CN110520255A - The manufacturing method of robot device and electronic equipment - Google Patents

Abstract

Robot device according to the embodiment of this technology includes: the first manipulator (100)；Second manipulator (200)；With control unit (3).First manipulator includes the first hand (101) and force snesor (15).First hand is constructed and can support linear structure flexible.Force snesor detection acts on the external force on the first hand.Second manipulator includes the second hand (201).Second hand is constructed and can support the linear structure.Control unit includes position determining portions (31) and apart from calculation part (32), position determining portions determines that the second hand to the holding position of the linear structure, calculates sliding distance of first hand relative to the linear structure kept by the second hand based on the output of force snesor apart from calculation part.

Description

The manufacturing method of robot device and electronic equipment

Technical field

This technology is related to for example for manufacturing the robot device of electronic equipment, and the electronic equipment includes flexible linear Component (such as cable), and it is related to the manufacturing method of electronic equipment.

Background technique

For example, industry mechanical arm is widely used in the assembling electronic parts in the manufacture of electronic equipment.For example, as it is known that with In the step of linear structure (such as cable) is connect by automatic execution with connector component technology (see such as patent document 1 and Patent document 2).

Reference listing

Patent document

Patent document 1: Japanese patent application discloses No. 2010-69587

Patent document 2: Japanese patent application discloses No. 2014-176917

Summary of the invention

Technical problem

In the field of manufacture electronic equipment, in some cases, linear structure such as cable connection to connector component, Simultaneously between the multiple supporting elements of bridging in a device.However, the length variation of linear structure causes linear structure unexpected A large amount of relaxations in region, this causes the problems in subsequent assembling step in some cases, or makes the characteristic electron of device Deteriorate.

In view of the foregoing, the object of the present invention is to provide the manufacturing method of robot device and electronic equipment, the machines Tool arm device, which is able to suppress in unintended areas, occurs the relaxation as caused by the variation in linear structure.

Solution to the problem

It include the first manipulator according to the robot device of the embodiment of this technology；Second manipulator；And control unit.

First manipulator includes the first multi-joint arm, the first hand and force snesor.First hand, which is installed to more than first, to close Joint arm, and linear structure flexible can be supported.Force snesor is arranged between the first multi-joint arm and the first hand, and It is able to detect the external force acted on the first hand.

Second manipulator includes the second multi-joint arm and the second hand.Second hand is installed to the second multi-joint arm, and It is able to maintain linear structure.

Control unit includes position determining portions and apart from calculation part, and position determining portions determines the second hand to the guarantor of linear structure Hold position, the output apart from calculation part based on force snesor and calculate the first hand relative to the linear structure kept by the second hand The sliding distance of part.

Had according to robot device due to can accurately guide in each region of linear structure to predetermined holding position May inhibit that the relaxation as caused by the variation in linear structure occurs in unintended areas.

It can be configured to be based further on the output of force snesor apart from calculation part to calculate the line grasped by the first hand Relative movement distance of the property component relative to the second hand.

As a result, it is possible to be length appropriate by the length adjustment between any fixed position of linear structure.

First hand may include clamping device and lift component.

Clamping device can grasp linear structure in an axial direction.Lift component is configured to can be relative to clamping Mechanism relative movement, and can press on another axial direction perpendicular to one axial direction and be grabbed by clamping device The linear structure held.

As a result, it is possible to which predetermined holding position is suitably assembled in the arbitrary region of linear structure.

Clamping device may include the first gripper jaw, the second gripper jaw, protruding portion and receiving portion.

Second gripper jaw is configured to relatively move in one axial direction relative to the first gripper jaw.It is prominent Portion is set to the first gripper jaw and extends towards the second gripper jaw.Receiving portion is located at protruding portion and the first gripper jaw and the second clamping Between the end of pawl, and linear structure can be slidingly supported.

As a result, it is possible to suitably support linear structure by the first hand.

Second manipulator can further comprise camera, the camera to the end of the linear structure by the first hand support into Row imaging.Control unit can further comprise pose discrimination portion, and pose discrimination portion is determined based on the image information obtained by camera Posture of the end relative to the first hand.

As a result, it is possible to change into the posture of the end of linear structure suitable for the posture for being connected to linking objective.

Manufacturing method according to the electronic equipment of the embodiment of this technology is that production includes basal substrate and flexible linear The manufacturing method of the electronic equipment of component, basal substrate include interconnecting piece, and flexible linear component has in end is connected to connection It the portion of terminal in portion and is connected across uprightly between the first supporting element and the second supporting element that are set on basal substrate, the method It include: that linear structure is grasped by the first hand of the first manipulator.

By the way that the first hand is moved to the first supporting element, make the first area of the first supports support linear structure.

Linear structure is kept by the second hand of the second manipulator.

The first hand is set to slide into second area from first area relative to linear structure, wherein second area is from the firstth area Domain separates First Line length towards portion of terminal, and then grasps second area by the first hand；

By the way that the first hand is moved to the second supporting element, make the second supports support second area.

The manufacturing method of electronic equipment can further comprise: slide the first hand from second area relative to linear structure To the contact position with portion of terminal.

By, together with portion of terminal, making second area from the second support to mobile first hand in the direction far from the second supporting element Part feeds the second line length；

Portion of terminal is connected to interconnecting piece and the first hand is moved to interconnecting piece.

The manufacturing method of electronic equipment can further comprise: before portion of terminal is connected to interconnecting piece, by the second machinery The camera of hand obtains image, and described image includes the posture information of the posture about portion of terminal.

Based on posture information, change the grip locations of the first hand opposite end sub-portion.

Linear structure can be antenna cable or wiring cable.

Advantageous effect of the invention

As described above, according to this technology, it is possible to inhibit to occur to be caused by the variation in linear structure in unintended areas Relaxation.

It should be noted that effect described herein is not necessarily restrictive, and can be described in present disclosure Any effect.

Detailed description of the invention

Fig. 1 be show the electronic equipment of the embodiment according to this technology manufacturing device (robot device) it is schematic Side view.

Fig. 2 is the schematic chart that the treatment process of robot device is described relative to linear structure.

Fig. 3 is the exemplary perspective view of the supporting element form for showing linear structure and the form of end.

Fig. 4 is the schematic elevational view for showing the construction of hand of the first manipulator in robot device.

Fig. 5 is the enlarged front view for describing the operation example of the clamping device in hand.

Fig. 6 is the schematic side elevation of the major part of hand.

Fig. 7 is the schematic elevational view for showing the construction of hand of the second manipulator in robot device.

Fig. 8 is the functional block diagram of robot device.

Fig. 9 is the exemplary flow chart for showing the treatment process executed by the control unit in robot device.

Figure 10 is the schematic side elevational cross-sectional view of the method for description support linear structure.

Figure 11 is the schematic side elevational cross-sectional view for the method that description keeps linear structure by the second manipulator.

Figure 12 is the schematic plan view for describing the manufacturing method of the embodiment electronic equipment according to this technology.

The schematic elevational view for the step of Figure 13 is posture of the description by robot device change linear structure end.

Specific embodiment

Hereinafter, the embodiment of this technology will be described with reference to the drawings.

Fig. 1 be show the electronic equipment of the embodiment according to this technology manufacturing device (robot device) it is schematic Side view.In this embodiment, application example of this technology in the automatic connecting cable component the step of, automatic connection will be described The step of cable components is a step for manufacturing electronic equipment.

[schematic configuration of robot device]

Robot device 1 according to the present embodiment includes assembly mechanical hand 100 (the first manipulator), auxiliary manipulator 200 (the second manipulators), workbench 2 and controller 3 (control unit), workbench 2 support the semi-finished product of electronic equipment (hereinafter Also referred to as workpiece W), controller 3 controls the driving of assembly mechanical hand 100 and auxiliary manipulator 200.

Assembly mechanical hand 100 includes hand 101 (the first hand) and multi-joint arm 102 (the first multi-joint arm), multi-joint Hand 101 can be moved to arbitrary coordinate position with six axis freedom degrees by arm 102.

Auxiliary manipulator 200 includes hand 201 (the second hand) and multi-joint arm 202 (the second multi-joint arm), multi-joint Hand 201 can be moved to arbitrary coordinate position with six axis freedom degrees by arm 202.

Multi-joint arm 102 and multi-joint arm 202 are connected to workbench 2 or (do not show close to the driving source that workbench 2 is arranged Out).

Controller 3 generally comprises computer, and computer includes CPU (central control) and memory, and is configured to The driving of assembly mechanical hand 100 and auxiliary manipulator 200 is controlled according to the program of storage in memory.

The example that manipulator 100 and manipulator 200 are controlled by controller 3 will be described below.

The part A and part B of Fig. 2 is respectively the processing for the example and robot device 1 relative to workpiece W for describing workpiece W The schematic chart of process.

Pay attention to X-axis, three axis directions of Y-axis and Z axis mark vertically in the figure, and Z axis corresponds to height side To.

Workpiece W includes basal substrate Wa, the circuit unit Wb being arranged on basal substrate Wa and circuit unit Wc, stands upright on Multiple supporting element Wd (Wd1 to Wd4), cable components F and the analog of appropriate position on basal substrate Wa.

The example of basal substrate Wa includes the plate support of a part and setting of the shell of electronic equipment in the housing. Circuit unit Wb and circuit unit Wc respectively includes circuit board, electronic unit or the like, and various electronic components are pacified on circuit boards On a printed-wiring board, electronic unit combination computer, computer includes CPU, memory and analog to dress, and electronic unit is constituted One function of electronic equipment.

Multiple supporting element Wd are used to route cable components F along the predefined paths on basal substrate Wa.Such as the part A of Fig. 3 It is shown, each of multiple supporting element Wd with flat pattern, flat pattern include support cable F support section Wds and With predetermined thickness.Support section Wds is formed with groove shapes, and groove shapes have open top, and groove type becomes tool There is the size of the overall diameter equal or slightly greater than cable F.

Cable components F includes the flexible wires with circular cross section.One end of flexible wires is connected to circuit unit Wb, and The other end (end) includes portion of terminal Fa.Cable components F generally comprises the core material F1 and covering cable formed by conductive material The insulating coating F2 on the surface of component F, and it is configured to Wiring member, such as wiring cable and antenna cable.Such as the portion of Fig. 3 Divide shown in A, the cross section of cable F is circular.However, this technology is without being limited thereto, and cable F is formed as rectangular shape.

As the part B of Fig. 3 is schematically shown, the portion of terminal Fa of cable components F has stepped disk shape, including big Diameter portion Fa1 and small diameter portion Fa2, and small diameter portion Fa2 constitutes connection surface.Portion of terminal Fa is with downwardly directed Small diameter portion Fa2 (see the part B of Fig. 2) is incorporated in the interconnecting piece Wf on basal substrate Wa.

Workpiece W is placed on workbench 2, while one end of cable components F is connected to circuit unit Wc.As described below , robot device 1 synergistically controls assembly mechanical hand 100 and auxiliary manipulator 200, in predefined paths by cable components Portion of terminal Fa is connected to interconnecting piece Wf between multiple supporting element Wd, and then by F bridge joint.

Here, the length variation of cable components F causes a large amount of relaxations of the cable components F in unintended areas, this is at certain The problems in subsequent assembling step is caused in a little situations, or deteriorates the characteristic electron of device.

In the present embodiment, as shown in the part B of Fig. 2, robot device 1 can assemble cable components F, so that support Path between part Wd2 and supporting element Wd3 be the extra length region of cable components F and cable components F supporting element Wd4 with Line length between interconnecting piece Wf is constant.

Hereinafter, the details of robot device 1 will be described.

[the first manipulator]

Fig. 4 is the schematic elevational view for showing the construction of hand 101.The part A to part C of Fig. 5 is respectively description clamping machine The enlarged front view of the operation example of structure.Fig. 6 is the schematic side elevation of the major part of hand 101.

Pay attention in every width figure, x-axis, y-axis and z-axis are indicated perpendicular to mutual three axis directions.

Hand 101 includes clamping device CL1 (the first clamping device), and clamping device CL1 can be in an axial direction (x Axis direction) in grasp (clamping) cable components F.Hand 101 further comprises substrate masses 14, force snesor 15, camera 16, lifting Unit 17, multiple luminaires 18, absorbing unit 19 and analog.

Substrate masses 14 support clamping device CL1, camera 16 (imaging unit), lifting unit 17, multiple luminaires 18 and inhale Coupon member 19.

Camera 16 is constructed and the cable components F clamped by clamping device CL1 can be imaged.The image obtained by camera 16 Signal is exported to controller 3.

Multiple luminaires 18 are for illuminating near clamping device CL1 and clamping device CL1 when being imaged by camera 16 Light source.

Force snesor 15 is located between hand 101 and multi-joint arm 102, and constructed and be able to detect and act on hand The reaction force of external force and clamping device CL1 on 101.The detection signal of force snesor 15 is exported to controller 3.

Clamping device CL1 includes the first gripper jaw 11, the second gripper jaw 12 and driving unit 13, and driving unit 13 is by first Gripper jaw 11 and the support of the second gripper jaw 12 are removable relative to each other in an axial direction (x-axis direction) mentioned above It is dynamic.Each of first gripper jaw 11 and the second gripper jaw 12 can be constructed and can be moved in x-axis direction or first Any of gripper jaw 11 and the second gripper jaw 12 can be constructed and can be moved in x-axis direction.

First gripper jaw 11 and the second gripper jaw 12 include hook portion 11a and hook portion 12a, hook portion 11a and hook portion 12a is prominent in direction relative to each other in corresponding end.First gripper jaw 11 is included in close on hook portion 11a Position provide protruding portion 110.The distance between protruding portion 110 and hook portion 11a are straight equal to or more than cable components F's Diameter.

Protruding portion 110 has the generally triangle plate shape extended towards the second gripper jaw 12.Such as the part B of Fig. 5 and portion Shown in point C, in y-axis side when protruding portion 110 is configured to the relative movement in the first gripper jaw 11 relative to the second gripper jaw 12 The end of the second gripper jaw of Xiang Zhongyu 12 is overlapped.

Then, as shown in the part C of Fig. 5, clamping device CL1 includes before the end of hook portion 11a and hook portion 12a Diameter of the distance equal to or less than cable components F in the case where the receiving portion 101c that is formed.Receiving portion 101c is formed in hook Space segment between part 11a and hook portion 12a and protruding portion 110, and run through in y-axis direction.By adjusting hook portion Point the distance between 11a and hook portion 12a, driving unit 13 can in the 101c of receiving portion slidably twelve Earthly Branches in the y-axis direction Support cable components F simultaneously grasps cable components F so that cable components F is not slided.

As shown in fig. 6, lifting unit 17 includes lift component 171, lift component 171, which is connected to, to be mounted in substrate masses 14 Driving cylinder drive rod R1.Lift component 171 is configured to can be relatively relative to clamping device CL1 in z-axis direction It is mobile.Lift component 171 can line between the raised position indicated in Fig. 6 by solid line and the reduction position indicated by double dot dash line Property it is mobile and constructed and the cable components F supported by receiving portion 101c can be pressed in reducing the direction position ChuzZhou (see Figure 10).

As shown in figure 4, absorbing unit 19 includes adsorption tool 191, adsorption tool 191 can move in z-axis direction.It inhales Attached tool 191 include end be used for vacuum suction adsorption hole, can in Fig. 4 by solid line mark raised position with by Double dot dash line mark reduction position between linear movement, and it is constructed and can reduce position at absorption on the workpiecew Cable components F.Absorbing unit 19 is used for clamping device CL2 to place cable components F again, and can be omitted when necessary.

[the second manipulator]

Fig. 7 is the schematic elevational view for showing the construction of hand 201.

Pay attention in every width figure, a axis, three axis directions of b axis and c-axis mark vertically.

Hand 201 includes clamping device CL2 (the second clamping device), and clamping device CL2 can be in an axial direction (a Axis direction) in grasp (clamping) cable components F.Hand 201 further comprises substrate masses 24, force snesor 25, camera 26, multiple Luminaire 28 and analog.

Substrate masses 24 support clamping device CL2, camera 26 (imaging unit) and multiple luminaires 28.

Camera 26 is constructed and the cable components F clamped by clamping device CL2 can be imaged.The image obtained by camera 26 Signal is exported to controller 3.

Multiple luminaires 28 are for illuminating near clamping device CL2 and clamping device CL2 when being imaged by camera 26 Light source.

Force snesor 25 is located between hand 201 and multi-joint arm 202, and is able to detect and is acted on the outer of hand 201 The reaction force of power and clamping device CL2.The detection signal of force snesor 25 is exported to controller 3.

Clamping device CL2 include the first gripper jaw 21, the second gripper jaw 22 and driving unit 23, driving unit 23 so that First gripper jaw 21 and the second gripper jaw 22 move relative to each other in an axial direction (a axis direction) mentioned above Mode support the first gripper jaw 21 and the second gripper jaw 22.First gripper jaw 21 and each leisure a axis direction of the second gripper jaw 22 Upper removable or any of the first gripper jaw 21 and the second gripper jaw 22 move in a axis direction.

[controller]

Fig. 8 be include controller 3 robot device 1 functional block diagram.

Controller 3 generally comprises computer, and the computer includes CPU (central processing unit) and memory.Controller 3 It is configured to execute the program of storage in memory, to control the corresponding units of assembly mechanical hand 100 and auxiliary manipulator 200 Operation.

Controller 3 includes position determining portions 31, apart from calculation part 32, drive signal generating unit 33, storage unit 34 and posture Determination unit 35.

Position determining portions 31 determines assembly mechanical hand 100 (the first hand 101) and (the second hand of auxiliary manipulator 200 201) relative to the access point for the workpiece W being placed on workbench 2 (see Fig. 1).Specifically, position determining portions 31 is configured to know Position (circuit unit Wb and circuit unit Wc, supporting element Wd, interconnecting piece Wf and similar of the other corresponding units on basal substrate Wa The position of object), and determine the first hand 101 and the motion track of the second hand 201, from the mobile height of workbench and similar Object.

The moving distance of the first hand 101 is mainly calculated apart from calculation part 32.More specifically, constructed apart from calculation part 32 With calculate the first hand 101 relative to cable components F relative movement distance (sliding distance), grasp cable components F first Relative movement distance and analog of the hand 101 relative to the second hand 201.Apart from calculation part 32 based on the defeated of force snesor 15 Distance referred to above is calculated out.

Drive signal generating unit 33 generates driving based on position determining portions 31, the output apart from calculation part 32 or the like Signal is used to control the driving of the hand 101 and 201 and multi-joint arm 102 and 202 of manipulator 100.

Storage unit 34 generally comprises semiconductor memory or the like.Storage unit 34 is in addition to for controlling robot device 1 Corresponding units operation program (including for execution position determining section 31, apart from calculation part 32 and drive signal generating unit The program of 33 function) except can also store parameter necessary to calculating in corresponding units, exported from hand 101 and 201 The picture signal of camera 16 and 26, the detection signal of force snesor 15 and 25 and analog.

Pose discrimination portion 35 is based on being obtained by the camera 16 of assembly mechanical hand 100 or the camera 26 of auxiliary manipulator 200 Image information determines posture of the portion of terminal Fa relative to the first hand 101.It is suitble to use as a result, it is possible to have portion of terminal Fa In the posture for being connected to interconnecting piece Wf.

In this embodiment, as will be described below, pose discrimination portion 35 takes the small diameter portion Fa2 of portion of terminal Fa It is downwardly directed and the posture (see the part B of Figure 13) of the connection surface level of small diameter portion Fa2 is used as with reference to posture, and And the angular displacement of the posture based on this with reference to Attitude Calculation portion of terminal Fa.

[manufacturing method of electronic equipment]

Next, the typical operation example together with robot device 1 to be described to the details of controller 3.

Fig. 9 is to show the exemplary flow chart for the treatment of process executed by controller 3, and controller 3 includes being used for 101 He of hand The operational order of hand 201.

Firstly, the first hand 101 grasps cable components F (step 101).

The image letter for the workpiece W that camera 26 based on camera 16 or the second hand 201 by the first hand 101 is imaged Number, controller 3 obtains the information of the position about cable components F, supporting element Wd1 to Wd4 and interconnecting piece Wf first.Then, position Set the access point (XYZ coordinate position) that determining section 31 determines hand 101 and 201.

Drive signal generating unit 33 is generated based on the location information set by position determining portions 31 for making the first hand 101 are moved to the driving signal of the position for grasping cable components F, and the driving signal is exported to assembly mechanical hand 100.As a result, the first hand 101 is moved to the position for being used to grasp cable components F via multi-joint arm 102 by assembly mechanical hand 100 It sets, and executes the processing for grasping cable components F.Before grasping cable components F, absorbing unit 19 is executable by cable components F is moved to the processing of grip locations.

Pay attention in the step of grasping cable components F, the first hand 101 is closely in the predetermined grasping position of cable components F It is mobile to set top, and clamping device CL1 is maintained in opening state shown in the part A of Fig. 5.Then, the first hand 101 Decline towards cable components F, abuts against cable components F on the lower edge of protruding portion 110, and then by clamping device CL1 Closed position shown in the part C to Fig. 5 is driven, thus the carrying power cables component F in the 101c of receiving portion.As a result, it is possible to Suitably carrying power cables component F in the 101c of receiving portion.

In addition, the power for grasping cable components F by clamping device CL1 can be set to intensity appropriate, so that when pre- When fixed horizontal or bigger tension is applied to cable components F, clamping device CL1 can be slided relative to cable components F.As a result, It is possible that reducing the stress for being applied to cable components F.It can be based on the grasping of the output control clamping device CL1 of force snesor 15 Power.

Hereinafter, unless otherwise specified, the movement for controlling such as hand 101 and hand 201 is based on position determining portions 31 and drive signal generating unit 33 output and execute, and will omit to the detailed description of the control.In addition, unless another It indicates outside, the first hand 101 uses in the sense that clamping device CL1.Similarly, meaning of the hand 201 in clamping device CL2 Upper use.

Next, cable components F sequentially supports (step by supporting element Wd1 and supporting element Wd2 by the first hand 101 102)。

In this process, firstly, controller 3 will be adjusted to pair by the grip locations of the cable components F of clamping device CL1 In the supporting zone of supporting element Wd1.As a result, the fixed appropriate cable length (S01) from circuit unit Wc to supporting element Wd1.

In this set-up procedure, for example, hand 101 draws the grasping of cable components F via clamping device CL1 with predetermined tension Position, to confirm whether the distance between the connecting pin of grip locations and circuit unit Wc is predefined size.Then, it is mentioned above And distance be not predefined size in the case where, weaken grip so that clamping device CL1 relative to cable components F slide, and And grasping is executed again in the position that distance referred to above is predefined size.

Next, as shown in Figure 10, the first hand 101 is made to be moved to supporting element Wd1 for controller 3 so that supporting element Wd1 branch Near the grip area for supportting cable components F.As shown, the first hand 101 is towards for being clipped in clamping for object support part Wd Position between mechanism CL1 and lift component 171 and decline, and meet the support section Wds of cable components F and supporting element Wd It closes.Later, decline lift component 171, to be pressed into cable components F with predetermined pressure in the underface of lift component 171 The upper surface of basal substrate Wa.As a result, it is possible to engage cable components F with support section Wds with posture appropriate.

After the operation for engaging cable components F with supporting element Wd1, cable components F is being housed in receiving portion 101c While middle, the first hand 101 increases preset distance, weakens the grip of clamp structure CL1, and in the side of supporting element Wd2 To middle movement.As a result, clamping device CL1 is slided while supporting cable components F relative to cable components F, by grip locations Change to the supporting zone in supporting element Wd2, and makes supporting element Wd2 to be similar to procedures described above support cable components F.The cable that the sliding distance of clamping device CL1 is set to correspond to distance between supporting element Wd1 and supporting element Wd2 at this time is long It spends (S12).

Meanwhile as shown in figure 11, controller 3 by the second hand 201 supporting element Wd cable components F in the vicinity just on Fang Yidong clamping device CL2, and cable components F is pressed and kept with predetermined pressure by the end of clamping device CL2 In basal substrate Wa.As a result, preventing cable components F due to the movement of the first hand 101 and from supporting element Wd1 relaxation or falling. Predetermined pressure mentioned above can be controlled based on the output of the force snesor 25 of the second hand 201.

Next, the first hand 101 is slided relative to cable components F after making supporting element Wd2 support cable components F Preset distance (step 103 and step 104).

In this step, as shown in the part A of Figure 12, the cable supported by the second hand 201 by supporting element Wd2 is kept Component F.In this case, the first hand 101 is relative to cable components F from when making supporting element Wd2 support cable components F first The portion of terminal Fa of region (first area) towards cable components F that hand 101 grasps slide into the region of the first line length of distance S (second area), and then grasp the region (second area).

First line length S is set greater than the appropriate cable extra length (S23) between supporting element Wd2 and supporting element Wd3 Length (S230).That is, in this step, forming the volume of cable components F between supporting element Wd2 and supporting element Wd3 Outer length areas, so that cable length (S34) from supporting element Wd3 to supporting element Wd4 and from supporting element Wd4 to interconnecting piece Wf's Cable length (S45) is respective within a predetermined range.

Next, supporting cable components F (step 105) by supporting element Wd3 by the first hand 101.

In this step, the first hand 101 is moved to supporting element Wd3 by controller 3, so that supporting element Wd3 support is above The second area referred to.As a result, between supporting element Wd2 and supporting element Wd3 formed cable components F extra length region (see The part B of Figure 12).

Then, cable components F is fed from supporting element Wd3 by preset distance (step 106) by the first hand 101.

In this step, as shown in the part C of Figure 12, passing through the second hand 201 for the supporting zone of cable components F While (second area) is maintained in the position near supporting element Wd3 or supporting element Wd3, make the first hand 101 relative to electricity Cable component slides into the contact position with the portion of terminal Fa of cable components F from the region (second area).Then, weaken second Hand 201 is used to keep the retentivity of cable components F, and by the first hand 101 together with portion of terminal Fa far from supporting element Wd3 Direction (left side in the part C of Figure 12 in Y direction) on move.Then, make cable components F (second area) relative to While two hands 201 slide, cable components F (second area) is fed into the second line length from supporting element Wd3.

Second line length mentioned above corresponds to a part of the cable components F between supporting element Wd2 and supporting element Wd3 Extra length, and specifically correspond to the length of the difference between line length (S230) and line length (S23).As a result, fixed From supporting element Wd3 to interconnecting piece Wf appropriate cable length (corresponding to S34 and S45's and).

Next, supporting cable components F (step 107) by supporting element Wd4 by the first hand 101.Then, the first hand 101 are moved to interconnecting piece Wf so that the portion of terminal Fa of cable components F is connected to interconnecting piece Wf.In this embodiment, it will hold The step of sub-portion Fa is connected to before interconnecting piece Wf, and the posture of portion of terminal Fa is changed into appropriate posture by execution, and then, it will Portion of terminal Fa is connected to interconnecting piece Wf (step 108 and step 109).

In the step of changing the posture of portion of terminal Fa, as shown in the part A of Figure 13, end is grasped in the first hand 101 While cable connecting part Fb (see the part B of Fig. 3) near sub-portion Fa, it includes end that the camera 26 of the second manipulator 200, which obtains, The image of the posture information of sub-portion Fa.Then, it is based on posture information mentioned above, changes the terminal for passing through the first hand 101 The grip locations of portion Fa.

When changing the grip locations by the portion of terminal Fa of the first hand 101, firstly, controller 3 is based on by camera 26 The image of the portion of terminal Fa of acquisition and calculate the angle error difference from appropriate posture, in the appropriate posture, portion of terminal Fa's Small diameter portion Fa2 is downwardly directed, and the connection surface of small diameter portion Fa2 is horizontal.Then, second hand 201 Clamping device CL2 substitutes the first hand 101 (clamping device CL1) and grasps portion of terminal Fa, and then, the rotation of the first hand 101 Corresponding to the angle of angle error difference mentioned above, and cable connecting part Fb is grasped again.As a result, such as the part B of Figure 13 It is shown, portion of terminal Fa is grasped with appropriate posture by the first hand 101.

Later, the first hand 101 is moved to the closely position above interconnecting piece Wf, and reducing will be with predetermined pressure It is connected to the portion of terminal Fa of interconnecting piece Wf.As a result, completing the behaviour that robot device 1 routes cable F between multiple supporting element Wd Make and be connected to portion of terminal Fa the operation of interconnecting piece Wf.

As described above, according to the present embodiment, due to can be accurately by each regional guidance of cable components F to predetermined Holding position, it is possible to inhibit relaxation caused by the length variation by cable components F occurs in unintended areas.

In addition, according to the present embodiment, since assembly mechanical hand 100 and auxiliary manipulator 200 respectively include force snesor 15 and force snesor 25, it is possible to adjust the appropriate grip and feeding length of cable components F, and realize that portion of terminal Fa is opposite In the appropriate press pressure of interconnecting piece Wf.

In addition, according to the present embodiment, the cooperating of assembly mechanical hand 100 and auxiliary manipulator 200 makes it possible to While forming desired extra length region and routing flexible cable component F along predefined paths, by flexible cable component F It is connected to equipment.

<example of modification>

For example, while it is mentioned above that embodiment between supporting element Wd2 and supporting element Wd3 provide electricity The extra length region of cable component F, this technology is without being limited thereto, and extra length region can be set to another section.In addition, with It is not limited to example mentioned above in the path of routing cable components F and the structure of supporting element Wd, and can be according to the class of workpiece W Type or the like and suitably change.

In addition, although auxiliary manipulator 200 is in embodiment mentioned above by by the end of clamping device CL2 End is pressed into cable components and executes scheduled holding operation, and clamping device CL2 can clamp cable components F to execute scheduled guarantor Hold operation.

Although in addition, having passed through assembly mechanical hand 100 and auxiliary manipulator 200 in embodiment mentioned above Cooperating realizes the routing of cable components F, and this technology is without being limited thereto, but assembly mechanical hand 100 may depend on each support Structure or the routed path of part and routing is individually performed.

It should be noted that this technology can take following construction.

(1) a kind of robot device, comprising:

First manipulator, first manipulator include the first multi-joint arm, the first hand and force snesor, described first Hand is installed to first multi-joint arm and can support flexible linear structure, and the force snesor is arranged described first Between multi-joint arm and first hand and it is able to detect the external force acted on the first hand；

Second manipulator, second manipulator include the second multi-joint arm and the second hand, the second hand installation To second multi-joint arm and it is able to maintain the linear structure；With

Control unit, the control unit include position determining portions and apart from calculation part, and the position determining portions determines described Two hands to the holding position of the linear structure, it is described calculated apart from calculation part based on the output of the force snesor it is described Sliding distance of first hand relative to the linear structure kept by second hand.

(2) robot device as described in (1) above, wherein

It is described to be based further on the output of the force snesor apart from calculation part to calculate by first hand grasping Relative movement distance of the linear structure relative to second hand.

(3) robot device as described in (1) or (2) above, wherein

First hand includes

Clamping device, the clamping device can be the grasping linear structures in an axial direction, and

Lift component, the lift component are configured to relatively move relative to the clamping device, the lifting Described in component can be pressed on another axial direction perpendicular to one axial direction and be grasped as the clamping device Linear structure.

(4) robot device as described in (3) above, wherein

The clamping device includes

First gripper jaw,

Second gripper jaw, second gripper jaw can phases relative to first gripper jaw on one axial direction To movement,

Protruding portion, the protruding portion is set to first gripper jaw, and extends towards second gripper jaw, and

Receiving portion, the receiving portion are located at the end of the protruding portion Yu first gripper jaw and second gripper jaw Between, and the linear structure can be slidingly supported.

(5) robot device as described in any one of (1) to (4) above, wherein

Second manipulator further comprises camera, and the camera is to the linear structure by first hand support The end of part is imaged, and

The control unit further comprises pose discrimination portion, and the pose discrimination portion is based on the image obtained by the camera Information determines posture of the end relative to first hand.

(6) manufacturing method of a kind of electronic equipment, the electronic equipment include basal substrate and flexible linear component, described Basal substrate includes interconnecting piece, and the flexible linear component has the portion of terminal for being connected to the interconnecting piece in end and is connected across It is uprightly set between the first supporting element and the second supporting element on the basal substrate, which comprises

The linear structure is grasped by the first hand of the first manipulator；

By the way that the first hand is moved to first supporting element, make linear structure described in first supports support First area；

The linear structure is kept by the second hand of the second manipulator；

First hand is set to slide into second area from the first area relative to the linear structure, described second Region separates First Line length from the first area towards the portion of terminal, and then as described in first hand grasping Second area；With

By the way that first hand is moved to second supporting element, make the secondth area described in second supports support Domain.

(7) manufacturing method of the electronic equipment as described in above (6) further comprises

First hand is slided into from the second area relative to the linear structure to connect with the portion of terminal Touch position；

By first hand mobile in the direction far from second supporting element together with the portion of terminal, make described Second area feeds the second line length from second supporting element；With

The portion of terminal is connected to the interconnecting piece and first hand is moved to the interconnecting piece.

(8) manufacturing method of the electronic equipment as described in (7) above further comprises:

Before the portion of terminal is connected to the interconnecting piece, image is obtained by the camera of second manipulator, Described image includes the posture information about the posture of the portion of terminal；With

Based on the posture information, change first hand to the grip locations of the portion of terminal.

(9) manufacturing method of the electronic equipment as described in any one of (6) to (8) above, wherein

The linear structure is antenna cable or wiring cable.

List of reference signs

1 robot device

3 controllers

11 first gripper jaws

12 second gripper jaws

15,25 force snesor

16,26 camera

31 position determining portions

32 apart from calculation part

100 assembly mechanical hands

101 is first-hand

The receiving portion 101c

102 first multi-joint arms

110 protruding portions

171 lift components

200 auxiliary manipulators

201 second-hands

202 second multi-joint arms

CL1, CL2 clamping device

F cable components

Fa portion of terminal

W workpiece

Wf interconnecting piece

Claims (9)

1. a kind of robot device, comprising:

First manipulator, first manipulator include the first multi-joint arm, the first hand and force snesor, first hand It is installed to first multi-joint arm and linear structure flexible can be supported, the force snesor is arranged more than described first Between joint arm and first hand and it is able to detect the external force for acting on first hand；

Second manipulator, second manipulator include the second multi-joint arm and the second hand, and second hand is installed to institute It states the second multi-joint arm and is able to maintain the linear structure；With

Control unit, the control unit include position determining portions and apart from calculation part, and the position determining portions determines the second-hand Portion is described that described first is calculated based on the output of the force snesor apart from calculation part to the holding position of the linear structure Sliding distance of the hand relative to the linear structure kept by second hand.

2. robot device as described in claim 1, wherein

It is described to be based further on the output of the force snesor apart from calculation part to calculate as described in first hand grasping Relative movement distance of the linear structure relative to second hand.

3. robot device as described in claim 1, wherein

First hand includes:

Clamping device, the clamping device can grasp the linear structure on an axial direction, and

Lift component, the lift component be configured to relative to the clamping device relatively move and can be vertical In the linear structure that pressing is grasped by the clamping device on another axial direction of one axial direction.

4. robot device as claimed in claim 3, wherein

The clamping device includes:

First gripper jaw,

Second gripper jaw, second gripper jaw can be opposite relative to first gripper jaw on one axial direction It is mobile,

Protruding portion, the protruding portion are set to first gripper jaw and extend towards second gripper jaw, and

Receiving portion, the receiving portion are located between the protruding portion and first gripper jaw and the end of second gripper jaw And the linear structure can be slidingly supported.

5. robot device as described in claim 1, wherein

Second manipulator further comprises camera, and the camera is to the linear structure by first hand support End is imaged, and

The control unit further comprises pose discrimination portion, and the pose discrimination portion is based on the image information obtained by the camera To determine posture of the end relative to first hand.

6. the manufacturing method of a kind of electronic equipment, the electronic equipment includes basal substrate and linear structure flexible, the base Substrate includes interconnecting piece, and the linear structure flexible has the portion of terminal for being connected to the interconnecting piece in end and is connected across It is uprightly set between the first supporting element and the second supporting element on the basal substrate, which comprises

The linear structure is grasped by the first hand of the first manipulator；

By the way that the first hand is moved to first supporting element, make first of linear structure described in first supports support Region；

The linear structure is kept by the second hand of the second manipulator；

Slide into first hand from the first area towards institute from the first area relative to the linear structure The second area that portion of terminal separates First Line length is stated, and the second area is then grasped by first hand；With

By the way that first hand is moved to second supporting element, make second area described in second supports support.

7. the manufacturing method of electronic equipment as claimed in claim 6, further comprises:

First hand is set to slide into the contact position with the portion of terminal from the second area relative to the linear structure It sets；

By, together with the portion of terminal, making secondth area to mobile first hand in the direction far from second supporting element Domain feeds the second line length from second supporting element；With

The portion of terminal is connected to the interconnecting piece and first hand is moved to the interconnecting piece.

8. the manufacturing method of electronic equipment as claimed in claim 7, further comprises:

Before the portion of terminal is connected to the interconnecting piece, image, the figure are obtained by the camera of second manipulator As including the posture information about the posture of the portion of terminal；With

Based on the posture information, change first hand to the grip locations of the portion of terminal.

9. the manufacturing method of electronic equipment as claimed in claim 6, wherein

The linear structure is antenna cable or wiring cable.