30 and the second pressing member 35 can perform their functions as long as they retract from above the table when raised and can press the entire width direction of the bundle on the table when lowered. Therefore, the plane in which the pressing member rotates does not necessarily have to be orthogonal to the longitudinal direction. However, as the angle formed by the plane and the longitudinal direction deviates from a right angle, it is necessary to lengthen the pressing member. Therefore, the angle is preferably in the range of ±30 degrees from a right angle, and more preferably a right angle.

[0042] As another form, a clamp cylinder can also be used for the first pressing member and the second pressing member. Referring to FIG. 5, the clamp cylinder 41 includes a clamp arm 43 extending horizontally from the tip of the rod 42. The pressing member 40 is connected to the lower side of the clamp arm 43 via a support member 44. When the clamp cylinder is contracted with the pressing member 40 crossing above the table 20 and the pressing member 40 descends toward the table (the dashed line on the left side of FIG. 5), the entire width direction of the bundle 95 on the table 20 can be pressed from above. When the clamp cylinder is extended (the solid line in FIG. 5), the pressing member 40 releases the pressing of the bundle 95 and releases the pressing. When using the clamp cylinder, since the vector of the force for pressing the bundle of linear objects acts perpendicular to the table, the bundle can be pressed more uniformly.

[0043] With the clamp cylinder 41 extended, the pressing member 40 can move away from the table and rise, rotate in an arc within the horizontal plane, and retract laterally from above the table 20 so as not to overlap the table in plan view (the dashed line on the right side of FIG. 5). When the pressing member 40 is in the retracted position, the first brush 50 can move longitudinally through the side of the pressing member 40 in the lowered state.

[0044] Similar to the case of the above-described spring-up type first pressing member 30, the pressing member 40 may be composed of a plurality of rod-shaped or plate-shaped members, and they may be integrated to move up and down by the expansion and contraction of the clamp cylinder 41. Also, similar to the case of the first pressing member 30, the surface of the pressing member 40 that contacts the bundle is made of an elastic material and the opposite side is made of a rigid material so that all the cables included in the bundle 95 can be pressed down.

[0045] Referring to FIG. 6A, the first brush 50 is horizontally disposed across above the table 20. The first brush includes a plurality of teeth 52 that project downward from a cylinder 51 extending in the width direction and are aligned in a single row in the width direction. Note that the first brush may have a plurality of rows of teeth arranged in the width direction. The gap (in the Y-axis direction) between adjacent teeth of the first brush is preferably sized to accommodate about 1 to 2 target linear objects. For example, when the diameter of the linear object is about 0.5 mm to 5 mm, the gap between the teeth of the first brush is preferably about 1.0 mm to 10 mm. The depth (in the Z-axis direction) of the gap between adjacent teeth of the first brush is preferably sized to accommodate about 1.5 to 3 target linear objects. When the diameter of the linear object is about 0.5 mm to 5 mm, the depth of the gap between the teeth of the first brush is preferably about 0.8 mm to 15 mm.

[0046] Referring to FIG. 6B, the first brush 50 is disposed so as to be movable in the vertical direction and the longitudinal direction with the teeth 52 facing downward (in the direction opposite to Z) above the table 20. At the upper end position of the vertical movement of the first brush, the tip of the tooth 52 is above the bundle 95, and at the lower end position, the tip of the tooth 52 is inserted into the bundle 95 and does not touch the table. By lowering the first brush and inserting it into the bundle 95 and moving it in the longitudinal direction, the bundle 95 placed on the table 20 can be combed and the cable 90 can be loosened. Regarding the longitudinal movement of the first brush, it is preferable that the first brush can move across the entire longitudinal direction of the table.

[0047] Further, the first brush 50 is preferably rotatable about an axis 53 parallel to the width direction as a fulcrum to change the angle formed with the table 20. The angle formed between the first brush and the table is preferably variable within a range of 90 degrees ± 30 degrees. By tilting the first brush forward or backward with respect to the traveling direction, when the first brush combs the bundle 95, the first brush can move more smoothly. Also, the load on the cable by the brush can be reduced.

[0048] Also, referring to FIG. 6C, the first brush 50 is preferably movable rearward beyond the rear end 21 of the table 20, and at the rear of the table, it is movable in the vertical direction (Z-axis direction) and the longitudinal direction (X-axis direction) of the table with the teeth 52 facing the table side. Thereby, the first brush can comb the hanging part 96 of the bundle 95.

[0049] Referring to FIGS. 7A and B, the second brush 55 is disposed substantially horizontally below the rear end 21 of the table 20. The second brush includes a plurality of teeth 57 that project in a direction away from the table toward the hanging part 96 from a body 56 extending in the width direction and are aligned in a single row in the width direction. Note that the second brush may have a plurality of rows of teeth arranged in the width direction. Also, the second brush may be disposed inclined in the width direction from the horizontal, but it is preferably disposed horizontally in the width direction if there is no particular merit in inclining it. The gap (Y-axis direction) between adjacent teeth and the depth (Z-axis direction) of the tooth gap of the second brush can be designed in the same manner as the first brush.

[0050] Referring to FIG. 7B, the second brush is disposed movably in the vertical direction and the longitudinal direction of the table. Thereby, by protruding the second brush rearward and inserting it into the hanging part 96 of the bundle 95 and moving it in the vertical direction, the hanging part 96 can be combed and the cable 90 of the hanging part can be loosened.

[0051] Also, the second brush 55 is preferably rotatable about an axis 58 parallel to the width direction as a fulcrum so that the angle from the horizontal can be changed such that the direction of the teeth 57 inclines from the horizontal. The angle formed by the second brush with the horizontal is preferably variable in the range of 0 degrees ± 30 degrees. By slightly inclining the angle of the second brush from the horizontal, the second brush can move more smoothly when combing the hanging part 96 with the second brush.

[0052] Further, by having the second brush 55 support the hanging portion 96 until immediately before the robot hand 70 extracts one cable 90 from the bundle 95, it is possible to further reduce the likelihood that the terminals 93 at the rear ends of the cable to be extracted and the adjacent cables get caught and the terminals are damaged. Since the second brush 55 is on the table side of the hanging portion, it does not interfere with the cable that the robot hand is about to extract.

[0053] Referring to FIG. 8, the laser displacement sensor 60 is provided above the front end of the table 20 so as to be movable in the longitudinal direction and the width direction. As the displacement sensor, any sensor that can measure the height of the bundle of cables placed on the table may be used. For example, an optical sensor such as a laser, infrared ray, ultrasonic wave, or LED can be used. In this embodiment, a laser displacement sensor is used. The laser displacement sensor irradiates the laser beam 61 onto the cable bundle 95 on the table, receives the reflected light, and measures the distance to the point where the laser beam is reflected. By scanning in the width direction at two or more positions in the longitudinal direction of the bundle 95, the laser displacement sensor can select the cable 90 at the highest position within the scanned area and obtain its position coordinates and orientation.

[0054] Returning to FIG. 1, the robot hand 70 receives supply from the linear object supply device 10 of this embodiment, grips the front end of one cable 90, and picks it up from the bundle 95. By gripping the front end, even when a terminal or the like is attached to the front end or the front portion of the linear object, it is possible to suppress the collapse of the shape of the bundle when the robot hand extracts one linear object from the bundle. Further, it is possible to further reduce damage to the terminals and the like. The robot hand is preferably attached to a multi-joint robot. Further, the robot hand preferably grips the cable by pinching it with fingers. This is because it can grip more reliably than a device that grips by suction, and the gripped cable is less likely to fall off.

[0055] Next, a linear object supply method and a linear object picking method using the linear object supply device 10 of this embodiment will be described along the flow of FIG. 9.

[0056] (Placement Process) Raise the first pressing member 30 and the second pressing member 35, and place the bundle 95 of the cable 90 on the table 20 with the first brush 50 and the laser displacement sensor 60 retracted to the side of the table. At this time, the bundle 95 of the cable is placed on the table so that its rear part protrudes from the rear end 21 of the table to form a hanging part 96 (Fig. 3A). In this embodiment, since the robot hand grips the front end of the cable, the longitudinal direction of the cable is placed with the side gripped by the robot hand facing forward according to the subsequent process.

[0057] In this embodiment, the reason for placing the bundle 95 so as to form the hanging part 96 is to avoid the terminals of adjacent cables being caught or damaged when the robot hand 70 pulls out one cable from the bundle 95 if terminals are attached to the rear end of the cable 90 and the entire cable is on the table 20. Therefore, when no terminal is attached to the rear end of the cable, the entire bundle 95 may be placed on the table 20 without providing the hanging part. Also, by placing the bundle 95 so as to form the hanging part 96, the entire wire supply device can be miniaturized, which is effective when the working space is limited.

[0058] (Pressing Process) Lower the second pressing member 35 to press the bundle 95 against the table 20. Since the next brushing process starts with the first pressing member 30 raised, the first pressing member may remain raised. When the wire supply device 10 has three or more pressing members, at least one pressing member other than the first pressing member is lowered, preferably the second pressing member adjacent to the rear of the first pressing member, and more preferably all pressing members other than the first pressing member are lowered. This pressing process is carried out by the control unit 11 controlling the pressing members 30, 35.

[0059] Note that the pressing member is preferably kept lowered except in the pressing process and when it is necessary to release the pressing of the bundle 95 in the raised state.

[0060] (First brushing step) The first brushing step by the first brush 50 consists of three stages. Figures 10 and 11 show an example of the movement of the first brush. In Figures 10 and 11, the first brush moves in alphabetical order from a to w. This first brushing step is carried out by the control unit 11 controlling the first brush 50 and the pressing members 30 and 35.

[0061] First, as the first stage, with the first pressing member 30 raised and not pressing down on the bundle 95, and the second pressing member 35 lowered and pressing down on the bundle 95, the region extending across both sides of the first pressing member 30 in the longitudinal direction, that is, the region where the bundle between the front end of the bundle 95 and the second pressing member is open, is combed with the first brush 50. However, the first brush is prevented from touching the portion of the terminal 92 attached to the front end of the cable 90, and only the cable main body 91 is combed. This is to prevent damage to the terminal 92. When combing the bundle, the first brush may be tilted forward or backward in the direction of combing. Also, during this process, with the first brush inserted into the bundle, a small reciprocating movement may be added in the width direction to loosen the cable.

[0062] A specific example of the movement of the first brush 50 is as follows with reference to Figures 10A - C. The first brush returns from the lateral retracted position above the table 20 (a), and at a position in front of the second pressing member 35, it descends and inserts into the bundle 95 (b). The first brush is moved forward to comb the bundle (c), and then it rises and is once removed from the bundle (d). The first brush is moved just in front of the second pressing member (e), descends and inserts into the bundle, and in this state, a small reciprocating movement is made in the width direction to loosen the cable 90 (f). The first brush is raised (g), moved to the front end portion of the bundle (h), descends and inserts into the bundle (i), moves backward to comb the bundle (j), and the first brush is raised (k). The first brush is returned slightly forward (l), descends and inserts into the bundle (m), and is moved further backward than the position j where it was combed immediately before to comb the bundle (n).

[0063] Next, as a second step, lower the first pressing member 30 to press down the bundle 95, raise the second pressing member 35 to release the pressing of the bundle 95, and move the first brush in the longitudinal direction in the region extending across both sides of the second pressing member in the longitudinal direction, that is, in the region where the bundle between the first pressing member and the rear end of the table is open, to comb the bundle 95. Also, in the process, while the first brush is inserted into the bundle, it may be reciprocated slightly in the width direction to add an operation of loosening the cable 90.

[0064] An example of the specific movement of the first brush 50 is as follows with reference to FIG. 11D. From the position n when the first step is completed, move the first brush backward to comb the bundle (o), and raise the first brush (p). Move the first brush slightly forward (q), lower it and insert it into the bundle (r), move it further backward than the position o where it was combed immediately before to comb the bundle (s), and raise the first brush (t).

[0065] When there are three or more pressing members, for the portion behind the second pressing member 35, the pressing members can be sequentially raised and lowered and combed with the first brush. Specifically, for the pressing member behind the second pressing member, the following process is performed. Set the pressing member one position behind the pressing member that was raised when the bundle was combed immediately before as the selected pressing member. If the selected pressing member is not the one located at the rearmost position, raise the selected pressing member, lower the pressing members adjacent to the front and rear of the selected pressing member, and comb the region of the bundle where the bundle between the pressing members adjacent to the front and rear is open with the first brush. If the selected pressing member is the one located at the rearmost position, raise the selected pressing member, lower the pressing member adjacent to the front of the selected pressing member, and comb the region of the bundle where the bundle between the pressing member adjacent to the front and the rear end of the table is open with the first brush. Repeat this while sequentially shifting the selected pressing member one position backward. Thereby, the entire portion of the bundle on the table can be combed with the first brush.

[0066] The brushing from the first stage to the second stage may be performed in order from the front as described above, but it is not limited to this. Generally, brushing may be performed as follows. First, select one of the plurality of pressing members as the first selected pressing member, release the pressing of the bundle 95 by the first selected pressing member, and while pressing the bundle with one or more pressing members other than the first selected pressing member, comb the bundle in the region extending across both sides in the longitudinal direction with the first selected pressing member sandwiched therebetween. If there is a region where the bundle is open outside this region, it may be combed with the first brush. Next, select one of the pressing members other than the first selected pressing member as the second selected pressing member, release the pressing of the bundle by the second selected pressing member, and while pressing the bundle with one or more pressing members other than the second selected pressing member, comb the bundle in the region extending across both sides in the longitudinal direction with the second selected pressing member sandwiched therebetween. If there is a region where the bundle is open outside this region, it may be combed with the first brush. Similarly, select the pressing member and comb the bundle thereafter. At this time, the order of selecting the pressing member as the selected pressing member may be any order.

[0067] In this embodiment, from the first stage to the second stage, the foremost first pressing member is selected as the first selected pressing member, the second pressing member in front of the first pressing member is selected as the second selected pressing member, and thereafter the selected pressing members are sequentially shifted backward one by one. Preferably, brushing is performed in order from the front in this way.

[0068] Next, as the third stage, lower the second pressing member 35 and comb the hanging portion 96. However, make sure that the second brush does not touch the portion of the terminal 93 attached to the rear end of the cable 90, and only comb the cable main body portion 91. This is to prevent damage to the terminal 93. Also, in the process, with the first brush inserted into the bundle, it may be reciprocated slightly in the width direction to loosen the cable.

[0069] An example of the specific movement of the first brush 50 is as follows with reference to FIG. 11E. From the position t where the second stage is completed, move the first brush backward beyond the rear end 21 of the table, change the inclination substantially horizontally (u), insert it into the hanging part of the bundle (v), and lower it to comb the hanging part (w).

[0070] The first brushing process may be repeated two or more times. Also, in the first brushing process, depending on the properties of the cable, for example, when the deformation of the cable is not so large or the cable is not easily distorted, only the first stage may be performed, or only the first and second stages may be performed. Also, when there is no hanging part 96 and the entire bundle 95 is placed on the table 20, the third stage is of course unnecessary.

[0071] (Second Brushing Process) The second brushing process is a process of combing the hanging part 96 with the second brush 55. However, make sure that the second brush does not touch the part of the terminal 93 attached to the rear end of the cable 90, and only comb the cable main body 91. This is to prevent damage to the terminal 93. Also, in the process, with the second brush inserted into the hanging part 96, it may be reciprocated slightly in the width direction to loosen the cable 90. This second brushing process is implemented by the control unit 11 controlling the second brush 55.

[0072] A specific example of the movement of the second brush 55 is as follows with reference to FIG. 12. From the position where the second brush has retracted forward from the hanging part (a), insert it into the hanging part (b), lower it, and comb the hanging part from bottom to top (c). After the second brushing process is completed, it is preferable to keep the second brush inserted into the hanging part until just before it is removed by the robot hand 70. This is because a state where the cables are less entangled can be maintained.

[0073] The second brushing process is particularly effective in preventing damage to the terminals when the cable 90 is removed, when the terminal 93 is attached to the rear end of the cable 90, the cable is greatly deformed, or the cable is likely to be kinked. When the terminal is not attached to the rear end of the cable 90, the cable is not deformed so much, or the cable is not likely to be kinked, the second brushing process may be omitted. Also, when there is no hanging portion 96 and the entire bundle 95 is placed on the table 20, the second brushing process is of course unnecessary.

[0074] (Laser measurement process) Referring to FIG. 13, with the first pressing member 30 and the second pressing member 35 lowered, at the front end of the bundle 95, the laser displacement sensor 60 is scanned in the width direction of the bundle at two or more positions in the longitudinal direction. Then, based on the measurement results, one linear object at the highest position in the scanned area is selected as the selected cable 90S, and the position and orientation of the selected cable are calculated. In other words, the peak position that is the highest position in each scan is obtained, and from the plurality of peak values obtained by multiple scans, the selected cable 90S at the highest position is selected, and the position and orientation of the selected cable are calculated. The selected cable 90S is gripped by the robot hand 70 in the next process. This laser measurement process is carried out by the control unit 11 controlling the laser displacement sensor 60, and based on the measurement results of the laser displacement sensor, the calculation unit 12 selects the selected cable and calculates its position and orientation.

[0075] The specific processing procedure is as follows, for example. First, at one point in the longitudinal direction, the laser is scanned in the width direction (arrow P), and the linear object located highest on the scanning line is selected as the selected cable 90S, and its position p is obtained as the peak position with respect to the scan P. Next, the laser is scanned in the width direction before and after the first scan line (P) (arrows Q, R), and the highest peak positions q and r on each scan line are obtained. From the three peak positions p, q, and r, the orientation at the position p of the selected cable 90S is calculated. The scanning is preferably performed at intervals of 1 mm to 10 mm, more preferably 2 mm to 5 mm, in the longitudinal direction. The scanning is performed not at the terminal 92 at the front end of the cable 90 but at a position close to the terminal 92 of the cable main body 91, preferably at a position 10 mm to 150 mm, more preferably 40 mm to 80 mm, from the front end terminal of the cable. When pulling out the selected cable 90S from the bundle 95, it is easier to grip the portion near the front end because the terminal is less likely to get caught on other cables and is easier to pull out.

[0076] The scanning by the laser displacement sensor 60 does not need to be performed across the entire width of the bundle 95. When the number of linear objects included in the bundle is large, etc., only a part of the width direction of the bundle may be scanned. If there are too many candidate cables for selection, the calculation becomes difficult, so it is better to end the width direction scanning when the desired displacement can be measured rather than scanning the entire width direction of the table. For example, in this embodiment, the laser displacement sensor is scanned from the right end side of the table (the upper side in FIG. 13), and when a peak of height can be detected as a single peak, the scanning area for one time is ended, that is, the scanning can be performed three times until the scanning is ended when one peak can be measured. Also, if the cable bundle 95 can be sufficiently loosened in the brushing process, the ends of the bundle are often aligned one by one without the cables overlapping each other. Utilizing this, when the height of the detected peak from the table is approximately equal to the diameter of the cable, it may be determined that there are no other cables around the cable, and the cable that gave the peak may be selected as the selected cable 90S and the scanning may be ended.

[0077] The measurement by the laser displacement sensor 60 is performed at the front end of the bundle 95, while the process of combing the hanging portion 96 with the second brush is performed at the rear end of the bundle. Therefore, this laser measurement process may be carried out in parallel with the second brushing process.

[0078] The method of scanning the laser displacement sensor 60 to obtain the position and orientation of the cable at the highest position is excellent in terms of light calculation load compared to, for example, the method described in International Publication No. 2019 / 098074 when the number of cables 90 included in the bundle 95 is large.

[0079] (Cable gripping process) The robot hand 70 grips the selected cable by aligning the position and orientation of the robot hand with the position and orientation of the front end of the selected cable. The gripping position is a portion close to the terminal 92 of the cable main body 91 scanned by the laser displacement sensor 60.

[0080] In this cable gripping process, the calculation unit 12 calculates the coordinates and orientation of the gripping position on the selected cable 90S, the communication unit 13 transmits it to the robot communication unit 77, and based on the target position and orientation received by the robot communication unit 77, the robot calculation unit 76 calculates the joint variables necessary for the movement and gripping of the robot hand 70, and the robot control unit 75 moves the arm 78 and the robot hand 70.

[0081] When the robot hand 70 sandwiches the cable with two fingers, referring to FIG. 14, for the position (x c , y c , z c ) of the gripping point C on the selected cable to be gripped, and the orientation of the selected cable at the gripping point C (vector c = (a c , b c , c c ), for the inclination in the width direction of the pair of fingers 71, 72 of the robot hand (vector g = (a g , b g , c g) Move the robot hand to the forward position in accordance with the direction of the selected cable at the gripping point C. The forward position is the position where the robot hand 70 starts to move straight forward with the gripping center G directed towards the gripping point C. Then, move the robot hand forward from the forward position towards the gripping point C, and close the fingers 71 and 72 so that the position (x g , y g , z g ) of the gripping center G matches the position of the gripping point C.

[0082] In order to grip one cable 90 from the bundle 95 in which thin, flexible and easily deformable cables 90 are densely packed, it is necessary to form the tips of the fingers 71 and 72 of the robot hand 70 to be thin and approach and grip the cable with the fingers 71 and 72 slightly opened. Therefore, it is difficult to grip the selected cable with the robot hand only by aligning the positions of the selected cable and the robot hand, and gripping becomes possible by aligning both the position and the orientation.

[0083] (Cable extraction process) Extract the selected cable 90S gripped by the robot hand 70 from the bundle 95. This cable extraction process is carried out by the control unit 11 controlling the pressing members 30 and 35. Each time the pressing members are raised and lowered, the communication unit 13 transmits the next movement target of the robot hand 70 to the robot communication unit 77 and is carried out while receiving the completion of the movement of the robot hand from the robot communication unit 77.

[0084] Referring to FIG. 15, with the first pressing member 30 lowered, starting from the state where the robot hand 70 grips the selected cable (FIG. 15A), the robot hand is moved to lift the front end of the gripped selected cable 90S (FIG. 15B). The target position and posture of the robot hand 70 when the front end of the selected cable is lifted are transmitted from the communication unit 13 of the linear material supply device 10 to the robot communication unit 77. Based on the target position and posture received by the robot communication unit 77, the robot calculation unit 76 calculates the joint variables necessary for the movement and gripping of the robot hand 70, and the robot control unit 75 moves the arm 78 and the robot hand 70. When the robot hand reaches the target in FIG. 15B, a movement completion report is transmitted from the robot communication unit 77 to the communication unit 13 of the linear material supply device. When the control unit 11 confirms the movement completion report, it raises the first pressing member 30 and proceeds to the next process.

[0085] Similarly, with the first pressing member 30 lowered and the second pressing member 35 raised, the movement target position and posture of the robot hand 70 are transmitted from the linear material supply device to the robot. When the linear material supply device receives a movement completion report from the robot, it proceeds to the next process. In this way, while raising the pressing members 30 and 35 in order from the front, the robot hand is moved to separate the selected cable 90S from the portion placed on the table 20 of the bundle 95 (FIGS. 15C and D).

[0086] What is important in the movement path of the robot hand 70 is to lift it upward away from the bundle so as not to pull the selected cable 90S in the longitudinal direction of the bundle 95. For example, at the initial stage of lifting the selected cable (Figs. 15B and C), it is more effective to lift it while gradually tilting the robot hand and pulling it upward obliquely backward. This prevents the shape of the bundle 95 from collapsing, and even if there are fine protrusions at the terminals at the front end of the cable, it can prevent the terminals 92 at the front ends of the other cables adjacent to the selected cable from getting caught and the terminals from being damaged. Also, since it becomes difficult to apply tension between the selected cable and the pressing member when lifting the selected cable, the cable is less likely to be damaged. In the above process, the second brush 55 maintains the state of being inserted into the hanging portion 96.

[0087] Move the robot hand 70 backward beyond the rear end 21 of the table 20, pull out the second brush 55 from the hanging portion 96 (Fig. 16E), and extract the selected cable from the bundle so that the rear end of the selected cable 90S moves downward away from the rear end (lower end) of the hanging portion (Fig. 16F). This enables the robot hand to extract the selected cable without the terminals 93 at the rear ends of the other cables adjacent to the selected cable getting caught and the terminals being damaged even if there are fine protrusions at the terminals 93 attached to the rear end of the cable.

[0088] As described above, one cable 90 can be picked up from the cable bundle 95 by the robot hand 70. Thereafter, the process from the second brushing step to the cable extraction step is repeated to sequentially pick up the cables 90.

[0089] Note that the operations of the first brush 50, the second brush 55, the robot hand 70, etc. described in each step are not limited to this, and may be appropriately changed according to the properties of the cable 90, etc.

[0090] The cable 90 picked up by the robot hand 70 is transferred to the subsequent process. Referring to FIG. 17, an example of the subsequent process is as follows. The cable 90 gripped by the robot hand 70 is transferred to the measurement stage 80. At the measurement stage, illumination is applied to the tip of the cable, and the three-dimensional measuring instrument 81 measures the bend of the tip of the cable 90, the direction of rotation of the terminal 92 around the core of the cable, etc. The robot hand transfers the cable for which the measurement has been completed to the inspection device 82, adjusts the direction of the cable tip based on the measurement result, and inserts the tip of the cable into the insertion port 83 of the inspection device. To insert the tip of the cable into the insertion port, for example, the methods described in Japanese Patent Application Laid-Open No. 2020-112470 and Japanese Patent Application Laid-Open No. 2021-024068 by the present applicant can be used. The robot hand delivers the cable for which the inspection has been completed to the linear object storage device 84, and the linear object storage device stores the cable in a predetermined container 85 according to the inspection result.

[0091] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the technical idea.

[0092] According to the above-described embodiment, by combing the bundle of cables placed on the table, it is possible to suppress the other cables from being dragged when picking up one cable from the bundle, so the other processes can be appropriately changed or omitted. For example, a method other than using the displacement sensor to select the selected cable may be used. Also, for example, depending on the properties of the linear object, if the shape of the bundle does not collapse even when simply gripping and extracting the selected linear object without pressing the bundle with the pressing member by sufficiently combing the bundle, it is not necessary to sequentially release the pressing member to extract the selected linear object.

Explanation of Reference Numerals

[0093] 10 Linear object supply device 11 Control unit 12 Arithmetic unit 13 Communication unit 20 Table 21 Rear end of the table 30 First pressing member 31 shaft 32 rigid part 33 elastic part 35 second pressing member 40 pressing member 41 clamp cylinder 42 rod 43 clamp arm 44 support member 50 first brush 51 cylinder 52 teeth 53 shaft 55 second brush 56 cylinder 57 teeth 58 shaft 60 laser displacement sensor 61 laser beam 70 robot hand 71, 72 fingers 74 robot 75 robot control unit 76 robot arithmetic unit 77 robot communication unit 78 arm 80 measurement stage 81 three-dimensional measuring instrument 82 inspection device 83 insertion port 84 linear object storage device 85 container 90 cable (linear object) 90S selected cable 91 cable body part 92 cable front-end terminal 93 cable rear-end terminal 95 cable bundle 96 hanging part

Claims

1. A linear material supply device used for picking up one linear material from a bundle of linear materials, comprising: a table for placing the bundle; a plurality of pressing members that are arranged dispersedly in the longitudinal direction of the bundle placed on the table and can press the bundle from above; a first brush that is arranged above the table, has a plurality of teeth arranged in the width direction of the bundle placed on the table, and is movable in the longitudinal direction of the bundle; A linear material supply device having the above.

2. The first brush can further move backward beyond the rear end of the table and is movable in the vertical direction with the teeth of the first brush facing the table side. The linear material supply device according to Claim 1.

3. The linear material supply device according to Claim 1, further comprising a second brush that is arranged below the rear end of the table, has a plurality of teeth arranged in the width direction of the bundle, and is movable in the vertical direction. The linear material supply device according to Claim 1.

4. The linear material supply device according to any one of Claims 1 to 3, further comprising a displacement sensor that is arranged above the table and can scan in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle. The linear material supply device according to any one of Claims 1 to 3.

5. A placing step of placing a bundle of linear materials on a table; a pressing step of pressing the bundle from above with one or more of the plurality of pressing members that are arranged dispersedly in the longitudinal direction of the bundle placed on the table; a brushing step of using a first brush having a plurality of teeth arranged in the width direction of the bundle to comb the bundle in a region extending on both sides sandwiching a first selected pressing member, where one of the pressing members is selected as the first selected pressing member and the first selected pressing member does not press the bundle, and the bundle is pressed from above with one or more of the pressing members other than the first selected pressing member; A linear material supply method having the above.

6. In the brushing step, one of the pressing members other than the first selected pressing member is further selected as a second selected pressing member, the second selected pressing member does not press the bundle, and the bundle is pressed from above with one or more of the pressing members other than the second selected pressing member, and then the first brush is used to comb the bundle in a region extending on both sides sandwiching the second selected pressing member. The linear material supply method according to Claim 5.

7. The first selected pressing member is the pressing member that is the most forward in the longitudinal direction of the bundle. The linear material supply method according to Claim 5 or 6.

8. In the placing step, place the bundle on the table such that the rear part of the bundle protrudes from the rear end of the table to form a hanging part. The method for supplying a linear object according to claim 5 or 6.

9. With at least one of the pressing members pressing the bundle, a second brushing step is further provided, which is performed using a second brush having a plurality of teeth arranged in the width direction of the bundle and disposed below the rear end of the table to brush the hanging part. The method for supplying a linear object according to claim 8.

10. All steps of the method for supplying a linear object according to claim 5, scanning a displacement sensor in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle, selecting the linear object at the highest position in the scanned area as the selected linear object, and calculating the position and orientation of the selected linear object in the scanned area; aligning the position and orientation of the robot hand with the position and orientation of the selected linear object, and gripping the selected linear object with the robot hand; a extracting step of separating and extracting the selected linear object from the bundle by moving the robot hand while keeping the pressing member in a state of not pressing the bundle; A method for picking up a linear object having the above steps.

11. The extracting step is a step of separating and extracting the selected linear object from the bundle by moving the robot hand while keeping the pressing members in a state of not pressing the bundle in order from the pressing member closest to the gripping position of the selected linear object by the robot hand. The method for picking up a linear object according to claim 10.

12. All steps of the method for supplying a linear object according to claim 8, scanning a displacement sensor in the width direction of the bundle at two or more positions in the longitudinal direction of the bundle, selecting the linear object at the highest position in the scanned area as the selected linear object, and calculating the position and orientation of the selected linear object in the scanned area; aligning the position and orientation of the robot hand with the position and orientation of the selected linear object, and gripping the selected linear object with the robot hand; While successively not pressing the pressing member from the front to hold the bundle, move the robot hand to separate the selected linear object from the portion of the bundle placed on the table, and then move the robot hand to the rear of the table so that the rear end of the selected linear object moves downward away from the lower end of the bundle, and extract the selected linear object from the bundle; A method for picking up a linear object having the above.

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