JP2009279678A - Automatic assembling apparatus, automatic assembling method, and display - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic assembling apparatus properly assembled to the other member without allowing a weak member to be broken and deformed. <P>SOLUTION: This automatic assembling apparatus 10 automatically assembles a weak bezel 11 to a backlight unit 12 by the hands 4aa, 4bb of a scalar robot 4. The automatic assembling apparatus 10 performs internal force management and control for controlling so that holding forces by the hands 4aa, 4bb reaches desired values and external force management and control for positioning the bezel 11 and the backlight unit 12 using a force generated by the contact of the bezel 11 on the backlight unit 12, and assembles the bezel 11 to the backlight unit 12. By the internal force management and control, even the weak member can be properly assembled by optimizing the holding forces to prevent the breakage and the deformation of the member. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic assembling apparatus for automatically assembling a certain member to another member, and in particular, the other member having low strength and having a complicated shape without positioning the member in advance. The present invention relates to an automatic assembling apparatus, an automatic assembling method, and a display device that are assembled appropriately.

  The assembly process occupies the second half of the manufacturing process of electrical equipment products. At present, most of the assembly process relies on manual work. In particular, in the process of assembling a television using a flat display panel such as a liquid crystal television, the work is gradually increased due to the increase in size. Although it tends to be difficult, automation is not progressing. In the future, automation of the assembly process is also desired in order to cope with the labor shortage expected in Japan and overseas.

  The assembling work in the assembling process requires assembling while positioning the members having complicated shapes, and may require complicated operations on the members. In addition, electric appliance products for general consumers (especially televisions) are frequently changed in accordance with consumer demand. For this reason, it is impossible to automate the assembly process with a simple automatic assembling apparatus. Therefore, an automatic assembling apparatus using a robot has been proposed (for example, see Patent Document 1).

  Many assembly robots currently proposed are based on position control based on hand position teaching, similar to conventional industrial robots. However, a plastic molded product or the like frequently used as an exterior or strength member of an electric product often has low processing accuracy, and assembly work by simple position control often does not move stably. Although it is possible to correct the target position using image processing in position control, it is necessary to temporarily stop the member for image processing, and image processing cannot always be performed with high accuracy due to the influence of the environment. Also, there is a tendency that the burden on the production site such as calibration and teaching becomes heavy.

In view of this, a technique has been proposed in which a member is not positioned by image processing but by a force sensor, for example, and is often used particularly in assembly of a power transmission system of an automobile. For example, the technique described in Patent Document 2 is for fitting a substantially prismatic member to another member having a substantially prismatic fitting hole, and the robot apparatus in this document The force generated by another member with respect to the substantially prismatic member fixed by the chuck mechanism attached to the tip is measured, and the deviation of the axis and the phase is estimated based on the measurement result. Then, the chuck mechanism is relatively moved so as to correct the estimated deviation amount, and the positional relationship between the members that can be fitted is realized.
Japanese Patent Laid-Open No. 7-125828 (published on May 16, 1995) Japanese Patent Laid-Open No. 7-241733 (published September 19, 1995)

  However, in the assembly technique based on the conventional force control, the member fixed by the hand of the assembly robot needs to be strictly fixed to the hand, and management of the tightening force of the hand against the member is not performed. It was.

  Here, for example, a bezel member or an exterior member on the front surface of a television using a flat display panel is often a frame and has insufficient strength. If the above-described conventional technique is applied to such a member, that is, if the robot hand is strictly fixed without considering the tightening force, the member is likely to be damaged, and the member is deformed and assembled. There was a problem that inconsistencies may occur in the attachment.

  The present invention has been made in view of the above problems, and an automatic assembling apparatus, an automatic assembling method, and the like, which are appropriately assembled to other members without damaging and deforming a weak member. An object is to provide a display device.

  In order to solve the above-described problems, an automatic assembly apparatus according to the present invention includes an assembly unit having a grip portion for gripping a member, and grips a first member having a low strength by the grip portion of the assembly unit, and performs second operation. An automatic assembling apparatus for automatically assembling to a member, wherein the assembling means includes first management control for controlling a gripping force in the gripping portion to a desired value, at least the first member and the first And performing a second management control for positioning the first member and the second member using a force generated by the interaction with the two members, and assembling the first member to the second member. It is said.

  In order to solve the above-described problem, the automatic assembly method according to the present invention uses an assembly means having a gripping portion for gripping a member, and grips the first member having a low strength by the gripping portion of the assembly means. An automatic assembling method for automatically assembling to a member, wherein the assembling means controls the gripping force in the gripping portion to have a desired value, at least the first member and the first member And performing a second management control for positioning the first member and the second member using a force generated by the interaction with the two members, and assembling the first member to the second member. It is said.

  According to said structure and method, a member is assembled | attached, controlling so that the holding force of the holding part holding the 1st member with weak intensity | strength may become a desired value. For this reason, even if it is a member with weak intensity | strength, it can assemble | assemble appropriately, optimizing a gripping force and preventing the breakage, a deformation | transformation, etc. As described above, the automatic assembling apparatus and the automatic assembling method provide an automatic assembling apparatus and an automatic assembling method for appropriately assembling to other members without damaging and deforming a weak member. There is an effect that can be.

  In the automatic assembly apparatus according to the present invention, the second management control is caused by bringing an arbitrary portion of the first member into contact with an arbitrary portion of the second member with an angle therebetween, and the contact. When the first member is assembled to the second member by using force, the corresponding portions corresponding to each other are searched for, and the first member and the second member are brought into contact with the corresponding portions and the angle is given. This is preferably done by searching for at least one new corresponding part using the moment generated by this.

  In the automatic assembly method according to the present invention, the second management control is caused by bringing an arbitrary portion of the first member into contact with an arbitrary portion of the second member with an angle between the two, and the contact. When the first member is assembled to the second member by using force, the corresponding portions corresponding to each other are searched for, and the first member and the second member are brought into contact with the corresponding portions and the angle is given. This is preferably done by searching for at least one new corresponding part using the moment generated by this.

  For example, in the technique disclosed in Patent Document 2 (hereinafter referred to as “prior art”), the assumed shape of the member is a simple shape such as a substantially regular prism or a substantially cylinder. On the other hand, if the members to be assembled are, for example, bezel members and exterior members on the front of a television using a flat display panel, the shape of these members is compared with the shape of the members assumed in the prior art. The shape of these components is also complicated, and the components to which these components are assembled (backlight units for bezel members, panel modules for exterior members, etc.) are also complex shapes, so precise positioning is required. However, it has been impossible to achieve the positioning by a simple procedure as in the prior art.

  On the other hand, in the above-described configuration and method, positioning is performed by searching for at least two corresponding portions, so that it is possible to sufficiently cope with a complicatedly shaped member that requires strict positioning as described above. Nevertheless, the positioning can be performed quickly.

  In addition, since the positioning of the members as described above is similar to the positioning operation of the members performed in daily life, for example, when the assembling means is configured by a robot, the operation of the robot can be designated intuitively. There is an advantage.

  In addition, since the first member and the second member are positioned using the force and moment generated by the contact between the first member and the second member as described above, it is not necessary to position the members in advance. . For this reason, positioning mechanisms such as a positioning jig and a positioning device can be omitted, and the automatic assembly apparatus can be reduced in size, work time can be reduced, and cost can be reduced.

  In the automatic assembling apparatus according to the present invention, the gripping portion includes force detection means for detecting a force applied to the gripping portion, and the assembly means compares the detection result of the force detection means with the desired value. By calculating the grip portion position correction amount for correcting the position of the grip portion with respect to the first member, the grip force is adjusted by correcting the position of the grip portion based on the grip portion position correction amount. Thus, it is preferable to perform the first management control.

  In the automatic assembling method according to the present invention, the gripping portion includes force detection means for detecting a force applied to the gripping portion, and the assembly means compares the detection result of the force detection means with the desired value. By calculating the grip portion position correction amount for correcting the position of the grip portion with respect to the first member, the grip force is adjusted by correcting the position of the grip portion based on the grip portion position correction amount. Thus, it is preferable to perform the first management control.

  In the automatic assembling apparatus according to the present invention, the assembling means compares the detection result of the force and the moment generated by the contact by the force detecting means with a predetermined target value for searching for the corresponding part. The first member position correction amount for correcting the position of the first member relative to the second member is calculated, and the positioning is performed by correcting the position of the first member based on the first member position correction amount. It is preferable to perform the second management control.

  In the automatic assembling method according to the present invention, the assembling means compares the detection result of the force and the moment generated by the contact by the force detecting means with a predetermined target value for searching for the corresponding part. The first member position correction amount for correcting the position of the first member relative to the second member is calculated, and the positioning is performed by correcting the position of the first member based on the first member position correction amount. It is preferable to perform the second management control.

  The automatic assembly apparatus according to the present invention further includes member state detection means for detecting a general position of the first member and the second member with respect to the assembly means and an attitude of the first member and the second member. The means preferably performs the assembly based on the detection result of the member state detection means.

  The automatic assembly method according to the present invention further includes a member state detection means for detecting a rough position of the first member and the second member with respect to the assembly means and an attitude of the first member and the second member, The assembling means preferably performs the assembling based on the detection result of the member state detecting means.

  In the above prior art, it is necessary for the assembly robot to recognize the position of the member when the member is fixed by the hand. It was broken.

  On the other hand, in the above configuration and method, since the approximate positions of the first member and the second member with respect to the assembly unit are detected by the member state detection unit, the initial position of the member is not necessary. For this reason, positioning mechanisms such as a positioning jig and a positioning device can be omitted, and the automatic assembly apparatus can be reduced in size, work time can be reduced, and cost can be reduced.

  The member state detection means includes an imaging device that captures a partial region of the first member and the second member, an analysis device that analyzes an image captured by the imaging device and detects the approximate position, and the like What is necessary is just to comprise. Here, in the present invention, since the positioning is performed using the force generated by the contact between the first member and the second member as described above, the accuracy is not so required for the detection of the approximate position and the like. Therefore, it is possible to further reduce the cost of the automatic assembly apparatus.

  In the automatic assembly apparatus according to the present invention, the assembly means determines the position and orientation of the first member based on the detection result of the member state detection means so that the second management control can be appropriately performed. It is preferable to perform state adjustment control that is adjusted in advance in accordance with the above.

  In the automatic assembly method according to the present invention, the position and posture of the first member is determined based on the detection result of the member state detection means so that the assembly means can appropriately perform the second management control. It is preferable to perform state adjustment control that is adjusted in advance in accordance with the above.

  According to said structure and method, since the position and attitude | position of a said 1st member are previously adjusted according to a said 2nd member, the said 2nd management control can be performed appropriately and an assembly | attachment precision can be improved.

  In the automatic assembling apparatus according to the present invention, the assembling means detects from the detection result of the force detecting means that the first member is not properly assembled to the second member after the end of the second management control. In this case, it is preferable to perform correction control for setting the new target value and correcting the assembly.

  In the automatic assembling method according to the present invention, the assembling means detects from the detection result of the force detecting means that the first member is not properly assembled to the second member after the end of the second management control. In this case, it is preferable to perform correction control for setting the new target value and correcting the assembly.

  According to the configuration and method described above, when an assembly failure occurs, it can be detected and corrected, so that the assembly accuracy can be improved.

  In the automatic assembly apparatus according to the present invention, the first member and the second member are provided with a contact prohibition region in which contact with other objects is prohibited. The contact between the member and the second member is preferably performed in a region other than the contact prohibited region.

  In the automatic assembly method according to the present invention, the first member and the second member are provided with a contact prohibition region in which contact with other objects is prohibited. The contact between the member and the second member is preferably performed in a region other than the contact prohibited region.

  According to said structure and method, when said 1st member is an exterior member etc. of a product etc., the said visible part is set by setting a contact prohibition area | region to the part visually visible from the said exterior member's outer side. It is possible to prevent the product from being damaged by gripping by the gripping part, etc., and to prevent the product from being a defective product or reducing the product value.

  In the automatic assembling apparatus according to the present invention, the assembling means includes a robot having a plurality of arms, and a hand serving as the gripping portion is provided at the free end of the arm. It is preferable that the first member is sandwiched and held from both sides.

  In the automatic assembling method according to the present invention, the assembling means includes a robot having a plurality of arms, and a hand serving as the gripping portion is provided at the free end of the arm. It is preferable that the first member is sandwiched and held from both sides.

  According to the above configuration and method, since the first member is sandwiched and gripped from both sides by a robot having a plurality of arms, the first member can be handled in a complicated shape. Further, since the robot has a structure having a plurality of arms, it is possible to reduce the size of the robot and to reduce the cost.

  In the automatic assembling apparatus according to the present invention, the first member and the second member are alternately conveyed at arbitrary positions and postures on the member conveying means by the member conveying means for conveying the member. Preferably, the means is assembled when the first member and the second member are conveyed by the member conveying means.

  In the automatic assembly method according to the present invention, the first member and the second member are alternately conveyed at arbitrary positions and postures on the member conveying means by the member conveying means for conveying the member. Preferably, the means is assembled when the first member and the second member are conveyed by the member conveying means.

  By the assembling method as described above, the assembling means can perform assembling when the first member and the second member are conveyed by the member conveying means. For this reason, the supply of the member and the conveyance of the member after the assembly can be made common, and therefore the conveyance system in the factory can be simplified.

  In the automatic assembly apparatus according to the present invention, the member conveying means has a mounting surface on which the first member and the second member are mounted, and the mounting surface moves from an arbitrary position to another arbitrary position. The first member and the second member are conveyed by the assembly member, and the assembly means applies a force applied to the second member by the first member in the second management control. Friction force control is preferably performed so that the maximum static friction force of the friction force generated with the surface is not exceeded.

  In the automatic assembly method according to the present invention, the member conveying means has a mounting surface on which the first member and the second member are mounted, and the mounting surface moves from an arbitrary position to another arbitrary position. The first member and the second member are conveyed by the assembly member, and the assembly means applies a force applied to the second member by the first member in the second management control. Friction force control is preferably performed so that the maximum static friction force of the friction force generated with the surface is not exceeded.

  According to said structure and method, in the said 2nd management control, the force applied to the said 2nd member by the said 1st member is the maximum static frictional force of the frictional force produced between the said 2nd member and the said mounting surface. Therefore, the second member can be prevented from being damaged by friction with the mounting surface.

  Further, according to the above configuration and method, since the relative movement between the mounting surface and the second member can be suppressed in order to perform the friction force control, the positional displacement of the member can be prevented and the above can be prevented. The distance between the second members can be kept constant.

  In the automatic assembly apparatus according to the present invention, it is preferable that the first member is a frame, and the second member has a shape similar to that of the first member which is a frame. In the automatic assembly method according to the present invention, it is preferable that the first member is a frame and the second member has a shape similar to that of the first member which is a frame.

  In the automatic assembly apparatus according to the present invention, the first member is a bezel or an exterior member used in a display device using a flat display panel, and the second member is a backlight unit or panel module used in the display device. It is preferable that Further, in the automatic assembly method according to the present invention, the first member is a bezel or an exterior member used for a display device using a flat display panel, and the second member is a backlight unit used for the display device or A panel module is preferred.

  A display device according to the present invention is a display device using a flat display panel, and includes a backlight unit assembled with a bezel, a panel module assembled with an exterior member, or both by the automatic assembly device. It is characterized by having.

  An automatic assembling apparatus according to the present invention includes an assembling unit having a gripping part for gripping a member, and grips a first member having a weak strength by the gripping part of the assembling unit and automatically assembles the second member. In the automatic assembling apparatus, the assembling means is generated by an interaction between the first management control for controlling the gripping force in the gripping portion to a desired value and at least the first member and the second member. A second management control for positioning the first member and the second member using force is performed, and the first member is assembled to the second member.

  The automatic assembling method according to the present invention uses an assembling means having a gripping portion for gripping a member, and grips the first member having a weak strength by the gripping portion of the assembling means and automatically assembles the second member. A first management control for controlling the gripping force in the gripping portion to a desired value by the assembly means, and an interaction between at least the first member and the second member. The second management control for positioning the first member and the second member is performed using the force generated by the first member, and the first member is assembled to the second member. .

  According to said structure and method, a member is assembled | attached, controlling so that the holding force of the holding part holding the 1st member with weak intensity | strength may become a desired value. For this reason, even if it is a member with weak intensity | strength, it can assemble | assemble appropriately, optimizing a gripping force and preventing the breakage, a deformation | transformation, etc.

  The display device according to the present invention is a display device using a flat display panel, and the backlight unit with the bezel assembled and the exterior member are assembled by the automatic assembly apparatus or the automatic assembly method. It is characterized by having a panel module or both.

  As described above, it is possible to provide an automatic assembling apparatus, an automatic assembling method, and a display device that can be appropriately assembled to other members without damaging and deforming a weak member.

  The embodiment of the present invention will be described below with reference to FIGS.

  The automatic assembly apparatus according to the present invention has a weak strength in a manufacturing process of a product such as an electric device, and a member having a complicated shape is automatically and appropriately assembled to another member without positioning the member in advance. In particular, it is preferably used in a television manufacturing process using a flat display panel such as a liquid crystal television. In the present embodiment, the automatic assembly apparatus according to the present embodiment will be described on the assumption that the bezel is assembled to the backlight unit in the manufacturing process of the liquid crystal television. In addition, in the manufacturing process of a liquid crystal television, it is applicable not only to an application example like this embodiment but to the assembly of an exterior member to a panel module, for example.

(Configuration of automatic assembly equipment)
FIG. 1A shows a schematic structure of an automatic assembly apparatus 10 according to the present embodiment, and FIG. 1B shows a schematic structure of a hand 4aa (4bb) of a SCARA robot 4 provided in the automatic assembly apparatus 10. Is shown. FIG. 2 shows a schematic configuration of the system of the automatic assembly apparatus 10.

  In this specification, a coordinate system (hereinafter referred to as “reference coordinate system”) is defined as follows. That is, as shown in FIG. 1A, the right side of the automatic assembly apparatus 10 is “+ X axis (direction)”, the left side is “−X axis (direction)”, and the back side is “+ Y axis ( Direction) ”, the front side is defined as“ −Y axis (direction) ”, the upper side is defined as“ + Z axis (direction) ”, and the lower side is defined as“ −Z axis (direction) ”. Here, the origin of the reference coordinate system is the center of the base 1 of the automatic assembly apparatus 10. When this coordinate system is applied to the bezel 11, for example, the origin is the center of the bezel 11.

  In this specification, “+ X axis (direction)”, “−X axis (direction)”, “+ Y axis (direction)”, “−Y axis (direction)”, “+ Z axis (direction)”, The “−Z axis (direction)” is also referred to as “right (direction)”, “left (direction)”, “front (direction)”, “rear (direction)”, “upward”, and “downward”, respectively. The rotation angle around the Z axis is θ, the rotation angle around the X axis is Φ, and the origin is the + Y axis.

  As shown in FIG. 1A or 2, the automatic assembly apparatus 10 includes a base 1, a camera (imaging device) 2, a shielding sensor 3, a SCARA robot 4, and a control device 8. . The automatic assembly apparatus 10 is supplied with a bezel (first member) 11 and a backlight unit (second member) 12 by a conveyor (member conveying means) 15. The assembly means in the automatic assembly apparatus according to the present invention is constituted by the SCARA robot 4 and the control device 8, and the member state detection means is constituted by the camera 2 and the control device 8.

  The bezel 11 is a general bezel used for a liquid crystal television, and is a rectangular frame as shown in FIG. The backlight unit 12 has a structure of a general backlight unit used for a liquid crystal television. Its shape is a rectangular shape similar to the bezel 11, and its size is slightly smaller than the size of the bezel 11 in order to fit the bezel 11 thereon.

  The conveyor 15 is a general conveyor including a motor, a sprocket, a chain and the like (not shown), and conveys the bezel 11 and the backlight unit 12 from the front direction to the rear direction at a substantially constant speed. At this time, the bezel 11 and the backlight unit 12 are conveyed at an arbitrary position and posture on their mounting surface of the conveyor 15 and alternately (the backlight unit 12 is passed after the bezel 11 to make them one set). Is done.

  The automatic assembling apparatus 10 sandwiches and grips the short side of the bezel 11 on the conveyor 15 by the hands (gripping portions) 4aa and 4bb in the arms 4a and 4b of the SCARA robot 4 and similarly holds the grip unit on the backlight unit 12 on the conveyor 15. Assembly, that is, the automatic assembly apparatus 10 performs assembly when the bezel 11 and the backlight unit 12 are conveyed by the conveyor 15. Therefore, the conveyor 15 supplies the bezel 11 and the backlight unit 12 to the automatic assembly apparatus 10 and conveys the backlight unit 12 on which the bezel 11 is assembled by the automatic assembly apparatus 10. Further, as shown in FIG. 1A, the conveyor 15 supplies the bezel 11 and the backlight unit 12 in such an arrangement so that the automatic assembling apparatus 10 can be assembled as described above. And between the arms 4a and 4b so as to intersect with each other.

  The camera 2 in the automatic assembly apparatus 10 is provided above the conveyor 15, images a part of the bezel 11 and the backlight unit 12 supplied by the conveyor 15, and supplies the imaging signal to the controller 8. To do. Specifically, the camera 2 may be configured by a general CCD image sensor or a CMOS image sensor.

  The shielding sensor 3 is provided on the conveyor 15, detects the passage of the bezel 11, and supplies the detection signal to the control device 8. Specifically, the shielding sensor 3 may be configured by a general photo interrupter or the like.

  The SCARA robot 4 includes two arms 4a and 4b that freely move in the up and down direction and the front and rear direction, and an arm control circuit 6 that controls the operation of the arms 4a and 4b by controlling a motor driver (not shown). Yes. At the tips of the free ends of the arms 4a and 4b, there are provided hands 4aa and 4bb that can move around the X-axis and hold the short side of the bezel 11 therebetween. The arms 4a and 4b are provided so as to be symmetrical with respect to the conveyor 15 so that the bezel 11 can be gripped by the hands 4aa and 4bb.

  As shown in FIG. 1B, the hand 4aa is provided with two force sensors (force detecting means) 5 via a base material at the tip of the arm 4a. It has a structure in which a rubber material which is a contact portion with the bezel 11 and has an impact absorbing function is provided. The hand 4aa is also provided with a joint portion that can rotate on the X-axis, but is omitted in FIG. The hand 4bb has a similar structure.

  The force sensor 5 detects the force applied to the hands 4aa and 4bb and supplies the detection signal to the control device 8. In the present embodiment, the force sensor 5 is constituted by a three-axis force sensor, and the two force sensors 5 detect the forces in the ± X and ± Y directions and the moment in the Z direction.

  The operation of the arms 4a and 4b of the SCARA robot 4 includes the bezel transfer mode until the bezel 11 is gripped by the hands 4aa and 4bb and assembled to the backlight unit 12, and the hand 4aa for performing the bezel transfer mode. , 4bb from the initial position to a desired position for gripping the bezel 11, and after the bezel transfer mode is completed, the gripping of the bezel 11 is terminated and the hands 4aa, 4bb are moved to the initial position. It consists of a hand movement mode to be moved and a bezel transfer transfer mode which is an excessive mode between the bezel transfer mode and the hand transfer mode. The arm control circuit 6 causes the arms 4a and 4b to operate in the above modes based on a control signal from the control device 8.

  In the bezel transfer mode, cooperative control is performed on the arms 4a and 4b, and the trajectory of the operation is designated with the center of the bezel 11 as a reference. In the hand movement mode, individual trajectories are set for the arms 4a and 4b. In the bezel transfer transfer mode, the target position designated at the center of the bezel 11 is converted into the target positions of the hands 4aa and 4bb and the individual trajectories are reset as the hand movement mode in the same manner as the bezel transfer mode. In addition, since the control method in the hand movement mode and the bezel transfer transfer mode is generally known, detailed description thereof is omitted here.

  In the present embodiment, in the bezel transfer mode, internal force management control (first management control) for controlling the gripping force (hereinafter referred to as “internal force”) of the bezel 11 of the hands 4aa and 4bb to be a desired value; Then, external force management control (second management control) for positioning the bezel 11 and the backlight unit 12 using a force (hereinafter referred to as “external force”) generated by the interaction between the bezel 11 and the backlight unit 12 is performed. Then, the bezel 11 is assembled to the backlight unit 12. In the hand movement mode and the bezel transfer transition mode, only the internal force management control is performed.

  Since the bezel 11 is a frame and has low strength as described above, the bezel 11 may be damaged if the internal force is too large, or may be deformed and cannot be assembled properly. There is a case. The internal force management control controls the internal force to be the desired value in order to avoid the occurrence of this state. In the present embodiment, the internal force management control is performed only on the arm 4b. However, the configuration is not limited to this, and the internal force management control may be performed only on the arm 4a, or may be performed on the arms 4a and 4b.

  In the internal force management control, the correction amount of the X coordinate of the hand 4bb is calculated by performing integration processing as in the following expression (1) using the force in the -X direction detected by the force sensor 5 in the hand 4bb. Then, using this X-coordinate correction amount, the X and Y-coordinate correction amounts (gripping portion position correction amounts) (hereinafter referred to as “internal force management control correction”) of the arm 4b as in the following formulas (2) and (3). (Referred to as “amount”). Then, by applying this internal force management control correction amount to the coordinates of the center of the bezel 11, the arm 4b is controlled, and the position of the hand 4bb relative to the bezel 11 is corrected to adjust the internal force.

Here, a correction amount of the X-coordinate of the hand 4bb in delta ^H X _i is the time i in the formula _{(1), G IX} is an integral gain in the X _{direction, F Xi} is the force detected by the force sensor 5 It is a measured value, and F _Xdi is the desired value (hereinafter referred to as “first target value”). Also, delta ^B X _i in equation (2) and (3), X of the delta ^B Y _i is the arm 4b, a correction amount in the Y-coordinate, theta _i is the angle formed coordinate system to the reference coordinate system in the hand is there.

  Further, in the internal force management control, angle matching control performed on both hands 4aa and 4bb is also performed. This angle tracking control is performed by performing integration processing as shown in the following equation (4) so as to keep the moment in the Z direction detected by the force sensor 5 in the hands 4aa and 4bb as "0", and the coordinates of the hands 4aa and 4bb. The amount of correction is calculated. Then, the coordinates 4a and 4bb are controlled by applying the correction amount of the coordinates to the coordinates of the center of the bezel 11, and the angles of the hands 4aa and 4bb with respect to the bezel 11 are corrected.

Here, Δ ^H θ _i in equation (4) is the correction amount of the coordinates of the hands 4aa and 4bb at time i, GI _θ is the integral gain, and M _Zi is the moment in the Z direction detected by the force sensor 5. Is the measured value.

  On the other hand, in the external force management control, after the hand movement mode and the bezel transfer transition mode are finished, the bezel 11 is gripped by the hands 4aa and 4bb, and an arbitrary portion of the bezel 11 is transferred to an arbitrary portion of the backlight unit 12. Make contact between them at an angle. Then, the force generated by this contact (reaction force from the backlight unit 12 to the bezel 11) is used as the external force to search for corresponding parts corresponding to each other when the bezel 11 is assembled to the backlight unit 12, and the bezel 11 Further, the backlight unit 12 searches for at least one new corresponding portion using the moment generated by bringing the corresponding angle into contact with the corresponding portion.

  A specific control method of the SCARA robot 4 that enables the above-described operation is based on the ± X direction, ± Y direction forces and the Z direction moment detected by the force sensor 5 in the hands 4aa and 4bb. Integration processing is performed as in the following formula (5) to calculate a correction amount (first member position correction amount) of the coordinates of the bezel 11 (hereinafter referred to as “external force management control correction amount”). Then, by applying this external force management control correction amount to the coordinates of the center of the bezel 11, the arms 4a and 4b are controlled to correct the position of the bezel 11 with respect to the backlight unit 12. Equation (5) shows only the correction amount of the X coordinate of the bezel 11, but the correction amount of the Y coordinate and the correction amount of the coordinate relating to the moment can be calculated by a similar method, and the position of the bezel 11 can be calculated by a similar process. Correct.

Here, ΔX _i in Expression (5) is the correction amount of the X coordinate of the bezel 11 at time i, G _IX is the integral gain in the X direction, and F _Xi is a measured value of the force detected by the force sensor 5. F _Xdi is a target value (hereinafter referred to as “second target value”) for searching for the corresponding portion.

  That is, the external force management control is achieved by searching for the corresponding portion by changing the position of the bezel 11 relative to the backlight unit 12 by operating the SCARA robot 4 while switching the target value.

  The internal force and the external force are separated in six axial directions, and the external force control in the present embodiment is controlled using the forces and moments in the four axial directions (in the entire assembly operation, the bezel 11 is Since force control is also performed when the light unit 12 is pressed, force in five directions is used), and force detection and correction amount calculation are performed with appropriate dimensions according to the contents of the assembly work.

  Further, in the external force management control, when it is detected that the bezel 11 is not properly assembled to the backlight unit 12 after the external force management control is completed, the assembly is corrected based on a control signal from the control device 8. Perform correction control (so-called recovery operation). Details will be described later. In the external force management control, the force applied to the backlight unit 12 by the bezel 11 in the external force management control exceeds the maximum static frictional force generated between the backlight unit 12 and the conveyor 15 mounting surface. More specifically, the friction force control is performed so that the static friction force is controlled to be ½ or less of the maximum static friction force.

  Further, before the external force management control (the bezel transfer transition mode), the position and orientation of the bezel 11 are adjusted to the backlight unit 12 based on the control signal from the control device 8 so that the external force management control can be performed appropriately. The state adjustment control for adjusting in advance is performed. Details will be described later.

  In order to control the operation of the bezel transfer mode and the like, the control device 8 uses the operation data stored in advance from a memory (not shown) for each operation (correction of the position of the arms 4a, 4b, etc. is completed once. Get every time). This operation data is composed of a plurality of parameters. The plurality of parameters include, for example, an operation mode parameter indicating which mode of operation data is the operation data of the bezel transfer mode and the like, and a target position (the unit is “the coordinate of the bezel 11”). m / rad "), an end speed parameter indicating the speed at the target position (unit is" m / s "or" rad / s "), and an operation time (unit) by the operation data Is an operation time parameter indicating "s"), a target position specifying parameter indicating the target position specifying method (absolute position or relative position), and an internal force management control indicating whether or not to perform the internal force management control. Presence parameter, internal force management control target value parameter indicating the value of the first target value (unit is “N”) used in the internal force management control, and the internal force management An internal force management control integral gain parameter indicating the value of the integral gain used in this embodiment (a magnification with respect to the standard value in this embodiment), and an external force indicating that the external force management control is terminated when a completion condition is satisfied in the external force management control. In order to determine whether the management control end parameter, the external force management control completion condition parameter indicating the force value (unit is “N” or “N / m”) as the completion condition, and the completion condition are satisfied. An external force management control completion determination code parameter indicating the sign of, an external force management control target value parameter indicating the value of the second target value (unit is “N” or “N / m”) used in the external force management control, External force management control integral gain parameter indicating an integral gain value (unit: “m / N” or (rad / N · cm)) used in the external force management control. Consisting of.

  When the internal force management control presence / absence parameter specifies that the internal force management control is not performed, the internal force management control target value parameter and the internal force management control integral gain parameter can be omitted. When the external force management control end parameter is not provided, the external force management control completion condition parameter and the external force management control completion determination code parameter can be omitted.

  If the operation time is specified in the operation time parameter but new operation data is not overwritten even after the operation time has elapsed, the operation based on the current operation data (the internal force management control and the above Maintain external force management control). When the external force management control end parameter is not provided, the value of the integral gain in the external force management control integral gain parameter is set to “0”. Further, for example, “+” and “−” are prepared as the signs in the external force management control completion determination code parameter, and the sign of “+” indicates the external force management control under the detection result of the force sensor 5> the completion condition. The sign of “−” indicates that the external force management control is completed under the detection result of the force sensor 5 <the completion condition.

  The control device 8 performs simple image processing such as binarization periodically (about 5 Hz to 10 Hz) on the imaging signal supplied from the camera 2, and the arm 4 a of the bezel 11 and the backlight 12 on the conveyor 15. , 4b are detected. Note that this image processing does not cause the control device 8 to perform the function, but prepares another arithmetic device, causes the arithmetic device to perform the processing, and transmits the result to the control device 8. Good. The control device 8 outputs a control signal to the arm control circuit 6 of the SCARA robot 4 based on the detection results of the approximate position and approximate posture of the bezel 11 and the backlight 12. Based on this control signal, the arm control circuit 6 causes the SCARA robot 4 to perform operations such as the hand movement mode and the state adjustment control in the bezel transfer transition mode.

  Further, the control device 8 outputs a control signal to the arm control circuit 6 of the SCARA robot 4 based on the detection signal supplied from the shielding sensor 3. The arm control circuit 6 starts the bezel transfer mode based on this control signal, that is, holds the bezel 11 by the hands 4aa and 4bb. The operation of the shielding sensor 3 and the operation of the SCARA robot 4 are synchronized.

  The control device 8 calculates the internal force management control correction amount for performing the internal force management control and the external force management control correction amount for performing the external force management control based on the detection signal supplied from the force sensor 5. At the same time, a control signal is output to the arm control circuit 6 of the SCARA robot 4 based on these correction amounts. The arm control circuit 6 controls the operation of the arms 4a and 4b based on this control signal to achieve the internal force management control and the external force management control, thereby completing the assembly. At this time, the control device 8 also outputs to the arm control circuit 6 a control signal for performing the correction control and the frictional force control.

  In addition, the control device 8 outputs a control signal for controlling start / stop (ON / OFF) of the operation of the conveyor 15 to the conveyor 15.

(Operation of automatic assembly equipment)
Next, operation | movement of the automatic assembly apparatus 10 is demonstrated using FIGS. FIG. 3 is a flowchart showing a flow of processing of the control device 8 in the bezel transfer mode, and FIG. 4 shows a flow of movement of the bezel 11 by the external force management control.

  First, when the supply of the bezel 11 and the backlight unit 12 by the conveyor 15 is started, the automatic assembling apparatus 10 acquires the operation data for the hand movement mode from the memory, and the control apparatus 8 acquires the hand movement mode. Prepare to start. Next, the control device 8 analyzes the image supplied from the camera 2 to detect the approximate position and approximate orientation of the bezel 11 and the backlight unit 12, and to the arm control circuit 6 of the SCARA robot 4 based on the detection result. A control signal is output to move the hands 4aa and 4bb of the SCARA robot 4 from the initial position to a desired position for gripping the bezel 11 (see FIG. 4A). With the above operation, the hand movement mode is completed.

  Next, the control device 8 acquires operation data for the bezel transfer transfer mode from the memory and prepares to start the bezel transfer transfer mode. Next, when a detection signal that detects the passage of the bezel 11 is supplied from the shielding sensor 3 to the control device 8, the control device 8 outputs a control signal to the arm control circuit 6 of the SCARA robot 4 to output the hand 4aa of the SCARA robot 4. , 4bb are moved to a position just before the bezel 11 contacts. At this time, the relative speed of the SCARA robot 4 and the conveyor 15 are substantially the same. With the above operation, the bezel transfer transfer mode is completed.

  Next, the bezel transfer mode is started. Hereinafter, the operation of the automatic assembly apparatus 10 in the bezel transfer mode will be described. First, the operation of the control apparatus 8 in the bezel transfer mode will be described, and then the movement of the bezel 11 by the operation of the control apparatus 8 will be described. This description will be given by explaining the above.

  First, when the bezel transfer mode is completed ("START" in the flowchart of FIG. 3), the control device 8 acquires operation data for the bezel transfer mode from the memory, and displays the bezel transfer mode. Preparation for starting is performed (“S1” in the flowchart of FIG. 3). Next, the force in the ± X direction, the ± Y direction and the moment in the Z direction detected by the force sensor 5 in the hands 4aa and 4bb caused by the contact between the bezel 11 and the backlight unit 12, and the external force management control in the operation data The external force management control correction amount is calculated using the second target value specified by the target value parameter (“S2” in the flowchart of FIG. 3).

  Next, the coordinates of the center of the bezel 11 are calculated by Bezier interpolation from the target position specified by the target position parameter in the operation data (“S3” in the flowchart of FIG. 3). Next, by applying the calculated external force management control correction amount to the calculated coordinates of the center of the bezel 11, the arms 4a and 4b are controlled to correct the position of the bezel 11 relative to the backlight unit 12 (FIG. 3). “S4” in the flowchart).

  Next, the internal force management control correction amount is calculated using the -X direction force detected by the force sensor 5 in the hand 4bb and the first target value specified by the internal force management control target value parameter in the operation data ( “S5” in the flowchart of FIG. 3). Next, the arm 4b is controlled by applying the calculated internal force management control correction amount to the calculated coordinates of the center of the bezel 11, and the position of the hand 4bb relative to the bezel 11 is corrected to adjust the internal force (FIG. 3). “S6” in the flowchart of FIG.

  The operation as described above is repeated while changing the operation data, that is, while changing the control parameters described above, and the positioning of the bezel 11 and the backlight unit 12 is completed. The operation data can be changed by providing an operation time parameter, that is, by restricting the operation based on the operation data by time. Alternatively, when the external force exceeds the threshold value, the operation based on the operation data may be terminated.

  By the operation of the control device 8 as described above, the bezel 11 is gripped by the hands 4aa and 4bb of the SCARA robot 4, lifted upward, and moved slightly parallel to the left diagonally upward direction (see FIG. 4B). The movement direction of the bezel 11 is indicated by an arrow in the inside (the same applies to other drawings). At this time, the relative speed of the SCARA robot 4 and the conveyor 15 are substantially the same.

  Here, when the bezel 11 is gripped and lifted upward, the upper side (front side) of the bezel 11 is above the lower side (back side), that is, the bezel 11 and the backlight unit 12 It is lifted so that a certain angle is created between them.

  Next, while holding the bezel 11 as described above, this time, the bezel 11 is moved toward the backlight unit 12 while being rotated clockwise around the Z axis so that the bezel 11 is inclined obliquely upward to the right. 4 (c)). Next, the bezel 11 is moved as it is, and the lower left portion of the bezel 11 is brought into contact with the lower left portion of the backlight 12 (see FIG. 4D).

  Next, after the left part of the lower side of the bezel 11 is brought into contact with the left part of the lower side of the backlight unit 12, the bezel 11 moves as follows. That is, the bezel 11 moves to the right while maintaining contact with the backlight unit 12, and the lower left corner portion of the bezel 11 and the lower left corner portion of the backlight unit 12 are substantially matched (search for corresponding portions). (See FIG. 4 (e)). At this time, the external force management control moves the bezel 11 to the right by controlling the reaction force (external force) in the + Y direction to be constant, and determines whether the reaction force in the + X direction has exceeded a threshold value, for example. After confirmation, the lower left corner portion of the bezel 11 and the lower left corner portion of the backlight unit 12 are substantially matched.

  Next, the bottom left corner portion of the bezel 11 and the bottom left corner portion of the backlight unit 12 are in contact with each other, and the bezel 11 is tilted around the Z axis and brought into contact with the backlight unit 12 as described above. The bezel 11 is rotated counterclockwise around the Z-axis so that the θ moment is “0”, and is impressed forward so that the backlight unit 12 is imitated. As a result, the lower right corner portion of the bezel 11 and the lower right corner portion of the backlight 12 approximately match (search for a new corresponding portion) (see FIG. 4F and FIG. 4G).

  Next, the bezel 11 is tilted while being pressed against the backlight unit 12 so that the Φ moment generated by bringing the bezel 11 into contact with the backlight unit 12 at an angle as described above becomes “0”. (Search for a new corresponding part) (see FIG. 4H). With the above operation, the bezel transfer mode is completed.

  Thereafter, the bezel transfer transfer mode is entered, the positions of the hands 4aa and 4bb of the SCARA robot 4 are lowered, and the bezel 11 is fitted into the backlight unit 12. Furthermore, the hand movement mode is entered and the hands 4aa and 4bb of the SCARA robot 4 finish the gripping of the bezel 11 and move to the initial position. With the above operation, the assembly of the bezel 11 to the backlight unit 12 is completed.

  Next, the state adjustment control and the correction control will be described with reference to FIG. FIGS. 5A and 5B show the flow of movement of the bezel 11 in the state adjustment control, and FIG. 5C shows the flow of movement of the bezel 11 in the correction control.

  As described above, in the state adjustment control, the position and posture of the bezel 11 are adjusted to the backlight unit 12 so that the external force management control can be appropriately performed before the external force management control (the bezel transfer transition mode). Adjust in advance.

  For example, as shown in the diagram on the left side of FIG. 5A, when the bezel 11 and the backlight unit 12 are supplied in contact with each other, or even if they are not in contact, both are very close to each other. When supplied, the inclination of the bezel 11 is changed so that the contact is released or the two are not contacted by the control signal from the control device 8 detected by analyzing the image from the camera 2. In this manner, the hands 4aa and 4bb of the SCARA robot 4 are operated to adjust the position and posture of the bezel 11 (see the diagram on the right side of FIG. 5A).

  Further, for example, when the bezel 11 and the backlight unit 12 are supplied in different states as shown in the left diagram of FIG. 5B, this state is obtained by analyzing the image from the camera 2. The hand 4aa and 4bb of the SCARA robot 4 are operated by the detected control signal from the control device 8 so that the inclination of the bezel 11 and the backlight unit 12 is the same, and the position and posture of the bezel 11 (Refer to the diagram on the right side of FIG. 5B).

  Next, as described above, the correction control corrects the assembly when it is detected that the bezel 11 is not properly assembled to the backlight unit 12 after the external force management control is completed. For example, if the bezel 11 is displaced from the backlight unit 12 as shown in the left diagram of FIG. 5C, the completion condition specified by the external force management control completion condition parameter cannot be satisfied even when the operation end time is reached. . When detecting this state, the control device 8 acquires new operation data and corrects the assembly (see the right side of FIG. 5C).

  As described above, the automatic assembly apparatus 10 according to this embodiment includes the internal force management control for controlling the gripping force of the bezel 11 of the hands 4aa and 4bb of the SCARA robot 4 to a desired value, the bezel 11 and the backlight. The external force management control for positioning the bezel 11 and the backlight unit 12 is performed using the force generated by the contact with the unit 12 (reaction force from the backlight unit 12 to the bezel 11), and the bezel 11 is connected to the backlight unit. 12 is assembled. With the above configuration, the automatic assembling apparatus 10 can optimize the gripping force even if it is a weak member and prevent it from being damaged or deformed, and can be assembled appropriately.

  Further, the automatic assembly apparatus 10 performs the above-described external force management control by bringing an arbitrary part of the bezel 11 into contact with an arbitrary part of the backlight unit 12 with an angle between them, and using the force generated by the contact. When the bezel 11 is assembled to the backlight unit 12, a corresponding portion corresponding to each other is searched for, and the moment generated by the above-mentioned angle is provided while the corresponding portion is in contact with the bezel 11 and the backlight unit 12. This is done by searching for at least one new corresponding part. The automatic assembly apparatus 10 has the following effects by the above configuration.

  For example, in the technique disclosed in Patent Document 2 (hereinafter referred to as “prior art”), the assumed shape of the member is a simple shape such as a substantially regular prism or a substantially cylinder. On the other hand, if the members to be assembled are, for example, bezel members and exterior members on the front of a television using a flat display panel, the shape of these members is compared with the shape of the members assumed in the prior art. The shape of these components is also complicated, and the components to which these components are assembled (backlight units for bezel members, panel modules for exterior members, etc.) are also complex shapes, so precise positioning is required. However, it has been impossible to achieve the positioning by a simple procedure as in the prior art.

  On the other hand, since the automatic assembly apparatus 10 performs positioning by searching for at least two corresponding parts with the above configuration, the automatic assembly apparatus 10 can sufficiently cope with a complicated shape member that requires strict positioning as described above. Is possible, yet it can be quickly positioned. Further, since the positioning of the members as described above is similar to the positioning operation of the members performed in daily life, there is an advantage that the operation designation of the SCARA robot 4 can be intuitively performed. Further, since the bezel 11 and the backlight unit 12 are positioned using the force and moment generated by the contact between the bezel 11 and the backlight unit 12 as described above, it is not necessary to position the members in advance. For this reason, positioning mechanisms such as a positioning jig and a positioning device can be omitted, and the automatic assembly apparatus can be reduced in size, work time can be reduced, and cost can be reduced.

  Further, the automatic assembling apparatus 10 takes an image of a part of the bezel 11 and the backlight unit 12 supplied by the conveyor 15 by the camera 2, and analyzes the image taken by the camera 2 by the control device 8. The approximate positions and approximate orientations of the bezel 11 and the backlight 12 with respect to the arms 4a and 4b are detected. In the above prior art, it is necessary for the assembly robot to recognize the position of the member when the member is fixed by the hand. However, in the automatic assembling apparatus 10, the above configuration does not require it, that is, the initial position of the member is not necessary. For this reason, positioning mechanisms such as a positioning jig and a positioning device can be omitted, and the automatic assembly apparatus can be reduced in size, work time can be reduced, and cost can be reduced.

  In the automatic assembly apparatus 10, since the positioning is performed using the force generated by the contact between the bezel 11 and the backlight 12 as described above, a high accuracy is not required for the detection of the approximate position and the like. Therefore, it is possible to further reduce the cost of the automatic assembly apparatus.

  Further, the automatic assembly apparatus 10 performs state adjustment control in which the position and posture of the bezel 11 are adjusted in advance according to the backlight unit 12 so that the external force management control can be appropriately performed. The automatic assembly apparatus 10 performs correction control for correcting the assembly when it is detected that the bezel 11 is not properly assembled to the backlight unit 12 after the external force management control is completed. With the above configuration, the automatic assembly apparatus 10 can appropriately perform the external force management control and improve the assembly accuracy.

  In addition, the automatic assembly apparatus 10 further increases the force applied to the backlight unit 12 by the bezel 11 so as not to exceed the maximum static frictional force generated between the backlight unit 12 and the conveyor 15 mounting surface. Specifically, the frictional force control is performed so as to control it to be 1/2 or less of the maximum static frictional force. With the above configuration, the automatic assembly apparatus 10 can prevent the backlight unit 12 from being damaged by friction with the mounting surface of the conveyor 15. Further, since the relative movement between the mounting surface of the conveyor 15 and the backlight unit 12 can be suppressed, it is possible to prevent the positional deviation of the members and to keep the interval between the backlight units 12 constant. Become.

  Moreover, the automatic assembly apparatus 10 has a plurality of arms 4a and 4b, and the short side of the bezel 11 is sandwiched between the hands 4aa and 4bb at the free ends of the arms 4a and 4b. The SCARA robot 4 is held. If the member is sandwiched and gripped from both sides by the robot having a plurality of arms as described above, it is possible to handle even if the member to be gripped has a complicated shape. Further, since the robot has a structure having a plurality of arms, it is possible to reduce the size of the robot and to reduce the cost.

  Further, since the automatic assembly apparatus 10 performs assembly when the bezel 11 and the backlight unit 12 are conveyed by the conveyor 15, the conveyor 15 supplies the bezel 11 and the backlight unit 12 to the automatic assembly apparatus 10 and also performs automatic assembly. The apparatus 10 carries the backlight unit 12 on which the bezel 11 is assembled. For this reason, the conveyance system in the factory can be simplified.

  Moreover, the automatic assembly apparatus 10 is not limited to the above configuration, and can be configured as follows.

  That is, the bezel 11 and the backlight unit 12 are provided with a contact prohibition area in which contact with other objects is prohibited, and gripping by the SCARA robot 4 and contact between the bezel 11 and the backlight unit 12 are performed in the contact prohibition area. Perform in other areas. With this configuration, when the member to be assembled is an exterior member of a product or the like, the SCARA robot 4 is placed on the visible portion by setting the contact-prohibited region to a portion that is visible from the outside of the exterior member. It is possible to prevent scratches and the like from being held by gripping, etc., and to prevent the product from being a defective product or reducing the product value.

  Further, the movement of the bezel 11 described with reference to FIG. 4 is merely an example. In short, the bezel 11 and the backlight unit 12 are brought into contact with each other and correspond to each other (when assembled). (The same position) and the positioning of the bezel 11 and the backlight unit 12 only needs to be completed based on the corresponding portion. You may carry out in the form. For example, the first contact portion between the bezel 11 and the backlight unit 12 may be the right part of the lower side, and the assembly may be performed by moving in the opposite direction to the movement of the bezel 11 shown in FIG.

  Here, it is preferable to suppress the movement of the bezel 11 more than necessary by setting the movement of the bezel 11 within a certain range (specifically, the external force management control correction amount is set to a certain value or less). With this configuration, since the backlight unit 12 follows the bezel 11, there is an effect of aligning the assembled backlight unit 12.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

  Further, the technical scope of the present invention includes a product such as an electric device having a member assembled by the automatic assembly apparatus or automatic assembly method according to the present invention, in particular, a backlight unit with a bezel assembled, and an exterior. For example, a display device using a flat display panel such as a liquid crystal television, which includes a panel module in which members are assembled or both of them is included.

  The present invention has a weak strength in the manufacturing process of products such as electrical equipment, and a member having a complicated shape is automatically automatically assembled to another member without positioning the member in advance. In particular, it is suitably used in a television manufacturing process using a flat display panel such as a liquid crystal television.

(A) is a perspective view which shows schematic structure of the automatic assembly apparatus which concerns on embodiment of this invention, (b) is sectional drawing which shows schematic structure of the hand of the SCARA robot with which the said automatic assembly apparatus is equipped. . It is a block diagram which shows schematic structure of the system of the automatic assembly apparatus shown in FIG. It is a flowchart which shows the flow of operation | movement in the bezel transfer mode of the automatic assembly apparatus shown in FIG. It is a figure which shows the flow of the movement of the bezel by the external force management control of the automatic assembly apparatus shown in FIG. (A) And (b) is a figure which shows the flow of the movement of the bezel by the state adjustment control of the automatic assembly apparatus shown in FIG. 1, (c) is the flow of the movement of the bezel by the correction control of the automatic assembly apparatus. FIG.

Explanation of symbols

2 Camera (Member state detection means)
4 SCARA robot (assembly means) (robot)
4a, 4b arm 4aa, 4bb hand (gripping part)
5 Force sensor (force detection means)
8. Control device (assembly means) (member state detection means)
11 Bezel (first member)
12 Backlight unit (second member)
10 Automatic assembly equipment 15 Conveyor (Member conveying means)

Claims (27)

An automatic assembling apparatus comprising an assembling means having a gripping part for gripping a member, gripping a first member having a low strength by the gripping part of the assembling means, and automatically assembling the second member.
The assembly means uses the first management control for controlling the gripping force in the gripping portion to be a desired value, and uses the force generated by the interaction between at least the first member and the second member. An automatic assembling apparatus, wherein a second management control for positioning a member and the second member is performed, and the first member is assembled to the second member.   In the second management control, an arbitrary part of the first member is brought into contact with an arbitrary part of the second member with an angle therebetween, and the force generated by the contact is used to cause the first member to move. The corresponding parts corresponding to each other when assembled to the second member are searched, and a new moment is generated by using the moment generated when the corresponding parts are brought into contact with each other in the first member and the second member. 2. The automatic assembling apparatus according to claim 1, wherein the automatic assembling apparatus is performed by searching for at least one corresponding part. The grip portion includes force detection means for detecting a force applied to the grip portion,
The assembly means calculates a grip part position correction amount for correcting the position of the grip part relative to the first member by comparing the detection result of the force detection means with the desired value, and the grip part The automatic assembly apparatus according to claim 2, wherein the first management control is performed by adjusting the gripping force by correcting the position of the gripping part based on a position correction amount.   The assembling means compares the detection result of the force and moment generated by the contact by the force detecting means with a predetermined target value for searching for the corresponding part, thereby comparing the second of the first member. A first member position correction amount for correcting a position with respect to the member is calculated, the position is determined by correcting the position of the first member based on the first member position correction amount, and the second management control is performed. The automatic assembly apparatus according to claim 3. The automatic assembly apparatus further includes member state detection means for detecting the approximate positions of the first member and the second member with respect to the assembly means and the postures of the first member and the second member,
The automatic assembling apparatus according to any one of claims 1 to 4, wherein the assembling means performs the assembling based on a detection result of the member state detecting means.   The assembly means adjusts the position and orientation of the first member in advance according to the second member based on the detection result of the member state detection means so that the second management control can be performed appropriately. The automatic assembly apparatus according to claim 5, wherein:   When the assembly means detects from the detection result of the force detection means that the first member is not properly assembled to the second member after the end of the second management control, the assembly means sets a new target value. The automatic assembly apparatus according to claim 6, wherein correction control for setting and correcting the assembly is performed.   The first member and the second member are provided with a contact-prohibited area where contact with other objects is prohibited, and gripping by the grip portion and contact between the first member and the second member. The automatic assembling apparatus according to any one of claims 2 to 7, wherein the step is performed in a region other than the contact-prohibited region.   The assembly means includes a robot having a plurality of arms and a hand serving as the gripping portion provided at the free end of the arm, and the robot sandwiches the first member from both sides by the hand. The automatic assembling apparatus according to claim 1, wherein the automatic assembling apparatus is gripped with The first member and the second member are conveyed alternately at an arbitrary position and posture on the member conveying means by a member conveying means for conveying the member,
The automatic assembling apparatus according to any one of claims 1 to 9, wherein the assembling means performs assembling when the first member and the second member are conveyed by the member conveying means. The member conveying means has a mounting surface on which the first member and the second member are mounted, and the mounting surface moves from an arbitrary position to another arbitrary position, whereby the first member and the second member are moved. It conveys members,
The assembling means does not exceed the maximum static frictional force of the frictional force generated between the second member and the mounting surface by the force applied to the second member by the first member in the second management control. The automatic assembly apparatus according to claim 10, wherein the frictional force is controlled to be controlled as follows.   The automatic assembly apparatus according to any one of claims 1 to 11, wherein the first member is a frame, and the second member has a shape similar to that of the first member that is a frame.   The first member is a bezel or an exterior member used in a display device using a flat display panel, and the second member is a backlight unit or a panel module used in the display device. The automatic assembly apparatus according to 12. A display device using a flat display panel,
14. A display device comprising a backlight unit assembled with a bezel, a panel module assembled with an exterior member, or both by the automatic assembly apparatus according to claim 13. An automatic assembling method using an assembling means having a gripping part for gripping a member, gripping the first member having a weak strength by the gripping part of the assembling means, and automatically assembling it to the second member,
The first management control for controlling the gripping force in the gripping portion to have a desired value by the assembling means, and the force generated by the interaction between at least the first member and the second member. An automatic assembly method comprising: performing a second management control for positioning a member and the second member, and assembling the first member to the second member.   In the second management control, an arbitrary part of the first member is brought into contact with an arbitrary part of the second member with an angle therebetween, and the force generated by the contact is used to cause the first member to move. The corresponding parts corresponding to each other when assembled to the second member are searched, and a new moment is generated by using the moment generated when the corresponding parts are brought into contact with each other in the first member and the second member. 16. The automatic assembling method according to claim 15, wherein the automatic assembling method is performed by searching for at least one corresponding part. The grip portion includes force detection means for detecting a force applied to the grip portion,
The assembly means calculates a grip part position correction amount for correcting the position of the grip part relative to the first member by comparing the detection result of the force detection means with the desired value, and the grip part 17. The automatic assembly method according to claim 16, wherein the first management control is performed by adjusting the gripping force by correcting the position of the gripping part based on a position correction amount.   The assembling means compares the detection result of the force and moment generated by the contact by the force detecting means with a predetermined target value for searching for the corresponding part, thereby comparing the second of the first member. A first member position correction amount for correcting a position with respect to the member is calculated, the position is determined by correcting the position of the first member based on the first member position correction amount, and the second management control is performed. The automatic assembly method according to claim 17. A member state detecting means for detecting a general position of the first member and the second member with respect to the assembling means and a posture of the first member and the second member;
The automatic assembling method according to any one of claims 15 to 18, wherein the assembling means performs the assembling based on a detection result of the member state detecting means.   The assembly means adjusts the position and orientation of the first member in advance according to the second member based on the detection result of the member state detection means so that the second management control can be performed appropriately. The automatic assembly method according to claim 19, wherein:   When the assembly means detects from the detection result of the force detection means that the first member is not properly assembled to the second member after the end of the second management control, the assembly means sets a new target value. 21. The automatic assembly method according to claim 20, wherein correction control is performed to set and correct the assembly.   The first member and the second member are provided with a contact-prohibited area where contact with other objects is prohibited, and gripping by the grip portion and contact between the first member and the second member. The automatic assembling method according to any one of claims 16 to 21, wherein the step is performed in a region other than the contact-prohibited region.   The assembly means includes a robot having a plurality of arms and a hand serving as the gripping portion provided at the free end of the arm, and the robot sandwiches the first member from both sides by the hand. The automatic assembly method according to any one of claims 15 to 22, wherein: The first member and the second member are conveyed alternately at an arbitrary position and posture on the member conveying means by a member conveying means for conveying the member,
The automatic assembling method according to any one of claims 15 to 23, wherein the assembling means performs assembly when the first member and the second member are conveyed by the member conveying means. The member conveying means has a mounting surface on which the first member and the second member are mounted, and the mounting surface moves from an arbitrary position to another arbitrary position, whereby the first member and the second member are moved. It conveys members,
The assembling means does not exceed the maximum static frictional force of the frictional force generated between the second member and the mounting surface by the force applied to the second member by the first member in the second management control. 25. The automatic assembly method according to claim 24, wherein a frictional force control is performed.   The automatic assembly method according to any one of claims 15 to 25, wherein the first member is a frame, and the second member has a shape similar to that of the first member that is a frame.   The first member is a bezel or an exterior member used in a display device using a flat display panel, and the second member is a backlight unit or a panel module used in the display device. 27. The automatic assembly method according to 26.

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