CN110520255B

CN110520255B - Robot device and method for manufacturing electronic apparatus

Info

Publication number: CN110520255B
Application number: CN201880025022.XA
Authority: CN
Inventors: 竹山进一; 别府弘邦
Original assignee: Sony Corp
Current assignee: Sony Corp
Priority date: 2017-04-21
Filing date: 2018-03-13
Publication date: 2022-11-01
Anticipated expiration: 2038-03-13
Also published as: WO2018193754A1; JPWO2018193754A1; CN110520255A; JP7052791B2

Abstract

The robot apparatus according to an embodiment of the present technology includes: a first robot (100); a second manipulator (200); and a control unit (3). The first manipulator comprises a first hand (101) and a force sensor (15). The first hand is configured to be capable of supporting a flexible linear member. The force sensor detects an external force acting on the first hand. The second manipulator comprises a second hand (201). The second hand is configured to be capable of supporting the linear member. The control unit includes a position determination unit (31) that determines the holding position of the linear member by the second hand, and a distance calculation unit (32) that calculates the sliding distance of the first hand with respect to the linear member held by the second hand, based on the output of the force sensor.

Description

Robot device and method for manufacturing electronic apparatus

Technical Field

The present technology relates to, for example, a robot apparatus for manufacturing an electronic device including a flexible linear member (such as a cable), and to a manufacturing method of an electronic device.

Background

For example, industrial robots are widely used to assemble electronic components in the manufacture of electronic devices. For example, a technique for automatically performing a step of connecting a linear member such as a cable to a connector part is known (see, for example, patent document 1 and patent document 2).

Reference list

Patent document

Patent document 1: japanese patent application laid-open No. 2010-69587

Patent document 2: japanese patent application laid-open No. 2014-176917

Disclosure of Invention

Technical problem

In the field of manufacturing electronic devices, in some cases, a linear member such as a cable is connected to a connector part while bridging between a plurality of supports in the device. However, the length variation of the linear member causes a large amount of slack of the linear member in an unintended area, which in some cases causes problems in subsequent assembly steps, or deteriorates the electronic characteristics of the device.

In view of the above circumstances, an object of the present invention is to provide a robot apparatus capable of suppressing occurrence of slack caused by a change in a linear member in an unintended region, and a manufacturing method of an electronic device.

Solution to the problem

A robot apparatus according to an embodiment of the present technology includes a first robot; a second manipulator; and a control section.

The first manipulator includes a first multi-jointed arm, a first hand, and a force sensor. The first hand is mounted to the first multi-jointed arm and is capable of supporting a flexible linear member. The force sensor is provided between the first multi-joint arm and the first hand, and is capable of detecting an external force acting on the first hand.

The second manipulator includes a second multi-jointed arm and a second hand. The second hand is mounted to the second multi-jointed arm and is capable of holding a linear member.

The control unit includes a position specifying unit that specifies a holding position of the linear member by the second hand, and a distance calculating unit that calculates a sliding distance of the first hand with respect to the linear member held by the second hand based on an output of the force sensor.

According to the robot apparatus, since each region of the linear member can be accurately guided to the predetermined holding position, it is possible to suppress occurrence of slack caused by a change in the linear member in an unintended region.

The distance calculating section may be configured to calculate a relative movement distance of the linear member gripped by the first hand with respect to the second hand further based on an output of the force sensor.

As a result, it is possible to adjust the length between arbitrary fixed positions of the linear member to an appropriate length.

The first hand may include a gripping mechanism and a lifting member.

The gripping mechanism is capable of gripping the linear member in one axial direction. The lifting member is configured to be relatively movable with respect to the gripping mechanism, and is capable of pressing the linear member gripped by the gripping mechanism in another axial direction perpendicular to the one axial direction.

As a result, it is possible to appropriately assemble an arbitrary region of the linear member to a predetermined holding position.

The clamping mechanism may include a first clamping jaw, a second clamping jaw, a projection, and a receptacle.

The second clamping jaw is configured to be relatively movable in the one axial direction with respect to the first clamping jaw. The protrusion is provided to the first clamping jaw and extends toward the second clamping jaw. The receiving portion is provided between the protruding portion and distal ends of the first and second clamping claws, and is capable of slidably supporting the linear member.

As a result, it is possible to appropriately support the linear member by the first hand.

The second manipulator may further comprise a camera that images an end of the linear member supported by the first hand. The control section may further include a posture determination section that determines a posture of the tip with respect to the first hand based on image information acquired by the camera.

As a result, it is possible to change the posture of the tip of the linear member to a posture suitable for connection to the connection target.

A manufacturing method of an electronic apparatus according to an embodiment of the present technology is a manufacturing method of producing an electronic apparatus including a base substrate including a connecting portion and a flexible linear member having a terminal portion connected to the connecting portion at a distal end and bridged between a first support and a second support provided upright on the base substrate, the method including: the linear member is gripped by a first hand of the first manipulator.

The first support supports the first region of the linear member by moving the first hand to the first support.

The linear member is held by a second hand of the second robot.

Sliding the first hand relative to the linear member from a first area to a second area, wherein the second area is separated by a first line length from the first area toward the terminal portion, and then gripping the second area by the first hand;

the second support supports the second region by moving the first hand to the second support.

The method of manufacturing an electronic device may further include: the first hand portion is slid with respect to the linear member from the second region to a contact position with the terminal portion.

Feeding the second area from the second support by a second line length by moving the first hand portion together with the terminal portion in a direction away from the second support;

the terminal portion is connected to the connecting portion by moving the first hand portion to the connecting portion.

The method of manufacturing an electronic device may further include: before the terminal portion is connected to the connecting portion, an image including posture information on a posture of the terminal portion is acquired by a camera of the second robot.

Based on the posture information, a gripping position of the first hand portion with respect to the terminal portion is changed.

The linear member may be an antenna cable or a wiring cable.

Advantageous effects of the invention

As described above, according to the present technology, it is possible to suppress occurrence of slack caused by a change in the linear member in an unintended region.

It should be noted that the effects described herein are not necessarily limiting and may be any of the effects described in the present disclosure.

Drawings

Fig. 1 is a schematic side view showing a manufacturing apparatus (robot apparatus) of an electronic device according to an embodiment of the present technology.

Fig. 2 is a schematic diagram depicting the processing of the robot apparatus relative to the linear member.

Fig. 3 is a perspective view showing an example of the form of the support and the form of the tip of the linear member.

Fig. 4 is a schematic front view showing a configuration of a hand of a first robot in the robot device.

Fig. 5 is an enlarged front view describing an operation example of the gripping mechanism in the hand.

Fig. 6 is a schematic side view of a main part of the hand.

Fig. 7 is a schematic front view showing the configuration of the hand of the second robot in the robot device.

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

Fig. 9 is a flowchart showing an example of a processing procedure performed by the control section in the robot apparatus.

Fig. 10 is a schematic side cross-sectional view describing a method of supporting a linear member.

Fig. 11 is a schematic side cross-sectional view describing a method of holding a linear member by a second robot arm.

Fig. 12 is a schematic plan view for describing a manufacturing method of an electronic apparatus according to an embodiment of the present technology.

Fig. 13 is a schematic front view for describing a step of changing the posture of the end of the linear member by the robot device.

Detailed Description

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

Fig. 1 is a schematic side view showing a manufacturing apparatus (robot apparatus) of an electronic device according to an embodiment of the present technology. In this embodiment mode, an application example of the present technology to a step of automatically connecting a cable member, which is one step of manufacturing an electronic apparatus, will be described.

[ schematic configuration of robot apparatus ]

The robot device 1 according to the present embodiment includes an assembly robot 100 (first robot), an auxiliary robot 200 (second robot), a table 2, and a controller 3 (control section), the table 2 supporting a semi-finished product of an electronic apparatus (hereinafter also referred to as a workpiece W), the controller 3 controlling the driving of the assembly robot 100 and the auxiliary robot 200.

The assembly robot 100 includes a hand 101 (first hand) and a multi-joint arm 102 (first multi-joint arm), and the multi-joint arm 102 can move the hand 101 to an arbitrary coordinate position with six degrees of freedom.

The auxiliary robot 200 includes a hand 201 (second hand) and an articulated arm 202 (second articulated arm), and the articulated arm 202 can move the hand 201 to an arbitrary coordinate position with six degrees of freedom.

The articulated arm 102 and the articulated arm 202 are connected to the table 2 or a drive source (not shown) provided near the table 2.

The controller 3 generally includes a computer including a CPU (central control unit) and a memory, and is configured to control driving of the installation robot 100 and the auxiliary robot 200 according to a program stored in the memory.

An example of controlling the robot 100 and the robot 200 by the controller 3 will be described below.

Parts a and B of fig. 2 are each a schematic diagram describing an example of the workpiece W and a processing procedure of the robot apparatus 1 with respect to the workpiece W.

Note that in the drawing, the X axis, the Y axis, and the Z axis indicate three axis directions perpendicular to each other, and the Z axis corresponds to the height direction.

The work W includes a base substrate Wa, a circuit unit Wb and a circuit unit Wc provided on the base substrate Wa, a plurality of supports Wd (Wd 1 to Wd 4) erected at appropriate positions on the base substrate Wa, a cable member F, and the like.

An example of the base substrate Wa includes a part of a housing of an electronic apparatus and a plate-like support provided in the housing. The circuit unit Wb and the circuit unit Wc each include a circuit board on which various electronic parts are mounted on a printed wiring board, an electronic unit incorporating a computer including a CPU, a memory, and the like, or the like, the electronic unit constituting one function of the electronic apparatus.

The plurality of supports Wd serve to route the cable member F along a predetermined path on the base substrate Wa. As shown in part a of fig. 3, each of the plurality of support members Wd has a flat shape including a support portion Wds that supports the cable F and has a predetermined thickness. The support portion Wds is formed in a groove shape having an open top, and the groove is formed to have a size equal to or slightly larger than the outer diameter of the cable F.

The cable member F comprises a flexible wire having a circular cross-section. One end of the flexible wire is connected to the circuit unit Wb, and the other end (tip) includes a terminal portion Fa. The cable member F generally includes a core material F1 formed of a conductive material and an insulating coating layer F2 covering a surface of the cable member F, and is configured as a wiring member such as a wiring cable and an antenna cable. As shown in part a of fig. 3, the cable F is circular in cross-section. However, the present technology is not limited thereto, and the cable F may be formed in a rectangular shape.

As schematically shown in part B of fig. 3, the terminal portion Fa of the cable member F has a stepped disk shape including a large diameter portion Fa1 and a small diameter portion Fa2, and the small diameter portion Fa2 constitutes a connection surface. The terminal portion Fa is incorporated in the connection portion Wf on the base substrate Wa at a small diameter portion Fa2 (see portion B of fig. 2) directed downward.

The workpiece W is placed on the table 2 while one end of the cable member F is connected to the circuit unit Wc. As described below, the robot device 1 cooperatively controls the installation robot 100 and the auxiliary robot 200 to bridge the cable member F between the plurality of supports Wd in a predetermined path, and then to connect the terminal portion Fa to the connection portion Wf.

Here, the length change of the cable member F causes a large amount of slack of the cable member F in an unintended area, which in some cases causes problems in a subsequent assembly step, or deteriorates the electronic characteristics of the device.

In the present embodiment, as shown in part B of fig. 2, the robot device 1 is able to assemble the cable member F such that the path between the support Wd2 and the support Wd3 is an extra-length region of the cable member F and the wire length of the cable member F between the support Wd4 and the connection portion Wf is constant.

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

[ first robot ]

Fig. 4 is a schematic front view showing the configuration of the hand 101. Parts a to C of fig. 5 are each an enlarged front view describing an operation example of the gripping mechanism. Fig. 6 is a schematic side view of a main portion of the hand 101.

Note that in each figure, the x-axis, y-axis, and z-axis indicate three axial directions perpendicular to each other.

The hand 101 includes a gripping mechanism CL1 (first gripping mechanism), and the gripping mechanism CL1 is capable of gripping (gripping) the cable member F in one axial direction (x-axis direction). The hand 101 further includes a substrate block 14, a force sensor 15, a camera 16, a lifting unit 17, a plurality of illuminators 18, a suction unit 19, and the like.

The substrate block 14 supports a chucking mechanism CL1, a camera 16 (imaging unit), a lifting unit 17, a plurality of illuminators 18, and a suction unit 19.

The camera 16 is configured to be able to image the cable member F held by the holding mechanism CL 1. The image signal acquired by the camera 16 is output to the controller 3.

The plurality of illuminators 18 are light sources for illuminating the gripper mechanism CL1 and the vicinity of the gripper mechanism CL1 when imaged by the camera 16.

The force sensor 15 is provided between the hand 101 and the multi-joint arm 102, and is configured to be able to detect an external force acting on the hand 101 and a reaction force of the gripping mechanism CL 1. The detection signal of the force sensor 15 is output to the controller 3.

The gripper mechanism CL1 includes a first gripper jaw 11, a second gripper jaw 12, and a drive unit 13, and the drive unit 13 supports the first gripper jaw 11 and the second gripper jaw 12 movably relative to each other in one axial direction (x-axis direction) mentioned above. Each of the first and

second jaws

11 and 12 may be configured to be movable in the x-axis direction, or any one of the first and

second jaws

11 and 12 may be configured to be movable in the x-axis direction.

The first and

second gripper claws

11 and 12 include a hook portion 11a and a hook portion 12a, the

hook portions

11a and 12a protruding in directions relative to each other at respective ends. The first gripper claw 11 includes a projection 110 provided at a position immediately above the hook portion 11 a. The distance between the protrusion 110 and the hook portion 11a is equal to or larger than the diameter of the cable member F.

The projection 110 has a substantially triangular plate shape extending toward the second clamping claw 12. As shown in part B and part C of fig. 5, the protrusion 110 is configured to overlap with the tip of the second gripper jaw 12 in the y-axis direction upon relative movement of the first gripper jaw 11 with respect to the second gripper jaw 12.

Next, as shown in part C of fig. 5, the clamp mechanism CL1 includes a housing portion 101C formed in a case where the distance between the hook portion 11a and the tip of the hook portion 12a is equal to or smaller than the diameter of the cable member F. The housing portion 101c is a space portion formed between the

hook portions

11a and 12a and the projection 110, and penetrates in the y-axis direction. By adjusting the distance between the hook portion 11a and the hook portion 12a, the drive unit 13 can slidably support the cable member F in the y-axis direction in the housing portion 101c and grip the cable member F so that the cable member F does not slide.

As shown in fig. 6, the lifting unit 17 includes a lifting member 171, and the lifting member 171 is connected to a driving rod R1 of a driving cylinder installed in the base block 14. The lifting member 171 is configured to be relatively movable in the z-axis direction with respect to the gripping mechanism CL 1. The lifting member 171 is linearly movable between a raised position indicated by a solid line and a lowered position indicated by a two-dot chain line in fig. 6, and is configured to be able to press the cable member F supported by the accommodating portion 101c in the z-axis direction at the lowered position (see fig. 10).

As shown in fig. 4, the suction unit 19 includes a suction tool 191, and the suction tool 191 is movable in the z-axis direction. The suction tool 191 includes a suction hole for vacuum suction at a tip end, is linearly movable between a raised position indicated by a solid line and a lowered position indicated by a two-dot chain line in fig. 4, and is configured to be capable of sucking the cable member F on the workpiece W at the lowered position. The suction unit 19 is used for the gripping mechanism CL2 to place the cable member F again, and may be omitted if necessary.

[ second mechanical arm ]

Fig. 7 is a schematic front view showing the configuration of the hand 201.

Note that in each drawing, the a-axis, b-axis, and c-axis indicate three axis directions perpendicular to each other.

The hand 201 includes a gripping mechanism CL2 (second gripping mechanism), and the gripping mechanism CL2 is capable of gripping (gripping) the cable member F in one axial direction (a-axis direction). The hand 201 further comprises a base block 24, a force sensor 25, a camera 26, a plurality of illuminators 28 and the like.

The substrate block 24 supports a chucking mechanism CL2, a camera 26 (imaging unit), and a plurality of illuminators 28.

The camera 26 is configured to be able to image the cable member F held by the holding mechanism CL 2. The image signal acquired by the camera 26 is output to the controller 3.

The plurality of illuminators 28 are light sources for illuminating the gripper mechanism CL2 and the vicinity of the gripper mechanism CL2 when imaging by the camera 26.

The force sensor 25 is provided between the hand 201 and the multi-joint arm 202, and can detect an external force acting on the hand 201 and a reaction force of the gripping mechanism CL 2. The detection signal of the force sensor 25 is output to the controller 3.

The gripping mechanism CL2 includes a first gripping claw 21, a second gripping claw 22, and a drive unit 23, the drive unit 23 supporting the first gripping claw 21 and the second gripping claw 22 in such a manner that the first gripping claw 21 and the second gripping claw 22 are movable relative to each other in one axial direction (a-axis direction) mentioned above. The first gripper jaw 21 and the second gripper jaw 22 are each movable in the a-axis direction, or either one of the first gripper jaw 21 and the second gripper jaw 22 is movable in the a-axis direction.

[ CONTROLLER ]

Fig. 8 is a functional block diagram of the robot device 1 including the controller 3.

The controller 3 generally comprises a computer including a CPU (central processing unit) and a memory. The controller 3 is configured to execute a program stored in the memory to control the operations of the respective units of the installation robot 100 and the auxiliary robot 200.

The controller 3 includes a position determination section 31, a distance calculation section 32, a drive signal generation section 33, a storage section 34, and a posture determination section 35.

The position determination section 31 determines the access points of the assembling robot 100 (first hand 101) and the auxiliary robot 200 (second hand 201) with respect to the workpiece W placed on the table 2 (see fig. 1). Specifically, the position determining section 31 is configured to identify the positions of the respective units (the positions of the circuit units Wb and Wc, the support member Wd, the connecting portion Wf, and the like) on the base substrate Wa, and determine the moving trajectories of the first and

second hands

101 and 201, the moving heights from the table, and the like.

The distance calculation unit 32 mainly calculates the movement distance of the first hand 101. More specifically, the distance calculating section 32 is configured to calculate a relative movement distance (sliding distance) of the first hand 101 with respect to the cable member F, a relative movement distance of the first hand 101 with respect to the second hand 201 gripping the cable member F, and the like. The distance calculation section 32 calculates the distance mentioned above based on the output of the force sensor 15.

The drive signal generating section 33 generates drive signals for controlling the driving of the

hand portions

101 and 201 and the

multi-joint arms

102 and 202 of the manipulator 100 based on the outputs of the position determining section 31, the distance calculating section 32, or the like.

The storage section 34 generally includes a semiconductor memory or the like. The storage section 34 can store parameters necessary for calculation in the respective units, image signals of the

cameras

16 and 26 output from the

hand sections

101 and 201, detection signals of the

force sensors

15 and 25, and the like, in addition to programs for controlling operations of the respective units of the manipulator device 1 (including programs for performing the functions of the position determining section 31, the distance calculating section 32, and the drive signal generating section 33).

The posture determination unit 35 determines the posture of the terminal portion Fa with respect to the first hand 101 based on the image information acquired by the camera 16 of the assembly robot 100 or the camera 26 of the auxiliary robot 200. As a result, it is possible to make the terminal portion Fa have a posture suitable for connection to the connection portion Wf.

In this embodiment, as will be described later, the posture determining section 35 takes a posture (see part B of fig. 13) in which the small diameter portion Fa2 of the terminal portion Fa is directed downward and the connection surface of the small diameter portion Fa2 is horizontal as a reference posture, and calculates the angular deviation of the posture of the terminal portion Fa based on the reference posture.

Manufacturing method of electronic device

Next, details of the controller 3 will be described in connection with a typical operation example of the robot device 1.

Fig. 9 is a flowchart showing an example of a processing procedure performed by the controller 3, the controller 3 including operation commands for the hand portion 101 and the hand portion 201.

First, the first hand 101 grips the cable member F (step 101).

Based on the image signal of the workpiece W imaged by the camera 16 of the first hand 101 or the camera 26 of the second hand 201, the controller 3 first acquires information on the positions of the cable member F, the supports Wd1 to Wd4, and the connecting portion Wf. Next, the position specifying unit 31 specifies access points (XYZ coordinate positions) of the

hands

101 and 201.

The drive signal generation section 33 generates a drive signal for moving the first hand 101 to a position for gripping the cable member F based on the position information set by the position determination section 31, and outputs the drive signal to the assembling robot 100. As a result, the assembling robot 100 moves the first hand 101 to a position for gripping the cable member F via the multi-joint arm 102, and performs a process of gripping the cable member F. Before gripping the cable member F, the suction unit 19 may perform a process of moving the cable member F to the gripping position.

Note that in the step of gripping the cable member F, the first hand 101 is moved closely above the predetermined gripping position of the cable member F, and the gripping mechanism CL1 is maintained in the open state shown in part a of fig. 5. Next, the first hand 101 is lowered toward the cable member F, the cable member F is made to abut on the lower edge of the projection 110, and then the gripping mechanism CL1 is driven to the closed position shown in part C of fig. 5, thereby housing the cable member F in the housing section 101C. As a result, it is possible to appropriately house the cable member F in the housing portion 101c.

Further, the force for gripping the cable member F by the gripping mechanism CL1 may be set to an appropriate strength so that the gripping mechanism CL1 can slide relative to the cable member F when a predetermined level or more of tension is applied to the cable member F. As a result, it is possible to reduce the stress applied to the cable member F. The gripping force of the gripping mechanism CL1 can be controlled based on the output of the force sensor 15.

Hereinafter, unless otherwise specified, control such as the movement of the hand 101 and the hand 201 is performed based on the outputs of the position determining section 31 and the drive signal generating section 33, and detailed description of the control will be omitted. Further, the first hand 101 is used in the sense of the gripper mechanism CL1 unless otherwise specified. Similarly, the hand 201 is used in the sense of the gripping mechanism CL 2.

Next, the cable member F is sequentially supported by the support Wd1 and the support Wd2 by the first hand 101 (step 102).

In this process, first, the controller 3 adjusts the gripping position of the cable member F by the gripping mechanism CL1 to the support area for the support Wd 1. As a result, an appropriate cable length from the circuit unit Wc to the support Wd1 is fixed (S01).

In this adjustment step, for example, the hand 101 pulls the grip position of the cable member F with a predetermined tension via the gripping mechanism CL1 to confirm whether the distance between the grip position and the connection end of the circuit unit Wc is a predetermined size. Next, in a case where the above-mentioned distance is not the predetermined size, the gripping force is weakened to slide the gripping mechanism CL1 with respect to the cable member F, and the gripping is performed again at a position where the above-mentioned distance is the predetermined size.

Next, as shown in fig. 10, the controller 3 moves the first hand 101 to the vicinity of the grip area of the support Wd1 so that the support Wd1 supports the cable member F. As shown in the drawing, the first hand 101 is lowered toward a position for sandwiching the target support Wd between the gripping mechanism CL1 and the elevation member 171, and the cable member F is engaged with the support portion Wds of the support Wd. Thereafter, the elevating member 171 is lowered to press the cable member F to the upper surface of the base substrate Wa with a predetermined pressure directly below the elevating member 171. As a result, it is possible to engage the cable member F with the support portion Wds in an appropriate posture.

After the operation of engaging the cable member F with the support Wd1, the first hand 101 is raised by a predetermined distance while accommodating the cable member F in the accommodating section 101c, weakens the gripping force of the gripping structure CL1, and moves in the direction of the support Wd 2. As a result, the gripping mechanism CL1 slides relative to the cable member F while supporting the cable member F, changes the gripping position to the supporting area in the support Wd2, and causes the support Wd2 to support the cable member F in a process similar to that described above. At this time, the sliding distance of the gripping mechanism CL1 is set to a cable length corresponding to the distance between the support Wd1 and the support Wd2 (S12).

Meanwhile, as shown in fig. 11, the controller 3 moves the clamp mechanism CL2 directly above the cable member F in the vicinity of the support Wd by the second hand 201, and presses and holds the cable member F to the base substrate Wa at a predetermined pressure by the tip of the clamp mechanism CL 2. As a result, the cable member F is prevented from being loosened or falling from the support Wd1 due to the movement of the first hand 101. The predetermined pressure mentioned above may be controlled based on the output of the force sensor 25 of the second hand 201.

Next, after the cable member F is supported by the support Wd2, the first hand 101 is slid by a predetermined distance with respect to the cable member F (steps 103 and 104).

In this step, as shown in part a of fig. 12, the cable member F supported by the support Wd2 through the second hand 201 is held. In this state, the first hand 101 slides with respect to the cable member F from an area (first area) gripped by the first hand 101 when the support Wd2 is caused to support the cable member F toward the terminal portion Fa of the cable member F to an area (second area) distant by the first line length S, and then grips the area (second area).

The first wire length S is set to a length greater than an appropriate cable extra length (S23) between the supports Wd2 and Wd3 (S230). That is, in this step, an extra length region of the cable member F is formed between the support Wd2 and the support Wd3 such that the cable length from the support Wd3 to the support Wd4 (S34) and the cable length from the support Wd4 to the connection portion Wf (S45) are each within a predetermined range.

Next, the cable member F is supported by the support Wd3 by the first hand 101 (step 105).

In this step, the controller 3 moves the first hand 101 to the support Wd3 so that the support Wd3 supports the above-mentioned second area. As a result, an extra length region of the cable member F is formed between the support Wd2 and the support Wd3 (see part B of fig. 12).

Then, the cable member F is fed by a predetermined distance from the support Wd3 by the first hand 101 (step 106).

In this step, as shown in part C of fig. 12, while the support area (second area) of the cable member F is held in a position at or near the support Wd3 by the second hand 201, the first hand 101 is slid with respect to the cable member from the area (second area) to a contact position with the terminal part Fa of the cable member F. Then, the holding force of the second hand portion 201 for holding the cable member F is weakened, and the first hand portion 101 together with the terminal portion Fa is moved in a direction away from the support Wd3 (left in the Y-axis direction in the portion C of fig. 12). Next, the cable member F (second region) is fed by a second wire length from the support Wd3 while sliding the cable member F (second region) relative to the second hand 201.

The above-mentioned second wire length corresponds to a part of the extra length of the cable member F between the support Wd2 and the support Wd3, and specifically corresponds to the difference between the wire length (S230) and the wire length (S23). As a result, an appropriate cable length (corresponding to the sum of S34 and S45) from the support Wd3 to the connection portion Wf is fixed.

Next, the cable member F is supported by the support Wd4 through the first hand 101 (step 107). Next, the first hand 101 is moved to the connecting portion Wf to connect the terminal portion Fa of the cable member F to the connecting portion Wf. In this embodiment, before the terminal portion Fa is connected to the connecting portion Wf, a step of changing the posture of the terminal portion Fa to an appropriate posture is performed, and then, the terminal portion Fa is connected to the connecting portion Wf (step 108 and step 109).

In the step of changing the posture of the terminal portion Fa, as illustrated in part a of fig. 13, the camera 26 of the second manipulator 200 acquires an image including posture information of the terminal portion Fa while the first hand 101 grips the cable connection portion Fb (see part B of fig. 3) in the vicinity of the terminal portion Fa. Next, based on the posture information mentioned above, the grip position by the terminal portion Fa of the first hand 101 is changed.

When changing the grip position by the terminal portion Fa of the first hand 101, first, the controller 3 calculates an angular error difference from an appropriate posture in which the small diameter portion Fa2 of the terminal portion Fa is directed downward and the connection surface of the small diameter portion Fa2 is horizontal, based on the image of the terminal portion Fa acquired by the camera 26. Then, the gripping mechanism CL2 of the second hand 201 grips the terminal part Fa instead of the first hand 101 (gripping mechanism CL 1), and then, the first hand 101 rotates by an angle corresponding to the above-mentioned angular error difference, and grips the cable connection part Fb again. As a result, as illustrated in part B of fig. 13, the terminal portion Fa is gripped in an appropriate posture by the first hand 101.

After that, the first hand 101 is moved to a position closely above the connection portion Wf, and the terminal portion Fa to be connected to the connection portion Wf with a predetermined pressure is lowered. As a result, the robot device 1 completes the operation of routing the cable F between the plurality of supports Wd and the operation of connecting the terminal portion Fa to the connecting portion Wf.

As described above, according to the present embodiment, since each area of the cable member F can be accurately guided to the predetermined holding position, it is possible to suppress occurrence of slack caused by a change in the length of the cable member F in an unintended area.

Further, according to the present embodiment, since the assembling robot 100 and the auxiliary robot 200 include the force sensor 15 and the force sensor 25, respectively, it is possible to adjust the appropriate gripping force and the feeding length of the cable member F and to achieve the appropriate pressing pressure of the terminal portion Fa against the connecting portion Wf.

Further, according to the present embodiment, the cooperative operation of the assembly robot 100 and the auxiliary robot 200 makes it possible to connect the flexible cable member F to the equipment while forming a desired extra-length region and routing the flexible cable member F along a predetermined path.

< modified example >

For example, although the extra-length region of the cable member F has been provided between the supports Wd2 and Wd3 in the above-mentioned embodiments, the present technology is not limited thereto, and the extra-length region may be set to another section. Further, the path for routing the cable member F and the structure of the support Wd are not limited to the above-mentioned examples, and may be appropriately changed according to the type of the work W or the like.

Further, although the auxiliary robot 200 has performed the predetermined holding operation by pressing the tip of the gripping mechanism CL2 to the cable member in the above-mentioned embodiment, the gripping mechanism CL2 may grip the cable member F to perform the predetermined holding operation.

Further, although the routing of the cable member F has been achieved by the cooperative operation of the assembling robot 100 and the auxiliary robot 200 in the above-mentioned embodiment, the present technology is not limited thereto, but the assembling robot 100 may individually perform the routing depending on the structure or routing path of each support.

It should be noted that the present technology may take the following configurations.

(1) A robot apparatus comprising:

a first manipulator including a first multi-joint arm, a first hand mounted to the first multi-joint arm and capable of supporting a flexible linear member, and a force sensor disposed between the first multi-joint arm and the first hand and capable of detecting an external force acting on the first hand;

a second manipulator including a second multi-jointed arm and a second hand mounted to the second multi-jointed arm and capable of holding the linear member; and

a control section including a position determination section that determines a holding position of the linear member by the second hand, and a distance calculation section that calculates a sliding distance of the first hand with respect to the linear member held by the second hand based on an output of the force sensor.

(2) The robot apparatus as set forth in the above (1), wherein

The distance calculation section further calculates a relative movement distance of the linear member gripped by the first hand with respect to the second hand based on an output of the force sensor.

(3) The robot apparatus according to the above (1) or (2), wherein

The first hand part comprises

A gripping mechanism capable of gripping the linear member in one axial direction, an

An elevation member configured to be relatively movable with respect to the gripping mechanism, the elevation member being capable of pressing the linear member gripped by the gripping mechanism in another axial direction perpendicular to the one axial direction.

(4) The robot apparatus as set forth in the above (3), wherein

The clamping mechanism comprises

A first clamping claw is arranged on the base plate,

a second clamping jaw relatively movable in the one axial direction with respect to the first clamping jaw,

a projection provided to the first gripper jaw and extending toward the second gripper jaw, an

A receiving portion provided between the protruding portion and distal ends of the first and second clamping claws and capable of slidably supporting the linear member.

(5) The robot apparatus of any one of (1) to (4) above, wherein

The second manipulator further includes a camera that images an end of the linear member supported by the first hand, and

the control section further includes a posture determination section that determines a posture of the tip with respect to the first hand based on image information acquired by the camera.

(6) A method of manufacturing an electronic apparatus including a base substrate including a connecting portion and a flexible linear member having a terminal portion connected to the connecting portion at an end and bridging between first and second support members provided upright on the base substrate, the method comprising:

grasping the linear member by a first hand of a first manipulator;

causing the first support to support a first region of the linear member by moving a first hand to the first support;

holding the linear member by a second hand of a second robot;

sliding the first hand relative to the linear member from the first region to a second region that is separated from the first region toward the terminal portion by a first line length, and then gripping the second region by the first hand; and

causing the second support to support the second region by moving the first hand to the second support.

(7) The method for manufacturing an electronic device as described in (6) above, further comprising

Sliding the first hand part relative to the linear member from the second region to a contact position with the terminal part;

feeding the second area from the second support by a second line length by moving the first hand portion together with the terminal portion in a direction away from the second support; and

(8) The method of manufacturing an electronic apparatus according to the above (7), further comprising:

acquiring an image including posture information on a posture of the terminal part by a camera of the second manipulator before connecting the terminal part to the connecting part; and

changing a gripping position of the terminal part by the first hand based on the posture information.

(9) The method of manufacturing an electronic apparatus according to any one of the above (6) to (8), wherein

The linear member is an antenna cable or a wiring cable.

List of reference marks

1. Manipulator device

3. Controller

11. First gripper jaw

12. Second gripper jaw

15. 25 force sensor

16. 26 Camera

31. Position determining part

32. Distance calculating part

100. Assembling manipulator

101. First hand

101c storage part

102. First multi-joint arm

110. Projection part

171. Lifting component

200. Auxiliary manipulator

201. Second hand

202. Second multi-joint arm

CL1 and CL2 clamping mechanism

F cable component

Fa terminal part

W workpiece

Wf connecting part.

Claims

1. A robot apparatus comprising:

a first manipulator including a first multi-joint arm, a first hand mounted to the first multi-joint arm and capable of supporting a flexible linear member, and a force sensor provided between the first multi-joint arm and the first hand and capable of detecting an external force acting on the first hand;

a second manipulator including a second articulated arm and a second hand mounted to the second articulated arm and capable of holding the linear member; and

a control section including a position determination section that determines a holding position of the linear member by the second hand and a distance calculation section that calculates a sliding distance of the first hand with respect to the linear member held by the second hand based on an output of the force sensor,

the first hand includes:

A lifting member configured to be relatively movable with respect to the gripping mechanism and to press the linear member gripped by the gripping mechanism in another axial direction perpendicular to the one axial direction.

2. The robot apparatus of claim 1, wherein

3. The robot apparatus of claim 1, wherein

The fixture includes:

a first clamping claw is arranged on the base plate,

a projection provided to the first gripper jaw and extending towards the second gripper jaw, an

A receiving portion provided between the protruding portion and the distal ends of the first and second clamping claws and capable of slidably supporting the linear member.

4. The robot apparatus of claim 1, wherein

5. A method of manufacturing an electronic apparatus including a base substrate including a connecting portion, and a flexible linear member having a terminal portion connected to the connecting portion at an end and bridged between a first support member and a second support member provided upright on the base substrate, the method comprising:

grasping the linear member by a first hand of a first manipulator;

holding the linear member by a second hand of a second robot;

sliding the first hand relative to the linear member from the first region to a second region separated from the first region toward the terminal portion by a first line length, and then gripping the second region by the first hand;

causing the second support to support the second region by moving the first hand to the second support;

6. The method of manufacturing an electronic device according to claim 5, further comprising:

acquiring an image by a camera of the second manipulator before connecting the terminal part to the connecting part, the image including posture information on a posture of the terminal part; and

7. The method of manufacturing an electronic device as claimed in claim 5, wherein

The linear member is an antenna cable or a wiring cable.