JP2018103325A - Connector insertion method and connector insertion device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly insert a connector into a connector insertion part.SOLUTION: According to this connector insertion method, a connector 100 having projections 105 on a pair of lateral faces 104 is gripped by a robot hand 20, and the robot hand 20 is moved to a position at which a bottom face 109 of the connector 100 faces an insertion port 134 of a connector insertion part 130. Subsequently, a connector guide 50 is moved, whereby a pair of gripping parts 51 provided on the connector guide 50 are so made as to face the pair of lateral faces 104, and the connector 100 is sandwiched by the pair of gripping parts 51, whereby the connector 100 is positionally aligned in an X direction. Next, the projections 105 are guided by grooves 52 of the pair of gripping parts 51 while moving the connector 100 to the connector insertion part 130 side together with the robot hand 20, whereby the connector 100 is positionally aligned in a Y direction. Then, the robot hand 20 is further moved, whereby the connector 100 is inserted into the connector insertion part 130.SELECTED DRAWING: Figure 1

Description

  The technology disclosed in the present application relates to a connector insertion method and a connector insertion device for inserting a connector into a connector insertion portion.

  As a connector insertion method for inserting the connector into the connector insertion portion, for example, there is a method of using a robot hand, holding the connector with the robot hand, moving the robot hand, and inserting the connector into the connector insertion portion (for example, Patent Document 1).

Japanese Patent Laid-Open No. 2015-30086 JP 2012-254498 A

  In the connector insertion method described above, for example, when a cable is connected to the connector, the gripping position of the connector held by the robot hand may be shifted due to the cable tension acting as an external force on the connector. . When the gripping position of the connector is shifted in this way, the connector is shifted with respect to the connector insertion portion, and the connector may not be correctly inserted into the connector insertion portion.

  An object of the technology disclosed in the present application is, as one aspect, to enable a connector to be correctly inserted into a connector insertion portion.

  In order to achieve the above object, according to one aspect of the technology disclosed in the present application, the following connector insertion method is provided. That is, in this connector insertion method, a connector having a pair of side surfaces is held by a robot hand, and the robot hand is moved to a position where the bottom surface of the connector faces the insertion port of the connector insertion portion. Subsequently, by moving the connector guide, the pair of sandwiching portions provided in the connector guide are opposed to the pair of side surfaces, respectively, and the pair of sandwiching portions sandwich the connector so that the pair of sandwiching portions are opposed to each other. Align the connector in the direction. Next, while moving the connector to the connector insertion part side together with the robot hand, the second part perpendicular to the first direction as viewed from the opening direction of the insertion port is guided by guiding the protrusions with the grooves formed in the pair of holding parts. Align the connector in the direction. And a connector is inserted in a connector insertion part by moving a robot hand further.

  According to the technique disclosed in the present application, the connector can be correctly inserted into the connector insertion portion while the shift of the gripping position of the connector is suppressed.

It is a perspective view of the connector insertion apparatus concerning this embodiment. It is a perspective view which shows the state in the middle of a connector being inserted in the connector insertion part shown by FIG. It is a perspective view which shows the state which hold | gripped the connector with the robot hand shown in FIG. It is a top view of the peripheral part of a connector insertion part shown by FIG. 1, and a guide unit. It is a side view of the peripheral part of a connector insertion part shown in FIG. 1, and a guide unit. It is a perspective view of the peripheral part of a connector insertion part shown in FIG. 1, and a guide unit. FIG. 2 is a two-side view (a plan view and a side view) showing a state in which the robot hand shown in FIG. 1 grips the connector and moves it above the connector insertion portion. It is a front view which shows the state which the holding position of the connector shifted | deviated to the X direction in the robot hand shown by FIG. It is a side view which shows the state which the holding position of the connector shifted | deviated to the Y direction in the robot hand shown by FIG. It is a two-view figure (plan view and side view) which shows the state which moved the connector guide and case guide which are shown by FIG. 1 to the connector insertion part side. It is a top view which shows the state which aligned the connector to the X direction with a pair of clamping part provided in the connector guide shown by FIG. It is a figure explaining a mode that a connector is clamped by a pair of clamping part provided in the connector guide shown by FIG. 1, and it aligns in a X direction with a front view. It is a side view which shows the state which inserted the connector in the connector insertion part with the robot hand shown by FIG. It is a figure explaining a mode that a protrusion part of a connector is guided with the groove | channel of the connector guide shown by FIG. 1, and a connector is aligned in a Y direction with a perspective view. It is a side view which shows the state which the robot hand shown by FIG. 1 retracted | saved above the connector insertion part.

  Hereinafter, an embodiment of the technology disclosed in the present application will be described.

  A connector insertion device 10 according to this embodiment shown in FIG. 1 is for inserting a connector 100 into a connector insertion portion 130. In the present embodiment, as an example, a case will be described in which a connector 100 that is a DC connector mounted on an electronic device is inserted into a connector insertion portion 130 provided in a case 120 of the electronic device.

  The case 120 is horizontally placed on a work table (not shown). The X direction, Y direction, and Z direction shown in each figure correspond to the vertical direction, horizontal direction, and thickness direction of the case 120, respectively. The X direction corresponds to a “first direction”, and the Y direction corresponds to a “second direction”. The Y direction is perpendicular to the X direction when viewed from the Z direction, which is the opening direction of the insertion port 134 formed in the connector insertion portion 130 described later.

  As shown in FIG. 2, the connector 100 is formed in a rectangular parallelepiped block shape. The connector 100 has a connection terminal 101, and a connection portion 103 that surrounds the connection terminal 101 is formed on the front surface 102 of the connector 100. A pair of protrusions 105 are formed on the pair of side surfaces 104 of the connector 100, respectively.

  Each pair of protrusions 105 is formed in a rib shape extending in the height direction of the connector 100. Further, each of the pair of protrusions 105 is arranged in the front-rear direction of the connector 100. A connection terminal 107 integrally formed with the connection terminal 101 protrudes from the back surface 106 of the connector 100.

  One end of a cable 108 is connected to the connection terminal 107, and a first connector 111 is connected to the other end of the cable 108. The first connector 111 is connected to the second connector 112 mounted on the substrate 110. The substrate 110 is separate from the case 120 and is assembled to the case 120. A connector insertion portion 130 is formed in the case 120.

  The connector insertion portion 130 has a pair of fixed walls 131. The pair of fixed walls 131 are opposed to each other in the X direction, and each extend in the Y direction. The pair of fixed walls 131 are erected on the case 120 with the Z direction as the height direction. A pair of fitting portions 133 are formed on the surfaces 132 of the pair of fixed walls 131 facing each other.

  Each pair of fitting parts 133 is formed in a rib shape extending in the Z direction. Each pair of fitting portions 133 is arranged in the Y direction. A gap between the pair of fixed walls 131 between the upper sides in the height direction is formed as an insertion port 134 of the connector insertion portion 130. The insertion port 134 opens in the Z direction. In addition, stopper portions 135 projecting inside the pair of fixed walls 131 are formed at the front end portions of the pair of fixed walls 131, respectively.

  FIG. 2 shows a state where the connector 100 is being inserted into the connector insertion portion 130. In a state where the connector 100 is inserted into the connector insertion portion 130, the connector 100 is disposed between the pair of fixed walls 131, and the pair of protruding portions 105 formed on each side surface 104 is provided on each fixed wall 131. It is fitted with the formed pair of fitting portions 133.

  As shown in FIG. 1, the connector insertion device 10 according to the present embodiment includes a robot hand 20, a robot arm 30, a guide unit 40, an opening / closing drive source 72, a moving drive source 82, and a control unit 90. Is provided.

  The robot hand 20 is for holding the connector 100. As more specifically shown in FIG. 3, the robot hand 20 includes an opening / closing drive unit 21 and a pair of gripping claws 22. The pair of gripping claws 22 are arranged to face the width direction of the robot hand 20. The opening / closing drive unit 21 operates to open and close the pair of gripping claws 22. For example, an electric actuator or a cylinder driving device is applied to the opening / closing drive unit 21.

  The robot hand 20 is connected to the tip of the robot arm 30. The robot arm 30 is an articulated robot, for example, and operates so as to move the robot hand 20. The robot arm 30 is provided with a plurality of drive units 31 for driving each joint. For example, an electric actuator or the like is applied to the drive unit 31 provided in the robot arm 30.

  The guide unit 40 shown in FIGS. 4 and 5 is for positioning the connector 100 with respect to the connector insertion portion 130, and includes a connector guide 50, a case guide 60, an open / close cylinder 71, a moving cylinder 81 Have

  The connector guide 50 is for guiding the connector 100 to the connector insertion portion 130 and has a pair of clamping portions 51. A pair of clamping part 51 is arrange | positioned facing the X direction. The pair of sandwiching portions 51 are fixed to the opening / closing movable portion of the opening / closing cylinder 71. The open / close cylinder 71 is, for example, a hydraulic type or a pneumatic type, and operates so as to open and close the pair of sandwiching portions 51.

  As shown in FIG. 6, grooves 52 are formed in the pair of sandwiching portions 51. The grooves 52 are formed in mutually facing surfaces 53 of the pair of sandwiching portions 51 and extend in the Z direction. The groove 52 has a tapered portion 54 whose groove width becomes narrower from the upper side to the lower side of the sandwiching portion 51, and a linear portion 55 that is continuous with the lower end of the tapered portion 54.

  The case guide 60 is for positioning the case 120 with respect to the guide unit 40 by accommodating the connector insertion portion 130. The case guide 60 is disposed below the connector guide 50, and is fixed to the open / close cylinder 71 via the connecting member 41.

  The case guide 60 has a pair of positioning portions 61 and a connecting portion 62. The pair of positioning portions 61 (see also FIG. 4) are arranged to face each other in the X direction. The dimension between the pair of positioning portions 61 is set to be substantially the same as the width of the connector insertion portion 130 in the X direction. The distal ends of the pair of positioning portions 61 are open in the Y direction, and the base ends of the pair of positioning portions 61 are connected by a connecting portion 62.

  The moving cylinder 81 supports the connector guide 50 and the case guide 60 together with the open / close cylinder 71 so as to be movable in the Y direction. The moving cylinder 81 is, for example, a hydraulic type or a pneumatic type, and operates so as to move the connector guide 50 and the case guide 60 together with the opening / closing cylinder 71 in the Y direction.

  The opening / closing drive source 72 and the movement drive source 82 are fluid pumps, respectively, supplying fluid to the opening / closing cylinder 71 and the moving cylinder 81 and operating the opening / closing cylinder 71 and the moving cylinder 81. The opening / closing cylinder 71 and the opening / closing driving source 72 form an opening / closing driving unit 70, and the moving cylinder 81 and the moving driving source 82 form a moving driving unit 80.

  The control unit 90 shown in FIG. 1 includes an electronic circuit having, for example, an arithmetic device and a storage device. The control unit 90 controls the open / close drive unit 21 of the robot hand 20, the drive unit 31 of the robot arm 30, the open / close drive source 72 of the open / close drive unit 70, and the movement drive source 82 of the movement drive unit 80.

  Next, the connector insertion method according to this embodiment will be described.

  First, as shown in FIG. 1, the control unit 90 controls the drive unit 31 of the robot arm 30 to move the robot hand 20 to the gripping position of the connector 100 by the robot arm 30. Then, the control unit 90 controls the opening / closing drive unit 21 of the robot hand 20 to close the pair of gripping claws 22 so that the robot hand 20 grips the connector 100. At this time, the robot hand 20 grips the front surface 102 and the back surface 106 of the connector 100 with a pair of gripping claws 22.

  Subsequently, the control unit 90 controls the driving unit 31 of the robot arm 30 to operate the robot arm 30 and move the robot hand 20 by the robot arm 30. At this time, the control unit 90 moves the robot hand 20 by the robot arm 30 to a position where the bottom surface 109 of the connector 100 faces the insertion port 134 of the connector insertion unit 130 (a position above the connector insertion unit 130) (also in FIG. 7). reference). Thereby, the positional relationship between the guide unit 40 and the robot hand 20 is determined.

  Here, the connector 100 transported by the robot hand 20 is connected to the first connector 111 via a hard cable 108 for power supply in addition to a small area that can be gripped by the robot hand 20. For this reason, the tension of the cable 108 acts as an external force on the connector 100, and the posture when the connector 100 is gripped is not stable, so that the grip position of the connector 100 may be displaced.

  For example, FIG. 8 shows a state where the posture of the connector 100 is tilted in the X direction and the gripping position of the connector 100 is shifted in the X direction, and FIG. 9 shows the posture of the connector 100 tilted in the Y direction. A state where the gripping position of the connector 100 is shifted in the Y direction is shown.

  When the gripping position of the connector 100 is thus shifted, the position of the connector 100 is shifted with respect to the connector insertion portion 130. In addition, the position of the connector 100 may be displaced with respect to the connector insertion portion 130 due to various factors such as other manufacturing errors and assembly errors.

  When the position of the connector 100 is displaced with respect to the connector insertion portion 130, the connector 100 cannot be correctly inserted into the connector insertion portion 130 because the corner of the connector 100 rides on the edge of the connector insertion portion 130. There is a fear. Therefore, the control unit 90 corrects the positional deviation of the connector 100 by the following operation.

  As shown in FIG. 10, in order to correct the positional deviation of the connector 100, first, the control unit 90 controls the movement drive source 82 of the movement drive unit 80 to operate the movement cylinder 81 and connect the connector guide 50. And the case guide 60 is moved to the connector insertion part 130 side. When the connector guide 50 moves to the connector insertion portion 130 side, the pair of sandwiching portions 51 is positioned above the connector insertion portion 130, and the upper portions of the pair of sandwiching portions 51 oppose the lower portions of the pair of side surfaces 104 in the X direction. To do. Further, when the case guide 60 moves to the connector insertion portion 130 side, the connector insertion portion 130 is accommodated inside the case guide 60.

  As an example, the case 120 is movable in a horizontal direction with respect to a work table (not shown). When the connector insertion portion 130 is accommodated inside the case guide 60, the connector insertion portion 130 is positioned by the pair of positioning portions 61 provided on the case guide 60. Then, the case 120 moves following the guide unit 40 fixed to the work table or the like, and the case 120 is aligned with the guide unit 40 in the X direction.

  At this time, the case guide 60 may have a structure in which the connector insertion portion 130 is positioned and the case 120 is aligned with the guide unit 40 in the X direction and the Y direction.

  Subsequently, as shown in FIG. 11, the control unit 90 controls the open / close drive source 72 of the open / close drive unit 70 to operate the open / close cylinder 71 and close the pair of clamping units 51. When the pair of sandwiching portions 51 are closed, the lower portions of the pair of side surfaces 104 of the connector 100 are sandwiched between the upper portions of the pair of sandwiching portions 51, so that the connector 100 is aligned in the X direction (see also FIG. 12).

  Next, as shown in FIG. 13, the control unit 90 controls the drive unit 31 of the robot arm 30 to lower the connector 100 together with the robot hand 20 (move toward the connector insertion unit 130) by the robot arm 30. . Here, when the connector 100 is lowered together with the robot hand 20, the protruding portion 105 is guided by the taper portion 54 of the groove 52, so that the connector 100 moves following the Y direction, and the connector 100 is aligned in the Y direction. (See also FIG. 14).

  The alignment of the connector 100 in the Y direction may be performed by moving the connector 100 with respect to the robot hand 20 or moving the connector 100 together with the robot hand 20. Moreover, the connector insertion part 130 (case 120) may move with respect to the connector 100 for alignment of the connector 100 in the Y direction.

  Further, when the connector 100 is moved in the Y direction by moving the connector 100 with respect to the robot hand 20, the gripping by the pair of gripping claws 22 is released and the connector 100 can be moved in the Y direction. Anyway. Further, when the protruding portion 105 is guided by the tapered portion 54 of the groove 52, the pair of gripping claws 22 are expanded by the force in the Y direction received from the connector 100, so that the connector 100 is moved in the Y direction and the connector 100 is moved in the Y direction. May be aligned.

  Then, with the connector 100 aligned in the Y direction, the control unit 90 shown in FIG. 13 continues to control the drive unit 31 of the robot arm 30 to further lower the robot hand 20. Thus, the connector 100 is pushed and inserted into the connector insertion portion 130 by the robot hand 20 in a state where the connector 100 is aligned in the Y direction by the projection portion 105 being guided by the linear portion 55 of the groove 52. .

  Next, as shown in FIG. 15, the control unit 90 controls the opening / closing drive unit 21 of the robot hand 20 to open the pair of gripping claws 22 and release the gripping state of the connector 100 by the robot hand 20. . Then, the control unit 90 controls the drive unit 31 of the robot arm 30 to retract the robot hand 20 above the connector 100.

  Further, the control unit 90 controls the open / close drive source 72 of the open / close drive unit 70 to operate the open / close cylinder 71 in the opposite direction to open the pair of clamping units 51. In addition, the control unit 90 controls the movement drive source 82 of the movement drive unit 80 to operate the moving cylinder 81 in the opposite direction to the above, so that the connector guide 50 and the case guide 60 are placed on the opposite side of the connector insertion unit 130. Evacuate. Thus, the insertion of the connector 100 into the connector insertion portion 130 is completed.

  Next, the operation and effect of this embodiment will be described.

  As described above in detail, according to the present embodiment, when the connector 100 is inserted into the connector insertion portion 130, the connector 100 is sandwiched between the pair of clamping portions 51 provided in the connector guide 50. Align in the X direction. Further, the connector 100 is positioned in the Y direction by guiding the protruding portion 105 with the groove 52 formed in the pair of holding portions 51 while lowering the connector 100 together with the robot hand 20.

  Therefore, for example, even if the tension of the cable 108 acts on the connector 100 and the grip position of the connector 100 is displaced, and the connector 100 is displaced relative to the connector insertion portion 130, the displacement of the connector 100 can be corrected. . As a result, the connector 100 can be correctly inserted into the connector insertion portion 130.

  Further, according to the present embodiment, the connector insertion portion 130 is accommodated in the case guide 60 and the case 120 is aligned by the case guide 60. Thereby, since the positional relationship between the case 120 and the guide unit 40 and between the guide unit 40 and the robot hand 20 is determined, the connector 100 can be inserted into the connector insertion portion 130 more smoothly.

  Next, a modification of this embodiment will be described.

  In the above-described embodiment, the protruding portion 105 formed on the side surface 104 of the connector 100 is formed in a rib shape extending in the height direction of the connector 100, but may have a shape other than the rib shape. Similarly, the fitting portion 133 formed on the pair of fixed walls 131 of the connector insertion portion 130 is formed in a rib shape extending in the height direction of the connector insertion portion 130, but may have a shape other than the rib shape.

  Moreover, in the said embodiment, although the connector 100 is a DC connector as an example, it may be other than a DC connector.

  In the above-described embodiment, the opening / closing drive units 21 and 70 and the movement drive unit 80 are applied with hydraulic or pneumatic cylinder driving devices, but an electric actuator or the like may be applied.

  Moreover, in the said embodiment, although the case 120 is arrange | positioned horizontally, for example, it may arrange | position with inclination with respect to a horizontal direction, or may be arrange | positioned perpendicularly.

  As mentioned above, although one embodiment of the technique disclosed in the present application has been described, the technique disclosed in the present application is not limited to the above, and various modifications may be made without departing from the spirit of the present invention. Of course, it is possible.

  In addition, the following additional remark is disclosed regarding one Embodiment of the technique which the above-mentioned this application discloses.

(Appendix 1)
Grip the connector having a protrusion on a pair of side surfaces with a robot hand,
Move the robot hand to a position where the bottom surface of the connector faces the insertion port of the connector insertion portion,
By moving the connector guide, the pair of clamping portions provided in the connector guide are opposed to the pair of side surfaces,
By sandwiching the connector with the pair of sandwiching portions, the connector is aligned in a first direction in which the pair of sandwiching portions face each other,
The first direction when viewed from the opening direction of the insertion port by guiding the protrusions with grooves formed in the pair of holding parts while moving the connector together with the robot hand toward the connector insertion part side Align the connector in the second direction perpendicular to
By further moving the robot hand, the connector is inserted into the connector insertion portion.
A connector insertion method including:
(Appendix 2)
Aligning the case having the connector insertion portion with a case guide;
The connector insertion method according to attachment 1.
(Appendix 3)
A robot hand holding a connector having a protrusion on a pair of side surfaces;
A robot arm for moving the robot hand;
A connector guide having a pair of clamping portions respectively opposed to the pair of side surfaces, and grooves formed in the pair of clamping portions;
An opening / closing drive part for opening and closing the pair of clamping parts;
A movement drive unit for moving the connector guide;
A controller for controlling the robot hand, the robot arm, the opening / closing drive unit, and the movement drive unit;
With
The controller is
Causing the robot hand to grip the connector;
The robot arm is moved by the robot arm to a position where the bottom surface of the connector faces the insertion port of the connector insertion portion,
By moving the connector guide by the movement drive unit, the pair of sandwiching units are opposed to the pair of side surfaces, respectively.
By closing the pair of sandwiching portions by the opening and closing drive unit and sandwiching the connector between the pair of sandwiching portions, the connector is aligned in a first direction in which the pair of sandwiching portions are opposed to each other,
While the robot arm moves the connector to the connector insertion portion side together with the robot hand, the projection is guided in the groove, so that the first direction perpendicular to the first direction as viewed from the opening direction of the insertion port is obtained. Align the connector in two directions,
By further moving the robot hand by the robot arm, the connector is inserted into the connector insertion portion,
Connector insertion device.
(Appendix 4)
A case guide for aligning the case having the connector insertion portion;
The connector insertion device according to appendix 4 or appendix 5.

DESCRIPTION OF SYMBOLS 10 Connector insertion apparatus 20 Robot hand 21 Opening / closing drive part 22 Holding claw 30 Robot arm 31 Drive part 40 Guide unit 50 Connector guide 51 Nipping part 52 Groove 54 Tapered part 55 Linear part 60 Case guide 61 Positioning part 62 Connection part 70 Opening / closing drive part 71 Opening and closing cylinder 72 Opening and closing drive source 80 Moving drive unit 81 Moving cylinder 82 Moving drive source 90 Control unit 100 Connector 104 Side surface 105 Projection portion 108 Cable 109 Bottom surface 120 Case 130 Connector insertion portion 131 Fixed wall 133 Fitting portion 134 Insertion port

Claims (2)

Grip the connector having a protrusion on a pair of side surfaces with a robot hand,
Move the robot hand to a position where the bottom surface of the connector faces the insertion port of the connector insertion portion,
By moving the connector guide, the pair of clamping portions provided in the connector guide are opposed to the pair of side surfaces,
By sandwiching the connector with the pair of sandwiching portions, the connector is aligned in a first direction in which the pair of sandwiching portions face each other,
The first direction when viewed from the opening direction of the insertion port by guiding the protrusions with grooves formed in the pair of holding parts while moving the connector together with the robot hand toward the connector insertion part side Align the connector in the second direction perpendicular to
By further moving the robot hand, the connector is inserted into the connector insertion portion.
A connector insertion method including: A robot hand holding a connector having a protrusion on a pair of side surfaces;
A robot arm for moving the robot hand;
A connector guide having a pair of clamping portions respectively opposed to the pair of side surfaces, and grooves formed in the pair of clamping portions;
An opening / closing drive part for opening and closing the pair of clamping parts;
A movement drive unit for moving the connector guide;
A controller for controlling the robot hand, the robot arm, the opening / closing drive unit, and the movement drive unit;
With
The controller is
Causing the robot hand to grip the connector;
The robot arm is moved by the robot arm to a position where the bottom surface of the connector faces the insertion port of the connector insertion portion,
By moving the connector guide by the movement drive unit, the pair of sandwiching units are opposed to the pair of side surfaces, respectively.
By closing the pair of sandwiching portions by the opening and closing drive unit and sandwiching the connector between the pair of sandwiching portions, the connector is aligned in a first direction in which the pair of sandwiching portions are opposed to each other,
While the connector is moved to the connector insertion portion side together with the robot hand by the robot arm, the protrusion is guided in the groove, thereby making the first direction perpendicular to the first direction seen from the opening direction of the insertion port. Align the connector in two directions,
By further moving the robot hand by the robot arm, the connector is inserted into the connector insertion portion,
Connector insertion device.