JP2016207565A - Connection device for connectors, and connection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a connection device for connectors capable of connecting a first connector and a second connector without requiring a complicated mechanism.SOLUTION: A connection device 10 for connectors comprises: position detection means 17 which detects a position of a second connector 1b in a plane direction; a connector delivery part 12 which delivers a first connector 1a to a header 15 for connector connection while maintaining the header 15 for connector connection and a position of the first connector 1a in the plane direction in a predetermined positional relation; and the header 15 for connector connection which receives the first connector 1a from the connector delivery part 12 and connects the connectors with each other while controlling the positions in such a manner that the first connector 1a and the second connector 1b are opposite to each other. When moving the header 15 for connector connection in a direction toward the second connector 1b, the connector delivery part 12 is retracted to such a position that the connector delivery part is not interfered with the header 15 for connector connection.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a connector connection device and a connection method, and more particularly to a connector connection device and a connection method for connecting a first connector and a second connector.

With recent miniaturization of electronic devices, wiring connectors used inside electronic devices are also miniaturized, making it difficult to connect the connectors.
As a method of connecting the connectors, there is a method of connecting by an automatic assembly apparatus provided with a plurality of cameras and robots.
Patent Document 1 discloses an example of such a connector connection method.

The connector connection method disclosed in Patent Document 1 includes steps S1 to S6 (see FIG. 8) as described below.
S1: The hand 115 is moved by the first robot 116, and the middle part of the cable 2 is sandwiched between the gripping portions.
S2: The hand 115 is moved with the midway portion of the cable 2 being sandwiched, and the connector (first connector) 1a is fixed in place.
S3: The first camera 117 acquires an image in which the fixed connector 1a is stored in the field of view, and detects the position and orientation of the connector 1a.
S4: The hand 215 is moved by the second robot 216, and the outer periphery of the connector 1a is gripped by the hand 215. Further, the second camera 217 acquires an image in which the grasped connector 1a is stored in the field of view, and detects the position and posture of the connector 1a again.
S5: The second camera 217 acquires an image containing the mating connector (second connector) 1b, and detects the position and posture of the mating connector 1b.
S6: The connector 1a gripped by the hand 215 is connected to the mating connector 1b using the position data obtained in steps S4 and S5.

  Through these steps, the connector (first connector) 1a and the mating connector (second connector) 1b are connected.

JP 2005-11580 A

  However, the connector connection method disclosed in Patent Document 1 requires a complicated configuration apparatus including a plurality of cameras and an articulated robot as an apparatus used for connection, and there is a problem that equipment costs increase. .

  The present invention solves the above-described problems, does not require a complicated mechanism, and can connect the first connector and the second connector in a simple process, and a connector connection device and connection It aims to provide a method.

In order to solve the above problems, the connector connecting device of the present invention is
A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connecting device,
Position detecting means for detecting a planar position of the second connector on the second connection object;
Control means for storing position data of the second connector detected by the position detection means;
The first connector is held, and the planar position of the following connector connection header and the planar position of the first connector are held at the lower end of the following connector connection header while maintaining a predetermined positional relationship. In such a mode, a connector delivery portion for delivering the first connector to the following connector connection header;
In a state where the first connector is received from the connector delivery unit and held at the lower end, the position is controlled so that the first connector and the second connector face each other based on the position data. Then, the connector moves in a direction perpendicular to the main surface of the second connection object and toward the second connector to connect the first connector to the second connector. With a header for connection,
When moving the connector connection header in the direction toward the second connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is moved to the connector connection header. It is characterized in that it is configured to be retracted to a position where no interference occurs.

In addition, the connector connection device of the present invention is configured to hold the connector connection header and to be moved in a direction perpendicular to the main surface of the second connection object, and The connector transfer portion can be held via an arm, and the connector transfer portion can be rotated about an axis perpendicular to the main surface of the second connection object via the arm. Comprising a drive mechanism configured in
The connector connector header is moved in a direction perpendicular to the main surface of the second connection object and toward the second connector, and the first connector is moved to the second connector. When connecting to the connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is connected to the main surface of the second connection object via the arm. By rotating around a vertical axis, the connector delivery portion is retracted from the flow line of the connector connection header, and the connector connection header is directed to the second connector without interfering with the connector delivery portion. It is preferable to be configured to be movable in the direction.

  The connector connection device holds the connector connection header and can be moved in a direction perpendicular to the main surface of the second connection object. When a drive mechanism configured to be able to rotate around an axis perpendicular to the main surface of the second connection object is provided, an articulated robot as in the prior art is required. Therefore, the number of parts can be reduced and the structure can be simplified.

In addition, a connector connection device according to another invention of the present application,
A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connecting device,
Position detecting means for detecting a planar position of the second connector on the second connection object;
Control means for storing position data of the second connector detected by the position detection means;
A connector delivery portion for holding the first connector and delivering it to the following connector connection header;
A connector configured to be able to move in a direction perpendicular to the main surface of the second connection object in a state where the first connector is received from the connector transfer unit and held at the lower end. With a header for connection,
Based on the position data, the connector delivery section and the connector connection header are configured to be capable of adjusting the position so that the planar position overlaps the planar position of the second connector,
The connector delivery portion can be retracted to a position where interference with the connector connection header does not occur when the connector connection header holding the first connector is moved toward the second connector. Is configured as
In the state where the connector delivery portion that delivered the first connector to the connector connection header at the position where the position adjustment has been performed is retracted to a position where interference with the connector connection header does not occur, the connector connection The first connector is connected to the second connector by moving the header in a direction perpendicular to the main surface of the second connection object and toward the second connector. It is characterized by being comprised.

  Moreover, it is preferable that the first connector and the second connector are configured so that a connection can be obtained by fitting them together.

According to another connection device of the present invention, the first connector and the second connector can be engaged while maintaining an accurate positional relationship. Therefore, when connecting a 1st connector and a 2nd connector by making it fit, this invention can be applied more meaningfully.
However, the present invention is not limited to the case where the first connector and the second connector are connected by fitting, and the first connector and the second connector are connected in a manner that involves deformation such as caulking. It is also possible to apply to this.

The connector connection method of the present invention includes:
A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connection method,
Detecting the planar position of the second connector on the second connection object, and storing position data about the planar position;
The first connector held by the connector transfer section is configured so that the planar position of the connector connecting header and the planar position of the first connector maintain a predetermined positional relationship, and the lower end of the connector connecting header. And the step of transferring the first connector to the connector connection header, and receiving the first connector and holding the connector at the lower end, based on the position data. In a state where the first connector and the second connector are positioned to face each other, the direction is perpendicular to the main surface of the second connection object, and the second connector is connected to the second connector. While moving in the direction to go,
When moving the connector connection header in the direction toward the second connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is moved to the connector connection header. And connecting the first connector to the second connector by moving the connector connection header in a direction toward the second connector. It is characterized by that.

Moreover, the connection method of the connector concerning other invention of this application is:
A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connection method,
Detecting the planar position of the second connector on the second connection object, and storing position data about the planar position;
Based on the position data, the first connector is held and transferred to the following connector connection header, and the first connector is received from the connector transfer section and connected to the second connector. A connector connecting header for adjusting the position of the second connector so that the respective planar positions of the second connector overlap,
In a state in which the first connector held in the connector transfer portion is held at the lower end portion of the connector connection header in the state where the position adjustment has been performed, the connector connection portion connects to the connector connection portion. Passing to the header for
By moving the connector connection header in a direction toward the second connector in a state where the connector transfer portion is retracted to a position where interference with the connector connection header does not occur, the first connector Connecting to the second connector.

  Moreover, it is preferable that the first connector and the second connector are configured so that a connection can be obtained by fitting them together.

  According to the connection method of the present invention, the first connector and the second connector can be engaged while maintaining an accurate positional relationship. Therefore, the present invention becomes more meaningful when the first connector and the second connector are configured such that a connection can be obtained by fitting them together.

The connector connecting device of the present invention is configured as described above, and includes a position detecting means for detecting the planar position of the second connector, and a control means for storing the detected position data of the second connector. , While maintaining the positional relationship between the connector connection header and the first connector, the connector transfer section for transferring the first connector to the connector connection header, and the position data received while holding the received first connector. Based on this, the position is controlled so that the first connector and the second connector face each other, and in that state, the connector is moved in the direction toward the second connector to connect the first connector to the second connector. Since the header is provided, the positions of the connectors in the plane direction can be matched and the two can be securely connected.
Further, when the connector connection header is moved in the direction toward the second connector, the connector delivery portion can be retracted to a position where interference with the connector connection header does not occur. Interference can be avoided and the connector connection header can be operated reliably.
Further, it is not necessary to use a plurality of cameras, articulated robots, or the like as in the prior art, and the equipment cost can be reduced.

  As in the connector connection device according to another invention of the present application, based on the position data, the position of the connector transfer section and the connector connection header is adjusted so that the plane direction position thereof overlaps the plane direction position of the second connector. The position where the connector transfer portion does not interfere with the connector connection header when the connector connection header holding the first connector is moved toward the second connector. The connector delivery portion that delivers the first connector to the connector connection header at the position where the position adjustment has been performed is retracted to a position where interference with the connector connection header does not occur. In this state, the connector connecting header is moved in the direction toward the second connector to connect the first connector to the second connector. Even when the so that the first and second connectors can be efficiently reliably connected.

The connector connection method of the present invention stores the position data of the position of the second connector in the planar direction, and the connector connection header holding the first connector is connected to the first connector and the first connector based on the position data. Since the second connector is moved in the direction toward the second connector with the position controlled so that the two connectors face each other, the first and second connectors can be reliably connected to each other.
If the connector delivery portion and the connector connection header interfere with each other, the connector connection header is retracted to a position where the connector delivery portion does not interfere with the connector connection header. Therefore, it is possible to prevent damage to the connector delivery portion, the connector connection header, the connector held by the connector connection header, and the like.
Further, the step of detecting the first connector as in the prior art and the complicated operation for handling the connector are not required, and the connector can be connected in a simple process.

  As in the connector connection method according to another invention of the present application, based on the position data, the first connector is held and transferred to the connector connection header, and the first connector is received from the connector transfer portion. The connector connection header for connecting to the second connector and the position of the second connector are adjusted so that the respective planar positions thereof overlap, and in this state, the first connector is connected to the connector from the connector transfer section. After delivering to the header, the connector delivery header is retracted to a position where interference with the connector connection header does not occur, and the connector connection header is moved in the direction toward the second connector to move to the first connector. Even when the connector is connected to the second connector, the first connector and the second connector are connected efficiently and reliably. Rukoto can.

It is a front view of the connector connection apparatus concerning the embodiment of the present invention, and is a figure showing the state where the plane direction position of the 2nd connector is detected. In a connection apparatus, it is a figure which shows the state which hold | maintained the 1st connector in the connector delivery part. In a connection apparatus, it is a figure which shows the state which adsorb | sucked the 1st connector with the header for connector connection. In a connection apparatus, it is a figure which shows the state which took out the 1st connector with the header for connector connection. In a connection apparatus, it is a figure which shows the state which retreated the connector delivery part and connected the 1st connector to the 2nd connector. It is an enlarged view of the connector delivery part shown in FIG. 1, (a) is a top view, (b) is sectional drawing when it sees from the front. It is a figure for demonstrating the modification of the connection method of a connector. It is a figure which shows the connection method of the conventional connector.

  Next, the connector connection device according to the embodiment of the present invention will be described in more detail.

As shown in FIGS. 1 to 5, the connector connecting device 10 according to this embodiment includes a first connector 1 a (a plug-side connector in this embodiment) and a second connector 1 b (a receptacle-side connector in this embodiment). Are devices that are used to fit and connect each other.
The connection device 10 includes a connector delivery portion 12 for delivering the first connector 1a to the connector connection header 15, and a connector connection header 15 for connecting the held first connector 1a to the second connector 1b. The drive mechanism 16 provided and the second connection object 5 provided with the second connector 1b are placed, and the second connection object 5 is moved in a direction parallel to the main surface 5a. A moving table (position adjusting means) 11 configured to be able to be provided is provided.

  The connector connection header 15 is configured to be movable in a direction perpendicular to the main surface 5 a of the second connection object 5 while being held by the drive mechanism 16.

  The connector delivery portion 12 is held on the distal end side of the arm 13, and the base end portion of the arm 13 is held by the drive mechanism 16. Further, the arm 13 is configured to be rotated around an axis R perpendicular to the main surface 5a of the second connection object 5 by a rotating cylinder or the like provided in the drive mechanism 16, and the arm 13 By rotating 13, the connector delivery unit 12 can be retracted from the flow line L of the connector connection header 15.

The connector connection header 15 is attached with position detecting means 17 for detecting the position of the second connector 1b in the planar direction.
This position detection means 17 is an imaging camera, for example, and is configured to be able to image the second connector 1b from a direction perpendicular to the main surface 5a of the second connection target 5.

The first connector 1a in this embodiment is a connector provided on one end side of the cable 2 whose other end side is connected to a first connection object (for example, a housing or a circuit board) 4 by a cable fixture 3. It is. The first connection object 4 is held at a predetermined position on the moving table 11.
The second connector 1 b is a connector disposed on the second connection object (for example, a circuit board) 5. The second connection object 5 is held on the first connection object 4. That is, the second connection object 5 is held at a predetermined position on the moving table 11 via the first connection object 4.

The moving table 11 is, for example, an XYθ table composed of two orthogonal axes and a rotation axis. By driving this moving table 11, the position of the second connector 1b is adjusted by moving the second connection object 5 in the plane direction P parallel to the main surface 5a of the second connection object 5. It is configured to be able to.
In addition, by moving the moving table 11 with the first connector 1a held by the connector connection header 15, the relative positional relationship in the plane direction P between the first connector 1a and the second connector 1b can be obtained. Can be adjusted.

  The position data regarding the position in the plane direction of the second connector 1b detected by the position detection means 17 is stored in the control means (not shown), and when the first connector 1a is connected to the second connector 1b. Used.

  The connector delivery unit 12 holds the first connector 1a, thereby setting the planar position of the connector connection header 15 and the planar position of the first connector 1a to a predetermined positional relationship, while maintaining the positional relationship. The first connector 1a can be delivered in such a manner that the first connector 1a is held by the lower end portion 15a of the connector connection header 15.

As shown in FIG. 6, the connector delivery part 12 has a recess 12a for receiving and holding the first connector 1a. The planar position of the first connector 1a is regulated by being held in the recess 12a.
In this embodiment, the positional relationship is set such that the flow line L of the connector connection header 15 and the center of the outer shape of the first connector 1a accommodated in the recess 12a coincide.

  Further, a suction hole 12b is provided on the bottom surface of the recess 12a of the connector delivery portion 12. The first connector 1a accommodated in the recess 12a is reliably held in the recess 12a by being sucked by the suction hole 12b.

The connector connection header 15 is configured to be movable in a direction perpendicular to the plane direction P by a uniaxial robot provided in the drive mechanism 16 fixed to the top frame 20. The connector connection header 15 has a suction nozzle 15b for sucking and holding the first connector 1a.
With these structures, the connector connection header 15 is configured so that the first connector a1 can be adsorbed and taken out from the connector transfer portion 12 located on the flow line L (directly below) of the connector connection header 15. Has been.
It is also possible to hold the first connector 1a with a chuck.

  Next, a connector connection method according to an embodiment of the present invention will be described.

  First, as shown in FIG. 1, the position in the plane direction P of the second connector 1 b disposed on the second connection object 5 is detected using the position detection means 17. And the position data about a planar direction position is memorize | stored in a control means (not shown).

  Then, the moving table (position adjusting means) 11 is moved in a predetermined direction, and the distance between the cable fixture 3 and the connector delivery portion 12 is changed to the first connector 1a provided on one end side of the cable 2 with the connector. The distance is adjusted so as to be a predetermined distance that can be temporarily held by the delivery unit 12 or taken out by the connector connection header 15.

  Next, as shown in FIG. 2, the first connector 1 a is inserted into the recess 12 a of the connector delivery portion 12 and held by suction.

  Next, as shown in FIG. 3, the connector connection header 15 is moved (lowered) toward the connector delivery portion 12, and the first connector 1 a is attracted to the lower end portion 15 a of the connector connection header 15. After the first connector 1a is attracted to the connector connection header 15, the suction of the connector delivery portion 12 is released.

  Next, as shown in FIG. 4, the connector connection header 15 is moved (raised) away from the connector delivery section 12, and the first connector 1 a is taken out in a direction perpendicular to the plane direction P.

  Next, as shown in FIG. 5, the connector delivery portion 12 is rotated 180 ° around the axis R of the arm 13 and retracted from the flow line L (below the connector connection header 15).

Then, based on the stored position data about the second connector 1b, the position in the plane direction of the connector connection header 15 is determined by the first connector 1a held by the connector connection header 15 and the second connector 1b. The position is controlled (that is, the position where the centers of the first connector 1a and the second connector 1b are on the flow line L of the connector connection header 15).
Then, the first connector 1a held at the lower end of the connector connection header 15 is moved (lowered) in the direction toward the second connector 1b, thereby connecting the first connector 1a to the second connector 1b.
According to this control, when the first connector 1a is held by the connector delivery section 12, the cable 2 can be held with a margin in the cable length without being stretched much, and the first When the connector 1a and the second connector 1b are connected, the connected cables 2 can be connected so as to be stretched.

After the connection between the first connector 1a and the second connector is performed, the suction of the connector connection header 15 is released, and the connector connection header 15 is moved (raised) away from the first connector 1a. .
Thereafter, the connector transfer section 12 is returned to the original position, that is, on the flow line L (directly below) of the connector connection header 15 to prepare for the next connector connection.

  When a plurality of first and second connectors 1a and 1b are arranged on the moving table 11, the first connector 1a and the second connector are sequentially connected by repeating the above-described steps. be able to.

  In this embodiment, the arm 13 is rotated so as to retract the connector delivery portion 12. However, the connector connection header 15 is directed to the second connector 1b while holding the first connector 1a. When the connector transfer portion 12 and the connector connection header 15 are configured so as not to interfere with each other (for example, the connector transfer portion 12 and the connector connection header 15 are provided in different driving means, respectively). In such a case, it is not particularly necessary to retract the connector transfer section 12.

  In the connector connecting device of the present invention, when a plurality of first and second connectors are arranged on the moving table, after detecting the positions of all the second connectors on the moving table, The connection of the first connector and the second connector is sequentially performed by repeatedly performing the step of transferring the first connector to the connector connection header and the step of connecting the first connector to the second connector. Is also possible.

  Further, in this embodiment, after the connector connecting header 15 is moved so that the first connector 1a and the second connector 1b face each other in a state where the first connector 1a is held by the connector connecting header 15 The connector connecting header 15 is moved toward the second connector 1b so that the connectors are connected to each other. As shown in FIG. 7, the connector connecting header 15 holds the first connector 1a. At this time, the first connector 1a and the second connector 1b are brought into a state of being in a directly-facing position, and thereafter, the connector connection header 15 is lowered as it is to connect the connectors. It is also possible.

Specifically, first, based on the position data stored in the control means, the first connector 1a is received from the connector delivery unit 12 for holding and delivering the first connector 1a, and the second connector 1a is received. The position of the connector connection header 15 for connecting to the connector 1b and the position of the second connector 1b are adjusted so that the respective positions in the plane direction overlap.
Next, with the position adjusted as described above, the first connector 1a held by the connector delivery portion 12 is delivered to the lower end portion 15a of the connector connection header 15 (see FIG. 7).
Then, the arm 13 is rotated about the axis R, and the connector delivery portion 12 is retracted from the flow line L (directly below) of the connector connection header 15.
Then, the connector connector header 15 holding the first connector 1a is moved (lowered) in the direction toward the second connector 1b, thereby connecting the first connector 1a to the second connector 1b.
Even when configured as described above, the first connector 1a can be reliably connected to the second connector 1b.

In the above embodiment, the relative positional relationship between the first and second connectors is adjusted using the moving table. However, it is also possible to adjust by providing an orthogonal two-axis robot in the connector connection header. .
In the above embodiment, the first connector held in the connector connection header is moved up and down using the vertical drive mechanism. However, the movable connector is provided with a uniaxial robot that can move up and down, and the second connector. It is also possible to move up and down.
That is, the moving direction of each component in the present invention indicates the moving direction based on the relative positional relationship.

  In this embodiment, the case where the first connector is a plug-side connector and the second connector is a receptacle-side connector has been described as an example. However, it is also possible to replace them.

  The present invention is not limited to the above-described embodiment in other points, and various applications and modifications can be made within the scope of the invention.

DESCRIPTION OF SYMBOLS 1a 1st connector 1b 2nd connector 2 Cable 3 Cable fixing tool 4 1st connection target object 5 2nd connection target object 5a Main surface of 2nd connection target object 10 Connection apparatus 11 Moving table (position adjustment means) )
DESCRIPTION OF SYMBOLS 12 Connector delivery part 12a Concave part of connector delivery part 12b Suction hole of connector delivery part 13 Arm 15 Header for connector connection 15a Lower end part of header for connector connection 15b Adsorption nozzle 16 Drive mechanism 17 Position detection means 20 Top plate frame L For connector connection Header flow line P Plane direction (direction parallel to the main surface of the second connection object)
R-arm rotation axis

Claims (7)

A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connecting device,
Position detecting means for detecting a planar position of the second connector on the second connection object;
Control means for storing position data of the second connector detected by the position detection means;
The first connector is held, and the planar position of the following connector connection header and the planar position of the first connector are held at the lower end of the following connector connection header while maintaining a predetermined positional relationship. In such a mode, a connector delivery portion for delivering the first connector to the following connector connection header;
In a state where the first connector is received from the connector delivery unit and held at the lower end, the position is controlled so that the first connector and the second connector face each other based on the position data. Then, the connector moves in a direction perpendicular to the main surface of the second connection object and toward the second connector to connect the first connector to the second connector. With a header for connection,
When moving the connector connection header in the direction toward the second connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is moved to the connector connection header. The connector connecting device is configured to be retracted to a position where no interference occurs. The connector connection header is held, and the connector connection header is configured to be movable in a direction perpendicular to the main surface of the second connection object, and the connector delivery portion is held via an arm. And a drive mechanism configured to be able to rotate the connector transfer portion via the arm around an axis perpendicular to the main surface of the second connection object,
The connector connector header is moved in a direction perpendicular to the main surface of the second connection object and toward the second connector, and the first connector is moved to the second connector. When connecting to the connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is connected to the main surface of the second connection object via the arm. By rotating around a vertical axis, the connector delivery portion is retracted from the flow line of the connector connection header, and the connector connection header is directed to the second connector without interfering with the connector delivery portion. The connector connection device according to claim 1, wherein the connector connection device is configured to be movable in a direction. A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connecting device,
Position detecting means for detecting a planar position of the second connector on the second connection object;
Control means for storing position data of the second connector detected by the position detection means;
A connector delivery portion for holding the first connector and delivering it to the following connector connection header;
A connector configured to be able to move in a direction perpendicular to the main surface of the second connection object in a state where the first connector is received from the connector transfer unit and held at the lower end. With a header for connection,
Based on the position data, the connector delivery section and the connector connection header are configured to be capable of adjusting the position so that the planar position overlaps the planar position of the second connector,
The connector delivery portion can be retracted to a position where interference with the connector connection header does not occur when the connector connection header holding the first connector is moved toward the second connector. Is configured as
In the state where the connector delivery portion that delivered the first connector to the connector connection header at the position where the position adjustment has been performed is retracted to a position where interference with the connector connection header does not occur, the connector connection The first connector is connected to the second connector by moving the header in a direction perpendicular to the main surface of the second connection object and toward the second connector. It is comprised so that it may be comprised. The connector connection apparatus characterized by the above-mentioned.   The connector according to any one of claims 1 to 3, wherein the first connector and the second connector are configured so that a connection is obtained by fitting them together. Connection device. A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connection method,
Detecting the planar position of the second connector on the second connection object, and storing position data about the planar position;
The first connector held by the connector transfer section is configured so that the planar position of the connector connecting header and the planar position of the first connector maintain a predetermined positional relationship, and the lower end of the connector connecting header. A step of passing the first connector to the connector connection header in a manner held by
The connector connection header that has received the first connector and held at the lower end thereof, in a state in which the position is controlled so that the first connector and the second connector face each other based on the position data, Moving in a direction perpendicular to the main surface of the second connection object and toward the second connector;
When moving the connector connection header in the direction toward the second connector, when the connector delivery portion and the connector connection header interfere with each other, the connector delivery portion is moved to the connector connection header. And connecting the first connector to the second connector by moving the connector connection header in a direction toward the second connector. A connector connection method characterized by the above. A connector for connecting the first connector provided on the other end side of the cable whose one end side is connected to the first connection object to the second connector provided on the second connection object. A connection method,
Detecting the planar position of the second connector on the second connection object, and storing position data about the planar position;
Based on the position data, the first connector is held and transferred to the following connector connection header, and the first connector is received from the connector transfer section and connected to the second connector. A connector connecting header for adjusting the position of the second connector so that the respective planar positions of the second connector overlap,
In a state in which the first connector held in the connector transfer portion is held at the lower end portion of the connector connection header in the state where the position adjustment has been performed, the connector connection portion connects to the connector connection portion. Passing to the header for
By moving the connector connection header in a direction toward the second connector in a state where the connector transfer portion is retracted to a position where interference with the connector connection header does not occur, the first connector And connecting the second connector to the second connector.   7. The connector connection method according to claim 5 or 6, wherein the first connector and the second connector are configured such that the connection is obtained by fitting them together.

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