CN115443587A - Assembling device, assembling method, and method for manufacturing electronic device - Google Patents

Assembling device, assembling method, and method for manufacturing electronic device Download PDF

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Publication number
CN115443587A
CN115443587A CN202080099550.7A CN202080099550A CN115443587A CN 115443587 A CN115443587 A CN 115443587A CN 202080099550 A CN202080099550 A CN 202080099550A CN 115443587 A CN115443587 A CN 115443587A
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CN
China
Prior art keywords
side wall
pair
wall portions
robot hand
connector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080099550.7A
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Chinese (zh)
Inventor
浅居靖
高塚卓旦
竹山豪俊
太田贵之
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN115443587A publication Critical patent/CN115443587A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/70—Coupling devices
    • H01R12/71—Coupling devices for rigid printing circuits or like structures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/70—Coupling devices
    • H01R12/91—Coupling devices allowing relative movement between coupling parts, e.g. floating or self aligning
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device

Abstract

The 1 st member (1) is gripped by the robot hand (4), and the robot hand (4) is tilted so that one of the pair of 1 st side wall portions (10) is located lower than the other. The inclined robot hand (4) is lowered from above the 2 nd member (2), and the gripping is released after the lower surface of one of the pair of 1 st side wall parts (10) and the upper surface of one of the pair of 2 nd side wall parts (16) are brought into contact. A convex portion (14 a) protruding from a leg portion (13) extending downward from one of the pair of 1 st side wall portions (10) is inserted into a concave portion (19 b) formed in one of the pair of 2 nd side wall portions (16). The 1 st member 1 is pressed by a robot hand (4). A convex portion (14 b) projecting from a leg portion (13) extending downward from the other of the 1 st side wall portions (10) is inserted into a concave portion (19 b) formed in the other of the pair of 2 nd side wall portions (16).

Description

Assembling device, assembling method, and method for manufacturing electronic device
Technical Field
The present invention relates to an assembling apparatus and an assembling method for assembling components using a robot, and a method for manufacturing an electronic device.
Background
Conventionally, a snap is known as a method of fitting 2 members constituting a housing of an electronic device. The snap fit is a method of engaging a projection provided on one member with a recess of the other member by using elasticity of a material. In recent years, for the purpose of improving productivity of electronic devices, there has been a demand for development of a device capable of replacing the assembly work by a snap as described above from a manual work to a robot. For example, patent document 1 discloses a component assembly device configured such that, in a state where a 1 st component is placed on a 2 nd component, a pressing portion presses the 1 st component, thereby fitting a snap portion.
Patent document 1: japanese patent laid-open publication No. 2019-195853
Disclosure of Invention
On the other hand, in the components of the electronic apparatus having the substrate mounted inside the housing, the components need to be fitted with a connector for electrically connecting the components in addition to the fitting with the snap. However, in the case where a component of the connector is provided inside the housing, the conventional method has a problem that the connector interferes and fitting by the snap fit cannot be performed.
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an assembling device, an assembling method, and a manufacturing method of an electronic device, in which 2 members constituting a housing of the electronic device are fitted with a connector and are also fitted with a snap.
An assembling apparatus according to the present invention assembles a 1 st component and a 2 nd component, the 1 st component having a 1 st connector on a 1 st substrate so as to be closer to one of a pair of 1 st side wall portions opposed to each other, the 2 nd component having a 2 nd side wall portion surrounding a 2 nd substrate, the 2 nd connector being provided on the 2 nd substrate so as to be closer to the other of the pair of 2 nd side wall portions opposed to each other, the assembling apparatus including: a robot hand having a grip for gripping the 1 st member and a pressing portion for pressing the 1 st member; a robot having a robot hand at a front end; and a control unit that controls the robot hand and the robot, wherein the control unit grips the 1 st member by the gripping unit of the robot hand, tilts the robot hand so that one of the pair of 1 st side wall portions is located lower than the other, lowers the tilted robot hand from above the 2 nd member, releases the grip of the gripping unit after a lower surface of one of the pair of 1 st side wall portions comes into contact with an upper surface of one of the pair of 2 nd side wall portions, thereby causing the foot portion extending downward from one of the pair of 1 st side wall portions to pass through an inner side of the pair of 2 nd side wall portions, causes the foot portion extending downward from the other of the pair of 1 st side wall portions to pass through an inner side of the pair of 1 st side wall portions, causes the foot portion extending downward from the other of the pair of 1 st side wall portions to pass through an inner side of the pair of 2 nd side wall portions, and causes the foot portion extending downward from the other of the pair of 1 st side wall portions to pass through an outer side of the pair of 2 nd side wall portions, thereby causing the foot portion extending downward from the other of the pair of 1 st side wall portions to form the convex portions.
Further, an assembling method according to the present invention is an assembling method of a 1 st member having a 1 st side wall portion surrounding a 1 st substrate, a 1 st connector provided on the 1 st substrate so as to be closer to one of a pair of the 1 st side wall portions opposed to each other than to the other, and a 2 nd member having a 2 nd side wall portion surrounding a 2 nd substrate, a 2 nd connector provided on the 2 nd substrate so as to be closer to the other of the pair of the 2 nd side wall portions opposed to each other, the assembling method including the steps of: grasping the 1 st member by a grasping portion of a robot hand, and inclining the robot hand such that one of the pair of 1 st side wall portions is located lower than the other; lowering the tilted robot hand from above the 2 nd member, bringing a lower surface of one of the pair of 1 st side wall portions into contact with an upper surface of one of the pair of 2 nd side wall portions, and then releasing the grip of the grip portion, thereby causing a foot portion extending downward from the one of the pair of 1 st side wall portions to pass through the inside of the pair of 2 nd side wall portions, and inserting a convex portion protruding outward from the foot portion extending downward from the one of the pair of 1 st side wall portions into a concave portion formed in the one of the pair of 2 nd side wall portions; and pressing the 1 st member by the pressing portion of the robot hand so that the 1 st substrate and the 2 nd substrate are parallel to each other, thereby causing the leg portion extending downward from the other of the pair of 1 st side wall portions to pass through the inside of the pair of 2 nd side wall portions, and inserting the convex portion protruding outward from the leg portion extending downward from the other of the pair of 1 st side wall portions into the concave portion formed in the other of the pair of 2 nd side wall portions.
In addition, a method of manufacturing an electronic device according to the present invention assembles a 1 st component and a 2 nd component using an assembling apparatus, the 1 st component having a 1 st side wall portion surrounding a 1 st substrate, the 1 st component having a 1 st connector provided on the 1 st substrate so as to be closer to one of a pair of 1 st side wall portions opposed to each other than the other, the 2 nd component having a 2 nd side wall portion surrounding a 2 nd substrate, the 2 nd connector provided on the 2 nd substrate so as to be closer to the other of the pair of 2 nd side wall portions opposed to each other than the one of the pair of 2 nd side wall portions, a floating mechanism formed in the 2 nd connector based on a difference between a horizontal distance from the 1 st contact point to the 2 nd connector and a horizontal distance from the 1 st contact point to the 2 nd contact point in a state where the 1 st connector and the 2 nd connector are in contact with each other.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the assembling apparatus and the assembling method of the present invention, the robot hand holding the 1 st member is tilted so that one of the pair of 1 st side wall portions of the 1 st member is located lower than the other, and is lowered from above the 2 nd member in the tilted state to release the holding of the robot hand, and then the 1 st member presses the 2 nd member. Thus, the 1 st component and the 2 nd component can be fitted together by the connector and can be fitted together by the snap fit.
Further, according to the method of manufacturing an electronic device according to the present invention, since the floating mechanism is formed in the 2 nd connector, the 1 st connector and the 2 nd connector can be fitted to each other even when the relative positions of the 1 st connector and the 2 nd connector are displaced in the process of fitting by the snap.
Drawings
Fig. 1 is a schematic configuration diagram of an assembly apparatus according to embodiment 1.
Fig. 2 is a hardware configuration diagram of a control unit of the assembly apparatus according to embodiment 1.
Fig. 3 is a schematic cross-sectional view of a component that is a work target of the assembly device according to embodiment 1.
Fig. 4 is a schematic diagram of members to be operated in the assembly apparatus according to embodiment 1. The side view is (a) and the oblique view is (b) of the 1 st member.
Fig. 5 is a schematic cross-sectional view of a component that is a work target of the assembly device according to embodiment 1.
Fig. 6 is a flowchart for explaining an assembling method using the assembling device according to embodiment 1.
Fig. 7 is a schematic configuration diagram of a robot hand of the assembly apparatus according to embodiment 1.
Fig. 8 is a schematic configuration diagram for explaining an angle of a work object held by a robot hand of the assembly apparatus according to embodiment 1.
Fig. 9 is a schematic configuration diagram showing angles of members to be worked of the assembly apparatus according to embodiment 1.
Fig. 10 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1.
Fig. 11 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1.
Fig. 12 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1.
Fig. 13 is a diagram for explaining an assembly process using the assembly apparatus according to embodiment 1.
Fig. 14 is a schematic configuration diagram showing an example of a robot hand of the assembly apparatus according to embodiment 1.
Fig. 15 is a diagram for explaining an assembly process using the assembly apparatus according to embodiment 1.
Fig. 16 is a schematic configuration diagram showing components to be operated in the assembly apparatus according to embodiment 1.
Fig. 17 is a schematic diagram for explaining a method of manufacturing an electronic device in which components are assembled using the assembling apparatus according to embodiment 1.
Fig. 18 is a schematic configuration diagram showing a robot hand of the assembly apparatus according to embodiment 2.
Fig. 19 is a flowchart for explaining an assembling method using the assembling device according to embodiment 2.
Fig. 20 is a diagram showing a relationship between a load of the load sensor and position coordinates in the lowering direction in the assembly device according to embodiment 2.
Fig. 21 is a schematic configuration diagram showing the dimensions of the components to be worked of the assembly apparatus according to embodiment 3.
Fig. 22 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 3.
Fig. 23 is a flowchart for explaining an assembling method using the assembling device according to embodiment 3.
Fig. 24 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 3. (a) The drawing (b) is a drawing of a work object.
Detailed Description
Embodiment mode 1
Hereinafter, a preferred embodiment of the power control device according to the present invention will be described with reference to the drawings. The same contents and corresponding parts are denoted by the same reference numerals, and detailed description thereof is omitted. In the following embodiments, the same reference numerals are used to designate the same components, and redundant description thereof is omitted.
The assembly apparatus 100 assembles the 1 st part 1 to the 2 nd part 2. Fig. 1 is a schematic configuration diagram of an assembly apparatus according to embodiment 1. As shown in fig. 1, the assembly apparatus 100 includes a robot 3, a robot hand 4 provided at the tip thereof, and a control unit 5 for controlling the operation of the robot 3 and the robot hand 4, and the assembly apparatus 100 may further include a table 6 for providing the 1 st part 1 and the 2 nd part 2, and alignment members 7 and 8 for fixing the 1 st part 1 and the 2 nd part 2 at predetermined positions, respectively. The alignment members 7 and 8 are not particularly limited, and may be alignment pins. The control unit 5 may be mounted in the robot 3, may be present outside the robot 3, or may remotely operate the robot 3 from the control unit 5 by wireless or the like.
In fig. 1 and the drawings described below, the X direction and the Y direction define an installation surface of the robot 3 or a plane on which the 1 st member 1 and the 2 nd member 2 are installed on the table 6, and the Z direction defines a vertical direction perpendicular to the XY plane. In the following description, the positive direction of the Z axis is referred to as the upper side, and the negative direction is referred to as the lower side.
The robot 3 moves the robot hand 4 to the position coordinates specified by the control unit 5.
The robot 3 is, for example, a vertical articulated robot having 6-axis rotational degrees of freedom. The robot hand 4 performs a vertical motion or a planar motion to grip the 1 st member 1. The robot 3 can perform a turning operation so as to tilt the robot hand 4 at a predetermined angle.
The control unit 5 is, for example, a robot controller having a computer such as a microcontroller. Fig. 2 shows an example of the hardware configuration of the control unit 5. The processor 5a and the storage device 5b are configured, and although not shown, the storage device 5b includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. In addition, an auxiliary storage device such as a hard disk may be provided instead of the flash memory. The processor 5a reads and executes software such as a basic program input to the storage device 5b, thereby controlling various operations of the robot 3, for example. In this case, the program is input from the auxiliary storage device to the processor 5a via the volatile storage device. The processor 5a may output data such as the operation result to a volatile storage device of the storage device 5b, or may store the data in an auxiliary storage device via the volatile storage device.
The 1 st part 1 and the 2 nd part 2 are each a part constituting a part of a housing of an electronic apparatus. The material of the 1 st member 1 and the 2 nd member 2 is not particularly limited, and preferably a resin molded product having appropriate elasticity for fitting by snap fitting. Fig. 3 is a schematic cross-sectional view of the assembly device according to embodiment 1 before fitting of components to be operated. Fig. 4 (a) is a schematic side view of the assembly device according to embodiment 1 before fitting of the members to be operated, and fig. 4 (b) is a perspective view of the member 1. In fig. 3 and 4 (a), the X direction coincides with the depth direction of the 1 st and 2 nd members 1 and 2, the Y direction coincides with the width direction of the 1 st and 2 nd members 1 and 2, and the Z direction coincides with the height direction of the 1 st and 2 nd members 1 and 2.
As shown in fig. 3 and 4, the 1 st member 1 has a rectangular top surface portion 9 when viewed in the height direction, and a 1 st side wall portion 10 standing in the height direction from the outer periphery of the top surface portion 9. The 1 st substrate 11 is fixed to the inside of the 1 st member 1 surrounded by the 1 st side wall portion 10 in parallel with the top surface portion 9 at a distance in the height direction. The 1 st substrate 11 is disposed at a height position approximately equal to the lower surface of the 1 st sidewall 10, for example.
The 1 st substrate 11 is provided with a 1 st connector 12. The 1 st connector 12 is disposed closer to one of the pair of 1 st side wall parts 10 opposed in the width direction than the other. Hereinafter, the 1 st side wall portion 10a is defined as the side away from the 1 st connector 12 and the 1 st side wall portion 10b is defined as the side close to the 1 st connector 12 out of the pair of 1 st side wall portions 10 opposed to each other in the width direction, and the 1 st side wall portion 10 is defined as the 1 st side wall portion 10. In the description of both the 1 st and 1 st sidewall portions 10 and 10a, the 1 st sidewall portion is shown as 10a, 10 or 10b, 10 in the drawings. The same parts will be described below.
Each of a pair of 1 st side wall portions 10 of the 1 st member 1 facing in the width direction is provided with 2 leg portions 13 extending in the height direction. The leg portion 13 extends to a height approximately equal to the height of the 1 st connector 12 opposite to the surface fixed to the 1 st substrate 11, for example. The leg portion 13 is formed with a convex portion 14 protruding outward of the pair of first side wall portions 1. The convex portion 14 is provided at the lower end of the leg portion 13, for example. The projection 14 is preferably tapered in the direction of projection. In the figure, the leg portion 13 and the convex portion 14 are not shown with hatching indicating the cross section from the viewpoint of easy observation. The same applies to the other figures.
Hereinafter, the leg 13a is a side of the leg 13 facing in the width direction away from the 1 st connector 12, and the leg 13b is a side of the leg 13 facing the 1 st connector 12, and both are described as the legs 13. The convex portion 14 is described as a convex portion 14a on the side away from the 1 st connector 12 and a convex portion 14b on the side close to the 1 st connector 12, when both are referred to.
As shown in fig. 3 and 4, the 2 nd member 2 includes a rectangular parallelepiped main body portion 15 and a 2 nd side wall portion 16 standing in the height direction from the outer periphery of the upper surface of the main body portion 15. The 2 nd substrate 17 is fixed and disposed on the inner side of the 2 nd member 2 surrounded by the 2 nd side wall portion 16. The 2 nd substrate 17 is provided with a 2 nd connector 18. The 2 nd connector 18 is disposed closer to one of the pair of 2 nd side wall parts 16 opposed in the width direction than the other. The 2 nd connector 18 is provided corresponding to the 1 st connector 12 of the 1 st part 1. The 1 st connector 12 and the 2 nd connector 18 are fitted to electrically connect the 1 st component 1 and the 2 nd component 2.
A pair of 2 nd side wall portions 16 of the 2 nd member 2 facing in the width direction are formed with recesses 19 corresponding to positions where the leg portions 13 of the 1 st member 1 are provided, respectively. The recess 19 is, for example, a through hole penetrating the 2 nd side wall portion 16. The length of the 2 nd side wall portion 16 from the upper surface to the recess 19 is preferably the same as the length of the leg portion 13 in the height direction. The convex portion 14 formed on the leg portion 13 of the 1 st member 1 is inserted into the concave portion 19 formed on the 2 nd side wall portion 16 of the 2 nd member 2, and is engaged by snap fit. In the figure, the 2 nd side wall portion 16 is omitted from hatching indicating a cross section in view of easy observation. The same applies to the other figures.
Hereinafter, the 2 nd side wall portion 16a is defined as a side distant from the 2 nd connector 18 and the 2 nd side wall portion 16b is defined as a side close to the 2 nd connector 18 out of the pair of 2 nd side wall portions 16 facing in the width direction, and the 2 nd side wall portion 16 is defined as the 2 nd side wall portion 16 when both are referred to. Similarly, the recess 19a is defined as a side of the recess 19 facing in the width direction away from the 2 nd connector 18, and the side close to the 2 nd connector is defined as a recess 19b, and if both are defined as recesses 19.
As shown in fig. 3 and 4, the 1 st member 1 and the 2 nd member 2 are configured such that, if they are arranged to overlap each other in the height direction, the positions of the 1 st connector 12 and the 2 nd connector 18, and the positions of the leg portion 13, the projection portion 14, and the recess portion 19 coincide with each other in the width direction and the depth direction.
Fig. 5 is a schematic cross-sectional view of the assembly device according to embodiment 1 after fitting of the components to be operated. As shown in fig. 5, when the fitting of the 1 st and 2 nd members 1 and 2 is completed, the leg portion 13 of the 1 st member 1 passes through the inside of the 2 nd side wall portion 16 of the 2 nd member 2, and the convex portion 14 of the 1 st member 1 is inserted into the concave portion 19 of the 2 nd member 2. In addition, in the state of the fitting completion, the lower surface of the 1 st side wall portion 10 of the 1 st member 1 and the upper surface of the 2 nd side wall portion 16 are in contact with each other.
When fitting the 1 st component 1 and the 2 nd component 2, if the 1 st component 1 is press-fitted to the 2 nd component 2 while keeping the 1 st board 11 of the 1 st component 1 parallel to the 2 nd board 17 of the 2 nd component 2, the 1 st connector 12 and the 2 nd connector 18 interfere with each other before the convex portions 14 of the leg portions 13 are inserted into the concave portions 19, and therefore, fitting by snap-fitting cannot be achieved. Further, if the 1 st substrate 11 holding the 1 st component 1 is press-fitted into the 1 st component 1 in a state parallel to the 2 nd substrate 17 of the 2 nd component 2, there is a possibility that the relative positions of the 1 st component 1 and the 2 nd component 2 in the width direction and the depth direction may be displaced.
Therefore, when fitting the 1 st member 1 and the 2 nd member 2, first, the 1 st member 1 needs to be inclined so that the 1 st side wall portion 10a on the side away from the 1 st connector 12 and the 2 nd side wall portion 16a on the side away from the 2 nd connector 18 come close to each other. Subsequently, the projection 14a of the leg 13a on the side away from the 1 st connector 12 is inserted into the recess 19a of the 2 nd component 2. Then, while restoring the inclination of the 1 st component 1 so that the 1 st board 11 becomes parallel to the 2 nd board 17, the 1 st connector 12 and the 2 nd connector 18 are fitted together, and the convex portion 14b of the leg portion 13b on the side close to the 1 st connector 12 is inserted into the concave portion 19b of the 2 nd component 2.
Next, a method of assembling the 1 st member 1 and the 2 nd member 2 using the assembling apparatus 100 will be described. Fig. 6 is a flowchart for explaining an assembling method using the assembling device according to embodiment 1. At the start of the assembly operation, as shown in fig. 1, the 1 st and 2 nd members 1, 2 are set on, for example, the table 6 at positions defined by the alignment members 7, 8.
Fig. 7 is a schematic configuration diagram of a robot hand of the assembly device according to embodiment 1. The robot hand 4 includes, for example, a grip 20 for gripping the 1 st member 1 and a pressing portion 21 for pressing the top surface portion 9 of the 1 st member 1. The grip 20 has, for example, a suction cup 20a and is connected to a vacuum ejector 22. When the vacuum ejector 22 performs the suction operation in a state where the top surface portion 9 of the 1 st member 1 is brought into contact with the suction pad 20a, the suction pad 20a and the vacuum ejector 22 are brought into a vacuum state, and the 1 st member 1 can be gripped. The vacuum ejector 22 may further have a vacuum confirmation sensor capable of confirming the vacuum pressure. The material of the pressing portion 21 is not particularly limited, but a resin-based material is preferable so as not to damage the 1 st member 1.
Next, an assembling method for assembling the 1 st and 2 nd members 1 and 2 by using the robot hand 4 shown in fig. 7 as an example will be described. As shown in fig. 6, first, the control unit 5 outputs a command to the robot hand 4 to cause the robot hand 4 to grip the 1 st component 1 (step S1). First, the robot hand 4 moves to above the 1 st member 1 in response to a command from the control unit 5. Subsequently, the vacuum ejector 22 starts the suction action. The robot hand 4 descends until the position coordinates specified by the control unit 5. The suction cup 20a of the robot hand 4 contacts the top surface portion 9 of the 1 st member 1 at a position where the lowering of the robot hand 4 is completed. The suction pad 20a and the vacuum ejector 22 are in a vacuum state, and the 1 st member 1 is gripped.
The vacuum state is confirmed by a vacuum confirmation sensor of the vacuum ejector 22. After confirming the vacuum state, a signal is output from the vacuum confirmation sensor to the control unit 5. The control unit 5 that receives the output signal outputs a command to move the robot hand 4 upward on which the 1 st component 1 is disposed in a state where the 1 st component 1 is held.
Next, the control unit 5 outputs a command to move the robot hand 4 to above the 2 nd component 2 in a state where the 1 st component 1 is gripped (step S2).
Next, the control unit 5 outputs a command to tilt the robot hand 4 at a predetermined angle above the 2 nd member 2 (step S3). That is, the control unit 5 tilts the robot hand 4 such that the lower surface of the 1 st side wall portion 10a on the side away from the 1 st connector 12, out of the 1 st pair of 1 st side wall portions 10 opposed to each other in the width direction of the 1 st member 1, is positioned lower than the lower surface of the 1 st side wall portion 10b on the side close to the 1 st connector 12. That is, the robot hand 4 is inclined so that the lower surface of the 1 st side wall portion 10a on the side away from the 1 st connector 12 approaches the upper surface of the 2 nd side wall portion 16a on the side away from the 2 nd connector 18 in the vertical direction. The gripped 1 st part 1 is similarly inclined according to the inclination of the robot hand 4.
Fig. 8 is a schematic configuration diagram for explaining an angle of a work object gripped by a robot hand of the assembly apparatus according to embodiment 1. The angle specified by the control unit 5 to the robot hand 4 in step S3 is set to, for example, an angle θ 1, which is an angle formed by the 1 st substrate 11 and the 2 nd substrate 17 in a state where the lower surface of the 1 st side wall portion 10a on the side away from the 1 st connector 12 of the 1 st component 1 and the upper surface of the 2 nd side wall portion 16a on the side away from the 2 nd connector 18 of the 2 nd component 2 are in contact with each other, and the lower surface of the leg portion 13b on the side close to the 1 st connector 12 of the 1 st component 1 and the upper surface of the 2 nd side wall portion 16b on the side close to the 2 nd connector 18 of the 2 nd component 2 are in contact with each other.
The control unit 5 outputs a command to lower the robot hand 4 from above the 2 nd member 2 in a state where the robot hand 4 and the 1 st member 1 held by the robot hand 4 are inclined at the angle θ 1 (step S4). As the 1 st member 1 descends, the leg portion 13a of the 1 st member 1 on the side closer to the 1 st connector 12 passes along the inner surface of the 2 nd side wall portion 16a of the 2 nd member 2 on the side farther from the 2 nd connector 18 while being elastically deformed.
The robot hand 4 descends until the lower surface of the 1 st side wall portion 10a of the 1 st component 1 on the side away from the 1 st connector 12 and the upper surface of the 2 nd side wall portion 16a of the 2 nd component 2 on the side away from the 2 nd connector 18 come into contact with each other, and the lower surface of the leg portion 13b of the 1 st component 1 on the side close to the 1 st connector 12 and the upper surface of the 2 nd side wall portion 16b of the 2 nd component 2 close to the 2 nd connector 18 come into contact with each other.
After the lowering operation of the robot hand 4 is completed, the control unit 5 stops the suction operation of the vacuum ejector 22 of the robot hand 4 to perform the vacuum breaking operation. Thereby, the suction pad 20a is separated from the top surface portion 9 of the 1 st member 1 and the grip is released (step S5). Fig. 9 is a schematic configuration diagram showing angles of members to be worked of the assembly apparatus according to embodiment 1. The angle formed by the 1 st substrate 11 and the 2 nd substrate 17 is smaller than the angle θ 1 before the release of the grip, and the angle θ 2 after the release of the grip is smaller. Namely, θ 2 < θ 1.
When the grip is released, the convex portion 14a formed on the leg portion 13a extending from the 1 st side wall portion 10a on the side away from the 1 st connector 12 is inserted into the concave portion 19a of the 2 nd side wall portion 16a on the side away from the 2 nd connector 18. Thereby, the 1 st member 1 and the 2 nd member 2 are positioned in the width direction and the depth direction. This prevents positional deviation in the following step S6 and subsequent assembly steps.
After releasing the grip, the vacuum confirmation sensor in the vacuum ejector 22 outputs the release of the vacuum state to the control section 5. Fig. 10 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1. As shown in fig. 10, the control unit 5 issues a command to operate the robot hand 4 so as to be horizontal above the 2 nd member 2 (step S6).
Fig. 11 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1. As shown in fig. 11, the robot hand 4 is lowered again by the command of the control unit 5, and the pressing unit 21 presses the top surface 9 of the 1 st member 1 (step S7). The 1 st member 1 is pressed by the pressing part 21 of the robot hand 4 and pressed against the 2 nd member 2. At this time, the contact point between the lower surface of the 1 st side wall portion 10a of the 1 st component 1 and the upper surface of the 2 nd side wall portion 16a of the 2 nd component 2 becomes the center of rotation, and the angle formed by the 1 st substrate 11 and the 2 nd substrate 17 becomes smaller. When the pressing portion 21 of the robot hand 4 presses the top surface portion 9 of the 1 st member 1, the leg portion 13b of the 1 st member 1 on the side closer to the 1 st connector 12 passes along the inner surface of the 2 nd side wall portion 16b of the 2 nd member 2 on the side closer to the 2 nd connector 18 while being elastically deformed and flexed. Subsequently, the convex portion 14b of the leg portion 13b of the 1 st member 1 is inserted into the concave portion 19b of the 2 nd side wall portion 16b of the 2 nd member 2, and the leg portion 13b is elastically restored to the original shape, and the fitting by the snap is completed.
Further, the fitting between the 1 st connector 12 of the 1 st member 1 and the 2 nd connector 18 of the 2 nd member 2 is performed while the top surface portion 9 of the 1 st member 1 is pressed by the pressing portion 21 of the robot hand 4 and the leg portion 13b of the 1 st member 1 passes along the inner side surface of the 2 nd side wall portion 16b of the 2 nd member 2.
One ends of the 1 st connector 12 and the 2 nd connector 18 in the width direction come into contact first, and the 1 st substrate 11 of the 1 st component 1 and the 2 nd substrate 17 of the 2 nd component 2 come into parallel with each other until they come into contact with each other, thereby completing the fitting (see fig. 5).
The control unit 5 is set with position coordinates in the height direction in which the convex portion 14b of the 1 st member 1 and the concave portion 19b of the 2 nd member 2 are fitted. When the robot hand 4 reaches the position coordinates where the fitting by the snap is completed, the lowering operation of the robot hand 4 is stopped.
Fig. 12 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1. As shown in fig. 12, the control unit 5 determines that the fitting by the snap is completed after lowering the robot hand 4 to the predetermined position, and moves the robot hand 4 to above the 1 st part 1 (step S8). Thereby, the assembly of the 1 st and 2 nd components 1 and 2 is completed.
In the step S5, as shown in fig. 13, when the grip of the 1 st component 1 is released, it is also considered that the leg portion 13a of the 1 st component 1 is separated from the 2 nd side wall portion 16a of the 2 nd component 2, and the fitting by the snap is not possible.
Fig. 14 is a view configured not to cause such a situation. Fig. 14 is a schematic configuration diagram showing another example of a robot hand of the assembly apparatus according to embodiment 1. As shown in fig. 14, the robot hand 4 preferably has a 1 st side wall guide 23, and the 1 st side wall guide 23 is in contact with the outer surface of the 1 st side wall portion 10b of the 1 st component 1 on the side close to the 1 st connector 12. The leg 13a and the projection 14a of the 1 st member 1 can be prevented from being separated from the 2 nd side wall 16a of the 2 nd member 2 by the 1 st side wall guide 23.
Fig. 15 is a schematic configuration diagram showing a part of an assembly process using the assembly apparatus according to embodiment 1. Here, as shown in fig. 15, before the convex portion 14b of the leg portion 13b of the 1 st component 1 on the side close to the 1 st connector 12 is inserted into the concave portion 19b of the 2 nd side wall portion 16b of the 2 nd component 2 on the side close to the 2 nd connector 18, the 1 st connector 12 of the 1 st component 1 and a part of the 2 nd connector 18 of the 2 nd component 2 come into contact with each other. Since the leg portion 13b of the 1 st member 1 is elastically deformed and elastically restored from the time when the 1 st connector 12 and the 2 nd connector 18 are partially in contact to the time when the fitting is completed, the relative positions of the 1 st connector 12 and the 2 nd connector 18 may be displaced. By providing the floating mechanism to the 2 nd connector 18 of the 2 nd component 2, the 1 st component 1 and the 2 nd component 2 can be fitted to each other even when the positional deviation occurs as described above.
Next, a process of providing a floating mechanism in the 2 nd connector 18 of the 2 nd component 2 so that the connectors can be fitted to each other even when the 1 st connector 12 and the 2 nd connector 18 are displaced relative to each other by the snap fitting using the assembling apparatus 100 will be described. That is, a method of manufacturing an electronic device in which the 1 st member 1 and the 2 nd member 2 are assembled using the assembling apparatus 100 according to the present embodiment will be described. Fig. 16 is a schematic configuration diagram showing components to be operated in the assembly apparatus according to embodiment 1. As shown in fig. 16, the 2 nd connector 18 of the 2 nd component 2 has a surface portion 18a which is a surface fitted to the 1 st connector 12 and a fixing portion 18b fixed to the 2 nd substrate 17.
When the floating mechanism is provided in the 2 nd connector 18, the external dimensions of the 1 st connector 12 and the 2 nd connector 18 are determined in advance. In addition, the position of the 1 st connector on the 1 st substrate 11 and the position of the 2 nd connector 18 on the 2 nd substrate 17 are determined.
The size of the 1 st side wall 10 of the 1 st member 1, the size of the leg 13, and the size of the 2 nd side wall 16 of the 2 nd member 2 are determined.
Fig. 17 is a schematic diagram for explaining a method of manufacturing an electronic device in which components are assembled using the assembling apparatus according to embodiment 1. In fig. 17, the X-axis is the depth direction of the 2 nd part 2, the Y-axis is the width direction of the 2 nd part 2, and the Z-axis is the height direction of the 2 nd part 2. The 2 nd member 2 requires a floating amount in the Y-axis direction. For simplicity of explanation, the 1 st connector 12 and the 2 nd connector 18 are each rectangular parallelepiped in shape. The lower surfaces of the 1 st substrate 11 and the 1 st side wall portion 10a that fix the 1 st connector 12 are flush with each other.
In FIG. 17, the lower surface of the 1 st side wall part 10a from the 1 st part 1 and the 2 nd part are shown2, the upper surface of the 2 nd side wall part 16a at the contact point P 1 In the contact state, the top surface portion 9 of the 1 st member 1 is pressed by the pressing portion 21 of the robot hand 4. As shown in FIG. 17, if the 1 st component 1 is pressed, the contact point P between the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a is formed 1 The 1 st member 1 rotates as a center. If the 1 st part 1 is rotated, the 1 st connector 12 of the 1 st part 1 and the 2 nd connector 18 of the 2 nd part 2 are at the contact point P 2 And (4) contacting.
As shown in FIG. 17, a contact point P between the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a is formed 1 Contact point P to No. 1 connector 12 and No. 2 connector 18 2 The straight line distance is set as L 0 . In addition, a contact point P from the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a 1 L is a horizontal distance to a side surface of the 2 nd connector 18 on the 1 st side wall portion 10a side 1 . A contact point P between the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a 1 L is a straight line distance to the side surface of the 1 st side wall portion 10a side of the 1 st connector 12 2 . In addition, a contact point P from the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a 1 Contact point P to No. 1 connector 12 and No. 2 connector 18 2 The horizontal distance to is set as L 3 。
A contact point P from the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a 1 Contact point P to No. 1 connector 12 and No. 2 connector 18 2 The vertical distance to is set to T 1 . T represents the length from the surface of the 1 st connector 12 fixed to the 1 st substrate 11 to the opposite surface thereof 2 . In addition, a contact point P from the lower surface of the 1 st side wall part 10a and the upper surface of the 2 nd side wall part 16a 1 Contact point P to No. 1 connector 12 and No. 2 connector 18 2 Straight line to and from the contact point P 1 The angle formed by a straight line drawn in a direction parallel to the 2 nd substrate 17 of the 2 nd component 2 is θ.
As described above, the position of the 1 st connector 12 on the 1 st board 11 and the position of the 2 nd board 17 are determined in advanceThe position of the 2 nd connector 18, and the external dimensions of the 1 st connector 12 and the 2 nd connector 18. I.e. L 1 、L 2 、T 1 、T 2 Are known.
The amount of float required for the 2 nd connector 18 of the 2 nd component 2 is through L 3 －L 1 And (6) performing calculation. L is 3 Is obtained by substituting formula (2) and formula (3) into formula (1).
[ formula 1 ]
L 3 ＝L 0 X cos theta. Formula (1)
[ formula 2 ]
Figure BDA0003879700700000141
[ formula 3 ]
Figure BDA0003879700700000151
L can be represented by the following formulae (1) to (3) 3 Performing a calculation by L 3 －L 1 The floating amount of the 2 nd connector 18 of the 2 nd component 2 is calculated. A floating mechanism in consideration of the calculated floating amount is formed between the surface portion 18a and the fixing portion 18b of the 2 nd connector 18 of the 2 nd component 2. Thus, even when the 1 st connector 12 and the 2 nd connector 18 are misaligned relative to each other during fitting by snap fitting, the 1 st connector 12 and the 2 nd connector 18 can be fitted to each other.
As described above, the assembly apparatus 100 according to the present embodiment includes the robot 3, the robot hand 4, and the control unit 5 for controlling these components. The controller 5 can grip the 1 st component 1 by the grip 20 of the robot hand 4. The robot hand 4 is tilted such that one of the pair of 1 st side wall portions 10 of the 1 st member 1 is located lower than the other. Then, the tilted robot hand 4 is lowered until one of the pair of 1 st side wall portions 10 comes into contact with one of the pair of 2 nd side wall portions 16 to release the grasping of the 1 st member 1, whereby the leg portion 13 extending downward from the one of the pair of 1 st side wall portions 10 passes through the inside of the pair of 2 nd side wall portions 16, and the convex portion 14a protruding outward from the leg portion 13a of the pair of 1 st side wall portions 10 is inserted into the concave portion 19a formed in the one of the pair of 2 nd side wall portions 16.
Then, the pressing portion 21 of the robot hand 4 presses the 1 st member 1 so that the 1 st substrate 11 and the 2 nd substrate 17 are parallel to each other, whereby the leg portion 13a extending downward from the other of the pair of 1 st side wall portions 10 passes through the inside of the pair of 2 nd side wall portions 16, and the convex portion 14b protruding outward from the leg portion 13 to the pair of 1 st side wall portions 10 is inserted into the concave portion 19b formed in the other of the pair of 2 nd side wall portions 16. By using the above-described structure, fitting by the connector and fitting by the snap can be realized. Further, by inserting the convex portion 14a formed on the leg portion 13a into the concave portion 19a formed on one of the pair of 2 nd side wall portions 16, even if the 1 st member 1 is pressed by the pressing portion 21 thereafter, the relative position shift between the 1 st member 1 and the 2 nd member 2 can be prevented.
In the method of manufacturing an electronic device in which the 1 st component 1 and the 2 nd component 2 are assembled using the assembling apparatus 100 according to the present embodiment, the floating mechanism is formed in the 2 nd connector 18 based on the difference between the horizontal distance from the contact point of the lower surface of one of the pair of 1 st side wall portions 10 and the upper surface of one of the pair of 2 nd side wall portions 16 to the 2 nd connector 18 and the horizontal distance from the contact point of the upper surface of one of the pair of 2 nd side wall portions 16 to the contact point of the 1 st connector 12 and the 2 nd connector 18. Thus, even when the relative positions of the 1 st connector 12 and the 2 nd connector 18 are displaced during the fitting by the snap fit, the 1 st connector 12 and the 2 nd connector 18 can be fitted.
Embodiment mode 2
Next, embodiment 2 of the present invention will be explained. The assembling apparatus according to the present embodiment further includes a load sensor 24 that detects a load of the robot hand 4b due to a reaction force from the 1 st member 1, and controls a lowering operation of the robot hand 4b in accordance with the load detected by the load sensor 24.
Fig. 18 is a schematic configuration diagram showing a robot hand of the assembly apparatus according to embodiment 2. As shown in fig. 18, the robot hand 4b has a load sensor 24 that detects a reaction force. The load sensor 24 is, for example, a contact type sensor, and detects a reaction force when the top surface portion 9 of the 1 st member 1 is pressed by the pressing portion 21 of the robot hand 4b and the convex portion 14 of the 1 st member 1 is fitted into the concave portion 19 of the 2 nd member 2.
Next, an assembling method for assembling the 1 st member 1 and the 2 nd member 2 using the assembling apparatus according to the present embodiment will be described. Fig. 19 is a flowchart for explaining the assembly method according to the present embodiment. Portions overlapping with those described in embodiment 1 are appropriately omitted.
The control unit 5 outputs a command to the robot hand 4b to grip the 1 st component 1 (fig. 19, step S1). The robot hand 4b receives a command from the control unit 5 and moves to above the 1 st member 1 to start the suction operation of the vacuum ejector 22. The robot hand 4b receives a command from the control unit 5 and descends to a predetermined position coordinate. The 1 st member 1 is gripped by the suction cup 20a of the gripper 20 of the robot hand 4 b.
The robot hand 4b receives a command from the control unit 5 and moves to above the 2 nd member 2 (step S2). The control unit 5 tilts the robot hand 4b so that a lower surface of a 1 st side wall portion 10a on a side distant from the 1 st connector 12, out of a pair of 1 st side wall portions 10 of the 1 st component 1 opposed in the width direction, is positioned lower than a lower surface of a 1 st side wall portion 10b on a side close to the 1 st connector 12 (step S3). The robot hand 4b is tilted, whereby the 1 st part 1 is also tilted at the same angle.
The robot hand 4b descends to a position where the lower surface of the 1 st side wall portion 10a of the 1 st member 1 contacts the upper surface of the 2 nd side wall portion 16a of the 2 nd member 2, and the lower surfaces of the leg portions 13b of the 1 st member 1 and the 2 nd side wall portion 16b of the 2 nd member 2 contact each other (step S4).
Next, the vacuum ejector 22 of the robot hand 4b stops the suction operation and performs the vacuum breaking operation. The suction cup 20a is separated from the top surface portion 9 of the 1 st member 1 and released from the gripping (step S5). If the grip is released, the convex portion 14a formed on the leg portion 13a extending from the 1 st side wall portion 10a on the side away from the 1 st connector 12 is inserted into the concave portion 19a of the 2 nd side wall portion 16a on the side away from the 2 nd connector 18. The robot hand 4b is returned to the horizontal state above the 1 st part 1 (step S6). The robot hand 4b performs the lowering operation again (step S7). The pressing part 21 of the robot hand 4b presses the top surface part 9 of the 1 st member 1, and the 1 st member 1 is pressed toward the 2 nd member 2 (step S7).
When the pressing portion 21 of the robot hand 4b presses the top surface portion 9 of the 1 st member 1, the leg portion 13b of the 1 st member 1 elastically deforms and flexes, and passes through the inside of the 2 nd side wall portion 16b of the 2 nd member 2.
In the present embodiment, the reaction force when the pressing part 21 of the robot hand 4b presses the 1 st member 1 is detected by the load sensor 24. The load sensor 24 detects a load at the time of primary insertion due to the deflection of the leg portion 13b when the leg portion 13b of the 1 st member 1 starts to pass through the 2 nd side wall portion 16b of the 2 nd member 2 and a final press-fitting load at the time of completion of fitting. The load at the time of one insertion causes the leg portion 13b to flex, and therefore a large load is required. Therefore, the relationship between the load is load at the time of one insertion > final press-in load.
Fig. 20 is a relational diagram showing a relationship between a load of the load sensor and position coordinates in a lowering direction in the assembly apparatus according to embodiment 2. In fig. 19, the vertical axis represents the load of the load sensor, and the horizontal axis represents the position coordinate in the descending direction. As shown in fig. 20, the load detected by the load sensor 24 is displaced in three stages, i.e., a load F1 when the leg portion 13b of the 1 st member 1 enters the inside of the 2 nd side wall portion 16b of the 2 nd member 2 and starts to flex, a load F2 when the leg portion 13b of the 1 st member 1 is pressed in a flexed state, and a load F3 when the convex portion 14b of the leg portion 13b of the 1 st member 1 is fitted into the concave portion 19b of the 2 nd member 2.
When the convex portion 14b is fitted into the concave portion 19b, the assembly of the 1 st member 1 and the 2 nd member 2 is completed, and the load F3 of the load sensor 24 is increased because the lower surface of the 1 st side wall portion 10 and the upper surface of the 2 nd side wall portion 16 are in contact with each other and are directly pushed in by the pressing portion 21 of the robot hand 4 b. The load sensor 24 detects the detected load at the fitting completion position coordinates as being within a range S of the previously stored fitting completion load, and determines that fitting is complete (step S9). If the load is not within the range of the previously stored load, it is determined that the fitting is not good, and an abnormality can be transmitted to the control unit and the outside (step S10).
The control unit 5 raises the robot hand 4b to complete fitting of the 1 st component 1 and the 2 nd component 2 after determining that the fitting is completed because the load at the time of completion of fitting is within the range of the previously stored load (step S8).
As described above, in the assembly device according to the present embodiment, similarly to embodiment 1, the robot hand 4b holding the 1 st component 1 is tilted such that one of the pair of 1 st side wall portions 10 of the 1 st component 1 is located lower than the other, and in the tilted state, the 1 st component 1 is lowered from above the 2 nd component 2, the holding by the robot hand 4b is released, and then the 1 st component 1 is pressed against the 2 nd component 2. Thus, the fitting by the connector and the fitting by the snap can be realized.
In the present embodiment, the lowering operation of the robot hand 4b can be controlled in accordance with the load detected by the load sensor 24, and the load on the 1 st and 2 nd members 1 and 2 can be reduced. Further, by detecting the load of the reaction force of the press-fitting by the load sensor 24, it is possible to determine the fitting failure of the 1 st member 1 and the 2 nd member 2 when the load outside the allowable range is detected out of the loads of the press-fitting at the time of the primary insertion and the final time.
The floating mechanism described in embodiment 1 can also be mounted in embodiment 2.
Embodiment 3
Next, embodiment 3 of the present invention will be explained. The assembly apparatus 100b according to the present embodiment further includes a 2 nd side wall guide 25 as a mechanism for pressing the 1 st side wall portion 10 of the 1 st component 1 on the table 6, and assembles the 1 st component 1 by pressing the 1 st component from 2 directions, i.e., the Z axis and the Y axis.
For example, as shown in fig. 21, in the case where the dimension 16c between the 2 nd side wall portions 16 of the 2 nd member 2 is smaller than the dimension 13c between the 2 nd side wall portions 16 of the 1 st member 1 with respect to the relationship between the dimension 13c between the leg portions 13 of the 1 st member 1 and the dimension 16c between the 2 nd side wall portions 16 of the 2 nd member 2, when the top surface portion 9 of the 1 st member 1 is pressed by the pressing portion 21 of the robot hand 4, the leg portion 13b of the 1 st member 1 comes into contact with the upper portion of the 2 nd side wall portion 16b of the 2 nd member 2, and the leg portion 13b of the 1 st member 1 may not be elastically deformed and thus cannot be assembled. In the case described above, not only the pressing in the Z-axis direction described in embodiments 1 and 2, but also the pressing in the Y-axis direction can be performed together for assembly.
Fig. 22 is a schematic configuration diagram of an assembly device according to embodiment 3. As shown in fig. 22, the table 6 has a 2 nd side wall guide 25 as a pressing mechanism for pressing the 1 st side wall 10 of the 1 st member 1. The 2 nd side wall guide 25 is, for example, an air pressure type cylinder, and presses the 1 st side wall 10 in the Y axis direction before the pressing part 21 of the robot hand 4 presses the top surface 9 of the 1 st member 1.
Next, an assembling method for assembling the 1 st member 1 and the 2 nd member 2 using the assembling apparatus 100b according to the present embodiment will be described. Fig. 23 is a flowchart for explaining the assembling method of the present embodiment. Portions overlapping with those described in embodiment 1 are appropriately omitted.
The control unit 5 outputs a command to the robot hand 4b to grip the 1 st component 1 (fig. 6, step S1). The robot hand 4b receives a command from the control unit 5 and moves to above the 1 st member 1 to start the suction operation of the vacuum ejector 22. The robot hand 4b receives a command from the control unit 5 and descends to a predetermined position coordinate. The 1 st member 1 is gripped by the suction cup 20a of the gripper 20 of the robot hand 4 b.
The robot hand 4b receives a command from the control unit 5 and moves to above the 2 nd member 2 (step S2). The control unit 5 tilts the robot hand 4b so that a lower surface of a 1 st side wall portion 10a on a side distant from the 1 st connector 12, out of a pair of 1 st side wall portions 10 of the 1 st component 1 opposed in the width direction, is positioned lower than a lower surface of a 1 st side wall portion 10b on a side close to the 1 st connector 12 (step S3). The robot hand 4b is tilted, whereby the 1 st part 1 is also tilted at the same angle.
The robot hand 4b descends until the lower surface of the 1 st side wall portion 10a of the 1 st component 1 contacts the upper surface of the 2 nd side wall portion 16a of the 2 nd component 2, and the lower surface of the leg portion 13b of the 1 st component 1 contacts the upper surface of the 2 nd side wall portion 16b of the 2 nd component 2 (step S4).
Next, the vacuum ejector 22 of the robot hand 4b stops the suction operation and performs the vacuum breaking operation. The suction cup 20a is separated from the top surface portion 9 of the 1 st member 1 and released from the gripping (step S5). If the grip is released, the convex portion 14a formed on the leg portion 13a extending from the 1 st side wall portion 10a on the side away from the 1 st connector 12 is inserted into the concave portion 19a of the 2 nd side wall portion 16a on the side away from the 2 nd connector 18. The robot hand 4b is returned to the horizontal state above the 1 st member 1 (step S6).
Next, as shown in fig. 24 a, the 1 st side wall portion 10b of the 1 st member 1 is pressed in the Y-axis direction by the 2 nd side wall guide portion 25 provided on the table 6 for pressing the 1 st side wall portion 10 (step S11). When the 1 st side wall portion 10b of the 1 st member 1 is pressed in the Y-axis direction, the leg portion 13a of the 1 st member 1 is elastically deformed and flexed as shown in fig. 24 (b), and is pressed inward of the 2 nd side wall portion 16a of the 2 nd member 2.
That is, in fig. 24 (b), the 1 st side wall portion 10b of the 1 st member 1 is first pressed in the Y-axis direction to bend the leg portion 13a of the 1 st member 1, and when the top surface portion 9 of the 1 st member 1 is pressed by the pressing portion 21 of the robot hand 4, the leg portion 13b of the 1 st member 1 is easily elastically deformed, whereby the leg portion 13b of the 1 st member 1 easily enters the 2 nd side wall portion 16b of the 2 nd member 2.
The robot hand 4 descends again in a state where the 1 st side wall portion 10b of the 1 st member 1 is pressed. Then, the pressing part 21 of the robot hand 4 presses the top surface part 9 of the 1 st member 1, and the 1 st member 1 is pressed toward the 2 nd member 2 (step S7).
As described above, in the assembly device according to the present embodiment, as in embodiments 1 and 2, the robot hand 4b holding the 1 st component 1 is tilted such that one of the pair of 1 st side wall portions 10 of the 1 st component 1 is located lower than the other, and in the tilted state, the 1 st component 1 is lowered from above the 2 nd component 2, the holding by the robot hand 4b is released, and then the 1 st component 1 is pressed against the 2 nd component 2. Thus, the fitting by the connector and the fitting by the snap can be realized.
In the present embodiment, the assembly can be easily performed even when the dimension 16c between the 2 nd side wall portions 16 of the 2 nd member 2 is smaller than the dimension 13c between the leg portions 13 of the 1 st member 1.
The floating mechanism described in embodiment 1 can also be mounted in embodiment 3.
In embodiments 1 to 3, an example of a robot having a robot 3 with 6 axes is shown, but a robot having less axes than 6 axes may be used, or a robot having 6 or more axes may be used. For example, the robot 3 may be a 3-axis rectilinear robot having a X, Y axis and a Z axis rectilinear motion, and the hand attachment portion may be a 1-axis pivotable mechanism. Further, for example, a robot other than a vertical articulated type such as a horizontal articulated type may be used.
In embodiments 1 to 3, the robot hands 4 and 4b have the vacuum ejector 22 and the gripping unit 20 has the suction cup 20a, but the member 1 may be gripped, and for example, a pneumatic chuck may be used. Further, a robot hand having a plurality of finger parts for gripping through the 1 st member 1 may be used.
In embodiments 1 to 3, the example in which the 1 st side wall portions 10 of the 1 st member 1 facing each other have 2 leg portions 13a and the 2 nd side wall portions 16 of the 2 nd member 2 facing each other have 2 recessed portions 19 is shown, but the number of the leg portions 13 and the recessed portions 19 may be 2 or more.
While various exemplary embodiments and examples have been described in the present invention, the various features, modes and functions described in 1 or more embodiments are not limited to the application to the specific embodiments, and may be applied to the embodiments alone or in various combinations.
Therefore, numerous modifications not illustrated are conceivable within the technical scope of the present disclosure. For example, the case where at least 1 component is modified, added, or omitted is included, and the case where at least 1 component is extracted and combined with the components of the other embodiments is included.
Description of the reference symbols
1: part 1, 2: part 2, 3: robot, 4b: robot hand, 5: control unit, 6: table, 7, 8: alignment member, 9: top surface portion, 10a, 10b: 1 st side wall part, 11: 1 st substrate, 12: 1 st connector, 13a, 13b: leg, 14a, 14b: convex portion, 15: body portion, 16a, 16b: 2 nd side wall portion, 17: 2 nd substrate, 18: 2 nd connector, 19a, 19b: recess, 20: grip, 20a: suction cup, 21: pressing portion, 22: vacuum ejector, 23: 1 st side wall guide, 24: load sensor, 25: 2 nd side wall guide part.

Claims (8)

1. An assembling apparatus for assembling a 1 st component and a 2 nd component, wherein the 1 st component is provided with a 1 st connector on a 1 st substrate so as to be closer to one of a pair of 1 st side wall parts opposed to each other than the other, the 2 nd component has a 2 nd side wall part surrounding a 2 nd substrate, the 2 nd substrate is provided with a 2 nd connector so as to be closer to the other of the pair of 2 nd side wall parts opposed to each other than the one of the pair of 2 nd side wall parts,
the assembling device comprises:
a robot hand having a grip for gripping the 1 st member and a pressing portion for pressing the 1 st member;
a robot having the robot hand at a front end; and
a control unit that controls the robot hand and the robot,
the control unit tilts the robot hand so that the 1 st member is gripped by the gripping unit of the robot hand and one of the pair of 1 st side wall portions is located lower than the other,
lowering the tilted robot hand from above the 2 nd member, releasing the grip of the grip portion after the lower surface of one of the pair of 1 st side wall portions comes into contact with the upper surface of one of the pair of 2 nd side wall portions, thereby allowing the foot portion extending downward from the one of the pair of 1 st side wall portions to pass inside the pair of 2 nd side wall portions,
inserting a convex portion protruding outward of the pair of 1 st side wall portions from the leg portion extending downward from one of the pair of 1 st side wall portions into a concave portion formed in one of the pair of 2 nd side wall portions,
the pressing portion of the robot hand presses the 1 st member so that a leg portion extending downward from the other of the pair of 1 st side wall portions passes through the inside of the pair of 2 nd side wall portions,
a convex portion protruding outward from the pair of 1 st side wall portions is inserted into a concave portion formed in the other of the pair of 2 nd side wall portions from the leg portion extending downward from the other of the pair of 1 st side wall portions.
2. The assembly device of claim 1,
the control unit lowers the robot hand until a lower surface of one of the pair of 1 st side wall portions and an upper surface of one of the pair of 2 nd side wall portions come into contact with each other, and a lower surface of the foot portion extending from the other of the pair of 1 st side wall portions and an upper surface of the other of the pair of 2 nd side wall portions come into contact with each other.
3. The assembly device of claim 1 or 2,
the robot hand is inclined at an angle formed by the 1 st substrate and the 2 nd substrate in a state where a lower surface of one of the pair of 1 st side wall portions and an upper surface of one of the pair of 2 nd side wall portions are in contact and a lower surface of the leg portion extending from the other of the pair of 1 st side wall portions and an upper surface of the other of the pair of 2 nd side wall portions are in contact.
4. The assembly device of any one of claims 1 to 3,
the grip of the robot hand has a suction cup, and the 1 st member is gripped by the suction cup.
5. The assembly device of any one of claims 1 to 4,
the robot hand has a side wall guide portion that contacts an outer side surface of the other of the pair of 1 st side wall portions.
6. The assembly device of any one of claims 1 to 5,
the robot hand includes a load sensor that detects a load generated by a reaction force when the pressing part presses the 1 st member, and the control part controls a lowering operation of the robot hand in accordance with the detected load.
7. An assembling method for assembling a 1 st member having a 1 st side wall portion surrounding a 1 st substrate, a 1 st connector provided on the 1 st substrate so as to be closer to one of a pair of 1 st side wall portions opposed to each other than to the other, and a 2 nd member having a 2 nd side wall portion surrounding a 2 nd substrate, a 2 nd connector provided on the 2 nd substrate so as to be closer to the other of the pair of 2 nd side wall portions opposed to each other,
the assembling method comprises the following steps:
grasping the 1 st member by a grasping portion of a robot hand, and inclining the robot hand such that one of the pair of 1 st side wall portions is located lower than the other;
lowering the tilted robot hand from above the 2 nd member, bringing a lower surface of one of the pair of 1 st side wall portions into contact with an upper surface of one of the pair of 2 nd side wall portions, and then releasing the grip of the grip portion, thereby causing a foot portion extending downward from the one of the pair of 1 st side wall portions to pass through an inner side of the pair of 2 nd side wall portions, and inserting a convex portion protruding outward from the foot portion extending downward from the one of the pair of 1 st side wall portions into a concave portion formed in the one of the pair of 2 nd side wall portions; and
the pressing portion of the robot hand presses the 1 st member so that the 1 st substrate and the 2 nd substrate are parallel to each other, thereby causing a leg portion extending downward from the other of the pair of 1 st side wall portions to pass inside the pair of 2 nd side wall portions, and inserting a convex portion protruding outward from the leg portion extending downward from the other of the pair of 1 st side wall portions into a concave portion formed in the other of the pair of 2 nd side wall portions.
8. A method of manufacturing an electronic device, wherein a 1 st component and a 2 nd component are assembled by using the assembling apparatus according to any one of claims 1 to 6, the 1 st component having a 1 st sidewall portion surrounding a 1 st substrate, a 1 st connector is provided on the 1 st substrate so as to be closer to one of a pair of 1 st sidewall portions opposed to each other than the other, the 2 nd component having a 2 nd sidewall portion surrounding a 2 nd substrate, and a 2 nd connector is provided on the 2 nd substrate so as to be closer to the other of the pair of 2 nd sidewall portions opposed to each other than the one of the pair of 2 nd sidewall portions opposed to each other,
in a state where a lower surface of one of the pair of 1 st side wall portions and an upper surface of one of the pair of 2 nd side wall portions are in contact at a 1 st contact point and the 1 st connector and the 2 nd connector are in contact at a 2 nd contact point, a floating mechanism is formed in the 2 nd connector based on a difference between a horizontal distance from the 1 st contact point to the 2 nd connector and a horizontal distance from the 1 st contact point to the 2 nd contact point.
CN202080099550.7A 2020-04-14 2020-10-20 Assembling device, assembling method, and method for manufacturing electronic device Pending CN115443587A (en)

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JPH0488688U (en) * 1990-12-11 1992-07-31
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JP5983927B2 (en) * 2012-08-17 2016-09-06 富士通株式会社 Parts assembling apparatus and parts assembling method
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