JP2007201167A - Assembly device, and assembly device jig - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assembly device capable of reducing the bending work cost of a bending article having an FPC, etc., by utilizing a multijoint arm robot and a simple assembly device jig. <P>SOLUTION: The assembly device 100 includes a plurality of plates arranged along the substantially same plane, and film shape connections connecting each plate; and performs a bending work with respect to a planar member. The device 100 includes the assembly device jig 15 for performing the bending work, and a multijoint arm 19 for inputting driving force to the assembly device jig 15. The assembly device jig 15 includes a plurality of placement parts for individually placing the respective plates, rotary axes which are held between the respective placements so as to allow the placements to be relatively rotated to face, and operations for directly operating the placement parts by the engagement of the multijoint arm 19. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an assembling apparatus and an assembling apparatus jig for bending a sheet-like member having a film-like connecting part for connecting the plate parts, by folding the connecting part so that the plate parts are stacked on each other. It is about.

For example, a circuit body housed in a housing of a portable terminal is configured such that after a plurality of hard circuit boards are connected via an FPC (flexible printed circuit) or the like, each circuit board is stacked by folding the FPC. In many cases, bending processing is performed.
Such a circuit body is bent by an operator's manual work, or is bent by using an assembly apparatus.

Bending by a worker's manual work has many inconveniences in terms of processing cost and processing accuracy. On the other hand, as an assembling apparatus, for example, an assembling apparatus jig corresponding to a circuit body is connected to a main body and used.
The assembling apparatus jig faces a plurality of mounting portions that allow each plate portion to be individually mounted, and is interposed between the mounting portions and relatively rotates each mounting portion. And an input unit to which a driving force is supplied from the main body of the assembly apparatus. The driving force supplied from the main body is converted into a rotation speed, a rotation angle, and the like when the mounting portion is rotated via a gear link or the like inside the assembly apparatus jig.

A plurality of types of assembly apparatus jigs are prepared according to the types of circuit bodies having different dimensions, shapes, bent forms, and the like, and are selectively coupled to the main body.
Then, the assembly apparatus arranges the circuit body in the assembly apparatus jig from the upstream side in the conveyance direction of the circuit body, and after bending the circuit body, removes the circuit body from the assembly apparatus jig and downstream in the conveyance direction. The continuous operation of discharging is performed (for example, see Patent Document 1).
Japanese Patent Laid-Open No. 3-117524

However, the conventional assembling apparatus requires an assembling apparatus jig having a complicated mechanism inside, and it is necessary to prepare a plurality of such assembling apparatus jigs corresponding to the circuit bodies.
In general, if the assembly process is complicated, it is necessary to specialize the function of the assembly device or rely on human resources. If such a solution is taken, a great deal of cost (personnel) is required due to model switching. Costs). In particular, there is a problem that the control and operation of the bending process becomes complicated if the drive input section on the jig side is complicated.

Further, when the assembly apparatus has a configuration that requires a large number of units in addition to the robot, the assembly apparatus jig, and the tray supply unit, there has been a problem that the assembly process of the bent member cannot be completed easily.
That is, there is a disadvantage in that it is not possible to cope with different models only by switching the software of the articulated arm, changing the chuck part, changing the assembly device jig, etc. when switching the model.

For this reason, in the conventional assembling apparatus, the bending processing cost is increased, the labor cost is increased, and the apparatus cost is also increased.
In addition, dealing with multiple models is complicated, and the costs that occur when switching models have increased.

  The present invention has been made to solve the conventional problems, and can use a single articulated arm and a simple assembly device jig to perform a series of bending processes for a bending member having an FPC or the like. An object of the present invention is to provide an assembling apparatus and an assembling apparatus jig so as to reduce the processing cost of bending and the cost generated when switching models.

  The assembling apparatus of the present invention folds the connecting portion against a planar member having a plurality of plate portions arranged along substantially the same plane and a film-like connecting portion for connecting the plate portions. An assembly apparatus for forming a bending member by performing a bending process in which the plate portions are arranged so as to be stacked on each other, and a body assembly and an assembly apparatus for connecting the main body to perform the bending process. And an articulated arm that is supported by the main body and inputs a driving force to the assembly apparatus jig, and the assembly apparatus jig is capable of individually mounting the plate portions. A mounting shaft, a rotation shaft that is interposed between the mounting portions and faces each other by rotating the mounting portions relatively, and the articulated arms are engaged with each other. The mounting unit has an operation unit that is directly operated.

With this configuration, the drive input unit on the jig side is simplified, and bending can be performed only with simple control and machining operations. Further, it is possible to configure with only one articulated arm, an assembly jig and a tray supply unit.
Thereby, the assembly process of a bending member can be completed using one articulated arm. Furthermore, when switching models, it is possible to cope with different models by simply switching the software of the articulated arm, changing the chuck part, and changing the assembly equipment jig.

  Further, the assembly apparatus jig of the present invention is configured to connect the planar member having a plurality of plate portions arranged along substantially the same plane and a film-like connecting portion that connects the plate portions to the planar member. An assembly apparatus jig connected to a body of an assembly apparatus which is a bending member by performing bending processing in which the respective plate sections are arranged so as to be stacked on each other by folding back the sections, A plurality of placement portions that can be placed individually, a rotation shaft that is interposed between the placement portions to face each other by relatively rotating the placement portions, and the main body And an operation unit that directly operates each of the placement units when the multi-joint arms supported by the unit engage with each other.

With this configuration, the drive source is outside the jig, and the structure of the assembly apparatus jig is simplified. Moreover, there is no complicated structure for reversing the mounting portion on the assembly apparatus jig side, and the reversal is possible only by the rotation shaft, and this also simplifies the structure of the assembly apparatus jig.
Furthermore, since the structure is simple, the jig cost can be reduced even if a plurality of assembly apparatus jigs corresponding to the shape and dimensions of the planar member are prepared.

  The present invention includes an assembly device jig connected to the main body for performing bending processing, and an articulated arm supported by the main body for inputting a driving force to the assembly device jig. The multi-joint arm is engaged by a placement portion for individually placing the plate portions, a rotation shaft that is interposed between the placement portions and relatively rotates the placement portions. Since the operation unit that directly operates each placement unit is provided, the drive input unit on the jig side is simplified, and bending can be performed only with simple control and operation.

In addition, a single articulated arm, an assembly jig, and a tray supply unit can be used, and the assembly process of the bent member can be completed by a single articulated arm.
Furthermore, when switching models, it is possible to cope with different models by simply switching the software of the articulated arm, changing the chuck part, and changing the assembly equipment jig.

  As a result, the bending cost can be reduced, the labor cost can be reduced, and the apparatus cost can be reduced. In addition, it is possible to provide an assembling apparatus that can easily cope with a large number of models and suppress the cost generated when switching models.

Hereinafter, an assembly apparatus and an assembly apparatus jig according to an embodiment of the present invention will be described with reference to the drawings.
1 is an external perspective view of an assembling apparatus according to a first embodiment of the present invention, FIG. 2 is an enlarged perspective view of an assembling apparatus jig shown in FIG. 1, and FIG. 3 shows an internal configuration of the assembling apparatus shown in FIG. It is a block diagram.

  In FIG. 1, 11W is a planar member, 11 is a folded member (soft structure module) after the planar member 11W is processed, 13 is a storage tray for the folded member 11, 15 is an assembly device jig, and 17 is an articulated joint. A vertical articulated robot arm (hereinafter simply referred to as “robot arm”) 19, which is an arm, 21 is a visual device, 23 is a tray supply unit, and 25 is a main body. In FIG. 2, 27 is a base plate, 29 is a base, 31 is a placement portion (folding portion), 33 is a rotation shaft, 35 is an operation portion, and 37 is a suction pad.

  In the first embodiment, the assembling apparatus 100 uses the robot arm 19 having a high degree of freedom in an operation pattern in which the hand 17 is moved in the XYZ directions and rotated in the M direction. The robot arm 19 includes an air or electric chuck mechanism and a visual device 21 for visual recognition. The robot arm 19 grips a workpiece (bending member W1), operates an assembly device jig 15, and visually recognizes the workpiece. Recognition is possible.

In the assembling apparatus 100, an assembling apparatus jig 15 corresponding to the type of the bending member 11 is selectively coupled to the main body 25 from a plurality of types. In the assembling apparatus 100, when the driving force is input to the assembling apparatus jig 15 by the robot arm 19, the planar member 11W that is a workpiece is bent.
The workpiece is formed as a planar member 11W shown in FIG. The planar member 11W includes a circuit board 41a, 41b, 41c, which is a plurality of plate parts, and a flexible FPC (flexible printed wiring board), which is a film-like connection part that connects the circuit boards 41a, 41b, 41c. ) 41d, 41e.

The FPCs 41d and 41e are composed of a base film having a conductor circuit and a coverlay film that is bonded to the base film to protect and insulate the conductor circuit.
The coverlay film has an opening for exposing the electrode of the conductor circuit when bonded to the base film, and the electrode is connected to the circuit boards 41a, 41b, and 41c using the opening. The base film is made by bonding a metal foil layer to a film material layer such as polyimide with good heat resistance via an adhesive layer, and removing unnecessary portions of the metal foil layer by an etching method or the like. A circuit is formed.

This cover lay film is constructed by providing an adhesive layer made of a thermosetting adhesive such as an epoxy adhesive on a film material layer such as polyimide having good heat resistance, and means such as punching with a mold Thus, an opening is formed. The base film and the cover lay film are pressed using a hot press apparatus, and are positioned and bonded together at a position where the conductor circuit electrodes of the base film are exposed.
The adhesive layer of the cover lay film is pressed to integrate the base film and the cover lay film to form FPCs 41d and 41e (41f described later).

  The assembling apparatus jig 15 is provided between a plurality of mounting portions 31 on which the circuit boards 41a, 41b, and 41c can be individually mounted, and between the mounting portions 31, so that each mounting portion 31 rotates relatively. A rotation shaft 33 for facing each other by being moved, and an operation portion 35 for directly operating each placement portion 31 when the robot arm 19 supported by the main body 25 is engaged. .

The assembling apparatus jig 15 does not have a control mechanism or a driving source, and has a mechanical structure that operates by inputting an external force such as turning, pushing, and pulling. That is, the operation unit 35 is grasped by the hand 17 of the robot arm 19 and rotated.
Further, the assembling apparatus jig 15 is provided with a suction function for fixing a workpiece, that is, a plurality of suction pads 37 shown in FIG. Further, the supply of the workpiece and the storing of the bending member 11 are performed by the tray supply unit 23.
In FIG. 5, reference numeral 43 denotes a positioning pin for positioning the circuit boards 41a, 41b, 41c at predetermined positions.

In the assembly apparatus jig 15 configured as described above, the drive source is outside the assembly apparatus jig 15, and the structure of the assembly apparatus jig 15 is simplified. Further, the assembly apparatus jig 15 does not have a complicated structure for reversing the mounting portion 31 and can be reversed only by the rotation shaft 33, so that the structure of the assembly apparatus jig 15 can be simplified. Become.
Furthermore, since the structure is simple, even if a plurality of assembly device jigs 15 corresponding to the shape and dimensions of the planar member 11W are prepared, there is an advantage that the jig cost can be kept low.

  The assembly apparatus 100 includes the assembly apparatus jig 15 so that a plurality of circuit boards 41a, 41b, and 41c arranged along substantially the same plane and the FPCs 41d and 41e that connect the circuit boards 41a, 41b, and 41c. The folded member 11 is obtained by folding the FPCs 41d and 41e with respect to the planar member 11W including the circuit boards 41a, 41b, and 41c so as to be stacked on each other. It has become.

Functional components such as the robot arm 19, the hand 17, the visual device 21, and the suction pad 37 provided in the assembling apparatus 100 are controlled by a personal computer (PC) 45 that is a control unit provided in the main body 25.
That is, the hand 17 is connected to the PC 45 via the controller 47 and the encoder 49, and its operation is controlled by an operation control signal from the PC 45. A robot controller 51 is connected to the PC 45, and the robot arm 19 is controlled by a control signal sent from the robot controller 51 based on a control command from the PC 45.

A teaching pendant 53 is connected to the robot controller 51.
The teaching pendant 53 is connected to the robot controller 51 by wire or wirelessly, and has manual operation functions such as the robot arm 19, the hand 17, the visual device 21, and the suction pad 37, whereby an operation panel for automatic operation is provided. Functions and teachings are possible.
Such a teaching pendant 53 is not essential to the present invention and may be omitted as appropriate.
The visual device 21 is connected to the robot controller 51 via the image recognition device 55.
The image recognition device 55 recognizes an image based on the imaging data of the visual device 21 including a CCD camera, a photoelectric sensor, etc., and sends the data to the robot controller 51.

  Further, a vacuum pump (not shown) is connected to the suction pad 37. The suction pad 37 can hold and release the suction of the circuit boards 41a, 41b, and 41c by controlling the opening and closing of the valve 57 interposed in the vacuum pump pipe by the PC 45.

The operation of the assembling apparatus 100 configured as described above will be described.
FIG. 4 is a flowchart showing a bending process in the first embodiment of the present invention, and FIG. 5 is an operation explanatory view of the assembling apparatus in the first embodiment of the present invention.

First, the tray containing the planar member 11 </ b> W is manually supplied to the tray supply unit 23. Next, the robot arm 19 is started from the standby position and rotated to the supply tray side (s1). At this time, the position / posture of the planar member 11W is detected by the visual device 21, which is a detection means (s2).
In other words, the robot arm 19 recognizes the supplied planar member 11W by the visual device 21, and if the planar member 11W is present, the robot arm 19 chucks it.

The detected imaging data is sent to the image recognition device 55. If it is determined that the posture is a predetermined posture, the result is sent to the PC 45.
As a result, the PC 45 sends a drive control signal to the robot arm 19 via the robot controller 51, and sends a drive signal to the hand 17 via the controller 47 and encoder 49 to hold the planar member 11W (s3). .

Next, the robot arm 19 is rotated, and the visual device 21 detects the position / posture of the location of the planar member 11W in the assembly apparatus jig 15 (s4). If the position / posture of the arrangement location is recognized by the image recognition device 55, the recognition signal is sent to the PC 45, and the operation control signal is sent from the PC 45 to the robot arm 19 and the hand 17 based on the recognition signal.
That is, with the planar member 11W still chucked, the position is recognized by the visual device 21, carried to the assembly device jig 15, and the place to be placed is recognized again by the visual device 21, and the planar member 11W is fixed. Place in position. Thereby, arrangement | positioning of the planar member 11W is completed (s5).

  If the planar member 11W is arranged at a predetermined position / posture, the planar member 11W is detected again by the visual device 21 (s6), and the image data is sent to the image recognition device 55. The image recognition device 55 determines whether or not the arrangement at the regular position is completed from the imaging data (s7), and sends the result to the PC 45. If the placement at the regular position is incomplete, the PC 45 sends a drive signal for correcting the placement of the planar member 11W to the robot controller 51 by the robot arm 19 (s8).

When the arrangement at the regular position is completed, a vacuum pump (not shown) is driven by the suction command from the PC 45, and each circuit board 41a, 41b, 41c is sucked to the mounting portion 31 by the suction pad 37 (s9).
Next, the tip of the robot arm 19 is moved to the operation unit 35 (s10), and the position / posture of the operation unit 35 is detected by the visual device 21 (s11). Thereafter, an operation command is sent from the PC 45 to the robot controller 51. Based on this, an operation control signal is sent from the robot controller 51 to the robot arm 19, and the robot arm 19 operates the operation unit 35 (s12).

This operation is repeated by the visual device 21 until the operation unit 35 reaches a predetermined position / posture. As a result, the assembly device jig 15 is operated by the robot arm 19, the required number is rotated, and the planar member 11 </ b> W is assembled into the bent member 11.
It is determined by the image recognition device 55 via the visual device 21 whether or not the operation unit 35 has reached a predetermined position / posture (s13). When the image recognition device 55 determines that the operation unit 35 has reached the predetermined position / posture, an operation end signal is sent to the PC 45.

  Thereafter, the visual device 21 performs a quality inspection of the bent member 11. When it is determined that the bending member 11 is a non-defective product, the PC 45 sends a holding command for the bending member 11 to the robot controller 51. Upon receiving a command from the PC 45, the robot controller 51 sends a holding control signal for the bending member 11 to the robot arm 19 to hold the bending member 11 (s14), and further moves the robot arm 19 to the storage tray 13 side. (S15), the position of the storage location is detected by the visual device 21 (s16), and the processed bent member 11 is stored in the storage tray 13 (s17).

When the bending member 11 is determined to be defective, the bending member 11 is gripped and stored in the defective product storage tray. The storage tray 13 storing the finished product is installed on the tray supply unit 23, and the finished product is accumulated in the tray supply unit 23.
Thereafter, the storage tray 13 containing the finished product is manually collected and supplied to the next process.

Thus, in the assembling apparatus 100 according to the first embodiment, when performing the assembling or bending process of the bending member 11 that is difficult to assemble with the FPC, the robot arm 19 having the chuck mechanism and the visual device 21 is used. The bending member 11 is recognized, and then the workpiece is chucked by the robot arm 19 and placed on the assembly apparatus jig 15.
Next, the robot arm 19 operates the assembly device jig 15 to perform assembly, and a series of operations such as chucking and taking out the completed bending member 11 by the robot arm 19 and storing them in the storage tray 13 or the like are performed manually. It can be completed without going through.

Therefore, according to the assembling apparatus 100 according to the first embodiment of the present invention, the drive input unit on the assembling apparatus jig 15 side is simplified, and bending can be performed only with simple control and operation. Further, the robot arm 19, the assembling apparatus jig 15, and the tray supply unit 23 can be configured, and the assembly process of the bending member 11 can be completed by the single robot arm 19. Furthermore, when switching the model, it is possible to cope with different models by simply switching the software of the robot arm 19, changing the chuck portion, and changing the assembly apparatus jig 15.
As a result, the bending cost can be reduced, the labor cost can be reduced, and the apparatus cost can be reduced. In addition, it is possible to provide an assembling apparatus 100 that can easily cope with a large number of models and suppress the cost generated when switching models.

Next, an assembly apparatus jig according to a second embodiment of the present invention will be described.
FIG. 6 is a configuration diagram in the second embodiment of the present invention. In each of the following embodiments, the same members as those shown in FIGS. 1 to 5 are denoted by the same reference numerals, and redundant description will be omitted.

In the assembling apparatus jig 200 according to the second embodiment, a shaft 61 connecting the rotation shaft 33 and the operation unit 35 is bent in a direction substantially orthogonal to the axial direction.
Therefore, the operation unit 35 is disposed in the gap between the U-shaped hands 17 shown in FIG. 2 and is operated by moving the robot arm 19 in an arc shape.

  According to the assembling apparatus jig 200 according to the second embodiment, the operation of the operation unit 35 for bending the planar member 11W can be performed only by swinging the robot arm 19 sideways. As in the embodiment, the control for matching the axes of the operation unit 35 and the hand 17 can be omitted, and the operation control can be facilitated.

Next, an assembly apparatus jig according to a third embodiment of the present invention will be described.
FIG. 7 is a configuration diagram in the third embodiment of the present invention.
In the assembling apparatus jig 300 according to the third embodiment, the shaft 61 (see FIG. 2) connected to the rotation shaft 33 is omitted, while the protruding operation portion 35 </ b> A is directly provided at the end of the placement portion 31. Is provided.

The robot arm 19 directly picks the operation portion 35 </ b> A with the hand 17 and directly rotates the placement portion 31 so as to draw an arc around the rotation shaft 33.
Therefore, according to the assembling apparatus jig according to the third embodiment, the bending force by the robot arm 19 can be applied at a large distance from the pivot shaft 33 as a fulcrum, and the large bending force can be applied with a small force in a planar shape. It can be added to the member 11W.

Next, an assembly apparatus jig according to a fourth embodiment of the present invention will be described.
FIG. 8 is a configuration diagram in the fourth embodiment of the present invention.
In the assembly apparatus jig 400 according to the fourth embodiment, a slide guide 63 is erected on the base plate 27, and the slide guide 63 is disposed adjacent to the base body 29. The slide guide 63 is provided with a slider 65 that is movable in the vertical direction. The slider 65 has a lever 67 that is operated up and down by the robot arm 19.

The slider 65 holds a head 71 that can be displaced in the vertical direction by an interference spring 69. The head 71 has a suction pad connected to a vacuum pipe (not shown) on the lower surface.
A guide stopper 73 is provided at the upper end of the slide guide 63. The guide stopper 73 is provided with a magnet for holding the slider 65, a holding fitting, or a holding device by air drive.

In this assembling apparatus jig 400, a component 75 such as a connector is sucked and held on the lower surface of the head 71, and the lever 67 is pressed by the robot arm 19, so that the component 75 is placed on, for example, the FPC 41 f placed on the placement unit 31. Can be pressed and assembled.
The board-to-board connector used for joining boards and the like is designed to secure the joining strength by fitting and pressing the connector with a constant pressure. It becomes possible to apply the determined pressing pressure of the component 75 as described above.

  Therefore, according to the assembling apparatus jig 400 according to the fourth embodiment, in addition to the bending process of the planar member 11W, the component 75 is pressed and assembled to the circuit boards 41a, 41b, 41c, or the FPC 41f, or the component 75. The determined pressing pressure can be applied.

Next, an assembly apparatus jig according to a fifth embodiment of the present invention will be described.
FIG. 9 is a configuration diagram in the fifth embodiment of the present invention.
The assembly apparatus jig 500 according to the fifth embodiment includes a head 71 that is substantially the same as that of the fourth embodiment, but the lifting mechanism of the head 71 is different. That is, a support column 77 is erected on the base plate 27, and an elevating mechanism 79 is provided on the upper portion of the support column 77. An elevating shaft 81 having a head 71 fixed to the lower end is supported by the elevating mechanism 79 so as to be movable in the vertical direction, and the elevating shaft 81 is urged upward by an urging spring 83.
A rack is formed in the elevating shaft 81 inside the elevating mechanism 79, and this rack is engaged with a pinion (not shown) of the input shaft 85 that penetrates the elevating mechanism 79 in the horizontal direction. A lever 67 is fixed to the input shaft 85 via an arm.

  In the assembling apparatus jig 500, the lever 67 is swung in the vertical direction by the robot arm 19, so that the rack engaged with the pinion is displaced in the vertical direction, and is thereby sucked and held by the head 71 of the lifting shaft 81. The component 75 can be pressed and assembled to the FPC 41f.

Therefore, according to the assembling apparatus jig according to the fifth embodiment, in addition to the bending process of the planar member 11W, the component 75 is pressed and assembled to the circuit boards 41a, 41b, 41c, or the FPC 41f, or the component 75 The determined pressing pressure can be applied.
In addition, since the rotational force is converted into the vertical movement force using the rack and pinion mechanism, a large pressing force can be obtained with a small amount of operation input.

Next, an assembling apparatus jig according to a sixth embodiment of the present invention will be described.
FIG. 10 is a configuration diagram in the sixth embodiment of the present invention.
In the assembling apparatus jig 600 according to the sixth embodiment, a sub-mounting portion 31B is provided to be rotatable with respect to a main mounting portion 31A via a rotation shaft, and the sub-mounting portion 31B is connected to a shaft 61. Rotation operation is enabled by the operated unit 35. In addition, the base 71 that supports the main mounting portion 31A supports a head 71 via, for example, a pair of sliding shafts 91, 91. The head 71 is rotatably disposed between the pair of sliding shafts 91, 91. The sub-mounting part 31B can be arranged.
A protrusion-like knob 93 is provided on the outer surface of the head 71, and the head 71 is moved toward and away from the base 29 when the knob 93 is held by the hand 17.

In the assembling apparatus jig 600, for example, the planar member 11W is placed and held by the suction pad 37 in a state where the main placement portion 31A and the sub placement portion 31B are on the same plane.
Then, when the operation unit 35 is rotated by the robot arm 19, the sub-mounting portion 31 </ b> B is bent downward and bent so as to be substantially orthogonal to the main mounting portion 31 </ b> A.

In this state, when the head 71 is pressed toward the base 29 by the robot arm 19, the component 75 sucked and held by the head 71 is pressed and assembled to the FPC 41f sucked and held by the sub placement portion 31B.
When the press assembly of the component 75 is completed in this way, the head 71 is moved again in the direction away from the sub-mounting portion 31B by the robot arm 19, and then the operation portion 35 is rotated clockwise in FIG. By rotating in the direction, the FPC 41f assembled with the component 75 is bent in a stacked state on the circuit board 41a.

Therefore, according to the assembling apparatus jig 600 according to the sixth embodiment, in addition to the bending process of the planar member 11W, the component 75 is pressed and assembled to the circuit boards 41a, 41b, 41c, or the FPC 41f, or the component 75. The determined pressing pressure can be applied.
In addition to this, it is possible to perform a bending process of bending the circuit board or FPC on which the component 75 is assembled.

  As described above, the assembling apparatus according to the present invention can simplify the driving input section on the jig side, reduce the bending cost only by simple control and operation, reduce the labor cost, and the apparatus cost. It is possible to reduce the cost, and it is easy to deal with multiple models, and the cost generated when switching models is suppressed, and a sheet-like member having a film-like connecting part that connects each plate part It is useful as an assembling apparatus or the like that performs folding processing so that the plate portions are stacked on each other by folding the connecting portion.

It is an external appearance perspective view of the assembly apparatus in 1st Embodiment of this invention. It is an expansion perspective view of the assembly apparatus jig | tool shown in FIG. It is a block diagram showing the internal structure of the assembly apparatus shown in FIG. It is a flowchart showing the procedure of the bending process in 1st Embodiment of this invention. It is operation | movement explanatory drawing of the assembly apparatus in 1st Embodiment of this invention. It is a block diagram in 2nd Embodiment of this invention. It is a block diagram in 3rd Embodiment of this invention. It is a block diagram in 4th Embodiment of this invention. It is a block diagram in 5th Embodiment of this invention. It is a block diagram in 6th Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Bending member 11W Planar member 15,200,300,400,500,600 Assembly apparatus jig | tool 19 Robot arm (articulated arm)
41a, 41b, 41c Circuit board (plate part)
41d, 41e, 41f FPC (membrane-like connecting part)
25 Main body 31 Placement unit 33 Rotating shaft 35 Operation unit 100 Assembly device

Claims (2)

For a planar member having a plurality of plate portions arranged along substantially the same plane, and a film-like connecting portion connecting the plate portions,
An assembly apparatus that performs folding processing so that the plate portions are stacked on each other by folding back the connecting portion, and forms a bending member,
A main body, an assembly apparatus jig connected to the main body for performing the bending process, and an articulated arm supported by the main body for inputting a driving force to the assembly apparatus jig,
The assembly device jig is provided between a plurality of placement portions that can individually place the plate portions and between the placement portions, and relatively rotates the placement portions. An assembling apparatus comprising: a rotation shaft for facing each other; and an operation unit that directly operates each of the placement units by engaging the multi-joint arm. For a planar member having a plurality of plate portions arranged along substantially the same plane, and a film-like connecting portion connecting the plate portions,
An assembly apparatus jig connected to a body of an assembly apparatus that performs bending processing so that the plate sections are stacked on each other by folding back the connection section, and is used as a bending member,
A plurality of mounting portions on which each of the plate portions can be individually mounted, and a rotation shaft that is interposed between the mounting portions and faces each other by relatively rotating the mounting portions. And an operation unit that directly operates each of the placement units by engaging a multi-joint arm supported by the main body.

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