JP2020151789A - Electronic apparatus assembling device, and electronic apparatus assembling method - Google Patents

Abstract

To provide an electronic apparatus assembling device and an electronic apparatus assembling method by which a cable can be mounted on a connector provided in an electronic apparatus.SOLUTION: An electronic apparatus assembling device includes: a cable holding part 20 which holds a cable 12; a base part 8 on which the cable holding part 20 and an imaging part 50 are mounted; a robot part which moves the cable holding part 20 with respect to an electronic apparatus 4 provided with a connector 13 on which a tip end part 12a of the cable 12 is mounted by moving the base part 8; a position detection part which detects a relative positional relationship between the tip end part 12a of the cable 12 and the connector 13 from an image captured by the imaging part 50; and a control part which moves the imaging part 50 by operating the robot part. The imaging part 50 images the tip end part 12a of the cable 12 and the connector 13 from a direction inclined with respect to a mounting direction in which the tip end part 12a of the cable 12 is mounted on the connector 13.SELECTED DRAWING: Figure 8

Description

The present invention relates to an electronic device assembling device and an electronic device assembling method for attaching a cable to a connector included in the electronic device.

In electronic devices such as in-vehicle electronic devices, flexible cables such as FPCs (hereinafter, simply abbreviated as "cables") for connecting functional modules such as display devices and circuit boards constituting the devices are often used. As an electronic device assembling device for attaching a cable to a connector provided in a functional module, there is known one in which a cable holding portion and a base portion to which a camera is attached are operated by a parallel link type robot (see, for example, Patent Document 1). .. In the electronic device assembling device described in Patent Document 1, the cable held by the cable holding portion is brought close to the connector provided in the functional module, and the tip of the cable and the connector are imaged with a camera from above to confirm the positions of both. The tip of the cable is attached to the connector.

JP-A-2018-69415

However, in the prior art including Patent Document 1, the electronic device assembling device attaches the tip of the cable to the connector while imaging the connector from above with a camera, but the functional module incorporated in the housing of the electronic device The connector has a problem that the cable cannot be automatically attached because the image cannot be taken by the camera from above.

Therefore, an object of the present invention is to provide an electronic device assembling device and an electronic device assembling method capable of attaching a cable to a connector provided inside the electronic device.

In the electronic device assembling device of the present invention, a cable holding portion for holding a cable, a base portion on which the cable holding portion and the imaging unit are mounted, and a tip portion of the cable are mounted by moving the base portion. A robot unit that moves the cable holding unit with respect to an electronic device provided with a connector, a position detecting unit that detects the relative positional relationship between the tip of the cable and the connector from an image captured by the imaging unit, and the above. A control unit for moving the image pickup unit by operating a robot unit is provided, and the image pickup unit includes a control unit for the cable from a direction in which the tip end portion of the cable is oblique to a mounting direction in which the cable is mounted on the connector. The tip and the connector are imaged.

The electronic device assembling method of the present invention is an electronic device assembling method in which the tip of a cable is attached to a connector provided in the electronic device by the electronic device assembling device, and the electronic device assembling device includes a cable holding portion for holding the cable and A base portion to which the cable holding portion and the imaging unit are mounted is provided, and by moving the base portion, the cable holding portion holding the cable is moved with respect to the electronic device, and the tip portion of the cable is moved. A cable approaching step of bringing the cable closer to the connector, and an imaging step of imaging the tip of the cable and the connector from a direction in which the tip of the cable is obliquely oriented with respect to the mounting direction in which the cable is mounted on the connector. The cable holding portion is moved based on the position detection step of detecting the relative positional relationship between the tip of the cable and the connector from the image captured by the imaging step and the detected relative positional relationship. A mounting step of mounting the tip of the cable on the connector is included.

According to the present invention, a cable can be attached to a connector internally provided in an electronic device.

Perspective view of the electronic device assembling device according to the embodiment of the present invention. Schematic diagram of the configuration of the base portion moved by the robot portion of the electronic device assembly device according to the embodiment of the present invention. A perspective view of an electronic device (before attaching a cable) to be worked on by the electronic device assembling device according to the embodiment of the present invention. Perspective view of an electronic device (after attaching a cable) to be worked on by the electronic device assembling device according to the embodiment of the present invention. A block diagram showing a configuration of a control system of an electronic device assembly device according to an embodiment of the present invention. A flow chart showing a method of assembling an electronic device according to an embodiment of the present invention. Explanatory drawing of distance measurement to connector in electronic device assembly method of one Embodiment of this invention Explanatory drawing of relative position detection of connector and cable in the electronic device assembly method of one Embodiment of this invention Explanatory drawing of an image for detecting the relative position of a connector and a cable in the method of assembling an electronic device according to an embodiment of the present invention. (A) (b) Explanatory drawing of the cable attachment operation to the connector in the electronic device assembly method according to the embodiment of the present invention. (A) (b) Explanatory drawing of the cable attachment operation to the connector in the electronic device assembly method according to the embodiment of the present invention. (A) (b) Explanatory drawing of the cable attachment operation to the connector in the electronic device assembly method according to the embodiment of the present invention. (A) (b) Explanatory drawing of the cable attachment operation to the connector in the electronic device assembly method according to the embodiment of the present invention.

Next, an embodiment of the present invention will be described with reference to the drawings. First, the overall configuration of the electronic device assembling device 1 will be described with reference to FIG. The electronic device assembling device 1 is a connector mounted on a functional module such as a circuit board mounted in a housing of the electronic device 4 for the electronic device 4 (see FIGS. 3 and 4) such as an in-vehicle electronic device. It has a function to attach a cable. A work stage 3 is provided on the upper surface 2a of the base 2. The work stage 3 positions and holds the electronic device 4 to be worked on in a predetermined posture.

Here, the electronic device 4 to be worked on will be described with reference to FIGS. 3 and 4. Note that FIG. 3 shows a state before the cable is attached to the connector, and FIG. 4 shows a state where the cable is attached to the connector. In FIG. 3, in the electronic device 4, the circuit board 11 on which the electronic component 11a is mounted is installed inside the box-shaped housing 4a. A connector 13 is mounted on the trailing edge of the circuit board 11 installed in the housing 4a. A hard tip portion 12a formed at the end portion of the flexible cable 12 is attached to the connector 13. An opening 4c for connecting the cable 12 from the outside to the connector 13 in the housing 4a is formed on the back surface 4b of the housing 4a.

In FIG. 3, in the connector 13, a terminal row for connection is formed on the terminal surface 13b on the bottom surface of the mounting portion 13a on which the tip portion 12a is mounted. When the tip portion 12a is inserted into the connector 13 and attached, the wiring pattern (not shown) formed on the tip portion 12a comes into contact with these terminal rows. The connector 13 includes a lock mechanism having a cover member 14 for preventing the attached tip portion 12a from falling off. The cover member 14 is provided so as to be openable and closable with respect to the connector 13.

Before the tip portion 12a is attached to the connector 13, the cover member 14 is in an upright open state as shown in FIG. Then, as shown in FIG. 4, when the cover member 14 is pushed down and closed after the tip portion 12a is attached to the connector 13, the lock mechanism is activated. When the lock mechanism is activated, the cover member 14 presses the tip portion 12a to prevent the cable 12 from falling off. That is, the cover member 14 is a lock portion that prevents the tip end portion 12a of the attached cable 12 from falling off from the connector 13. As described above, the electronic device 4 includes a connector 13 having a lock portion to which the tip end portion 12a of the cable 12 is mounted.

In FIG. 3, the work target electronic device 4 is positioned and held on the work stage 3 in a posture in which the back surface 4b side is lifted by a work angle θ with respect to the work stage 3 so that the back surface 4b faces diagonally upward. When the electronic device 4 is held horizontally on the work stage 3 (working angle θ is zero), the connector 13 inside the housing 4a cannot be seen from above. On the other hand, by tilting by the working angle θ, at least a part of the connector 13 can be seen from above through the opening 4c. Even if the electronic device 4 is held on a holding table (not shown) having a slope with a working angle θ installed on the work stage 3, the electronic device 4 is conveyed to the work stage 3 while being held on the holding table. May be good. Further, after transporting to the work stage 3 in a horizontal posture, the work angle θ may be tilted.

In FIG. 1, the work stage 3 can be raised and lowered, and in the work of attaching the cable 12 for which the electronic device 4 is the work target, the work stage 3 is raised and lowered to raise the electronic device 4 to a predetermined work height. To be located in. A corner post 2b is erected at the corner portion of the upper surface 2a of the base 2, and a horizontal pedestal 2c is erected at the upper end portion of the corner post 2b. An operation panel 9 provided with a touch panel is arranged on the side surface of the gantry 2c.

The instruction input for the operation and the operation instruction for the robot unit 5 is executed by the touch operation input via the operation panel 9. The operation panel 9 has a display function, and a notification when an abnormality or a malfunction occurs in the cable mounting operation by the electronic device assembly device 1 is displayed on the operation panel 9. Regarding the coordinate system of the electronic device assembly device 1, the horizontal direction to the left and right when viewed from the front of the electronic device assembly device 1 is the X axis, and the axes orthogonal to the X axis in the front-rear direction are the Y axis, the X axis, and the Y axis. The axis orthogonal to the vertical direction is defined as the Z axis.

In FIG. 1, a fixed base portion 6 having a drive mechanism for the robot portion 5 described below is arranged on the lower surface of the gantry 2c. The fixed base portion 6 contains six servo drive mechanisms that operate individually, and each servo drive mechanism individually drives six link members 7 extending downward from the fixed base portion 6. The lower end of the link member 7 is connected to the base portion 8. In the above configuration, the fixed base portion 6 and the link member 7 constitute the robot portion 5. The robot unit 5 moves the base unit 8 and changes its posture.

Here, the robot unit 5 is a 6-DOF type parallel link robot having 6 link members 7 that operate individually, and the lower end portions of the 6 link members 7 extending downward from the fixed base unit 6 are The cable 12 is coupled to a base portion 8 which is a work unit for executing a mounting operation of mounting the cable 12 on the connector 13. As shown in FIG. 2, the link member 7 is connected to the base portion 8 via a universal joint 7a. With this configuration, the robot unit 5 allows the base unit 8 to perform a movement operation with 6 degrees of freedom.

In FIG. 2, a cable holding unit 20, a distance measuring unit 40, an imaging unit 50, and an illumination 56 are mounted on the base unit 8. The cable holding portion 20 has a function of holding the cable 12 to be attached to the connector 13. Further, the cable holding portion 20 has a function of operating the lock mechanism provided by the connector 13, that is, a function of pushing down the cover member 14 (lock portion) in the connector 13 with the tip portion 12a attached to close the connector 13. ing.

The cable holding unit 20 can be moved relative to the electronic device 4 held on the work stage 3 by the robot unit 5 moving the base unit 8. In the mounting work of mounting the tip portion 12a of the cable 12 to the connector 13, the control unit 61 (see FIG. 5) operates the robot unit 5, the cable holding unit 20, the distance measuring unit 40, the imaging unit 50, and the illumination 56.

In this way, the robot unit 5 moves the cable holding unit 20 with respect to the electronic device 4 provided with the connector 13 by moving the base unit 8. In the present embodiment, the base unit 8 is moved by the robot unit 5 which is a parallel link robot, but the electronic device assembly device 1 is an articulated robot having a plurality of rotation axes in the middle of the arm and the base unit 8 is used. May be configured to move.

Next, the detailed configuration of the base portion 8 will be described with reference to FIG. An opening 8a is provided in the drive center indicating the center position of the plurality of universal joints 7a in the base portion 8. A distance measuring unit 40 is mounted on the base portion 8 at a side end portion separated from the opening 8a in the left direction (front side of the electronic device assembly device 1) in a posture in which the measuring optical axis 40a faces downward. The distance measurement unit 40 is a distance measurement sensor that measures the distance to the target by irradiating the measurement light and detecting the measurement light reflected by the target for distance measurement. The measurement result by the distance measuring unit 40 is transmitted to the control unit 61.

In the present embodiment, the distance measuring unit 40 moves above the opening 4c of the electronic device 4 and is the distance to the reflecting surface 15a of the distance measuring target 15 (see FIG. 7) installed near the connector 13. To measure. The target 15 has a reflecting surface 15a that reflects the measurement light emitted from the distance measuring unit 40 in the direction of the distance measuring unit 40, and can measure the distance from the base unit 8 to the connector 13, or the measurement result. Any distance can be calculated from.

That is, it is sufficient that the reflective surface 15a, which is substantially horizontal when the electronic device 4 is held at the working angle θ, is installed at a position where it can be seen from the opening 4c, and even if the target 15 is a part of the connector 13, the connector 13 or It may be a dedicated target 15 provided in the electronic device 4. In this way, the distance measuring unit 40 included in the base unit 8 measures the distance from the base unit 8 to the distance measuring target 15 provided in the connector 13 or the electronic device 4.

In FIG. 2, the cable holding portion 20 is mounted on the lower surface of the side end portion of the base portion 8 separated from the opening 8a in the right direction (the back side of the electronic device assembling device 1). A fixing plate 21 is provided on the lower surface of the base portion 8 near the side end portion. A torque sensor 22 is installed on the fixed plate 21. A base member 24 is connected to the rotating shaft 22a of the torque sensor 22 via a connecting member 23 on the opening 8a side. The foundation member 24 is a plate-shaped member extending in the vertical direction. A lower holding member 25 is fixed to the lower edge of the foundation member 24. An upper holding member 26 is arranged above the lower holding member 25. The upper holding member 26 is connected to a holding actuator 28 fixed to the upper part of the base member 24 via a connecting portion 27.

The holding actuator 28 is controlled by the control unit 61. When the holding actuator 28 is operated, the upper holding member 26 moves in the vertical direction (arrow a). When the upper holding member 26 is located above, the cable 12 can be inserted into the gap formed between the upper holding member 26 and the lower holding member 25. By moving the upper holding member 26 downward with the cable 12 inserted in the gap, the cable 12 can be sandwiched and held between the upper holding member 26 and the lower holding member 25 (see FIG. 8).

In FIG. 2, the lock actuator 29 is arranged on the upper surface of the upper holding member 26. A roller holding member 30 is connected to the lock actuator 29 on the opening 8a side. A roller 31 is mounted on the opening 8a side (opposite side of the lock actuator 29) of the roller holding member 30. The roller 31 is mounted so that at least a part of the roller 31 projects downward from the lower surface 30a of the roller holding member 30.

The lock actuator 29 is controlled by the control unit 61. When the lock actuator 29 is operated, the roller holding member 30 and the roller 31 move in the front-rear direction (arrow b). When the roller holding member 30 is moved forward (mounting direction), the roller 31 moves to the front of the tips of the upper holding member 26 and the lower holding member 25.

Here, the operation of the lock actuator 29, the roller holding member 30, and the roller 31 closing the cover member 14 (lock portion) will be described with reference to FIG. In FIG. 12A, first, the roller 31 is positioned behind the cover member 14 in the open state while the roller 31 is moved forward. In FIG. 12B, when the lock actuator 29 is then operated to move the roller 31 backward (arrow g1), the cover member 14 is pushed down by the roller 31 in contact with the cover member 14 (arrow g2). As a result, the cover member 14 is closed, and the function of the lock mechanism including the lock portion that prevents the attached cable 12 from falling off from the connector 13 is activated.

In this way, the lock actuator 29, the roller holding member 30, and the roller 31 act on the lock portion 32 (close the cover member 14) after the tip portion 12a of the cable 12 is attached to the connector 13. Constitute. That is, the cable holding portion 20 has a lock operating portion 32. The roller 31 is a locking member that moves along the mounting direction (front-back direction) to operate the lock portion. The lock operating portion 32 is appropriately changed according to the configuration of the lock mechanism of the connector 13. For example, in the case of the connector 13 in which the lever is tilted to close the cover member 14, the lock operating portion 32 includes a locking member for tilting the lever.

In FIG. 2, the torque sensor 22 holds the base member 24 so that the lower holding member 25, the upper holding member 26, and the lock operating portion 32 have the same working angle θ as the electronic device 4 with respect to the horizontal plane. This facilitates the cable mounting work described later. The torque sensor 22 detects the torque generated when the rotating shaft 22a rotates. In the cable mounting work, when the tip portion 12a of the cable 12 held by the cable holding portion 20 moves and comes into contact with the connector 13, the base member 24 rotates around the rotation shaft 22a of the torque sensor 22 due to the reaction force from the connector 13. (Arrow c).

As a result, it is detected that the tip portion 12a of the cable 12 has come into contact with the connector 13. The detection result of the torque sensor 22 is transmitted to the control unit 61. As described above, the torque sensor 22 is a sensor that measures the force applied to the cable holding portion 20 when the tip portion 12a of the cable 12 is attached to the connector 13. The cable holding portion 20 includes a sensor (torque sensor 22) that detects that the tip end portion 12a of the cable 12 is attached to the connector 13.

In the bracket 51 erected near the opening 8a on the upper surface of the base portion 8, the imaging unit 50 including the optical lens unit 52 and the camera 53 faces downward with the imaging optical axis 53a aligned with the drive center. Arranged in a posture. The control unit 61 operates the robot unit 5 to position the imaging unit 50 arranged on the base unit 8 above the electronic device 4 held by the work stage 3. In this state, by taking an image with the image pickup unit 50, it is possible to acquire an image of the tip portion 12a of the cable 12 held by the cable holding portion 20 and the connector 13 included in the electronic device 4. The image captured by the imaging unit 50 is transmitted to the control unit 61.

On the lower surface side of the base portion 8, a support member 54 is erected downward so as to surround the opening 8a. A lighting holding plate 55 corresponding to the outer shape of the electronic device 4 is held at the lower end of the support member 54, and a lighting 56 including a light emitting body such as an LED is formed on the lower surface of the lighting holding plate 55. It is installed. The illumination 56 is controlled by the control unit 61. At the time of imaging by the imaging unit 50, the illumination 56 is turned on to illuminate the cable 12, the connector 13, and the like to be imaged.

Next, the configuration of the control system of the electronic device assembly device 1 will be described with reference to FIG. The control unit 61 included in the electronic device assembly device 1 is connected to a robot unit 5, an imaging unit 50, a lighting 56, a distance measuring unit 40, a torque sensor 22, a holding actuator 28, a lock actuator 29, and an operation panel 9. When the control unit 61 controls and operates the robot unit 5, the holding actuator 28 of the cable holding unit 20, and the lock actuator 29, the cable mounting operation of moving the cable 12 described later and mounting it on the connector 13 is executed.

In the execution process of this cable mounting operation, the control unit 61 controls the distance measurement unit 40 to execute a distance measurement process for measuring the distance from the base unit 8 to the target 15. Further, the control unit 61 controls the image pickup unit 50 and the illumination 56 to execute an image pickup process for detecting the relative positional relationship between the tip portion 12a of the cable 12 and the connector 13. Further, the control unit 61 controls the torque sensor 22 to execute a mounting detection process for detecting that the tip portion 12a of the cable 12 is mounted on the connector 13.

In FIG. 5, the control unit 61 includes a position detection unit 62 and a distance calculation unit 63 as internal control processing functions. The position detection unit 62 is based on the captured image including the tip portion 12a of the cable 12 and the connector 13 held by the cable holding portion 20 imaged by the image pickup unit 50, and the tip portion 12a of the cable 12 and the connector 13. Execute the position detection process to detect the relative positional relationship. In the cable mounting operation of mounting the tip portion 12a on the connector 13, the control unit 61 controls the movement of the cable holding portion 20 by the robot unit 5 based on the relative position detection results of the tip portion 12a and the connector 13.

The control unit 61 includes a storage unit 64, which is a storage device. The storage unit 64 contains the position, size, shape of the connector 13 in the electronic device 4 to be worked on, the position, size, shape of the cover member 14 (lock portion), the position of the reflective surface 15a of the target 15 for distance measurement, and the like. Information required for cable installation work is stored.

The distance calculation unit 63 extends from the base unit 8 to the terminal surface 13b of the connector 13 based on the distance to the target 15 measured by the distance measurement unit 40 and the position of the reflection surface 15a of the target 15 stored in the storage unit 64. Calculate the distance. Further, the distance measuring unit 40 calculates the inclination of the connector 13 based on the difference in the distances to the plurality of targets 15.

Next, along the flow of FIG. 6, referring to each drawing, assembling the electronic device including the cable mounting work of mounting the tip portion 12a of the cable 12 to the connector 13 provided inside the electronic device 4 by the electronic device assembling device 1. The method will be described. In FIG. 6, first, the electronic device 4 to be worked is held on the work stage 3 in a posture in which the opening 4c side is lifted by the working angle θ (ST1: electronic device holding step) (see FIG. 3).

Next, the cable 12 is held by the cable holding portion 20 (ST2: cable holding step). Specifically, the control unit 61 inserts the cable 12 in a state where the upper holding member 26 is raised to generate a gap between the upper holding member 26 and the lower holding member 25, and the upper holding member 26 is lowered to form a lower holding member. It is sandwiched between 25 and 25 to hold it. As a result, the cable 12 is held by the cable holding portion 20 in a state where the tip portion 12a of the cable 12 protrudes forward from the tips of the upper holding member 26 and the lower holding member 25 (see FIG. 8).

In FIG. 6, the control unit 61 then moves the distance measurement unit 40 to a position where the measurement optical axis 40a abuts on the reflection surface 15a of the target 15 (arrow d in FIG. 7), and the distance measurement unit 40 connects the base unit 8 to the connector. The distance to the target 15 provided on the 13 or the electronic device 4 is measured (ST3: distance measurement step). The distance calculation unit 63 calculates the distance from the base unit 8 to the terminal surface 13b of the connector 13 based on the measured distance to the target 15 and the position of the reflection surface 15a stored in the storage unit 64.

As shown in the image captured by the imaging unit 50 shown in FIG. 9, the targets 15 are arranged at two locations on the left and right on the front surface of the connector 13 (the opening 4c side of the housing 4a) included in the electronic device 4. There is. In the distance measurement step (ST3), the distances of both targets 15 to the reflection surface 15a are measured, and the inclination of the connector 13 in the X-axis direction is calculated from the difference between the distances measured by the distance calculation unit 63. In this way, in the distance measurement step (ST3), the distance from the base portion 8 to the connector 13 or the electronic device 4 is measured.

In FIG. 6, the control unit 61 then moves the cable holding unit 20 holding the cable 12 with respect to the electronic device 4 based on the measurement result in the distance measurement step (ST3) (arrow e in FIG. 8). The tip portion 12a of the cable 12 is brought close to the connector 13 (ST4: cable approaching step). Next, the control unit 61 obliques the tip portion 12a of the cable 12 to the mounting direction of the cable 12 mounted on the connector 13 by the imaging unit 50 at an acute angle φ (an angle obtained by subtracting the working angle θ from 90 degrees). The tip portion 12a and the connector 13 of the above are imaged (ST5: imaging step). The acute angle φ is preferably in the range of 35 degrees <φ <75 degrees.

Here, an example of the captured image 50a by the imaging unit 50 will be described with reference to FIG. 9. A part of the connector 13 installed inside the electronic device 4 on the opening 4c side (a part of the terminal surface 13b) is shown through the opening 4c in the upper part of the captured image 50a. Further, in the lower part of the captured image 50a, the tip of the upper holding member 26 of the cable holding portion 20 and the tip of the lock operating portion 32 (a part of the roller holding member 30 and the roller 31) are shown. In front of the upper holding member 26, the tip end portion 12a of the cable 12 held by the cable holding portion 20 is shown. In this way, by imaging from the direction oblique to the acute angle φ, at least a part of the connector 13 installed inside the electronic device 4 can be imaged through the opening 4c.

Since the positional relationship between the image pickup unit 50 and the cable holding portion 20 is fixed, the upper holding member 26 always appears at a fixed position that coincides with the image frame direction in the captured image 50a. On the other hand, the tip portion 12a of the cable 12 sandwiched and held between the upper holding member 26 and the lower holding member 25 is in a somewhat position due to a position error in the cable holding step (ST2) or the like. Indicates a deviation. Further, the connector 13 is in a misaligned state due to a position holding error of the electronic device 4 in the electronic device holding step (ST1), a mounting position error of the connector 13 in the electronic device 4, and the like. That is, the relative positional relationship between the connector 13 and the tip portion 12a mounted on the connector 13 varies depending on the connector 13 to be mounted.

In FIG. 6, the position detection unit 62 then detects the relative positional relationship between the tip portion 12a of the cable 12 and the connector 13 from the captured image 50a captured in the imaging step (ST5) (ST6: position detection step).

Here, the position detection process by the position detection unit 62 will be described with reference to FIG. First, the position detection unit 62 obtains the positions of the recognition points R1 and R2 for detecting the position of the tip portion 12a of the cable 12 from the image image 50a captured by the image pickup unit 50. Next, the position detection unit 62 sets the midpoint of the recognition points R1 and R2 as the representative point PM1 indicating the position of the tip portion 12a. Next, the position detection unit 62 obtains the positions of the recognition points R3 and R4 for detecting the position of the connector 13. Next, the position detection unit 62 sets the midpoint of the recognition points R3 and R4 as the representative point PM2 indicating the position of the connector 13. The detected representative point PM1 and representative point PM2 are information indicating the relative positional relationship between the tip end portion 12a of the cable 12 and the connector 13.

In FIG. 6, the control unit 61 then locks the roller 31 (locking member) based on the positional relationship (relative positional relationship) between the representative point PM1 and the representative point PM2 detected in the position detection step (ST6). The cable holding portion 20 is moved so that the portion 32 does not interfere with the connector 13, and the tip portion 12a of the cable 12 is brought closer to the connector 13 (ST7: avoidance approach step).

Specifically, first, the control unit 61 corrects the misalignment of the tip portion 12a of the cable 12 with respect to the connector 13 based on the positional relationship between the representative point PM1 and the representative point PM2. Next, the control unit 61 raises the cable holding unit 20 to a height at which the lower end of the roller 31 is above the upper end of the cover member 14 of the connector 13 in the mounting direction and the cable holding unit 20 does not interfere with the opening 4c (FIG. 10). (A) Arrow f1). Next, the control unit 61 advances the roller holding member 30 in the mounting direction until the roller 31 is forward of the tip portion 12a of the cable 12 by a predetermined distance (arrow f2 in FIG. 10B).

Next, the control unit 61 moves the cable holding unit 20 in the mounting direction until the roller 31 is located behind the cover member 14 (inside the opening 4c) (arrow f3 in FIG. 11A). Next, the control unit 61 lowers the cable holding unit 20 until the lower surface of the tip portion 12a of the cable 12 abuts on the terminal surface 13b of the connector 13 (arrow f4 in FIG. 11B). In this state, the roller 31 is located behind the cover member 14.

In FIG. 6, when the tip portion 12a of the cable 12 comes into contact with the terminal surface 13b of the connector 13 in the avoidance approach step (ST7), the control unit 61 advances the cable holding portion 20 in the mounting direction by a predetermined minute amount. (ST8: Micro forward step) (arrow f5 in FIG. 12A), the torque sensor 22 determines whether or not the tip portion 12a of the cable 12 is in contact with the connector 13 (attached) (ST9: attachment). Judgment process).

If they are not in contact (No in ST9), the minute advance step (ST8) is further executed. In this way, when the cable holding portion 20 is gradually advanced (ST8) and the torque sensor 22 detects that the tip portion 12a of the cable 12 is in contact with the connector 13 (attached) (Yes in ST9). , The control unit 61 stops the movement of the cable holding unit 20 (see FIG. 12A). In this way, by using the torque sensor 22, it is possible to detect that the tip portion 12a of the cable 12 is attached to the connector 13 even when the tip portion 12a of the cable 12 is in a position where the image pickup unit 50 cannot image. Can be done.

In this way, in the avoidance approach step (ST7), the minute advance step (ST8), and the mounting determination step (ST9), the cable holding portion 20 is moved based on the relative positional relationship detected in the position detection step (ST6). This is a mounting step ST20 in which the tip end portion 12a of the cable 12 is mounted on the connector 13.

In FIG. 6, the control unit 61 then moves the roller 31 (locking member) rearward (outside the opening 4c) along the mounting direction (arrow g1 in FIG. 12B) to lock the cover member 14 (locking member). (Section) is pushed down (ST10: lock operation process). As a result, the cover member 14 is closed and the lock portion is operated (arrow g2 in FIG. 12B). That is, after the mounting step (ST20), in the lock operating step (ST10), the lock portion is operated by the lock operating portion 32 included in the cable holding portion 20.

Next, the control unit 61 raises the upper holding member 26 (arrow h in FIG. 13A) to release the holding of the cable 12 by the cable holding unit 20 (ST11: cable release step). Next, the control unit 61 moves the cable holding unit 20 backward in the mounting direction (arrow i in FIG. 13B), and then returns the cable holding unit 20 to the original position (ST12: Cable holding unit returning step). ). As a result, the cable 12 is attached to the connector 13 of the electronic device 4 (see FIG. 4). Next, the electronic device 4 for which the cable attachment work has been completed is recovered from the work stage 3 (ST13: electronic device recovery step). As a result, the assembly of the electronic device for one electronic device 4 is completed.

As described above, in the electronic device assembling device 1 of the present embodiment, the cable holding portion 20 for holding the cable 12, the base portion 8 to which the cable holding portion 20 and the imaging unit 50 are mounted, and the base portion 8 The robot unit 5 that moves the cable holding unit 20 with respect to the electronic device 4 provided with the connector 13 to which the tip end portion 12a of the cable 12 is attached by moving the cable 12 and the image captured by the imaging unit 50 (image captured image 50a). A position detection unit 62 that detects the relative positional relationship between the tip portion 12a of the cable 12 and the connector 13 and a control unit 61 that moves the imaging unit 50 by operating the robot unit 5 are provided. Then, the image pickup unit 50 images the tip end portion 12a of the cable 12 and the connector 13 from a direction in which the tip end portion 12a of the cable 12 is obliquely inclined to an acute angle φ with respect to the mounting direction in which the cable 12 is mounted on the connector 13. As a result, the cable 12 can be attached to the connector 13 provided inside the electronic device 4.

The electronic device assembling device and the electronic device assembling method of the present invention have an effect that a cable can be attached to a connector provided inside the electronic device, and are useful in the field of assembling an electronic device.

1 Electronic equipment assembly device 4 Electronic equipment 5 Robot part 8 Base part 12 Cable 12a Tip part 13 Connector 14 Cover member (lock part)
15 Target 20 Cable holder 22 Torque sensor (sensor)
31 Roller (locking member)
32 Lock operating unit 40 Distance measuring unit 50 Imaging unit

Claims (17)

A cable holder that holds the cable and
A base unit to which the cable holding unit and the imaging unit are mounted,
A robot unit that moves the cable holding portion with respect to an electronic device having a connector to which the tip end portion of the cable is attached by moving the base portion.
A position detection unit that detects the relative positional relationship between the tip of the cable and the connector from the image captured by the imaging unit, and
A control unit that moves the imaging unit by operating the robot unit is provided.
The image pickup unit is an electronic device assembling device that images the tip end of the cable and the connector from a direction in which the tip of the cable is oblique with respect to the mounting direction of the connector. The electronic device assembling device according to claim 1, wherein the base unit has a distance measuring unit that measures a distance from the base unit. The connector or the electronic device is provided with a target for distance measurement.
The electronic device assembling device according to claim 2, wherein the distance measuring unit measures the distance to the target. The connector has a locking portion that prevents the tip of the attached cable from falling off the connector.
The electronic device assembling device according to any one of claims 1 to 3, wherein the cable holding portion has a lock operating portion that operates the lock portion after the tip end portion of the cable is attached to the connector. The electronic device assembling device according to claim 4, wherein the lock operating portion includes a locking member that moves along the mounting direction to operate the lock portion. After the position detection unit detects the relative positional relationship, the control unit operates the robot unit and the cable holding unit so that the lock operating unit does not interfere with the connector. The electronic device assembling device according to claim 4 or 5, wherein the device is brought close to the connector. The electronic device assembling device according to any one of claims 1 to 6, wherein the cable holding portion includes a sensor that detects that the tip end portion of the cable is attached to the connector. The electronic device assembling device according to claim 7, wherein the sensor measures a force applied to the cable holding portion when the tip end portion of the cable is attached to the connector. The electronic device assembly according to claim 7 or 8, wherein the sensor detects that the tip of the cable is attached to the connector in a state where the tip of the cable cannot be imaged by the imaging unit. apparatus. The electronic device assembling device according to any one of claims 1 to 9, wherein the electronic device includes the connector inside. It is an electronic device assembly method in which the tip of a cable is attached to a connector provided in the electronic device by an electronic device assembly device.
Electronic equipment assembly equipment
A cable holder that holds the cable and
A base portion to which the cable holding portion and the imaging unit are mounted is provided.
A cable approaching step of moving the cable holding portion holding the cable with respect to the electronic device by moving the base portion and bringing the tip end portion of the cable closer to the connector.
An imaging step of imaging the tip of the cable and the connector from a direction in which the tip of the cable is obliquely oriented with respect to the mounting direction of the cable by the imaging unit.
A position detection step of detecting the relative positional relationship between the tip of the cable and the connector from the image captured by the imaging step, and
A method for assembling an electronic device, which comprises a mounting step of moving the cable holding portion to mount the tip of the cable on the connector based on the detected relative positional relationship. A distance measuring step of measuring the distance from the base portion to the connector or the electronic device is further included.
The method for assembling an electronic device according to claim 11, wherein in the cable approaching step, the cable holding portion is moved based on the measurement result in the distance measuring step. The connector or the electronic device is provided with a target for distance measurement.
The method for assembling an electronic device according to claim 12, wherein the distance to the target is measured in the distance measuring step. The connector has a locking portion that prevents the tip of the attached cable from falling off the connector.
The method for assembling an electronic device according to any one of claims 11 to 13, further comprising a lock operation step of operating the lock portion by the cable holding portion after the mounting step. The cable holding portion includes a locking member that operates the lock portion.
The method for assembling an electronic device according to claim 14, wherein in the lock operation step, the locking member is moved along the mounting direction to operate the lock portion. The method for assembling an electronic device according to claim 15, wherein in the mounting step, the cable holding portion is moved so that the locking member does not interfere with the connector, and the tip end portion of the cable is mounted on the connector. The cable holding portion includes a sensor that detects that the tip of the cable is attached to the connector.
The method for assembling an electronic device according to any one of claims 11 to 16, wherein when the sensor detects that the tip of the cable is attached to the connector in the attachment step, the movement of the cable holding portion is stopped. ..

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