CN220561553U

CN220561553U - Mechanical arm device and cable connection device

Info

Publication number: CN220561553U
Application number: CN202321051996.XU
Authority: CN
Inventors: 李东才; 孙镇石
Original assignee: Samsung Display Co Ltd
Current assignee: Samsung Display Co Ltd
Priority date: 2022-05-18
Filing date: 2023-05-05
Publication date: 2024-03-08
Anticipated expiration: 2033-05-05
Also published as: KR20230161562A; CN117086860A

Abstract

The present disclosure relates to a mechanical arm device and a cable connection device. The mechanical arm device includes: a vision part configured to obtain an image by photographing a connector fastened to a circuit board and a cable connected to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position; a holding portion configured to hold the cable and open and close the flip; a force-torque sensor that detects a load of the clamping portion in a first direction, a second direction, and a third direction; and a controller configured to control alignment of the connector and the cable based on the obtained image and the position measurement value in the first direction, and to control fastening of the connector and the cable based on a detection result of the force-torque sensor.

Description

Mechanical arm device and cable connection device

Technical Field

Embodiments relate to a cable connection apparatus, and more particularly, to a robot arm apparatus included in the cable connection apparatus, a cable connection apparatus including the robot arm apparatus, and a cable connection method using the cable connection apparatus.

Background

With the development of multimedia, the importance of display devices is increasing. In response, various types of display devices, such as Liquid Crystal Displays (LCDs) and Organic Light Emitting Displays (OLEDs), are being used.

Such a display device includes a display region in which a plurality of pixels are arranged to display an image, and a non-display region in which a driving integrated circuit (hereinafter, referred to as a driving circuit chip) for driving the pixels is provided.

Various drivers for driving the display device may be disposed in a non-display area of the display device. A connector is provided on a Printed Circuit Board (PCB) which is one of drivers of the display device, and a cable such as a Flexible Printed Circuit (FPC) or a Flexible Flat Cable (FFC) may be inserted into the connector.

Disclosure of Invention

Embodiments provide a robot arm apparatus having improved reliability of a cable fastening operation.

Embodiments provide a cable connection apparatus including a robot arm apparatus.

The embodiment provides a cable connection method using a cable connection device.

The robot arm apparatus according to an embodiment may include: a vision part configured to obtain an image by photographing a connector fastened to a circuit board and a cable connected to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction; a holding portion configured to hold the cable and open and close a flip included in the connector; a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction; and a controller configured to control alignment of the connector and the cable based on the obtained image and the position measurement value in the first direction, and to control fastening of the connector and the cable based on a detection result of the force-torque sensor.

In an embodiment, the robotic arm apparatus may further comprise a robotic arm configured to be connected to the force-torque sensor; the vision portion, the displacement sensor, the clamping portion, and the force-torque sensor may be included in a robot arm, and the robot arm may be connected to and moved by the robot arm.

In an embodiment, the robot may further include a tool changer disposed between the force-torque sensor and the clamping portion, and the tool changer may separate or fasten the clamping portion and the force-torque sensor.

In an embodiment, the controller may calculate a first position correction value that corrects a position of the manipulator in the second direction and the third direction with respect to at least one of the connector and the cable based on the obtained image.

In an embodiment, the controller may calculate a second position correction value that corrects a position of the manipulator in the first direction with respect to the connector based on the position measurement value in the first direction.

In an embodiment, the controller may stop the movement of the manipulator in one direction and move the manipulator in a direction opposite to the one direction when a load value in the one direction of the first direction, the second direction, and the third direction detected by the force-torque sensor is greater than a set value in the one direction.

In an embodiment, the clamping portion may further include an opening and closing device for opening and closing the flip-flop of the connector, and the flip-flop may be opened or closed by rotation of the opening and closing device.

The cable connection apparatus according to an embodiment may include: a manipulator, comprising: a vision part configured to obtain an image by photographing a connector connected to a circuit board and a cable fastened to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction; a holding portion configured to hold the cable and open and close a flip included in the connector; and a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction; a second mechanical arm configured to fix the circuit board; and a controller configured to control movement of the first and second robotic arms.

In an embodiment, the cable connection device may include: a first robotic arm configured to be connected to the robotic arm; the robot may further include a tool changer disposed between the force-torque sensor and the clamping portion, and the tool changer may include a first tool changer configured to be connected to the force-torque sensor and a second tool changer configured to be connected to the clamping portion, and the first tool changer and the second tool changer may be fastened to each other or separated from each other.

In an embodiment, the cable connection device may further include: a tool magazine spaced apart from the first and second robotic arms and configured to mount a second clamping portion capable of securing the first tool changer.

The robot arm apparatus according to an embodiment may include: a vision part configured to obtain an image by photographing a connector fastened to a circuit board and a cable connected to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction; a holding portion configured to hold the cable and open and close a flip included in the connector; a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction; a robotic arm configured to connect to the force-torque sensor; and a controller configured to control alignment of the connector and the cable based on the obtained image and the position measurement value in the first direction, and to control fastening of the connector and the cable based on a detection result of the force-torque sensor.

In an embodiment, the vision portion, the displacement sensor, the clamping portion, and the force-torque sensor may be included in a robot arm, and the robot arm may be connected to and moved by the robot arm.

In an embodiment, the manipulator may further comprise a tool changer disposed between the force-torque sensor and the gripping portion.

In an embodiment, the tool changer may separate or tighten the clamping portion and the force-torque sensor.

In an embodiment, the controller may stop the movement of the manipulator in one direction and move the manipulator in a direction opposite to the one direction when the load value in the one direction among the first direction, the second direction, and the third direction is detected to be greater than the set value in the one direction by the force-torque sensor.

In an embodiment, the gripping portion may draw the cable through a vacuum process.

The cable connection apparatus according to an embodiment may include: a robot including a vision part configured to obtain an image by photographing a connector connected to a circuit board and a cable fastened to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction; a holding portion configured to hold the cable and open and close a flip included in the connector; and a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction; a first robotic arm configured to be connected to the robotic arm; a second mechanical arm configured to fix the circuit board; and a controller configured to control movement of the first and second robotic arms.

In an embodiment, the manipulator may further comprise a tool changer disposed between the force-torque sensor and the clamping portion, and the tool changer may comprise a first tool changer configured to be connected to the force-torque sensor and a second tool changer configured to be connected to the clamping portion.

In embodiments, the first tool changer and the second tool changer may be fastened to each other or separated from each other.

The cable connection method according to an embodiment may include: obtaining an image by photographing a connector connected to a circuit board and a cable fastened to the connector; opening a flip included in the connector; correcting a position of the cable in a plan view based on the obtained image; obtaining a position measurement by measuring a position of the connector in a first direction; correcting a position of the cable relative to the connector in the first direction based on the position measurement; inserting the cable into the connector for insertion into the connector; detecting a load in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction when the cable enters the connector; stopping the cable from entering the connector when the position of the cable reaches a position where a load value is greater than a set value in each of the first direction, the second direction, and the third direction; and closing the flip included in the connector.

In an embodiment, the correction of the position of the cable in the plan view may further include calculating a first position correction value that corrects a position of the cable in the second direction and the third direction with respect to the connector based on the obtained image.

In an embodiment, the correction of the position of the cable in the first direction may further comprise calculating a second position correction value correcting the position of the cable in the first direction relative to the connector based on the position measurement value in the first direction.

In an embodiment, the detecting of the load may further comprise: stopping movement of the cable when a load value in one of the first direction, the second direction, and the third direction may be greater than a set value in the one direction; and moving the cable in a direction opposite to the one direction such that the load value in the one direction is the same as the set value in the one direction.

In an embodiment, the cable may be secured to the connector by closing the flip.

In an embodiment, the cable connection method may further include replacing a clamping portion for holding the cable with another clamp.

In an embodiment, the cable connection method may further include: sucking the cable before the correction of the position of the cable in a plan view, and checking whether the cable is fastened by photographing the connector and the cable after closing the flip; and separating the cable.

In the cable connection apparatus according to the embodiment of the present disclosure, since the robot included in the cable connection apparatus includes the vision part, the displacement sensor, the clamping part, the force-torque sensor, and the tool changer, and is controlled by the controller, the cable may be automatically fastened to the connector. The fastening operation of the cable may be consistently performed by the cable connecting device. Accordingly, since the fastening error can be minimized, uniform quality for the fastening operation of the cable can be always ensured.

Drawings

Fig. 1 is a perspective view illustrating a cable connection device according to an embodiment of the present disclosure.

Fig. 2 is a perspective view illustrating a cable connection apparatus, a display device, and a test board according to an embodiment of the present disclosure.

Fig. 3 is a plan view illustrating the display device and the test board of fig. 2.

Fig. 4 is a side view illustrating the robot of fig. 1.

Fig. 5 is a front view illustrating the robot of fig. 1.

Fig. 6 is a bottom view illustrating the robot of fig. 1.

Fig. 7 is a side view illustrating another example of the robot of fig. 4.

Fig. 8 is a front view illustrating a front surface of the robot of fig. 7.

Fig. 9 is a front view illustrating another example of the robot of fig. 4.

Fig. 10 is a perspective view illustrating another example of the second robot arm of fig. 1.

Fig. 11 to 32 are views illustrating a cable connection method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, the robot arm apparatus, the cable connection apparatus including the same, and the cable connection method according to the embodiments will be described in more detail with reference to the accompanying drawings. In the drawings, the same reference numerals may be used for the same components, and repeated descriptions of the same components may be omitted.

Fig. 1 is a perspective view illustrating a cable connection device according to an embodiment of the present disclosure. Fig. 2 is a perspective view illustrating a cable connection apparatus, a display device, and a test board according to an embodiment of the present disclosure. Fig. 3 is a plan view illustrating the display device and the test board of fig. 2.

Referring to fig. 1 to 3, the cable connection apparatus 100 may fasten the test board 20 to the display device 10. By fastening the test board 20 to the display device 10, the display device 10 can be tested by the test board 20. For example, the test board 20 may be fastened to the display device 10 before performing a process such as an burn-in process or a calibration test process.

The display device 10 may include a display panel PNL, a driving integrated circuit IC, a circuit board PCB, and a connector CNT. The test board 20 may include a cable CB and a board BD. The cable CB included in the test board 20 may be fastened to the connector CNT by being inserted into the connector CNT included in the display device 10.

The display panel PNL may include a display area DA and a peripheral area PA positioned outside the display area DA. The display panel PNL may provide an image through an array of a plurality of pixels PX arranged in the display area DA. Each of the plurality of pixels PX may include an emission layer that emits predetermined light (e.g., red, green, and blue light), and the display panel PNL may provide an image using the emitted light.

The peripheral area PA, which is an area where no image is provided, may be a non-display area. The peripheral area PA may completely or partially surround the display area DA. The driving integrated circuit IC may be disposed in the peripheral area PA. The driving integrated circuit IC may be mounted on the display panel PNL by a Chip On Glass (COG) method, a Chip On Film (COF) method, or a Chip On Plastic (COP) method. The driving integrated circuit IC may generate an electric signal in response to a power supply and a signal received from the outside, and supply the electric signal to pixel circuits included in the pixels PX provided in the display area DA, respectively.

In addition, a pad portion PD electrically connected to the driving integrated circuit IC through a wiring or a conductive layer may be provided in the peripheral area PA. The circuit board PCB may be attached to the pad portion PD of the peripheral area PA. That is, the circuit board PCB may be electrically connected to the driving integrated circuit IC through the pad portion PD. The circuit board PCB may be attached to the pad portion PD by an adhesive member.

The connector CNT may be connected or mounted on one end of the circuit board PCB. The circuit board PCB may be electrically connected to the test board 20 through the connector CNT. The circuit board PCB may be connected to the test board 20 to transmit control signals and/or power applied from the test board 20 to the driving integrated circuit ICs and the display panel PNL. By this, the test board 20 can test the circuit board PCB.

The connector CNT may include a flip (flip) FL. When the cable CB is inserted into the connector CNT, the height of the insertion groove of the connector CNT may be adjusted by rotating the flip FL. Accordingly, by lowering the height of the insertion groove, the inserted cable CB can be fixed. The cable CB may be fastened to the connector CNT by the flip FL.

For example, the circuit board PCB may be a flexible printed circuit board that is flexible. The flexible printed circuit board may be folded or bent, and may be disposed to overlap at least a partial region of the display panel PNL by being folded under a rear surface of the display panel PNL.

The cable CB included in the test board 20 may be a flexible printed circuit board. The board BD may be a driving power board that supplies driving power to the test display device 10. In another example, the board BD may be a pattern generator that outputs an image signal for each pattern for inspection of the display device 10. Since the cable CB connects the board BD and the display device 10, an inspection process of the display device 10 can be performed.

Fig. 4 is a side view illustrating the robot of fig. 1. Fig. 5 is a front view illustrating the robot of fig. 1. Fig. 6 is a bottom view illustrating the robot of fig. 1.

Referring further to fig. 2 to 6, the cable connection apparatus 100 may include a robot RBH, a first robot RBA1, a second robot RBA2, a controller CTR, a tool magazine TM, and a stage ST.

The display device 10 may be provided on the stand ST. The display device 10 may be disposed on the stage ST by a carrier, and may be moved from a previous process to a fastening process.

The robot RBH may be connected to the first robot RBA1. The robot RBH can be moved by a first robot RBA1. The robot RBH may include a vision portion VS, a displacement sensor DS, a gripping portion GR, a force-torque sensor FTS, and a tool changer TC.

The visual portion VS may be positioned on the connector CNT and the cable CB. The vision portion VS may photograph the connector CNT and the cable CB coupled to the connector CNT by protruding from the robot arm RBH. The position of each of the connector CNT and the cable CB in the plan view can be measured by the vision portion VS.

The displacement sensor DS may be positioned adjacent to the visual portion VS. The displacement sensor DS may obtain a position measurement value by measuring the position of each of the connector CNT and the cable CB in the first direction D1. The vision portion VS may photograph an upper surface of each of the connector CNT and the cable CB, and the displacement sensor DS may measure a position of each of the connector CNT and the cable CB in the upper surface of the first direction D1.

The clamping portion GR may hold the cable CB and may open and close the flip FL included in the connector CNT. The clamping portion GR may include a suction cup SP and an opening closer OC. The suction cup SP may be disposed on a bottom surface of the clamping portion GR and may hold the cable CB. The suction cup SP may suck (suck) the cable CB in a vacuum manner.

Opening the closer OC can open and close the flip-flop FL included in the connector CNT. Specifically, as the opening-closing member OC rotates, the opening-closing member OC can open and close the flip-flop member FL. The blade BLD included in the opening closer OC may be rotated in one direction and brought into contact with the flip-flop FL to open the flip-flop FL. The opening closer OC may rotate in a direction opposite to one direction, and may contact the flip-flop FL to close the flip-flop FL. Opening the shutter OC may increase the height of the insertion groove of the connector CNT by opening the flip FL, and may decrease the height of the insertion groove of the connector CNT by closing the flip FL.

The force-torque sensor FTS may be connected to the grip portion GR, and may detect loads of the grip portion GR in the first direction D1, the second direction D2, and the third direction D3. The second direction D2 may be orthogonal to the first direction D1. The third direction D3 may be orthogonal to the first direction D1 and the second direction D2.

Specifically, the force-torque sensor FTS may detect loads (load values) of the cable CB adsorbed to the clamping portion GR in the first direction D1, the second direction D2, and the third direction D3. When the cable CB enters the insertion groove of the connector CNT, the force-torque sensor FTS may detect whether a load value in one direction (one of the first direction D1, the second direction D2, and the third direction D3) is greater than a set value in the one direction.

Tool changer TC may be disposed between force-torque sensor FTS and grip portion GR. Tool changer TC may disengage or tighten (couple) force-torque sensor FTS and grip portion GR.

The tool changer TC may include a first tool changer TC1 and a second tool changer TC2. The first tool changer TC1 may be coupled to the force-torque sensor FTS, and the second tool changer TC2 may be coupled to the clamping portion GR. The first tool changer TC1 and the second tool changer TC2 may be coupled to or decoupled from each other. Since the first tool changer TC1 and the second tool changer TC2 are fastened to or separated from each other, the force-torque sensor FTS and the clamping portion GR can be fastened to or separated from each other. Thus, the gripping portion GR in the robot RBH can be replaced by another gripper by means of the tool changer TC.

The first robot arm RBA1 may be connected to the robot arm RBH. Specifically, the first mechanical arm RBA1 may be connected to a force-torque sensor FTS. The first robot arm RBA1 may be an articulated robot. The first robot RBA1 may be movable in different directions. Therefore, the robot RBH connected to the first robot RBA1 can also be moved in different directions.

The second robot RBA2 may be moved separately from the first robot RBA1. The second robot arm RBA2 may be a quadrature robot. Accordingly, the second robot arm RBA2 may move in the first direction D1. However, the embodiment is not limited thereto.

The second robot RBA2 may fix the circuit board PCB. When the fastening process is performed, the second robot RBA2 may prevent movement of the display device 10 (e.g., the display panel PNL, the circuit board PCB, and the connector CNT) by fixing the circuit board PCB.

The controller CTR may be connected to the first robot RBA1, the second robot RBA2, and the robot RBH. The controller CTR may control the movement of the first robot RBA1 and the second robot RBA 2. Accordingly, the controller CTR may move or operate the robot RBH through the first robot RBA1, and may prevent movement of the display device 10 through the second robot RBA 2.

The controller CTR may control the alignment of the connector CNT and the cable CB based on the image obtained from the vision portion VS and the position measurement value measured from the displacement sensor DS. In addition, the controller CTR may control the fastening of the connector CNT and the cable CB based on the detection result of the force-torque sensor FTS.

The controller CTR may calculate a first position correction value based on an image obtained from the visual portion VS. The first position correction value may be a value calculated based on an image obtained from the visual portion VS, and may be position correction values for the second direction D2 and the third direction D3. For example, the first position correction value may be a value that corrects the position of the robot RBH in the second direction D2 and the third direction D3 with respect to at least one of the connector CNT and the cable CB.

The controller CTR may calculate a second position correction value based on the position measurement value measured by the displacement sensor DS. The second position correction value may be a value calculated based on the position measurement value measured by the displacement sensor DS, and may be a position correction value for the first direction D1. For example, the second position correction value may be a value that corrects the position of the robot RBH in the first direction D1 with respect to the connector CNT.

The controller CTR may control the movement of the robot RBH through the first robot RBA1. In an embodiment, when the cable CB is inserted into the connector CNT, the controller CTR may stop the movement of the robot RBH in one direction (one of the first direction D1, the second direction D2, and the third direction D3) when the load value in the one direction detected by the force-torque sensor FTS is greater than the set value in the one direction. In this case, since the cable CB is not properly or excessively inserted into the connector CNT, the controller CTR may stop the movement of the robot RBH in the one direction. Also, in this case, the controller CTR may move the robot RBH in a direction opposite to the one direction. Accordingly, the cable CB may be inserted into the connector CNT at a preset position by the robot arm RBH.

The tool library TM may be spaced apart from the first robot RBA1 and the second robot RBA 2. The tool library TM may include a plurality of collets (holders) HD. The plurality of jigs JG may be mounted on the plurality of chucks HD. The plurality of jigs JG may be fastened to the first tool changer TC1, respectively. The first tool changer TC1 and the second tool changer TC2 may be separated from each other in the collet HD included in the tool magazine TM. For example, the second tool changer TC2 may be secured to the collet HD. However, the present disclosure is not limited thereto. In addition, the first tool changer TC1 may be coupled to one of a plurality of jigs JG mounted on the other collet HD. For example, the clamp JG may include a third tool changer (e.g., third tool changer TC3 of fig. 28-32) that may be coupled to the first tool changer TC1. Thus, the clamping portion GR fastened to the robot arm RBH can be replaced by another clamp JG through the tool magazine TM.

In an embodiment, since the robot arm RBH included in the cable connection apparatus 100 includes the vision portion VS, the displacement sensor DS, the grip portion GR, and the force-torque sensor FTS, and the tool changer TC, and is controlled by the controller CTR, the cable CB may be automatically fastened to the connector CNT. The fastening operation of the cable CB may be consistently performed by the cable connecting apparatus 100. Accordingly, since the fastening error can be minimized, the cable connection apparatus 100 can always ensure consistent quality for the fastening operation of the cable CB.

Fig. 7 is a side view illustrating another example of the robot of fig. 4. Fig. 8 is a front view illustrating a front surface of the robot of fig. 7.

The robot RBH' described with reference to fig. 7 and 8 may be identical to the robot RBH described with reference to fig. 1 to 6 except for the grip portion GR. Therefore, duplicate descriptions may be omitted.

Referring to fig. 7 and 8, the robot RBH 'may include a clamping portion GR'. The clamping portion GR' may hold the cable CB, and may open and close the flip FL (refer to fig. 3) included in the connector CNT. The clamping portion GR' may include a suction cup SP and an opening closer OC. The suction cup SP may be provided on the bottom surface of the grip portion GR' and may have a large oval shape. The suction cup SP can hold (suck) the cable CB.

Opening the closer OC can open and close the flip-flop FL included in the connector CNT. Specifically, as the opening closer OC rotates, the flip-flop FL can be opened and closed. For example, the opening closer OC may open and close the flip-flop FL using a rotary cylinder.

Fig. 9 is a front view illustrating another example of the robot of fig. 4.

The robot rbh″ described with reference to fig. 9 may be identical to the robot RBH described with reference to fig. 1 to 6 except for the grip portion GR. Therefore, duplicate descriptions may be omitted.

Referring to fig. 3 and 9, the robot RBH "may include a clamping portion GR". The clamping portion gr″ may hold the cable CB. The clamping portion gr″ may include a clip CLP instead of a suction cup. The clip CLP may hold both ends of the cable CB.

In the second robot arm RBA2' described with reference to fig. 10, a repetitive description of the second robot arm RBA2 described with reference to fig. 1 to 2 may be omitted.

Referring to fig. 10, the cable connection device 101 may include a second robot arm RBA2'. The second robot RBA2' may fix the circuit board PCB. The second robot arm RBA2' may be an articulated robot. Accordingly, the second robot arm RBA2' may be moved in different directions to fix the circuit board PCB.

The cable connection method described with reference to fig. 11 to 32 may be a cable connection method using the cable connection apparatus 100 described with reference to fig. 1 to 6. Therefore, duplicate descriptions may be omitted.

Fig. 11 to 13, the test board 20 may be disposed on a stage ST. The display device 10 including the display panel PNL, the circuit board PCB, and the connector CNT may be disposed on the stage ST by a carrier. The display device 10 may be positioned to partially overlap the test board 20 disposed on the stage ST.

The vision portion VS included in the cable connection device 100 may be moved onto the connector CNT and the cable CB included in the test board 20. The vision portion VS may obtain an image by photographing the connector CNT and the cable CB on the connector CNT and the cable CB.

Referring to fig. 14 to 16, the controller CTR may correct the position of the robot RBH with respect to the cable in the second direction D2 and the third direction D3 based on the image obtained by the vision portion VS. Accordingly, the robot RBH may adsorb the cable CB at a position where the robot RBH is corrected by the controller CTR. Specifically, a suction cup (e.g., suction cup SP of fig. 17) of the grip portion GR included in the robot arm RBH may suck the cable CB. The robot RBH may move the cable CB so as not to overlap the connector CNT.

When the vision portion VS photographs the connector CNT, the controller CTR may measure the position of the connector CNT in a plan view. The controller CTR may move the second robot RBA2 such that the second robot RBA2 fixes the circuit board PCB. Accordingly, when the robot RBH moves the cable CB, the position of the circuit board PCB may be fixed.

Fig. 17 to 20 may be enlarged views of the robot RBH and the connector CNT of fig. 16.

Referring to fig. 17 to 19 in combination with fig. 16, the opening closer OC included in the clamping portion GR may open the flip-flop FL included in the connector CNT. Since the vision portion VS photographs the connector CNT, and the controller CTR may measure the positions of the connector CNT in the second direction D2 and the third direction D3, and may determine whether the flip FL is opened or closed. Meanwhile, the displacement sensor DS may measure the position of the connector CNT in the first direction D1 to obtain a position measurement value.

When the flip FL is turned off, the controller CTR may move the robot RBH by measuring the positions of the connector CNT in the first, second and third directions D1, D2 and D3. The moved robot RBH can rotate to open the shutter OC. By rotating the opening closer OC, the blade BLD can open the inverter FL.

Fig. 21 to 23 may be enlarged views of region a of fig. 20.

Referring to fig. 20 and 21 in combination with fig. 2, in order to insert the cable CB into the connector CNT, the controller CTR may correct the position of the cable CB in a plan view based on the image obtained by the vision portion VS. Specifically, the controller CTR may calculate the first position correction value based on the obtained image. The first position correction value may be a value that corrects the position of the cable CB with respect to the connector CNT in the second direction D2 and the third direction D3.

Similarly, in order to insert the cable CB into the connector CNT, the displacement sensor DS may obtain a position measurement value by measuring the position of the connector CNT in the first direction D1. The controller CTR may correct the position of the cable CB in the first direction D1 with respect to the connector CNT based on the position measurement value of the connector CNT. Specifically, the controller CTR may calculate a second position correction value that corrects the position of the cable CB in the first direction D1 with respect to the connector CNT based on the position measurement value. By this, the position of the cable CB with respect to the connector CNT in the first direction D1, the second direction D2, and the third direction D3 can be corrected.

Referring to fig. 22 and 23 in combination with fig. 2, the cable CB may be introduced into the connector CNT such that the cable CB is inserted into the insertion groove of the connector CNT.

When the cable CB enters the connector CNT, the force-torque sensor FTS included in the robot arm RBH may detect loads in the first, second, and third directions D1, D2, and D3.

The controller CTR may stop the movement of the cable CB when the force-torque sensor FTS detects that the load value in one direction (one of the first direction D1, the second direction D2, and the third direction D3) is greater than the set value in the one direction.

In this case, the controller CTR may move the cable CB in a direction opposite to the one direction such that a load value in the one direction is the same as a set value in the one direction.

When the position of the cable CB reaches a position where the load value is greater than the set value in each of the first, second and third directions D1, D2 and D3, the controller CTR may stop the cable CB from entering the connector CNT.

With further reference to fig. 24 and 25 in combination with fig. 2, the flip FL may be turned off when the cable CB and the connector CNT are aligned and the cable CB is positioned at a preset position in the connector CNT. The controller CTR can return the shutter OC to its original position by rotating it again. When the open closure OC returns to its original position, the open closure OC may close the inverter FL. The cable CB may be fastened to the connector CNT by closing the flip FL.

The vision part VS may check whether the connector CNT and the cable CB are fastened by photographing the connector CNT and the cable CB. When the connector CNT and the cable CB are fastened, the cable CB may be detached from the suction cup SP included in the clamping portion GR.

Referring to fig. 26 to 32, the first robot arm RBA1 may replace the grip portion GR included in the robot arm RBH with another grip JG.

The first robot RBA1 may bring the robot RBH to the tool magazine TM. The tool library TM may include a collet HD on which the clamp JG is mounted. The robot arm RBH may be positioned in the cartridge HD using the vision portion VS and the displacement sensor DS. The first tool changer TC1 and the second tool changer TC2 may be separated from each other in the robot RBH.

The first tool changer TC1 may be moved on another gripper JG mounted on the tool magazine TM using the vision portion VS and the displacement sensor DS. The robot RBH including the first tool changer TC1 may be lowered so that the first tool changer TC1 may be coupled to the third tool changer TC3 connected to the jig JG.

The clamping portion GR of the robot RBH may be replaced with another jig JG by using the tool changer TC and the tool magazine TM.

In an embodiment, since the cable connection method is automatically performed, the cable CB may be automatically fastened to the connector CNT without manual operation. Accordingly, since the fastening operation of the cable CB can be uniformly performed, the fastening error can be minimized. In addition, according to this method, the cable connection method can always ensure uniform quality for the fastening operation of the cable CB.

The robot arm apparatus, the cable connection apparatus including the same, and the cable connection method according to the embodiments may be applied to manufacture a display device included in a computer, a notebook, a mobile phone, a smart tablet computer, a Portable Multimedia Player (PMP), a Personal Digital Assistant (PDA), or an MP3 player, etc.

Although the robot arm apparatus, the cable connection apparatus including the same, and the cable connection method according to the embodiments have been described with reference to the accompanying drawings, the illustrated embodiments are exemplary and may be modified and changed by a person having ordinary skill in the relevant art without departing from the technical spirit as set forth in the appended claims.

Claims

1. A robotic arm apparatus, the robotic arm apparatus comprising:

a vision part configured to obtain an image by photographing a connector fastened to a circuit board and a cable connected to the connector;

a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction;

a holding portion configured to hold the cable and open and close a flip included in the connector;

a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction; and

a controller configured to control alignment of the connector and the cable based on the obtained image and the position measurement value in the first direction, and to control fastening of the connector and the cable based on a detection result of the force-torque sensor.

2. The robotic arm apparatus of claim 1, further comprising a robotic arm configured to connect to the force-torque sensor;

the vision portion, the displacement sensor, the gripping portion, and the force-torque sensor are included in a robot arm, and

the robot arm is connected to the robot arm and is moved by the robot arm.

3. The robotic arm apparatus of claim 2, wherein the robotic arm further comprises a tool changer disposed between the force-torque sensor and the gripping portion, and

the tool changer decouples or tightens the clamping portion and the force-torque sensor.

4. The robot arm apparatus according to claim 2, wherein the controller calculates a first position correction value that corrects a position of the robot arm in the second direction and the third direction with respect to at least one of the connector and the cable based on the obtained image.

5. The robot arm apparatus according to claim 2, wherein the controller calculates a second position correction value that corrects a position of the robot arm in the first direction with respect to the connector based on the position measurement value in the first direction.

6. The robot arm apparatus according to claim 2, wherein the controller stops the movement of the robot arm in one direction and moves the robot arm in a direction opposite to the one direction when a load value in the one direction of the first direction, the second direction, and the third direction detected by the force-torque sensor is greater than a set value in the one direction.

7. The mechanical arm apparatus according to claim 1 or 2, wherein the gripping portion further includes an opening and closing device for opening and closing the flip-flop of the connector, and

the flip-flop is opened or closed by rotation of the opening closer.

8. A cable connection device, characterized in that the cable connection device comprises:

a manipulator, comprising: a vision part configured to obtain an image by photographing a connector connected to a circuit board and a cable fastened to the connector; a displacement sensor configured to obtain a position measurement value by measuring a position of each of the connector and the cable in a first direction; a holding portion configured to hold the cable and open and close a flip included in the connector; and a force-torque sensor configured to be connected to the clamping portion and detect a load of the clamping portion in the first direction, a second direction intersecting the first direction, and a third direction intersecting the first direction and the second direction;

a second mechanical arm configured to fix the circuit board; and

and a controller configured to control movement of the first and second robotic arms.

9. The cable connection device of claim 8, wherein the cable connection device comprises: the first mechanical arm is configured to be connected to the mechanical arm;

the robot further includes a tool changer disposed between the force-torque sensor and the gripping portion, and

the tool changer includes a first tool changer configured to be connected to the force-torque sensor and a second tool changer configured to be connected to the clamping portion, and

the first tool changer and the second tool changer are fastened to each other or separated from each other.

10. The cable connection device of claim 9, wherein the cable connection device further comprises:

a tool magazine spaced apart from the first and second robotic arms and configured to mount a second clamping portion capable of securing the first tool changer.