Method and apparatus for correcting the curvature of linear objects

Abstract

This invention provides a method for correcting the curvature of the tip of a linear object. [Solution] A method for correcting the curvature of the tip T of a linear object S, comprising: a holding step of holding the linear object with a holder 11; and a correcting step of moving the holder and a correcting jig 12 relative to each other so that the tip side of the linear object from the position held by the holder comes into contact with a contact portion 14 provided on the correcting jig from multiple contact directions.

Description

Technical Field

[0001] The present invention relates to a method and an apparatus for correcting the bending of the tip of a linear object when automatically performing various processes using the linear object such as an electric wire.

Background Art

[0002] In the manufacturing process of a wire harness, processes such as stripping the insulating coating of an electric wire and crimping a terminal to the exposed conductor portion are automated. Also, in the manufacturing processes of various electrical and electronic devices, wiring processes such as connecting a terminal attached to the tip of an electric wire to a mating member are automated. When automating these processes using a machine, if the electric wire has a kink and the tip is bent, it may interfere with smooth processing.

[0003] Regarding this problem, Patent Document 1 describes a method for correcting the kink and twist of an electric wire by gripping the terminal portion of the electric wire whose terminal portion near the terminal is constrained before or after insulation stripping and rotating it by a certain angle in the clockwise and counterclockwise directions when crimping and attaching a terminal to the electric wire after stripping the insulating portion of the electric wire terminal. Patent Document 2 describes an apparatus for correcting the bending of an electric wire used in a manufacturing apparatus for a wire harness that continuously performs processes such as cutting, stripping, or terminal crimping of an electric wire, and having an upward bending correction means for regulating the upward bending of the bent portion of the electric wire conveyed in a clamped state and a left - right bending correction means for sandwiching with an openable and closable correction claw. Patent Document 3 describes a method for removing the kink of a terminal - attached electric wire by gripping the terminal attached to the tip of the electric wire and the connecting electric wire near the terminal, and reciprocating one of them. [[ID=I8]]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

[0005] According to the methods described in Patent Documents 1 to 3, it is possible to correct the curvature of electric wires and to process the ends of the electric wires smoothly. However, all of the methods in Patent Documents 1 to 3 require gripping the electric wire at two points, which leads to a complex apparatus and high costs.

[0006] This invention has been made in consideration of the above, and aims to provide a simpler and less costly method and apparatus for correcting the bending of the tip of a linear object such as an electric wire. [Means for solving the problem]

[0007] The present invention provides a method for straightening a curved linear object, comprising: a holding step of holding the linear object with a holder; and a straightening step of moving the holder and a straightening jig relative to each other so that the tip end of the linear object, from the position held by the holder, comes into contact with a contact portion of the straightening jig from multiple contact directions.

[0008] Preferably, in the method for straightening the curvature of the linear object, two of the multiple contact directions differ by 180 degrees. More preferably, the number of multiple contact directions is four or more, and includes two or more sets of contact directions that differ by 180 degrees. Particularly preferably, two of the sets of contact directions differ by 90 degrees.

[0009] Preferably, in any of the above methods for straightening a curved linear object, the plurality of contact directions are directions in which the contact portion and the tip of a hypothetical linear object, which is assumed to be straight and held by the holder, are brought into contact perpendicularly.

[0010] Preferably, in any of the above methods for straightening a curved linear object, the contact portion is the edge of a hole formed in the straightening jig.

[0011] Preferably, the method for straightening the curvature of any of the above-described linear objects involves repeating the straightening step until the curvature of the tip of the linear object is corrected.

[0012] Preferably, any of the above methods for straightening a bend in a linear object further includes a rotation adjustment step of adjusting the rotation angle around the axis of the terminal, with respect to the linear object consisting of an electric wire and a terminal attached to the end of the electric wire.

[0013] The present invention provides a device for straightening a curved linear object, comprising: a holder for holding the linear object; a straightening jig having a contact portion; and a moving mechanism for relatively moving the holder and the straightening jig so that the tip end of the linear object, from the position held by the holder, comes into contact with the contact portion from multiple contact directions.

[0014] Preferably, the device for straightening the curvature of a linear object comprises a sensor for measuring the rotation angle of the terminal around its axis, and a rotation adjustment mechanism for adjusting the rotation angle of the terminal, with respect to the linear object consisting of an electric wire and a terminal attached to the end of the electric wire. [Effects of the Invention]

[0015] According to the method or apparatus for straightening a linear object of the present invention, the bending of the tip of a linear object can be straightened at low cost by bringing the tip of the linear object into contact with the contact portion of a straightening jig. [Brief explanation of the drawing]

[0016] [Figure 1] This figure shows the configuration of the linear object bending correction device according to the first embodiment. [Figure 2] This figure shows an example of an orthodontic fixture. [Figure 3] A and B are process flow diagrams of the method for straightening the curvature of a linear object according to the first embodiment. [Figure 4] This is a diagram for explaining the abutting operation. [Figure 5] A, B: These are diagrams for explaining the turning points of the abutting operation. [Figure 6] This is a diagram showing the configuration of the linear object bending correction device and the linear object connection system according to the second embodiment. [Figure 7] This is a diagram for explaining the operation of the rolling hand. [Figure 8] This is a process flowchart of the linear object bending correction method according to the second embodiment. [Figure 9] This is a diagram for explaining the method of measuring and adjusting the rotation angle of the terminal around its axis.

Embodiments for Carrying Out the Invention

[0017] The linear object bending correction device and method according to the first embodiment will be described based on FIGS. 1 to 5.

[0018] Referring to FIG. 1, the linear object bending correction device 10 has a hand 11 for gripping the linear object S and a correction jig 12.

[0019] The linear object S in this embodiment is a thin electric wire W used for wire harnesses and wiring of various devices, and is also called a lead wire or the like. The diameter of the electric wire W is preferably 0.05 to 5.0 mm, more preferably 0.5 to 3.0 mm. In such thin wires, it is easy to have bending tendencies, so the merit of using the bending correction method of this embodiment is great. The electric wire W is formed by coating a conductor such as copper with a soft resin insulating material. The electric wire W is used after stripping a predetermined length of insulating coating from the tip. Also, for the stripped electric wire W, a terminal is crimped to the exposed part of the conductor, or the exposed part of the conductor is soldered to a circuit board. The linear object bending correction method of this embodiment is a method for correcting the bending of the tip T of the electric wire W prior to these processes. The tip T refers to a part including the processed workpiece part and the electric wire W in its vicinity.

[0020] A terminal may be attached to the end of the electric wire W. An apparatus and method for correcting the bending of a linear object S consisting of the electric wire W and the terminal will be described in the second embodiment.

[0021] In the following explanation, unless otherwise specified, the side from the hand 11 gripping the linear object S toward the tip is referred to as the front (Z direction in Figure 1), and the opposite side as the rear. Also, up, down, right, and left refer to the top (Y direction), down, right (X direction), and left, respectively, when viewed from the rear toward the front. Furthermore, when simply referred to as the tip, it means the tip of the linear object S.

[0022] The hand 11 grasps the linear object S. The form of the hand 11 is not particularly limited; for example, a hand that grips the linear object with two fingers can be used. The hand 11 in this embodiment is a gripper attached to the tip of the arm of a multi-joint robot (not shown).

[0023] The straightening jig 12 is equipped with a contact portion 14 that contacts the tip T of the linear object S from the side. In the straightening jig 12 shown in Figure 1, a circular hole 13 is formed in a plate-shaped member. With the tip T inserted through the hole 13, the side surface of the tip T can be brought into contact with the edge of the hole 13 by moving it in a direction perpendicular to the length direction (Z direction) of the linear object S. In the straightening jig 12 shown in Figure 1, the edge of the hole 13 is the contact portion 14.

[0024] The shapes of the straightening jig 12 and the contact portion 14 are not limited to those shown in Figure 1. Several examples are shown in Figure 2. The shape of the hole is preferably a convex shape such as a circle, ellipse, or convex polygon (13, 13B, 13C). If the hole is a convex polygon, it is preferably a convex polygon with multiple sets of parallel sides (13B, 13C), such as a square, rectangle, or regular hexagon. The hole is most preferably circular (13). This is because it is easy to process, the distance from the center to the contact portion is constant, and the device is easy to control during straightening. Also, the straightening jig 12 does not have to be plate-shaped; it may be cylindrical, or a through hole or a closed hole may be formed on one side of a thick block, such that the shape of the opening is one of the shapes described above. If a closed hole is formed, the bottom is provided at a depth such that the tip T of the linear object S does not hit the bottom during the straightening process described later. Furthermore, as will be described later, if the contact portion is to be brought into contact with the tip portion T from only two directions, two rod-shaped contact members 13D, 13D may be provided in parallel, as shown by 12D in Figure 2.

[0025] The hand 11 and the straightening jig 12 are relatively movable so that the linear object S grasped by the hand 11 comes into contact with the contact portion 14 of the straightening jig. Relative movement of the hand 11 and the straightening jig 12 includes cases where the straightening jig remains stationary and only the hand moves, cases where the hand remains stationary and only the straightening jig moves, and cases where both the hand and the straightening jig move. In this embodiment, a multi-joint robot to which the hand 11 is attached constitutes a movement mechanism that moves the hand 11 and the straightening jig 12 relatively, and by operating the multi-joint robot, the hand 11 can be moved relative to the straightening jig 12. Hereinafter, when we say that the hand 11 is moved relative to the straightening jig 12, we mean that the hand and the straightening jig move relative to each other.

[0026] Next, the method for correcting the curvature of a linear object according to this embodiment will be explained following the flow shown in Figures 3A and 3B.

[0027] (S1) The hand 11 grasps the linear object S. The hand 11 grasps the linear object S behind the tip T that is to be straightened. The grasping position of the linear object is determined by the post-processing to be performed after the straightening process, but as an example, the hand 11 grasps the linear object about 10 to 60 mm, more preferably 10 to 40 mm from the tip. In this case, the part that comes into contact with the straightening jig is, for example, about 3 to 40 mm, more preferably 3 to 30 mm from the tip of the linear object.

[0028] (S2) Move the hand 11 relative to the straightening jig 12 so that the tip T is inserted perpendicular to the opening surface of the hole 13 in the center of the hole 13 in the straightening jig 12. More precisely, the tip TV of the virtual linear object SV, which will be described later, is inserted perpendicular to the opening surface of the hole 13.

[0029] (S3: Straightening process) The bending of the tip T is corrected. The hand 11 is moved to move the linear object S up, down, left, and right, and the contact portion 14 is brought into contact with the side of the tip T from four directions perpendicular to the length direction of the linear object (Z direction in Figure 1). More precisely, the hand 11 is moved so that the contact portion 14 is brought into contact with the tip TV of a hypothetical linear object SV, which is assumed to be straight, from four directions perpendicular to the length direction of the hypothetical linear object. Since the bending of the actual linear object S to be processed cannot be predicted, the movement path of the hand 11 is set based on the hypothetical linear object SV. Similarly, in the process described above in S2, the tip T is inserted perpendicular to the opening surface of the hole 13 into the center of the hole 13 of the straightening jig, and the tip TV of the hypothetical linear object SV is inserted perpendicular to the opening surface of the hole 13. In the following, we may simplify the explanation by describing the movement of a linear object S, even though it should more accurately be described using the movement of a virtual linear object SV.

[0030] (S3a) As the first step of process S3, referring to Figure 4, the linear object S is moved upward, starting from the center P of the hole 13 through which the tip T is inserted, and moves back and forth between it and the contact portion 14 (R1). The turning point Q1 is the point where the tip T contacts the contact portion 14. The contact portion 14 contacts the tip T from a direction D1 perpendicular to the length direction of the linear object. This direction D1 will be called the contact direction D1. If the tip T was bent upward, this movement R1 corrects the bend.

[0031] The turning point Q1 of movement R1 can be set to a position where the virtual linear object SV is just in contact with the contact portion 14 (Figure 5A). This allows movement R1 to correct the upward curve of the tip T of the linear object S.

[0032] Alternatively, the turning point Q1 of movement R1 can be set so that the virtual linear object SV is slightly beyond the contact point 14 when viewed from the starting point P (Figure 5B). Depending on the properties of the linear object S, even if the bend is corrected when the linear object S hits the contact point 14, the elasticity of the linear object S may cause the bend to return slightly to its original direction when it moves away from the contact point. In such cases, the turning point Q1 is set so that the virtual linear object SV is slightly beyond the contact point 14. Note that if the setting position of the turning point Q1 is too high, the downward bend will remain even after the electric wire W moves away from the contact point.

[0033] The optimal position of the turning point Q1 depends on many factors, such as the thickness of the conductor, the thickness of the insulation, and whether the conductor is solid or stranded, so it can be determined through preliminary experiments.

[0034] (S3b~3d) Similarly, the wire is moved back and forth between the contact portion 14 and the starting point P in downward, rightward, and leftward directions (R2~R4 in Figure 4). The wire is moved downward and back and forth between it and the turning point Q2 (R2), bringing the contact portion 14 into contact with the tip T from the contact direction D2. The wire is moved to the right and back and forth between it and the turning point Q3 (R3), bringing the contact portion 14 into contact with the tip T from the contact direction D3. The wire is moved to the left and back and forth between it and the turning point Q4 (R4), bringing the contact portion 14 into contact with the tip T from the contact direction D4.

[0035] There are no particular restrictions on the selection or combination of contact directions or the order of movement paths; they can be changed in various ways.

[0036] For example, the straightening jig 12C shown in Figure 2 may be used to bring the contact portion 14C into contact with the tip portion T from three contact directions that are 120 degrees apart.

[0037] If the bending direction of the tip T is known in advance, for example, if the linear object S is gripped by the hand 11 so that the bending direction is constant, the number of contact directions can be reduced. For example, if it is known in advance that the tip T is bent in the vertical direction, then only vertical movement (R1 and R2 in Figure 4) needs to be performed. The contact directions D1 and D2 are opposite and differ by 180 degrees.

[0038] Preferably, the contact directions are selected so as to include two sets of contact directions that are 180 degrees apart. For example, one set may consist of D1 and D2, and another set of D3 and D4. More preferably, the contact directions of the two sets of contact directions are 90 degrees apart. For example, in Figure 4, the contact directions (D1 to D4) of the sets of contact directions that are 180 degrees apart (D1 and D2, D3 and D4) are 90 degrees apart. Furthermore, it is preferable that the vectors of each contact direction constituting a set of contact directions lie on the same plane. This allows the tip T to be straightened regardless of the direction in which it is bent.

[0039] In the straightening process (S3), the movement path that brings the contact portion 14 into contact may be repeated. For example, after performing movement R1 to R4, movement R1 to R4 may be repeated again.

[0040] Once the bend in the tip T is corrected, the workpiece portion of the linear object S is set in a processing device such as a processing machine, with the orientation of the tip aligned with the orientation of the processing device, and the processing is carried out.

[0041] Furthermore, the curvature of the tip portion T may be checked using a visual sensor or the like before, during, or after the straightening process (S3). If the tip portion T is bent in a hook shape or the curvature cannot be corrected by the method of this embodiment, the linear object S can be removed without being used.

[0042] A second embodiment of a linear object bending correction device and method will be described with reference to Figures 6 to 9. In this embodiment, an electric wire is used, which has a terminal as a tip member at the end of the linear object body.

[0043] Figure 6 shows the overall configuration of the linear object connection system 30 for performing the connection work of linear objects S, including the linear object straightening device 20. The linear object straightening device 20 includes a rolling hand (hand) 21 for gripping the linear object S, a lifting stage 24, a first linear guide 25, a camera (sensor) 26, a straightening jig 12, and a second linear guide 29. In addition to the linear object straightening device 20, the linear object connection system 30 includes a supply tray 31, a pickup hand 32, a transfer hand 33, a stereo camera 34, and a housing 35 for connecting terminal C.

[0044] The linear object S in this embodiment consists of an electric wire W and a terminal C attached to its end. The type of terminal C is not particularly limited and may be various connecting members such as connectors, plugs, or jacks. The tip T of the linear object S is the portion including the terminal C and the electric wire W in its vicinity. The linear object S is connected by inserting the terminal C into the connection hole 36 of the housing 35. Therefore, in this embodiment, it is necessary to match the rotation angle of the terminal C around its axis with that of the connection hole 36.

[0045] The supply tray 31 holds and supplies a large number of linear objects S. The pickup hand 32 is movable in the vertical direction and can grasp and pick up one linear object S from the supply tray 31. The linear object gripping device described in Japanese Patent Application Publication No. 2023-090089 can be suitably used as the pickup hand.

[0046] The transfer hand 33 is a gripper attached to the end of the arm of a multi-joint robot (not shown) that grasps and receives the linear object S picked up by the pickup hand 32. The stereo camera 34 measures the shape of the linear object S grasped by the transfer hand 33 in three dimensions. Specifically, the stereo camera 34 measures the degree of curvature of the linear object S grasped by the transfer hand 33, from the gripping position toward the tip. If three-dimensional measurement of the linear object is possible, other sensors may be used instead of the stereo camera.

[0047] The rolling hand 21 receives the linear object S from the transfer hand 33 and grasps it. Specifically, a control device (not shown) instructs the transfer hand 33 to adjust the orientation of the linear object S according to the curvature of the linear object S measured by the stereo camera 34, and to transfer the object to the rolling hand 21 in a position where it can grasp the linear object S with the tip of the linear object S as straight as possible.

[0048] Referring to Figures 6 and 7, the rolling hand 21 grips the linear object S with a pair of fingers 22, 22 extending upward (in the Y direction) from its base. The pair of fingers 22, 22 are relatively movable in the longitudinal direction, and while gripping the linear object S, the linear object S can be rotated (rolled) around its axis by, for example, moving one finger upward and the other finger downward, or fixing one finger and moving the other finger in either an upward or downward direction.

[0049] A support member 23 is positioned behind the rolling hand 21, allowing the rear of the gripped linear object S to rest on the support member 23 and be held in a nearly horizontal position. The support member 23 has a recess that extends straight from the gripping position of the linear object by the rolling hand 21, and the linear object S is held in this recess. The rolling hand 21 and the support member 23 are fixed on a single lifting stage 24 and are movable up and down (Y direction). The lifting stage 24 is fixed to the slider of the first linear guide 25 and is movable left and right (X direction).

[0050] The straightening jig 12 is the same as that of the first embodiment. The straightening jig 12 is fixed to the support plate 28. The support plate 28 is fixed to the slider of the second linear guide 29 and is movable in the front-rear direction (Z direction).

[0051] Camera 26 measures the rotation angle around the axis of terminal C by imaging the linear object S from the front. A ring light 27 is provided in front of camera 26. Camera 26 can be a general 2D camera capable of capturing 2D images, but other sensors can be used instead of a camera as long as they can measure the rotation angle around the axis of terminal C.

[0052] A housing 35, which will be the counterpart to the terminal C of the linear object S, is fixed to the support plate 28 to which the straightening jig 12 is fixed. The housing 35 in Figure 6 has a plurality of connection holes 36 on its front surface, and the terminal C is sequentially inserted into each of these connection holes 36 to make the connection. The housing 35 is movable in the front-rear direction (Z direction) as the support plate 28 moves along the second linear guide 29.

[0053] In this embodiment, the first linear guide 25 and the second linear guide 29 constitute a moving mechanism that moves the rolling hand 21 and the straightening jig 12 relative to each other.

[0054] Next, the method for correcting the curvature of a linear object according to this embodiment will be explained following the flow shown in Figure 8.

[0055] (S11) The rolling hand 21 grasps the linear object S. The pickup hand 32 grasps and picks up one linear object S from among the many that have been supplied on the supply tray 31. The transfer hand 33 receives the linear object S from the pickup hand and moves the linear object S in front of the stereo camera 34, where the stereo camera measures the three-dimensional shape of the linear object S. Next, the transfer hand 33 transfers the linear object S to the rolling hand 21. At this time, based on the three-dimensional measurement results, the transfer hand 33 transfers the linear object S to the rolling hand 21 so that the orientation of the linear object S grasped by the rolling hand 21 is perpendicular to the opening surface of the hole 13 of the straightening jig 12 at the gripping position. The gripping position of the linear object grasped by the rolling hand 21 is determined by the shape of the terminal and the connection hole, but as an example, the rolling hand 21 grasps the linear object 0 to 20 mm, more preferably 0.3 to 15 mm from the rear end of the terminal. In this case, the part that comes into contact with the straightening jig is, for example, 3 to 50 mm, more preferably 3 to 40 mm, from the tip of the terminal.

[0056] (S12A) The rolling hand 21 is moved relative to the straightening jig 12, and its tip T is inserted perpendicular to the opening surface of the hole 13 in the straightening jig 12. The lifting stage 24 is moved in the X direction by the operation of the first linear guide 25, and the rolling hand 21 is moved to the front of the straightening jig 12. The lifting stage 24 is raised in the Y direction, and the linear object S is moved in front of the hole 13 in the straightening jig 12. The straightening jig 12 is moved in the -Z direction by the operation of the second linear guide 29, and the tip T of the linear object S is inserted into the hole 13.

[0057] (S13A: Straightening process) The bending of the tip T is straightened. The first linear guide 25 and the lifting stage 24 are operated to move the rolling hand 21 up, down, left, and right, so that the contact portion 14 is brought into contact with the side of the tip T from four directions D1 to D4 perpendicular to the Z direction, as shown in Figure 4 of the first embodiment. At this time, the terminal C of the linear object S may be brought into contact with the contact portion 14 of the straightening jig 12, or the wire W portion behind the terminal C may be brought into contact. Bringing the terminal portion further away from the gripping position will provide a stronger force to straighten the bending of the tip. On the other hand, if the terminal C is easily damaged, the wire W portion near the terminal C may be brought into contact. This straightens the bending of the tip T. If the cross-sectional shape of the terminal (the shape of the cross-section perpendicular to the longitudinal direction of the linear object) has corners, it is preferable to bring the flat portion of the terminal into contact rather than the corners. For example, if the cross-sectional shape of the terminal is approximately quadrilateral, it is preferable to bring the planar portions of the sides that make up the approximately quadrilateral into contact with each other.

[0058] (S14) The rotation angle of terminal C around its axis is measured. The second linear guide 29 moves the straightening jig 12 in the Z direction, bringing the tip T of the linear object S out of the hole 13. The first linear guide 25 and the lifting stage 24 move the rolling hand 21 in front of the camera 26. The camera 26 images terminal C from the front and measures the rotation angle of terminal C around its axis (Figure 9).

[0059] If the orientation of terminal C does not align with the optical axis of camera 26, the rotation angle around the axis cannot be measured in step S14, so the process returns to step S12A and starts again from correcting the bend of the tip T. The correction of the bend of the tip T (S12A~S13A) is repeated until the rotation angle around the axis of terminal C can be measured.

[0060] (S15) Adjust the rotation angle of terminal C around its axis. Based on the rotation angle of terminal C around its axis measured in step S14, the fingers 22, 22 of the rolling hand 21 are moved relatively in the longitudinal direction to roll the linear object S and terminal C (Figures 7 and 9) so that the rotation angle of terminal C around its axis matches the connection hole 36 of the housing 35.

[0061] (S12B) Similar to the previous step S12A, the first linear guide 25, the lifting stage 24, and the second linear guide 29 are operated to insert the tip T of the linear object S into the hole 13.

[0062] (S13B: Correction process) Similar to the previous process S13A, the first linear guide 25 and the lifting stage 24 move to bring the contact portion 14 into contact with the side surface of the tip portion T from four directions D1 to D4 perpendicular to the Z direction. After the series of contact movements are completed, the second linear guide 29 is moved to pull the tip portion T out of the hole 13.

[0063] Steps S12B and S13B can be omitted, but since the possibility that the bending state of the tip T may change during the adjustment of the rotation angle of terminal C (S15) cannot be ruled out, in this embodiment, the straightening process is performed again after the rotation adjustment process of terminal C.

[0064] Furthermore, if the camera 26 is positioned to capture an image of the linear object S inserted through the hole 13 of the straightening jig 12 from the front, there is no need to move the rolling hand 21 between the straightening process (S13A, S13B) and the process of measuring the rotation angle of the terminal C (S14), so processes S12A and S12B can be omitted.

[0065] As a result, the bend of the tip T is corrected and the rotation angle of the terminal C around its axis is adjusted, so the linear object S is connected to the housing 35. The operation of the first linear guide 25 and the lifting stage 24 moves the rolling hand 21 so that the terminal C is in front of the connection hole 36 to be connected. The operation of the second linear guide 29 moves the housing 35 in the -Z direction and inserts the tip T of the linear object S into the connection hole 36.

[0066] When measuring the curvature of the tip T and connecting the tip of a linear object to a connection hole using the robot hand of a multi-joint robot, the robot's joints must be operated in a way that prevents collision with the connection hole, resulting in complex movements and requiring a large workspace. According to this embodiment, the curvature of the tip T can be straightened before inserting the tip T of the linear object S into the connection hole 36, allowing the device to be installed even in a limited space. Furthermore, since both the straightening and insertion operations are linear and do not require complex motion control, the cost of the device can be reduced.

[0067] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of its technical concept.

[0068] For example, in the first embodiment, the linear object was gripped by the hand 11, and in the second embodiment, by the rolling hand 21, to perform the straightening process. However, instead of these, a holder that simply has the function of holding the linear object S may be used. In the first embodiment, the linear object S is transferred from the hand 11 to the holder, and the straightening process can be performed by moving the holder and the straightening jig 12 relative to each other using a moving mechanism composed of a linear guide or the like. In the second embodiment, if the rotation angle adjustment by the rolling hand 21 is unnecessary because the terminal C has isotropy around the axis, the straightening process can be performed using a holder that simply holds the linear object. [Explanation of Symbols]

[0069] 10. Straightening device for linear objects 11. Hand (holding device) 12, 12B~D Orthodontic fixtures 13, 13B~C holes 13D Contact Member 14 14B~D Contact part 20. Straightening device for linear objects 21. Rolling Hand (Holder) 22 fingers 23 Support material 24 Elevating Stage 25. First Linear Guide 26 Camera (Sensor) 27 Ring Lighting 28 Support plate 29. Second Linear Guide 30 Linear object connection system 31 Supply Tray 32 Pickup Hand 33 Handover Hand 34 Stereo Cameras 35 Housing 36 connection holes C terminal D1~D4 Contact direction P starting point Q1-Q4 Turning Point R1~R4 Travel Route S linear object SV virtual linear object T tip TV virtual linear object tip W electric wire

Claims

1. A method for correcting the curvature of the tip of a linear object, A holding step of holding the aforementioned linear object with a holder, A correction step is to move the holder and the straightening jig relative to each other so that the tip end of the linear object, from the position held by the holder, comes into contact with the contact portion of the straightening jig from multiple contact directions, A method for straightening the curvature of a linear object having [a specific characteristic].

2. Of the plurality of contact directions, two of the contact directions differ by 180 degrees. A method for correcting the curvature of a linear object as described in claim 1.

3. The number of the aforementioned multiple contact directions is four or more, and the number of the aforementioned contact directions includes two or more sets of contact directions that differ by 180 degrees. The method for straightening a curved linear object according to claim 2.

4. Two of the aforementioned sets of contact directions are those in which the contact directions differ by 90 degrees. The method for straightening a curved linear object according to claim 3.

5. The aforementioned plurality of contact directions are directions in which the contact portion and the tip of a hypothetical linear object, assuming that the linear object held by the holder is straight, are brought into contact perpendicularly. A method for straightening a curved linear object according to any one of claims 1 to 4.

6. The contact portion is the edge of a hole formed in the corrective jig. A method for straightening a curved linear object according to any one of claims 1 to 4.

7. The correction process is repeated until the curvature of the tip of the linear object is corrected. A method for straightening a curved linear object according to any one of claims 1 to 4.

8. The aforementioned linear object consists of an electric wire and a terminal attached to the end of the electric wire. The system further includes a rotation adjustment step for adjusting the rotation angle of the terminal around its axis. A method for straightening a curved linear object according to any one of claims 1 to 4.

9. A device for correcting the curvature of the tip of a linear object, A holder for holding the aforementioned linear object, A corrective jig having a contact portion, A moving mechanism that moves the holder and the straightening jig relative to each other so that the tip end of the linear object, from the position where it is held by the holder, comes into contact with the contact portion from multiple contact directions, A device for straightening curved linear objects.

10. The aforementioned linear object consists of an electric wire and a terminal attached to the end of the electric wire. A sensor for measuring the rotation angle around the axis of the aforementioned terminal, The device further includes a rotation adjustment mechanism for adjusting the rotation angle of the terminal, The device for correcting the curvature of a linear object according to claim 9.

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