JP2011086570A - Terminal aligning device and terminal aligning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a terminal aligning device and terminal aligning method for aligning terminals at narrow pitches. <P>SOLUTION: The terminal aligning device 3 includes a holder 6 formed with terminal containers 61 containing crimp terminals 1, a robot arm 5 holding and moving the crimp terminals 1 to the terminal containers 61, a vacuum pump 7 sucking the crimp terminals 1 through suction holes 63 formed in bottoms 62 of the terminal containers 61, and a controller 8 controlling the robot arm 5 and the vacuum pump 7. The controller 8 controls the robot arm 5 so that the robot art 5 releases the crimp terminals 1 when the crimp terminals 1 are partly contained in the terminal containers 61 and before the crimp terminals 1 are mounted in the terminal containers 61, and controls the vacuum pump 7 so that the vacuum pump 7 sucks the crimp terminals 1 when the robot arm 5 releases the crimp terminals 1. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a terminal alignment apparatus and a terminal alignment method for aligning terminals in order to collectively crimp terminals to a circuit board.

When the terminals are collectively crimped, it is necessary to align the terminals in advance according to the pitch of the conductors to be crimped (see, for example, Patent Document 1 (page 4, FIG. 8B)).

Japanese Patent Laid-Open No. 2004-281997

  For such terminal alignment, a robot arm and a holder that accommodates the terminal are used. However, when the pitch between the terminals becomes narrow, the terminal that is already accommodated in the holder interferes with the robot arm. was there.

  The problem to be solved by the present invention is to provide a terminal alignment apparatus and a terminal alignment method that can align terminals at a narrow pitch.

  The present invention is a terminal alignment device for aligning terminals, a holder formed with a terminal accommodating portion for accommodating the terminal, and a robot that holds the terminal and moves the terminal to the terminal accommodating portion. An arm, suction means for sucking the terminal through a suction hole formed in the bottom of the terminal accommodating portion, and a control device for controlling the robot arm and the suction means, the control device, The robot arm is controlled so that the robot arm opens the terminal in a state where a part of the terminal is accommodated in the terminal accommodating portion and before the terminal is placed on the terminal accommodating portion. In addition, a terminal alignment device is provided, wherein the suction means is controlled so that the suction means sucks the terminal when the robot arm opens the terminal.

  According to the present invention, there is provided a terminal alignment method for aligning terminals, the step of gripping the terminal by a robot arm, the step of moving the terminal toward a terminal accommodating portion of a holder by the robot arm, and the terminal And a step of opening the terminal by the robot arm before the terminal is placed in the terminal accommodating portion, and sucking the terminal into the terminal accommodating portion. And a terminal aligning method characterized by comprising the steps of:

  According to the present invention, there is provided a terminal alignment method for aligning terminals, the first terminal aligning step for aligning at least every other terminal, and the terminals aligned by the first terminal aligning step. And a second terminal aligning step for aligning the terminals, wherein the first terminal aligning step includes a step of gripping the terminals by a robot arm, and a terminal accommodating portion of the holder by the robot arm. And the step of releasing the terminal held by the robot arm, and the second terminal alignment step is a step of holding the terminal by the robot arm. A step of moving the terminal toward the terminal accommodating portion of the holder by the robot arm, a part of the terminal being accommodated in the terminal accommodating portion, and the terminal being in front Provided is a terminal alignment method comprising: a step of opening the terminal by the robot arm and a step of sucking the terminal into the terminal accommodating portion before being placed on the terminal accommodating portion. .

  According to the present invention, since the robot arm opens the terminal before the terminal is placed in the terminal accommodating portion of the holder, the robot arm does not interfere with the other terminals aligned, and the suction means Since the terminals are sucked and guided to a position where the terminals are surely aligned, the terminals can be aligned at a narrow pitch.

FIG. 1 is a perspective view showing a crimp terminal in the first embodiment of the present invention. FIG. 2 is a perspective view showing a state in which the crimp terminal in the first embodiment of the present invention is fixed to the circuit board. FIG. 3 is a perspective view showing the terminal alignment apparatus in the first embodiment of the present invention. FIG. 4 is an enlarged view of a portion IV in FIG. FIG. 5 is a cross-sectional view taken along line VV in FIG. FIG. 6 is a plan view showing the holder in the first embodiment of the present invention. FIG. 7 is a diagram showing an operation of the terminal alignment apparatus according to the first embodiment of the present invention (part 1). FIG. 8 is an enlarged view of a portion VIII in FIG. FIG. 9 is a side view of FIG. FIG. 10 is a diagram showing the operation of the terminal alignment apparatus according to the first embodiment of the present invention (No. 2). 11 is a cross-sectional perspective view taken along line XI-XI in FIG. 12 is a cross-sectional view taken along line XI-XI in FIG. FIG. 13 is a side view of FIG. FIG. 14 is a diagram illustrating a hand according to the second embodiment of the present invention. FIG. 15 is a view showing a holder in the second embodiment of the present invention. FIG. 16 is a diagram showing an operation of the terminal alignment apparatus according to the second embodiment of the present invention (part 1). FIG. 17 is a diagram illustrating the operation of the terminal alignment apparatus according to the second embodiment of the present invention (part 2).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<< First Embodiment >>
Before describing the terminal alignment device 3 in the present embodiment, the crimp terminals 1 that are collectively crimped to the circuit board 2 at a predetermined pitch will be described.

  FIG. 1 is a perspective view showing a crimp terminal in this embodiment, and FIG. 2 is a perspective view showing a state in which the crimp terminal in this embodiment is fixed to a circuit board.

  As shown in FIG. 1, the crimp terminal 1 includes a terminal body 11, a lower plate 13 having a barrel 12, an upper plate 14 for caulking the barrel 12, and a stabilizer 15 for positioning. . In addition, if it is a terminal which can be attached to a circuit board, the presence or absence of a barrel, an upper board, etc. will not be specifically limited.

  As shown in FIG. 2, the barrel 12 of the crimp terminal 1 is caulked by the upper plate 14 after passing through the mounting hole 21 of the circuit board 2. Thereby, the crimp terminal 1 is fixed to the circuit board 2. As the circuit board 2, for example, a flexible board made of polyimide, PET, PEN or the like can be exemplified, and these circuit boards mount terminals at a narrow pitch due to lightening of electronic devices. It is demanded.

  Next, the terminal alignment apparatus 3 in this embodiment is demonstrated.

  FIG. 3 is a perspective view showing the terminal alignment apparatus in the present embodiment, and FIG. 4 is an enlarged view of a portion IV in FIG.

  The terminal alignment device 3 is a device that aligns the crimp terminals 1 at a predetermined pitch in order to collectively crimp the crimp terminals 1 to the circuit board 2. The terminal alignment device 3 includes a supply unit 4 on which a plurality of crimp terminals 1 are placed, a robot arm 5 that moves the crimp terminals 1 from the supply unit 4 to the holder 6, a holder 6 that houses the crimp terminals 1, A vacuum pump 7 for sucking the crimp terminal 1 accommodated in the holder 6 and a control device 8 for controlling the robot arm 5 and the vacuum pump 7 are provided. In addition, the supply part 4 may supply the crimp terminal 1 continuously with a reel.

  The robot arm 5 holds the crimp terminal 1 placed on the supply unit 4 and moves the crimp terminal 1 to the holder 6 so that the crimp terminals 1 are aligned at a predetermined pitch. The robot arm 5 holds the first moving mechanism 51 that moves in the X direction, the second moving mechanism 52 that moves in the Y direction, the third moving mechanism 53 that moves in the Z direction, and the crimp terminal 1. And a hand 54.

  The first moving mechanism 51 includes a first ball screw 512 rotatably supported at both ends, a first rail 514, a first guide 515, a first motor (not shown), a first motor And a ball nut.

  The first rail 514 is supported at a predetermined height by two support columns 517a, and supports the second moving mechanism 52 through the guide 515 so as to be movable along the X direction. Although not particularly illustrated, the first motor is connected to the first ball screw 512 via a gear or the like, and the first ball nut is screwed to the first ball screw 512. Yes. Thereby, when the first motor is driven, rotation is transmitted to the first ball screw 512, and the first ball nut converts the rotation of the first ball screw 512 into a linear motion in the X direction.

  The two support columns 517b also support a rail similar to the first rail 514 at a predetermined height. This rail also supports the second moving mechanism 52 movably along the X direction via a guide.

  The second moving mechanism 52 includes a second motor 521, a second ball screw 522 rotatably supported at both ends, a second rail 524, a second ball nut (not shown), and a second And a guide.

  The second ball screw 522 and the second rail 524 are installed along the Y direction, and the second ball screw 522 is connected to the second motor 521. Although not particularly illustrated, the second ball nut is screwed with the second ball screw 522. Thus, when the second motor 521 is driven, the rotation is transmitted to the second ball screw 522, and the second ball nut converts the rotation of the second ball screw 522 into a linear motion in the Y direction. Although not particularly illustrated, the second guide is engaged with the second rail 524 and the third moving mechanism 53 is attached. In addition, the structure of the 1st moving mechanism 51 and the 2nd moving mechanism 52 is not specifically limited, For example, you may use a SCARA robot.

  The third moving mechanism 53 has an air cylinder 531 that can expand and contract along the Z direction. As shown in the figure, the air cylinder 531 is supported by the second moving mechanism 52 so as to be substantially perpendicular to the upper surface of the apparatus main body, and moves the hand 54 in the Z direction.

  As shown in FIG. 4, the air cylinder 531 includes an air cylinder main body 531a, a head 531b that slides in the Z direction with respect to the main body 531a, and stoppers 531c and 531d that limit the sliding of the head 531b. ing. The head 531b has an air cylinder main body 531a connected thereto, and a hand 54 fixed to the lower end. The stopper 531c is disposed at the lower part of the side surface of the air cylinder body 531a. The stopper 531d is provided on the upper portion of the side surface of the head 531b so as to protrude to a position facing the stopper 531c. The stopper 531c and the stopper 531d are in contact with each other at a height at which the hand 54 grips the crimp terminal 1 (position in the Z direction) and a height at which the hand 54 is released, and restricts sliding of the head 531b. The stopper 531c can be expanded and contracted along the Z direction, and the height at which the hand 54 grips the crimp terminal 1 and the height at which the hand 54 is released can be adjusted.

  The hand 54 has two claws 541 that hold the crimp terminal 1 and a chuck type air cylinder 542 that opens and closes the claws 541. The claws 541 are arranged below the chuck type air cylinder 542 so as to face each other, and are slidable along the Y direction. The chuck type air cylinder 542 grips or releases the crimp terminal 1 by moving the claws 541 closer to or away from each other. Since the hand 54 is fixed to the head 531b of the air cylinder 531, the hand 54 moves along the Z direction as the head 531b slides relative to the air cylinder main body 531a. The third moving mechanism 53 is not particularly limited, and may be, for example, an actuator using a motor and a ball screw.

  FIG. 5 is a cross-sectional view taken along line VV in FIG. 3, and FIG. 6 is a plan view showing the holder in the present embodiment.

  As shown in FIGS. 5 and 6, the holder 6 is formed with five terminal accommodating portions 61 that accommodate the crimp terminals 1 at a predetermined pitch. In the same figure, the state where the crimp terminal 1 is accommodated in the terminal accommodating part 61 of the left end is shown. The terminal accommodating portion 61 is a groove formed across the both ends of the holder 6 along the X direction, and the cross-sectional shape thereof is a short shape corresponding to the cross-sectional shape of the crimp terminal 1. Further, the depth from the upper surface of the holder 6 to the bottom 62 of the terminal accommodating portion 61 (dimension in the Z direction) is slightly smaller than the height of the terminal body 11 of the crimp terminal 1 (in this embodiment, 0.1 to 0.1). About 0.2 mm.) It is set shallow. For this reason, since the upper part of the terminal body 11 slightly protrudes from the upper surface of the holder 6, the crimped terminal 1 accommodated in the terminal accommodating part 61 can be pressed against the holder 6. When crimping the crimp terminal 1, the crimp terminal 1 can be pressed and fixed to the holder 6.

  In addition, the terminal accommodating part 61 is not specifically limited, For example, the rib arrange | positioned by the space | interval according to the magnitude | size of the crimp terminal 1 may be sufficient.

  A suction hole 63 for sucking the crimp terminal 1 toward the terminal housing part 61 and a stabilizer groove 64 for housing the stabilizer 15 of the crimp terminal 1 are formed in the bottom part 62 of the terminal housing part 61, respectively. ing. The suction hole 63 communicates with the vacuum pump 7 via a table body 91 described later, and guides the negative pressure generated by the vacuum pump 7 to the terminal accommodating portion 61. The suction hole 63 is formed so that the opening in the bottom portion 62 faces the accommodated crimp terminal 1. The stabilizer groove 64 is formed at a position corresponding to the stabilizer 15 of the crimp terminal 1 so as to be deeper than the height of the stabilizer 15.

  As shown in FIG. 5, the table 9 supports the holder 6 at a predetermined height, a table main body 91 on which the holder 6 is placed, and a table support column that supports the table main body 91 at a predetermined height. 92.

  The table main body 91 communicates the first passage 911 communicating with the suction hole 63 of the holder 6, the second passage 912 communicating with the first passage 911, and the second passage 912 and the vacuum pump 7. A third passage 913 is formed. The first passages 911 are holes formed from the upper surface of the table main body 91 to the second passages 912 at intervals according to the pitch of the suction holes 63 of the holder 6. The second passage 912 is a cavity formed inside the table main body 91, and is connected to the first passage 911 at the upper portion and connected to the third passage 913 at the lower portion. The third passage 913 is a hole formed from the lower part of the second passage 912 to the back surface of the table body 91, and is connected to the back surface of the table body 91 via the hose 71 of the vacuum pump and the joint 72. Yes.

  Returning to FIG. 3, the vacuum pump 7 has a hose 71 that is adjacent to the apparatus main body and transmits a negative pressure to the table main body 91. The vacuum pump 7 generates a negative pressure and sucks the crimp terminal 1 toward the bottom 62 of the terminal accommodating portion 61 through the hose 71 and the table main body 91. Thereby, the crimp terminal 1 is reliably accommodated in the terminal accommodating portion 61 without being displaced.

  Next, the operation of this embodiment will be described.

  FIG. 7 is a diagram showing the operation of the terminal alignment apparatus according to the present embodiment (part 1), FIG. 8 is an enlarged view of a portion VIII in FIG. 7, FIG. 9 is a side view of FIG. FIG. 11 is a sectional perspective view taken along line XI-XI in FIG. 10, FIG. 12 is a sectional view taken along line XI-XI in FIG. 10, and FIG. It is a side view.

  As shown in FIG. 7, first, the control device 8 operates the robot arm 5. The first moving mechanism 51 and the second moving mechanism 52 move the hand 54 so that the claws 541 of the hand 54 are positioned on both sides of the crimp terminal 1 at the right end of the supply unit 4 in plan view. . Next, the air cylinder 531 of the third moving mechanism 53 operates, the head 531b moves downward relative to the air cylinder main body 531a, and the hand 54 is lowered.

  As shown in FIG. 8, the stopper 531c attached to the air cylinder main body 531a and the stopper 531d provided on the head 531b come into contact with each other, and the lowering of the hand 54 is stopped. As shown in FIG. 9, the lower end of the claw 541 of the hand 54 is located between the upper part and the lower part of the terminal body 11 of the crimp terminal 1 in a state where the lowering of the hand 54 is stopped. In the present embodiment, the lower end of the claw 541 of the hand 54 is located at a predetermined height H from the lower part of the crimp terminal 1.

  Next, the hand 54 holds the crimp terminal 1. The hand 54 grips the crimp terminal 1 by the chuck type air cylinder 542 bringing the two claws 541 closer to each other.

  At this time, since the lower end of the claw 541 is located between the upper part and the lower part of the terminal body 11 of the crimp terminal 1, the terminal body 11 of the crimp terminal 1 extends from the lower end of the claw 541 to the lower part of the crimp terminal 1. As a result, a region A (a portion with a pattern in FIG. 9) that is not gripped by the nail 541 is generated. Since this area A can be brought into contact with the inner wall of the terminal accommodating portion 61 when the crimp terminal 1 is accommodated in the terminal accommodating portion 61 and serves as a guide, the crimp terminal 1 is connected to the terminal accommodating portion 61. Surely accommodated.

  Next, the air cylinder 531 of the third moving mechanism 53 raises the hand 54 after the hand 54 grips the crimp terminal 1.

  As shown in FIG. 10, the control device 8 positions the crimp terminal 1 held by the hand 54 with respect to the holder 6 and operates the robot arm 5 so that the crimp terminal 1 is accommodated in the holder 6. 10 and 11 show a state in which the robot arm 5 accommodates the crimp terminal 1 in the terminal accommodating portion 61 formed second from the left of the holder 6.

  The first moving mechanism 51 and the second moving mechanism 52 position the crimp terminal 1 with respect to the terminal accommodating portion 61 of the holder 6 in plan view. Next, the air cylinder 531 of the third moving mechanism 53 lowers the crimp terminal 1 held by the hand 54.

  As shown in FIG. 11, when the stopper 531c and the stopper 531d come into contact with each other, the lowering of the crimp terminal 1 held by the hand 54 is stopped. In a state where the lowering of the crimp terminal 1 is stopped, the lower end of the claw 541 of the hand 54 is positioned higher than the upper surface of the terminal body 11 of the crimp terminal 1 already accommodated in the holder 6 as shown in FIG. In this embodiment, a predetermined interval L1 in the Z direction is formed between the lower end of the claw 541 and the upper part of the crimp terminal 1 aligned on the left side. Further, in this state, the lower portion of the crimp terminal 1 is inserted into the terminal accommodating portion 61, and a predetermined interval L2 in the Z direction is formed between the upper surface of the holder 6 and the lower portion of the crimp terminal 1 being gripped. Is formed.

12 and 13, the chuck type air cylinder 542 of the hand 54 separates the two claws 541 from each other to open the crimp terminal 1. Thus, since the hand 54 opens the crimp terminal 1 at a position where the claw 541 of the hand 54 does not interfere with the crimp terminal 1 already accommodated, the crimp terminals 1 can be aligned at a narrow pitch. In addition, since the crimp terminal 1 is opened in a state where the lower portion of the terminal body 11 is inserted into the terminal accommodating portion 61, the crimp terminal 1 is reliably guided to the bottom portion 62 of the terminal accommodating portion 61. Furthermore, since the claw 541 opens the crimp terminal 1 above the upper surface of the holder 6, it is not necessary to form the claw groove 65 as in the second embodiment described later, and the cost of the holder 6 can be reduced. it can.

  The control device 8 operates the vacuum pump 7 in accordance with the operation in which the hand 54 opens the crimp terminal 1. Specifically, the vacuum pump 7 generates a negative pressure immediately before the hand 54 opens the crimp terminal 1, and the hose 71, the third passage 913, the second passage 912, the first passage 911, and the suction. The crimp terminal 1 is sucked through the hole 63. As a result, when the hand 54 opens the crimp terminal 1, the crimp terminal 1 is sucked toward the bottom 62 of the terminal housing 61, so that the crimp terminal 1 can be securely accommodated without being displaced. Housed in part 61. The suction by the vacuum pump 7 may be performed at least when the hand 54 opens the crimp terminal 1, and may be sucked throughout the alignment, for example.

  After the hand 54 opens the crimp terminal 1 and accommodates the crimp terminal 1 in the holder 6, the air cylinder 531 raises the hand 54. Next, the robot arm 5 operates to receive the crimp terminal 1 to be aligned next from the supply unit 4. In the alignment of the next crimp terminal 1, the crimp terminal 1 is accommodated in the holder 6 and aligned by repeating the above-described operation.

  Thus, before the crimp terminal 1 is placed in the terminal accommodating portion 61 of the holder 6, the robot arm 5 opens the crimp terminal 1, so that the robot arm 5 is aligned with other crimp terminals 1. Further, the vacuum pump 7 sucks the crimp terminal 1 and guides it to the position where the crimp terminal 1 is surely aligned, so that the crimp terminals 1 can be aligned at a narrow pitch.

<< Second Embodiment >>
Next, a second embodiment will be described.

  FIG. 14 is a diagram showing a hand in the present embodiment, and FIG. 15 is a diagram showing a holder in the present embodiment.

In the present embodiment, the configurations of the third moving mechanism 53a, the claw 541a of the hand 54, and the holder 6a are different from those of the first embodiment, but other configurations are the same as those of the first embodiment. Only the differences from the first embodiment will be described below with respect to the terminal alignment device according to the second embodiment, and portions having the same configurations as those of the first embodiment will be described with the same reference numerals.

  As shown in FIG. 14, the claw 541a of the hand 54 has a notch 541b formed at the center of the claw 541a. The third moving mechanism 53a includes an actuator having a motor and a ball screw.

  As shown in FIG. 15, the claw groove 65 formed in the holder 6 a along the Y direction (the portion with a pattern in FIG. 15) has substantially the same depth as the bottom 62 of the terminal accommodating portion 61. Have. Thereby, the nail | claw 541a of the hand 54 can approach to the bottom part 62 of the holder 6a.

  Next, the operation of the second embodiment will be described.

  16 and 17 are diagrams illustrating the operation of the terminal alignment device according to the present embodiment.

  In the second embodiment, the crimp terminal 1 is further interposed between the first terminal alignment process in which the crimp terminals 1 are accommodated in the holder 6a and aligned every other piece, and the crimp terminals 1 aligned in the first terminal alignment process. The crimp terminal 1 is aligned by a second terminal alignment step of aligning the terminals.

  In the first terminal alignment step, the hand 54 holds the crimp terminal 1 at a height at which the lower end of the claw 541a is substantially the same as the lower part of the terminal body 11. As shown in FIG. 16, the crimp terminal 1 thus gripped is accommodated in a terminal accommodating portion 61 positioned at the right end, the center, and the left end in the holder 6 a. At this time, the hand 54 is lowered to a position where the crimp terminal 1 is placed on the bottom 62 of the terminal accommodating portion 61. In this case, since the claw groove 65 is formed in the holder 6a, the hand 54 enters the bottom of the holder 6a without the claw 541a interfering with the holder 6a, and places the crimp terminal 1 thereon. be able to.

  Next, the hand 54 opens the crimp terminal 1.

In the second terminal alignment step, the crimp terminals 1 are accommodated in the second and fourth terminal accommodating portions 61 from the left in FIG. 17, and the crimp terminals 1 are aligned. In the second terminal alignment step, as in the first embodiment, the hand 54 holds the crimp terminal 1 with the lower end of the claw 541a positioned between the upper part and the lower part of the terminal body 11 of the crimp terminal 1. To do.
When the crimp terminal 1 is opened, the claw 541a of the hand 54 is located at a height that does not interfere with the adjacent crimp terminal 1 that is already aligned, and the lower portion of the terminal body 11 as in the first embodiment. Is inserted into the terminal accommodating portion 61, the hand 54 opens the crimp terminal 1. Simultaneously with this movement, the vacuum pump 7 sucks the crimp terminal 1 through the suction hole 63.

  As described above, in the present embodiment, by using the third moving mechanism 53a configured by an actuator having a motor and a ball point screw, the first terminal aligning step and the second terminal aligning step are performed. The amount of movement (the distance to descend) in the Z direction is made different.

  As in the first embodiment, a third moving mechanism 53 having an air cylinder 531 that can expand and contract along the Z direction may be used. In this case, the first terminal alignment step and the second terminal alignment are performed. It is only necessary to provide means for changing the position of the holder 6a in the Z direction in the process.

  Further, the third moving mechanism having an air cylinder that can change the expansion / contraction distance along the Z direction is used, and the amount of movement (drop) of the hand 54 in the Z direction in the first terminal aligning step and the second terminal aligning step. Distance).

  In the present embodiment, at a pitch at which the claws 541a of the hand 54 do not interfere with the crimp terminals 1 that are already aligned, the hand 54 places the crimp terminals 1 and there is a possibility that the hands 54 may interfere with each other. The crimp terminal 1 is opened before placing. As a result, the crimp terminals 1 can be aligned at a narrow pitch, and the accuracy of the alignment of the crimp terminals 1 is improved.

DESCRIPTION OF SYMBOLS 1 ... Crimp terminal 11 ... Terminal body 3 ... Terminal alignment apparatus 4 ... Supply part 5 ... Robot arm 51 ... 1st moving mechanism 52 ... 2nd moving mechanism 53 ... 3rd moving mechanism 54 ... Hand 541 ... Nail | claw 6 ... Holder 61 ... Terminal accommodating part 62 ... Bottom 63 ... Suction hole 7 ... Vacuum pump 8 ... Control device 9 ... Table

Claims (5)

A terminal alignment device for aligning terminals,
A holder in which a terminal accommodating portion for accommodating the terminal is formed;
A robot arm that grips the terminal and moves the terminal to the terminal accommodating portion;
A suction means for sucking the terminal through a suction hole formed in a bottom portion of the terminal accommodating portion;
A controller for controlling the robot arm and the suction means,
The control device is configured such that the robot arm opens the terminal in a state in which a part of the terminal is accommodated in the terminal accommodating portion and the terminal is not placed on the terminal accommodating portion. A terminal alignment device that controls the robot arm and controls the suction means so that the suction means sucks the terminal when the robot arm opens the terminal. The terminal alignment apparatus according to claim 1,
The robot arm has a hand for holding the terminal,
The control device controls the robot arm so that the hand grasps the terminal in a state where a lower end of the hand is positioned above a lower portion of the terminal. The terminal alignment apparatus according to claim 2,
The control device controls the robot arm so that the hand opens the terminal in a state where the lower end of the hand is positioned above the upper end of the terminal accommodated in the terminal accommodating portion. A terminal alignment device. A terminal alignment method for aligning terminals,
Gripping the terminal with a robot arm;
Moving the terminal toward the terminal accommodating portion of the holder by the robot arm;
A part of the terminal is accommodated in the terminal accommodating part, and the robot arm opens the terminal before the terminal is placed in the terminal accommodating part;
And a step of sucking the terminal into the terminal accommodating portion. A terminal alignment method for aligning terminals,
A first terminal alignment step of aligning the terminals at least every other;
A second terminal alignment step for further aligning the terminals between the terminals aligned by the first terminal alignment step,
The first terminal alignment step includes:
Gripping the terminal with a robot arm;
Moving the terminal to the terminal accommodating portion of the holder by the robot arm and placing it;
Opening the terminal gripped by the robot arm, and
The second terminal alignment step includes:
Gripping the terminal with the robot arm;
Moving the terminal toward the terminal accommodating portion of the holder by the robot arm;
A part of the terminal is accommodated in the terminal accommodating part, and the robot arm opens the terminal before the terminal is placed in the terminal accommodating part;
And a step of sucking the terminal into the terminal accommodating portion.

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