JP6998503B2 - Electronic device assembly equipment and electronic device assembly method - Google Patents

Description

The present invention relates to an electronic device assembling device and an electronic device assembling method for assembling an electronic device by inserting a cable into a connector.

In various electronic devices such as in-vehicle electronic devices (for example, instrument panel meters, navigation devices, rear-view mirrors, etc.), functional modules such as display devices and circuit boards are electrically connected by cables such as flexible cables. And assembled. In the assembly of such electronic devices, the work of inserting a cable into a connector has been manually performed by a worker in the past, but in recent years, automation of the work has been proposed for the purpose of improving work quality and the like. ..

For example, Patent Document 1 of the following patent document discloses a method of assembling an electronic device in which a cable with a connector is inserted into a connector on a substrate side by two robots. In this assembly method, a cable with a connector is passed between two robots having a camera, and the connectors are connected to each other while checking the position of the connector of the other party with the camera.

Japanese Unexamined Patent Publication No. 2005-11580

However, in the prior art example shown in the above-mentioned patent document, since two robots are required for the work of inserting the cable into the connector, the equipment configuration becomes complicated and large-scale, and the work process becomes complicated. There was a problem.

Therefore, the present invention provides an electronic device assembling device and an electronic device assembling method that can perform a work of inserting a cable into a connector with a simple configuration and can improve the work quality of an electronic device assembling work. The purpose.

The electronic device assembly device of the present invention has a cable holding portion for holding a cable and a moving base to which the cable holding portion is mounted, and by moving the moving base, the cable holding portion is relative to the connector. The lighting unit includes a robot unit for moving the cable, an image pickup means for imaging the cable held by the cable holding portion and before being inserted into the connector together with the connector, and an illumination unit. The illumination unit is the image pickup unit. So that when the cable is imaged with the connector, the two side edges extending along the insertion direction of the cable are brighter than the other parts of the cable including the side edges other than the two side edges. The cable is illuminated , and the illumination unit is arranged along a pair of first light emitters arranged along the insertion direction of the cable with respect to the connector and a direction intersecting the insertion direction in a plan view. A pair of a plurality of second light emitters are arranged, and the plurality of first light emitters emit light with a higher illuminance than the plurality of second light emitters, and the pair of the plurality of first light emitters emit light. The illuminant is arranged at a position that illuminates the two side edges extending along the insertion direction of the cable .

The electronic device assembly method of the present invention is an electronic device assembly method in which a cable is inserted into a connector to assemble an electronic device, and the cable holding step of holding the cable in a cable holding portion and the cable holding in the cable holding step. An imaging step of imaging the cable held in the portion together with the connector, a step of moving the cable holding portion relative to the connector by moving the moving base, and a step of moving the cable to the connector in the imaging step. The cable holding portion includes a cable insertion step of inserting the cable held in the cable holding step into the connector based on the result of imaging together with the cable holding portion, and in the imaging step, along the insertion direction of the cable. The cable is illuminated so that the two extended side edges are brighter than the other parts of the cable that include other side edges than the two side edges .

According to the present invention, it is possible to perform the work of inserting the cable into the connector with a simple configuration, and it is possible to improve the work quality of the work of assembling the electronic device.

Perspective view of the electronic device assembly device according to the embodiment of the present invention. (A) (b) Perspective view of the electronic device which is the work target of the electronic device assembly device according to the embodiment of the present invention. The figure which shows the cable provided in the electronic device which is the work target of the electronic device assembly apparatus in one Embodiment of this invention. (A) (b) Perspective view of a connector included in an electronic device which is a work target of the electronic device assembly device according to the embodiment of the present invention. The figure which shows the work stage provided in the electronic device assembly apparatus in one Embodiment of this invention together with the electronic device which is a work target. Side view of the head portion included in the electronic device assembly apparatus according to the embodiment of the present invention. A perspective plan view of a head portion included in the electronic device assembly device according to the embodiment of the present invention. (A) (b) Configuration explanatory view of the chuck block provided in the head portion of the electronic device assembly device according to the embodiment of the present invention. A perspective view of a lighting unit included in an electronic device assembly device according to an embodiment of the present invention. A side view of the vicinity of the lighting unit included in the electronic device assembly device according to the embodiment of the present invention. (A) (b) A diagram illustrating a principle for confirming an opening / closing posture of a connector included in an electronic device assembly device according to an embodiment of the present invention. A block diagram showing a control system of an electronic device assembly device according to an embodiment of the present invention. The flow diagram which shows the flow of the cable attachment work performed by the electronic device assembly apparatus in one Embodiment of this invention. The figure which shows the state which blows out the air from the air blow nozzle provided in the electronic device assembly apparatus in one Embodiment of this invention toward a lock member. (A) (b) The figure which shows how the cable is pushed by the pusher provided in the electronic device assembly apparatus in one Embodiment of this invention. (A) (b) Operational explanatory view of the cable holding portion included in the electronic device assembly device according to the embodiment of the present invention. (A) (b) The figure which shows the mode that the cable is held by the cable holding part provided in the electronic device assembly apparatus in one Embodiment of this invention. The figure which shows the state which imaged the cable held by the cable holding part together with the connector by the camera provided in the electronic device assembly apparatus in one Embodiment of this invention. A plan view showing a state in which a cable and a connector are illuminated by a lighting unit included in an electronic device assembly device according to an embodiment of the present invention. The figure which shows an example of the captured image acquired by the camera provided in the electronic device assembly apparatus in one Embodiment of this invention. (A) (b) The figure which shows the state that the cable holding part provided in the electronic device assembly apparatus in one Embodiment of this invention inserts a cable into a connector. (A) (b) (c) The figure which shows the mode that the lock member is operated by the lock member operation part provided in the electronic device assembly apparatus in one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an electronic device assembly device 1 according to an embodiment of the present invention. The electronic device assembly device 1 performs a predetermined operation on the electronic device 2 before assembly shown in FIG. 2A to obtain the electronic device 2 after assembly shown in FIG. 2B. In the present embodiment, the left-right direction when the electronic device assembly device 1 is viewed from the front is the X-axis, and the front-rear direction when the electronic device assembly device 1 is viewed from the front is the Y-axis. Further, the vertical direction is the Z axis.

The electronic device 2 is, for example, an in-vehicle electronic device, and as shown in FIGS. 2A and 2B, the electronic device 2 is mainly composed of a circuit board 11 and a display device 12. The electronic component 13 is mounted on the circuit board 11, and the display surface of the display device 12 is facing downward here.

In FIGS. 2A and 2B, the circuit board 11 and the display device 12 each have a rectangular shape. A cable 14 made of a flexible printed board or the like is attached to each of three sides (two short sides and one long side) of the four sides of the display device 12. Each cable 14 electrically connects the circuit board 11 and the display device 12, and one end (lower end) side thereof is previously connected to the display device 12.

In FIG. 2A, each cable 14 before assembly extends upward from the display device 12. A plurality of cable-side terminals 14T are provided on the inner surface of the tip (upper end) 14S of each cable 14 (FIG. 3). A reinforcing plate 15 is provided on the outer surface of the tip portion 14S of each cable 14 (FIGS. 2A, 2B and 3).

In FIG. 3, the reinforcing plate 15 is made of a thin plate member. One end side of the reinforcing plate 15 is attached to the tip end portion 14S of the cable 14, and the other end side extends to the root side (display device 12 side) of the cable 14. A gap 15S is formed between the other end side of the reinforcing plate and the cable 14.

In FIGS. 2A and 2B, of the four edges of the upper surface (mounting surface) of the circuit board 11, the portion corresponding to the three sides to which the cable 14 of the display device 12 is connected is a cable. A connector 16 into which the tip portion 14S of 14 is inserted is provided. As shown in FIG. 4A, each connector 16 has a cable receiving portion 16a into which the tip end portion 14S of the cable 14 is inserted, and a plurality of connectors 16 provided on the upper surface of the cable receiving portion 16a. A plurality of connector-side terminals 16T that come into contact with the cable-side terminal 14T of the above are provided.

In FIGS. 2 (a) and 2 (b) and FIGS. 4 (a) and 4 (b), each connector 16 is provided with a lock member 17. Each lock member 17 is composed of a door-shaped member provided so as to swing (open and close in the vertical direction) around the swing shaft 17a with respect to the connector 16. The lock member 17 is in an open posture in which the tip portion 14S of the cable 14 stands upright before being inserted into the connector 16 (FIGS. 2 (a) and 4 (a)), but the tip of the cable 14 is reached. After the portion 14S is inserted into the connector 16, it is operated so as to lie down from the open posture to be in the closed posture (FIGS. 2 (b) and 4 (b)). When the lock member 17 is in the closed posture, the tip portion 14S of the cable 14 is sandwiched and locked between the cable receiving portion 16a of the connector 16 and the lock member 17, and the cable 14 is prevented from falling off from the connector 16. ..

Next, the electronic device assembly device 1 will be described. In FIG. 1, the electronic device assembly device 1 has a work stage 22 on a base 21. The work stage 22 positions and holds the electronic device 2 to be worked. The work stage 22 rotates about the vertical axis with respect to the base 21, thereby positioning the held electronic device 2 in a predetermined rotational posture.

In FIG. 5, a plurality of (here, three) pushers 23 and a plurality of (here, three) air blow nozzles 24 are provided at positions surrounding the electronic device 2 on the work stage 22. Each pusher 23 is provided at a position facing the outer surface side (the side where the reinforcing plate 15 is provided) of each cable 14 of the electronic device 2. Each air blow nozzle 24 is held by a nozzle bracket 24B provided on the work stage 22, and the air outlet is obliquely opposed to the lock member 17 of the connector 16 of the electronic device 2.

In FIG. 1, a plurality of post members 25 are provided extending upward from the corners of the base 21. These plurality of post members 25 support the top plate 26 in a horizontal posture above the base 21. On the lower surface side of the top plate 26, a robot portion 27 and a head portion 28 whose posture is changed by the robot portion 27 are provided. A touch panel 29 as an input / output device is provided on the side of the top plate 26.

In FIG. 1, the robot unit 27 includes a fixed base 31, six link members 32, and a moving base 33. The fixed base 31 is attached to the lower surface of the top plate 26. The six link members 32 extend downward from the fixed base 31. The moving base 33 is made of a plate-shaped member as a whole, and has a circular opening 33H in the central portion (FIG. 6).

The lower ends of each of the six link members 32 are connected to a position surrounding the opening 33H on the upper surface of the moving base 33 via a universal joint 32a. Each of the six link members 32 is driven by the six servo mechanisms built in the fixed base 31 and operates individually. By operating the six link members 32 individually, the movement base 33 can be freely moved with six degrees of freedom. That is, in the present embodiment, the robot unit 27 is configured by a parallel link robot.

In FIG. 6, the head portion 28 is provided on the moving base 33, and includes a cable holding portion 41, a lock member operating portion 42, a lighting unit 43, an image pickup unit 44, and a lock unit open / close sensor 45. The cable holding portion 41, the lock member operating portion 42, the lighting portion 43, and the lock portion opening / closing sensor 45 are provided on the lower surface side of the moving base 33. The image pickup unit 44 is provided on the upper surface side of the moving base 33.

In FIGS. 6 and 7, the cable holding portion 41 includes a guide rail 51, a slider 52, a moving block 53, a spring member 54, a chuck base 55, a blade 56, a cable holding portion cylinder 57, a slide portion 58, and a chuck block 59. ing. The guide rail 51 is provided on the lower surface of the moving base 33 so as to extend in the Y-axis direction, and guides the slider 52 so as to be movable in the Y-axis direction. The moving block 53 is fixed to the slider 52, guided by the guide rail 51, and moves integrally with the slider 52 in the Y-axis direction.

In FIGS. 6 and 7, a screw portion 53a is provided so as to extend in the Y-axis direction at the outer end portion of the movement block 53 in the Y-axis direction (the end portion on the side away from the central portion side of the movement base 33). There is. The screw portion 53a extends through a screw hole provided in the downward extending portion 33a extending downward from the moving base 33, and a nut 53b is screwed to the end portion on the penetrating side.

In FIGS. 6 and 7, the spring member 54 is provided between the moving block 53 and the downward extending portion 33a. The spring member 54 is made of a compression spring and urges the moving block 53 toward the center of the opening 33H of the moving base 33. When the nut 53b is twisted with respect to the screw portion 53a, the moving block 53 moves in the Y-axis direction.

In FIG. 6, the chuck base 55 is attached to the moving block 53. The chuck base 55 extends in an oblique direction in the YZ plane passing through the center of the opening 33H, and its tip end thereof is directed to a position directly below the opening 33H. The blade 56 is made of a plate-shaped member and is attached to the lower end of the chuck base 55 in a horizontal posture. The blade 56 has its tip positioned below the opening 33H.

In FIG. 6, the cable holding cylinder 57 is provided on the upper surface of the chuck base 55. The slide portion 58 is connected to a piston rod (not shown) of the cable holding portion cylinder 57, and the chuck block 59 is attached to the lower end of the slide portion 58. The chuck block 59 has a horizontal lower surface 59a. When the cable holding portion cylinder 57 moves the slide portion 58 along the chuck base 55, the lower surface 59a of the chuck block 59 is separated from or close to the upper surface 56a of the blade 56 (FIG. 8A). (FIG. 8 (b)).

As shown in FIG. 8B, when the lower surface 59a of the chuck block 59 is close to the blade 56 (the chuck block 59 is closed), the tip of the lower surface 59a of the chuck block 59 is the tip of the blade 56. A protruding portion 59T having a predetermined length LB is formed so as to project toward the opening 33H. A plurality of spike claws 59S are provided on the lower surface of the chuck block 59 (FIG. 8A).

When the nut 53b is twisted with respect to the screw portion 53a to move the moving block 53 in the Y-axis direction, the position of the blade 56 moves closer to or further from the position below the opening 33H. This makes it possible to adjust the position of the blade 56 below the opening 33H as needed.

In FIGS. 6 and 7, the lock member operation unit 42 includes a cylinder bracket 61, a lock cylinder 62, a cushioning unit 63, a roller support member 64, and a roller 65. The cylinder bracket 61 is provided at a position facing the cable holding portion 41 in the Y-axis direction with the center of the opening 33H on the lower surface of the moving base 33 interposed therebetween.

In FIG. 6, the lock cylinder 62 is attached to the cylinder bracket 61. The lock cylinder 62 extends in an oblique direction in the YZ plane passing through the center of the opening 33H, and the tip end portion of the piston rod 62R is directed downward. The cushioning portion 63 is attached to the tip end portion (lower end portion) of the piston rod 62R and holds the roller support member 64. The roller 65 is rotatably supported by the roller support member 64.

In FIG. 6, the illumination unit 43 is supported in a horizontal posture by a plurality of support members 43R extending downward from the lower surface of the moving base 33. As shown in FIG. 9, the illumination unit 43 includes a frame 71 and a plurality of light emitters 72 provided on the lower surface side of the frame 71.

In FIG. 9, the frame 71 has a rectangular shape having two sides parallel to the Y-axis direction and two sides orthogonal to these two sides (that is, parallel to the X-axis) in a plan view. The center of the frame 71 (the center of the rectangle) is located on the vertical axis passing through the center of the opening 33H of the moving base 33. The plurality of light emitting bodies 72 are composed of, for example, LEDs whose light emitting directions are directed downward, and are provided side by side along each side of the four sides of the frame 71.

In FIG. 9, the plurality of light emitters 72 are a plurality of first light emitters 72A arranged along two sides parallel to the Y axis of the frame 71, and along two sides parallel to the X axis of the frame 71. It has a plurality of second illuminants 72B arranged. The illuminating unit 43 illuminates an object to be illuminated located below the illuminating unit 43 by causing each light emitting body 72 to emit light. Each light emitting body 72 can be independently turned on and off and the illuminance can be adjusted, and the illuminance of the first light emitting body 72A and the illuminance of the second light emitting body 72B can be made different from each other.

In FIG. 6, the image pickup unit 44 includes an optical lens unit 81 and a camera 82 as an image pickup means. An image pickup unit bracket 44B is provided on the upper surface of the moving base 33 so as to extend upward, and an optical lens unit 81 and a camera 82 are attached to the image pickup unit bracket 44B. The camera 82 is located above the optical lens portion 81, and the image pickup optical axis 82J of the camera 82 extends in the vertical direction through the center of the opening 33H. The optical axis 81J of the optical lens unit 81 also extends in the vertical direction and coincides with the image pickup optical axis 82J of the camera 82.

The camera 82 takes an image of the image pickup object through the optical lens section 81 in a state where the image pickup object located below the optical lens section 81 is illuminated by the illumination section 43. In the present embodiment, the image pickup object to be imaged by the camera 82 is the tip portion 14S of the cable 14 and the connector 16 as described later.

In FIG. 6, the lock portion opening / closing sensor 45 is provided at a position close to the opening 33H on the lower surface of the moving base 33. The lock unit opening / closing sensor 45 is composed of a distance measuring sensor that irradiates the measurement light downward, and has a light projecting unit that projects the measurement light downward and a light receiving unit that receives the reflected measurement light (reflected light). ing. The lock portion open / close sensor 45 irradiates the connector 16 with the measurement light (FIG. 10) and receives the reflected light to detect the open / closed state of the lock member 17 provided on the connector 16.

Specifically, as shown in FIGS. 11A and 11B, first, the height H1 of the measurement position (first measurement position Pa) whose height does not change regardless of the opening / closing posture of the lock member 17. , The height H2 of the measurement position (second measurement position Pb) at which the height of the lock member 17 changes depending on the opening / closing posture is obtained. Then, the difference ΔH (= H1-H2) of these heights is calculated, and the calculated difference ΔH is compared with the predetermined reference value ΔH0 to detect the opening / closing posture of the lock member 17.

In the present embodiment, for example, the first measurement position Pa is set on the upper surface of the connector 16, and the second measurement position Pb is set on the upper surface of the lock member 17 (FIG. 11A) or the cable receiving portion of the connector 16. It is set on the upper surface of 16a (FIG. 11 (b)). The reference value ΔH0 is set to, for example, an intermediate value between the difference ΔH obtained when the lock member 17 is in the closed posture and the difference ΔH obtained when the lock member 17 is in the open posture. In this case, if the calculated difference ΔH is smaller than the reference value ΔH0, it is detected that the lock member 17 is in the open posture, and if the calculated difference ΔH is larger than the reference value ΔH0, the lock member 17 is in the closed posture. Is detected.

In FIG. 5, each pusher 23 has a pusher base 23a provided on the upper surface of the work stage 22 and a movable piece 23b that can move horizontally with respect to the pusher base 23a. The pusher base 23a has a built-in actuator (for example, a cylinder) for operating the movable piece 23b. Each air blow nozzle 24 blows air onto the lock member 17 before the cable 14 is inserted into the connector 16 by the cable holding portion 41.

In FIG. 12, the operation of positioning the electronic device 2 by the work stage 22, the operation of moving and changing the posture of the head unit 28 by the robot unit 27, the operation of the cable holding unit cylinder 57 included in the cable holding unit 41, and the operation of the lock member operating unit 42. The control unit 90 included in the electronic device assembly device 1 controls the operation of the lock cylinder 62, the light emission (illuminance adjustment) operation of each light emitting body 72 included in the lighting unit 43, and the imaging operation of the camera 82 included in the imaging unit 44. .. Further, the control unit 90 also controls the operation of the movable piece 23b in each of the plurality of pushers 23 and the control of blowing air from each of the plurality of air blow nozzles 24.

In FIG. 12, the image analysis unit 91 of the control unit 90 performs the analysis based on the image (image taken) obtained by the camera 82, and the lock member 17 of each connector 16 based on the detection information of the lock unit open / close sensor 45. The opening / closing determination is made by the lock determination unit 92 of the control unit 90. The information input from the touch panel 29 is input to the control unit 90, and the control unit 90 outputs the information to the operator through the touch panel 29.

Next, using the flow chart shown in FIG. 13, a procedure for executing the cable mounting operation including the insertion and locking operation of the cable 14 into the connector 16 by the electronic device assembly device 1 in the present embodiment will be described. Here, an example in which one cable 14 is attached to the corresponding connector 16 will be described, but the same applies when the other cable 14 is attached to the corresponding connector 16. Before the cable attachment work is performed, the electronic device 2 to be worked is held in the work stage 22 in advance. At this time, the lock members 17 of all the connectors 16 included in the electronic device 2 are in the open posture.

In the cable mounting work, first, the position of the electronic device 2 is adjusted (the electronic device position adjusting step of step ST1 shown in FIG. 13). Specifically, the outer surface (the surface on the side where the reinforcing plate 15 is attached) of the cable 14 to be inserted into the connector 16 after the work stage 22 is activated faces the tip of the chuck block 59. Rotate around the vertical axis so that it does.

After adjusting the position of the electronic device 2, as shown in FIG. 14, the air blow nozzle 24 provided corresponding to the connector 16 into which the cable 14 is inserted is directed toward the lock member 17 of the connector 16. And blow air 24a for a certain period of time (air blow step in step ST2). As a result, even if the lock member 17 is in the half-open state, the lock member 17 is put into the open posture.

After blowing air onto the lock member 17, the lock portion open / close sensor 45 inspects whether the lock member 17 of the connector 16 into which the cable 14 is inserted is in the open posture (open posture inspection step in step ST3). ). Specifically, the robot unit 27 moves the head unit 28 to position the lock unit open / close sensor 45 above the connector 16 (FIG. 10). Then, as described above, the lock portion open / close sensor 45 irradiates the connector 16 with the measurement light and receives the reflected light to detect the open / closed state of the lock member 17 provided on the connector 16.

As a result of inspecting whether or not the lock member 17 is in the open posture, if the lock member 17 is not in the open posture (it is in the closed posture), the work is temporarily stopped and then via the touch panel 29. The lock member 17 is notified that the lock member 17 is closed (notification step of step ST4). Upon receiving this notification, the operator manually opens the lock member 17 and performs an operation of restarting the work from the touch panel 29.

After the lock member 17 is detected to be in the open posture in the open posture inspection process or the lock member 17 is detected to be in the closed posture in the open posture inspection process, the work is restarted from the touch panel 29. When the operation of is performed, the next cable pressing step (step ST5) is executed. In the cable pressing step, the cable 14 is pressed by the pusher 23 so that the cable 14 is in a posture that is easily held by the cable holding portion 41. Specifically, the pusher 23 at a position facing the connector 16 into which the cable 14 is inserted causes the movable piece 23b to project toward the cable 14 (FIG. 15 (a) → FIG. 15 (b)). As a result, the intermediate portion of the cable 14 is pressed toward the connector 16 by the movable piece 23b, and the posture is changed so as to lower the upper end portion (tip portion) (FIG. 15 (b)). Therefore, the cable holding portion 41 is a cable. It becomes easy to hold 14. At this time, the pusher 23 continues pressing the cable 14 until the cable holding step described later is completed.

When the cable 14 is pressed by the pusher 23, the robot unit 27 moves the head unit 28 to hold the cable 14 in the cable holding unit 41 (cable holding step in step ST6). Specifically, the cable holding portion 41 operates so as to insert the blade 56 into the gap 15S between the cable 14 and the reinforcing plate 15 and scoop it up (FIG. 16A → 16B). Then, the chuck block 59 is brought close to the blade 56 (FIG. 17A → 17B), and the reinforcing plate 15 is sandwiched between the upper surface 56a of the blade 56 and the lower surface 59a of the chuck block 59. Holds the cable 14. As a result, the tip portion 14S of the cable 14 is in a state of protruding from the tip of the chuck block 59 (FIG. 17 (b)).

Here, as described above, the pusher 23 presses the cable 14 so that the cable 14 is easily held by the cable holding portion 41 before the cable holding portion 41 holds the cable 14. Therefore, it is unlikely that the cable holding portion 41 will cause a holding error of the cable 14.

When the cable holding portion 41 holds the cable 14 in the cable holding step, the plurality of spike claws 59S provided on the lower surface 59a of the chuck block 59 slightly bite into the surface of the reinforcing plate 15. Therefore, the reinforcing plate 15 is prevented from slipping with respect to the chuck block 59, and the reinforcing plate 15 is firmly held by the blade 56 and the chuck block 59. Here, even if the cable 14 is sandwiched between the chuck block 59 and the blade 56 together with the reinforcing plate 15 and the cable 14 is deformed such as a warped shape or a wavy shape, the deformation is corrected. Will be done.

After the cable holding portion 41 holds the cable 14 as described above, the cable 14 is temporarily positioned with respect to the connector 16 (temporary positioning step in step ST7). In the temporary positioning of the cable 14, the robot unit 27 moves the head unit 28 to bring the tip portion 14S of the cable 14 closer to the connector 16 in a horizontal posture. Then, both the tip portion 14S of the cable 14 and the connector 16 are located within the imageable region of the camera 82 (FIG. 18).

After the cable 14 is temporarily positioned with respect to the connector 16 as described above, the lighting unit 43 illuminates the cable 14 held by the cable holding unit 41, and the camera 82 is illuminated by the lighting unit 43. Is imaged together with the cable 14 (imaging step in step ST8). When the illumination unit 43 illuminates in the imaging step, the first light emitting body 72A emits light with a relatively higher illuminance than the second light emitting body 72B. Therefore, the two side edges of the cable 14 passing through the region LR (FIG. 19) parallel to the arrangement direction (Y-axis direction) of the first light emitter 72A (the side edges of the cable 14 parallel to the insertion direction with respect to the connector 16). ) Is illuminated brighter than other areas, and its edges can be recognized accurately.

As described above, in the present embodiment, in the imaging step, the illumination unit 43 sets the cable so that the side edge of the cable 14 parallel to the insertion direction with respect to the connector 16 is relatively brighter than the other parts of the cable 14. It is designed to illuminate.

Under the illumination by the illumination unit 43 as described above, the camera 82 images the connector 16 and the tip portion 14S of the cable 14. When the connector 16 and the cable 14 are imaged by the camera 82, the control unit 90 recognizes the relative positional relationship between the tip portion 14S of the cable 14 and the connector 16 based on the captured image obtained by the image pickup (step ST9). Recognition process).

FIG. 20 shows an example of an image (referred to as an captured image GZ) obtained in the imaging step. In this captured image GZ, the tip of the chuck block 59 of the cable holding portion 41, the tip portion 14S of the cable 14 held by the chuck block 59, and the lock member 17 in the open position before mounting the cable. The connector 16 appears. Since the positional relationship between the camera 82 and the chuck base 55 is fixed and the chuck block 59 moves only in the Y-axis direction in a plan view along the chuck base 55, the orientation of the chuck block 59 in the captured image GZ is always constant. It becomes.

On the other hand, the orientation of the cable 14 held by the cable holding portion 41 and the orientation of the connector 16 are not constant with respect to the captured image GZ. Therefore, when the cable 14 is inserted into the connector 16, the relative positional relationship between the cable 14 and the connector 16 is acquired based on the obtained captured image GZ, and the position of the tip portion 14S of the cable 14 with respect to the connector 16 is obtained. It is necessary to perform formal positioning (positioning of the cable 14 with respect to the connector 16) so that is in a predetermined positional relationship.

In the example shown in FIG. 20, the two corners (R1 and R2) of the tip 14S of the cable 14 are recognized as recognition points on the cable 14 side, and the positions are recognized, and the corners of the connector 16 facing the cable 14 are recognized. (R3, R4) and one (R5) at the rear corner of one of these two locations (R3) are used as recognition points on the connector 16 side to recognize the positions. Then, the intermediate position between the two recognition points (R1, R2) on the cable 14 side is obtained as the position of the representative point (cable side representative point PM1) on the cable 14 side, and the recognition points (R3, R4) on the connector 16 side are obtained. The position in the middle of the above is obtained as the position of the representative point on the connector 16 side (representative point PM2 on the connector side). Further, the direction of the connector 16 (direction in the Z-axis direction) is obtained from the positions of the two recognition points (R3, R5) on the connector 16 side.

In the imaging step in which the camera 82 images the cable 14 and the connector 16, as described above, the first light emitting body 72A of the lighting unit 43 emits light with a relatively higher illuminance than the second light emitting body 72B, and the connector 16 Since the cable 14 is illuminated so that the two sides of the cable 14 parallel to the insertion direction are brighter than the other parts, the two recognition points at the corners of the tip portion 14S of the cable 14 which are relatively difficult to detect ( The positions of R1 and R2) can be accurately recognized. Further, since the connector 16 is in a state of facing the tip portion 14S of the cable 14 in the imaging process, the positions of the three recognition points (R3, R4, R5) on the connector 16 side are also accurately recognized. Can be done.

After recognizing the position of the cable side representative point PM1, the position of the connector side representative point PM2, and the orientation of the connector 16 as described above, the orientation of the connector 16 matches in the Y-axis direction, and the cable side representative point The cable 14 is positioned with respect to the connector 16 so that the distance between PM1 and the representative point PM2 on the connector side is an appropriate distance (positioning step of step ST10). The positioning of the cable 14 with respect to the connector 16 is performed by moving the head portion 28 by the robot portion 27.

After the cable 14 is positioned with respect to the connector 16, the robot unit 27 moves the head unit 28 to insert the tip portion 14S of the cable 14 held by the cable holding portion 41 into the cable receiving portion 16a of the connector 16. FIG. 21 (a). Cable insertion step in step ST11). At this time, the robot unit 27 inserts the tip portion 14S of the cable 14 into the connector 16 from diagonally above, and then moves the cable holding portion 41 so that the reinforcing plate 15 is in a substantially horizontal posture (FIG. 21 (b). )). Even if the tip of the blade 56 comes into contact with the electronic device 2 or the like when the tip 14S of the cable 14 is inserted into the connector 16 as described above, the moving block 53 and the downward extending portion Since the spring member 54 provided between the spring member 54 and the 33a compresses and releases the impact, it is possible to prevent an excessive force from acting on the blade 56.

When the posture of the cable 14 is adjusted, the lock member 17 is operated by the lock member operation unit 42 to lock the cable 14 inserted in the connector 16 to the connector 16 (lock member operation step in step ST12). Specifically, the robot unit 27 moves the head unit 28, positions the roller 65 of the lock member operation unit 42 on the back surface side of the lock member 17, and then advances the piston rod 62R downward. As a result, the roller 65 comes into contact with the lock member 17 from the back surface side and presses while rolling on the lock member 17 (FIG. 22 (a) → FIG. 22 (b)). As a result, the lock member 17 is laid down and closed, the cable side terminal 14T is pressed against the connector side terminal 16T, and the cable 14 is locked to the connector 16.

In the lock member operation step, when the roller 65 abuts on the back surface side of the lock member 17 and the pressing (falling down) of the lock member 17 is started, the cable holding portion 41 still holds the cable 14 (blade). The state in which the cable 14 is sandwiched between the 56 and the chuck block 59) is maintained (FIG. 22 (a)). Then, only after the pressing of the lock member 17 by the roller 65 starts, the chuck block 59 is raised with respect to the blade 56 to release the sandwiching (chuck state) of the reinforcing plate 15. In other words, the lock member operation unit 42 starts the operation of the lock member 17 in a state where the cable 14 inserted in the connector 16 is held by the cable holding unit 41.

As described above, in the present embodiment, the operation of the lock member operation unit 42 in the lock member operation step is started in a state where the cable 14 inserted in the connector 16 is held by the cable holding unit 41. ing. Therefore, even if some disturbance acts on the cable 14 before the cable 14 inserted into the connector 16 by the cable holding portion 41 is locked to the connector 16 by the lock member 17, the cable is connected from the connector 16. It is possible to prevent the situation in which 14 is dropped.

In the lock member operating step, when the roller 65 comes into contact with the lock member 17, the roller 65 receives an impact from the lock member 17, but a cushioning portion 63 is provided between the roller 65 and the lock cylinder 62. The shock to the roller 65 is alleviated by the cushioning portion 63. Therefore, the impact received by the roller 65 is not easily transmitted to the lock cylinder 62, and the lock cylinder 62 is protected from the impact.

After the lock member operation step is completed, the lock member operation unit 42 inspects whether or not the lock member 17 locked is in the closed posture (closed posture inspection step in step ST13). Specifically, the robot unit 27 moves the head unit 28 to position the lock unit open / close sensor 45 above the connector 16 (FIG. 10). Then, the measurement light is emitted from the lock portion open / close sensor 45 toward the connector 16 and the reflected light is received to detect the open / closed state of the lock member 17 provided on the connector 16 (FIG. 22 (c)). ..

As a result of inspecting whether the lock member 17 is in the closed posture, if the lock member 17 is not in the closed posture, the control unit 90 temporarily stops the work and then locks the lock member 17 via the touch panel 29. Notifying that the member 17 is not closed (open) (notification step of step ST14). Upon receiving this notification, the operator manually closes the lock member 17 and performs an operation of restarting the work from the touch panel 29.

After the lock member 17 is detected to be in the closed posture in the closed posture inspection process or the lock member 17 is detected to be in the open posture in the closed posture inspection process, the work is restarted from the touch panel 29. When the above operation is performed, it is assumed that the cable 14 is normally connected to the connector 16, and the cable mounting work for each connector 16 is completed. When the other cable 14 is attached to the corresponding connector 16, the work stage 22 is rotated, the work stage 22 (that is, the electronic device 2) is moved relative to the cable holding portion 41, and then the work stage 22 is moved. Perform a similar process.

As described above, in the electronic device assembly device 1 and the method of assembling the electronic device 2 by the electronic device assembly device 1 (electronic device assembly method) in the present embodiment, the cable holding portion 41 holds the cable 14 and its structure thereof. The cable 14 is inserted into the connector 16, and the work of inserting the cable into the connector can be performed by a simple configuration without using two robots for the work of inserting the cable into the connector as in the conventional case. Therefore, the work quality of the assembly work of the electronic device can be improved.

Further, in the electronic device assembling device 1 and the electronic device assembling method in the present embodiment, when the camera 82 takes an image of the cable 14 before being inserted into the connector 16 together with the connector 16, the lighting unit 43 is inserted in the insertion direction with respect to the connector 16. The cable 14 is illuminated so that the side edges of the cable 14 parallel to the cable 14 are brighter than the rest of the cable 14. Therefore, the position of the tip portion 14S of the cable 14 which is difficult to detect can be accurately recognized, and the cable 14 can be inserted into the connector 16 after being accurately positioned with respect to the connector 16. Therefore, the cable 14 can be inserted. Insertion success rate is improved.

Although embodiments of the present invention have been described so far, the present invention is not limited to those described above. For example, in the above-described embodiment, the cable holding portion 41 included in the electronic device assembly device 1 is configured to hold the cable 14 by sandwiching the reinforcing plate 15 provided on the cable 14, but both sides of the cable 14 are held. May be configured to sandwich the cable 14 from the side. In this case, the reinforcing plate 15 may or may not be attached to the cable 14.

Provided are an electronic device assembling device and an electronic device assembling method capable of performing a work of inserting a cable into a connector with a simple configuration and improving the work quality of an electronic device assembling work.

1 Electronic equipment assembly device 2 Electronic equipment 14 Cable 16 Connector 41 Cable holder 43 Lighting unit 72A First light emitter 72B Second light emitter 82 Camera (imaging means)

Claims (5)

The cable holding part that holds the cable and
A robot unit having a moving base to which the cable holding portion is mounted and moving the cable holding portion relative to the connector by moving the moving base.
An image pickup means for taking an image of the cable together with the connector before being held by the cable holding portion and inserted into the connector.
With a lighting unit,
The lighting unit is
When the imaging means images the cable together with the connector, the two side edges extending along the insertion direction of the cable become brighter than the other parts of the cable including the side edges other than the two side edges. Illuminate the cable so that
In a plan view, the illumination unit includes a pair of first light emitters arranged along the insertion direction of the cable with respect to the connector, and a pair of plurality of first light emitters arranged along a direction intersecting the insertion direction. A second illuminant is arranged, and the plurality of first illuminants emit light with a higher illuminance than the plurality of second illuminants.
The pair of first light emitters are respectively arranged at positions illuminating two side edges extending along the insertion direction of the cable . The electronic device assembly device according to claim 1 , wherein the lighting unit is provided on the mobile base. The electronic device assembly device according to claim 1 or 2 , wherein the robot unit moves the movement base by a plurality of link members. It is an electronic device assembly method that assembles electronic devices by inserting a cable into the connector.
The cable holding process of holding the cable in the cable holding part,
An imaging step of taking an image of the cable held by the cable holding portion together with the connector in the cable holding step.
The process of moving the cable holding portion relative to the connector by moving the moving base, and
Based on the result of imaging the cable together with the connector in the imaging step, the cable holding portion includes a cable inserting step of inserting the cable held in the cable holding step into the connector.
In the imaging step, an electronic device that illuminates the cable so that the two side edges extending along the insertion direction of the cable are brighter than other parts of the cable including side edges other than the two side edges. Assembly method. The electronic device assembly method according to claim 4 , wherein the moving base is moved by a robot unit including a plurality of link members.

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