JP7052791B2 - Manufacturing methods for robots and electronic devices - Google Patents

Description

The present technology relates to a robot device and a method for manufacturing an electronic device used for manufacturing an electronic device having a flexible linear member such as a cable.

For example, in the manufacture of electronic devices, industrial robots are widely used for assembling electronic components. For example, a technique for automatically performing a connection process between a linear member such as a cable and a connector component is known (see, for example, Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2010-69587 Japanese Unexamined Patent Publication No. 2014-176917

In the field of manufacturing electronic devices, a linear member such as a cable may be connected to a connector component while being laid between a plurality of supports in the device. However, the variation in the length of the linear member causes a large amount of slack in the linear member in an unintended region, which may interfere with the subsequent assembly process or deteriorate the electrical characteristics of the device. There is.

In view of the above circumstances, an object of the present technology is to provide a method for manufacturing a robot device and an electronic device capable of suppressing the occurrence of slack in an unintended region due to a variation in the length of a linear member. ..

The robot device according to one embodiment of the present technology includes a first robot, a second robot, and a control unit.
The first robot has a first articulated arm, a first hand portion, and a force sensor. The first hand portion is attached to the first articulated arm and is configured to be able to support a flexible linear member. The force sensor is arranged between the first articulated arm and the first hand portion, and is configured to be capable of detecting an external force acting on the first hand portion.
The second robot has a second articulated arm and a second hand portion. The second hand portion is attached to the second articulated arm and is configured to be able to hold the linear member.
The control unit is a position-determining unit that determines the holding position of the linear member by the second hand unit, and the linear shape that is held by the second hand unit based on the output of the force sensor. It has a distance calculation unit for calculating the slide distance of the first hand unit with respect to the member.

According to the robot device, since each region of the linear member can be accurately guided to a predetermined holding position, it is possible to suppress the occurrence of slack in an unintended region due to the variation in the length of the linear member.

The distance calculation unit is configured to further calculate the relative movement distance of the linear member gripped by the first hand unit with respect to the second hand unit based on the output of the force sensor. May be good.
This makes it possible to adjust the length between arbitrary fixed positions of the linear member to an appropriate length.

The first hand portion may have a clamp mechanism and an elevating member.
The clamp mechanism is configured to be able to grip the linear member in the uniaxial direction. The elevating member is configured to be movable relative to the clamp mechanism, and is configured to be able to press the linear member gripped by the clamp mechanism in another axial direction orthogonal to the uniaxial direction.
This makes it possible to appropriately assemble an arbitrary region of the linear member to a predetermined holding position.

The clamp mechanism may have a first clamp claw, a second clamp claw, a protrusion, and an accommodating portion.
The second clamp claw is configured to be movable relative to the first clamp claw in the uniaxial direction. The protrusion is provided on the first clamp claw and extends toward the second clamp claw. The accommodating portion is provided between the protruding portion and the tip portions of the first and second clamp claws, and is configured to be able to slidably support the linear member.
Thereby, the linear member can be appropriately supported by the first hand portion.

The second robot may further have a camera that photographs the tip of the linear member supported by the first hand portion. The control unit may further include a posture determination unit that determines the posture of the tip portion with respect to the first hand unit based on the image information acquired by the camera.
As a result, the tip of the linear member can be converted into a posture suitable for connection to the object to be connected.

A method for manufacturing an electronic device according to an embodiment of the present technology includes a base substrate having a connection portion and first and second units having a terminal portion connected to the connection portion at the tip and erected on the base substrate. A method of manufacturing an electronic device including a flexible linear member spanned between supports thereof, the method comprising gripping the linear member with a first hand portion of a first robot.
By moving the first hand portion to the first support, the first region of the linear member is supported by the first support.
The linear member is held by the second hand portion of the second robot.
After sliding the first hand portion from the first region to the second region separated by the first line length toward the terminal portion with respect to the linear member, the first hand portion is used. The second region is gripped by the hand portion.
By moving the first hand portion to the second support, the second region is supported by the second support.

The method for manufacturing an electronic device may further include sliding the first hand portion from the second region to the contact position with the terminal portion with respect to the linear member.
By moving the first hand portion together with the terminal portion in a direction away from the second support, the second region is extended from the second support by the second line length.
By moving the first hand portion to the connection portion, the terminal portion is connected to the connection portion.

The method for manufacturing an electronic device may further include acquiring an image including posture information of the terminal portion with a camera of the second robot before connecting the terminal portion to the connection portion.
Based on the posture information, the gripping position of the terminal portion by the first hand portion is changed.

The linear member may be an antenna cable or a wiring cable.

As described above, according to the present technology, it is possible to suppress the occurrence of slack in an unintended region due to the variation in the length of the linear member.
The effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a schematic side view which shows the manufacturing apparatus (robot apparatus) of the electronic device which concerns on one Embodiment of this technique. It is a schematic diagram explaining the procedure of processing of the said robot apparatus with respect to a linear member. It is a perspective view which shows an example of the support form and the form of the tip portion of the linear member. It is a schematic front view which shows the structure of the hand part of the 1st robot in the said robot apparatus. It is an enlarged front view explaining the operation example of the clamp mechanism in the said hand part. It is a schematic side view of the main part of the said hand part. It is a schematic front view which shows the structure of the hand part of the 2nd robot in the said robot apparatus. It is a functional block diagram of the said robot apparatus. It is a flowchart which shows an example of the processing procedure executed by the control unit in the said robot apparatus. It is a schematic side sectional view explaining the support method of the said linear member. It is a schematic side sectional view explaining the method of holding the linear member by the 2nd robot. It is a schematic plan view explaining the manufacturing method of the electronic device which concerns on one form of this technique. It is a schematic front view explaining the posture change process of the tip part of the linear member by the robot apparatus.

Hereinafter, embodiments of the present technology will be described with reference to the drawings.

FIG. 1 is a schematic side view showing a manufacturing device (robot device) of an electronic device according to an embodiment of the present technology. In this embodiment, an example of application to the present technology to an automatic connection process of a cable member, which is a manufacturing process of an electronic device, will be described.

[Outline configuration of robot device]
The robot device 1 of the present embodiment is a work table that supports an assembly robot 100 (first robot), an auxiliary robot 200 (second robot), and a semi-finished product of an electronic device (hereinafter, also referred to as a work W). 2 is provided with a controller 3 (control unit) that controls the drive of the assembly robot 100 and the auxiliary robot 200.

The assembly robot 100 includes a hand portion 101 (first hand portion) and an articulated arm 102 (first articulated arm) capable of moving the hand portion 101 to an arbitrary coordinate position with 6 degrees of freedom. Has.
The auxiliary robot 200 includes a hand unit 201 (second hand unit) and an articulated arm 202 (second articulated arm) capable of moving the hand unit 201 to an arbitrary coordinate position with 6 degrees of freedom. Has.
The articulated arms 102 and 202 are connected to the workbench 2 or a drive source (not shown) arranged close to the workbench 2, respectively.

The controller 3 is typically composed of a computer having a CPU (Central Processing Unit) and a memory, and is configured to control the drive of the assembly robot 100 and the auxiliary robot 200 according to a program stored in the memory.
A control example of each of the robots 100 and 200 by the controller 3 will be described later.

2A and 2B are schematic views illustrating an example of the work W and a procedure for processing the robot device 1 with respect to the work W.
In the figure, the X-axis, the Y-axis, and the Z-axis indicate the three-axis directions orthogonal to each other, and the Z-axis corresponds to the height direction.

The work W includes a base substrate Wa, circuit units Wb and Wc arranged on the base substrate Wa, a plurality of supports Wd (Wd1 to Wd4) erected at appropriate positions on the base substrate Wa, and a cable member. It has F and the like.

Examples of the base substrate Wa include a part of a case of an electronic device, a plate-shaped support arranged in the case, and the like. The circuit units Wb and Wc are composed of a circuit board in which various electronic components are mounted on a printed wiring board, or an electronic unit having a built-in computer composed of a CPU and a memory constituting one function of an electronic device. To.

The plurality of supports Wd are for routing the cable member F on the base substrate Wa in a predetermined path, and as shown in FIG. 3A, have a plate shape having a support portion Wds for supporting the cable F and having a predetermined thickness. .. The support portion Wds is formed in a groove shape with an open upper portion, and the groove width thereof is formed in a dimension equal to or slightly larger than the outer diameter of the cable F.

The cable member F is made of a flexible wire having a circular cross section, one end of which is connected to the circuit unit Wb and the other end (tip) of which has a terminal portion Fa. The cable member F typically has a core material F1 made of a conductive material and an insulating coating F2 covering the surface thereof, and is configured as a wiring member such as a wiring cable or an antenna cable. As shown in FIG. 3A, the cross section of the cable F is circular, but the present invention is not limited to this, and the cable F may be formed in a rectangular shape.

As schematically shown in FIG. 3B, the terminal portion Fa of the cable member F has a stepped disk shape having a large diameter portion Fa1 and a small diameter portion Fa2, and the small diameter portion Fa2 constitutes a connection surface. The terminal portion Fa is incorporated into the connection portion Wf on the base substrate Wa with its small diameter portion Fa2 facing downward (see FIG. 2B).

The work W is placed on the workbench 2 with one end of the cable member F connected to the circuit unit Wc. As will be described later, the robot device 1 cooperatively controls the assembly robot 100 and the auxiliary robot 200, bridges the cable member F between the plurality of supports Wd by a predetermined path, and then connects the terminal portion Fa. Connect to Wf.

Here, depending on the variation in the length of the cable member F, a large slack may occur in the cable member F in an unintended region, which may hinder the subsequent assembly process or deteriorate the electrical characteristics of the device. I have something to do.
In the present embodiment, as shown in FIG. 2B, the robot device 1 has a path between the support Wd2 and the support Wd3 as an extra length region of the cable member F, and a cable between the support Wd4 and the connection portion Wf. The cable member F can be assembled so that the line length of the member F is constant.
Hereinafter, the details of the robot device 1 will be described.

[First robot]
4A and 4B are schematic front views showing the configuration of the hand portion 101, FIGS. 5A to 5C are enlarged front views illustrating an operation example of the clamp mechanism, and FIG. 6 is a schematic side view of a main part of the hand portion 101. ..
In each figure, the x-axis, y-axis, and z-axis indicate triaxial directions orthogonal to each other.

The hand portion 101 has a clamp mechanism CL1 (first clamp mechanism) capable of gripping (pinching) the cable member F in the uniaxial direction (x-axis direction). The hand unit 101 further includes a base block 14, a force sensor 15, a camera 16, an elevating unit 17, a plurality of illuminators 18, a suction unit 19, and the like.

The base block 14 supports the clamp mechanism CL1, the camera 16 (shooting unit), the elevating unit 17, the plurality of illuminators 18, and the suction unit 19.
The camera 16 is configured to be capable of photographing the cable member F sandwiched by the clamp mechanism CL1. The image signal acquired by the camera 16 is output to the controller 3.
The plurality of illuminators 18 are light sources for illuminating the clamp mechanism CL1 and its vicinity when the camera 16 takes a picture.

The force sensor 15 is provided between the hand portion 101 and the articulated arm 102, and is configured to be capable of detecting an external force acting on the hand portion 101 and a reaction force of the clamp mechanism CL1. The detection signal of the force sensor 15 is output to the controller 3.

The clamp mechanism CL1 supports the first clamp claw 11, the second clamp claw 12, and the first and second clamp claws 11 and 12 so as to be relatively movable in the uniaxial direction (x-axis direction). It has a drive unit 13. Each of the first and second clamp claws 11 and 12 may be configured to be movable in the x-axis direction, or one of them may be configured to be movable in the x-axis direction.

The first and second clamp claws 11 and 12 have hook portions 11a and 12a projecting from their respective tip portions in directions facing each other. The first clamp claw 11 has a protruding portion 110 provided at a position directly above the hook portion 11a. The distance between the protrusion 110 and the hook portion 11a is set to be larger than the diameter of the cable member F.

The protrusion 110 has a substantially triangular plate shape extending toward the second clamp claw 12. As shown in FIGS. 5B and 5C, the protruding portion 110 overlaps the tip end portion of the second clamp claw 12 in the y-axis direction when the first clamp claw 11 is relative to the second clamp claw 12. It is composed of.

Then, as shown in FIG. 5C, the clamp mechanism CL1 has an accommodating portion 101c formed when the distance between the tips of the hook portions 11a and 12a is equal to or less than the diameter of the cable member F. The accommodating portion 101c is a space portion formed between the hook portions 11a and 12a and the protruding portion 110 and penetrating in the y-axis direction. By adjusting the distance between the hook portions 11a and 12a, the drive portion 13 slidably supports the cable member F in the accommodating portion 101c in the y-axis direction, and grips the cable member F so as not to slide. Is configured to be possible.

As shown in FIG. 6, the elevating unit 17 has an elevating member 171 connected to a drive rod R1 of a drive cylinder installed in the base block 14. The elevating member 171 is configured to be movable relative to the clamp mechanism CL1 in the z-axis direction. The elevating member 171 can move linearly between the ascending position shown by the solid line and the descending position indicated by the alternate long and short dash line in FIG. 6, and the cable member F supported by the accommodating portion 101c at the descending position is z-axis. It is configured so that it can be pressed in the direction (see FIG. 10).

As shown in FIG. 4, the suction unit 19 has a suction tool 191 that can move in the z-axis direction. The suction tool 191 has a suction hole for vacuum suction at its tip, and can move linearly between the ascending position shown by the solid line and the descending position shown by the alternate long and short dash line in FIG. 4, and the descending position thereof. The cable member F on the work W can be adsorbed in the work W. The suction unit 19 is used by the clamp mechanism CL2 for remounting the cable member F, and may be omitted if necessary.

[Second robot]
FIG. 7 is a schematic front view showing the configuration of the hand portion 201.
In each figure, the a-axis, the b-axis, and the c-axis indicate the three-axis directions orthogonal to each other.

The hand portion 201 has a clamp mechanism CL2 (second clamp mechanism) capable of gripping (pinching) the cable member F in the uniaxial direction (a-axis direction). The hand unit 201 further includes a base block 24, a force sensor 25, a camera 26, a plurality of illuminators 28, and the like.

The base block 24 supports the clamp mechanism CL2, the camera 26 (shooting unit), and a plurality of illuminators 28.
The camera 26 is configured to be capable of photographing the cable member F sandwiched by the clamp mechanism CL2. The image signal acquired by the camera 26 is output to the controller 3.
The plurality of illuminators 28 are light sources for illuminating the clamp mechanism CL2 and its vicinity when the camera 26 takes a picture.

The force sensor 25 is provided between the hand portion 201 and the articulated arm 202, and is configured to be capable of detecting an external force acting on the hand portion 201 and a reaction force of the clamp mechanism CL2. The detection signal of the force sensor 25 is output to the controller 3.

The clamp mechanism CL2 supports the first clamp claw 21, the second clamp claw 22, and the first and second clamp claws 21 and 22 so as to be relatively movable in the uniaxial direction (a-axis direction). It has a drive unit 23. Each of the first and second clamp claws 21 and 22 may be configured to be movable in the a-axis direction, or one of them may be configured to be movable in the a-axis direction.

[controller]
FIG. 8 is a functional block diagram of the robot device 1 including the controller 3.
The controller 3 is typically composed of a computer including a CPU (Central Processing Unit) and a memory. The controller 3 is configured to control the operation of each part of the assembly robot 100 and the auxiliary robot 200 by executing the program stored in the memory.

The controller 3 has a position determination unit 31, a distance calculation unit 32, a drive signal generation unit 33, a storage unit 34, and a posture determination unit 35.

The positioning unit 31 provides access points for the assembly robot 100 (first hand unit 101) and the auxiliary robot 200 (second hand unit 201) to the work W placed on the workbench 2 (see FIG. 1). decide. Specifically, the position of each part on the base board Wa (the position of the circuit unit Wb, Wc, the support Wd, the connection part Wf, etc.) is recognized, and the movement loci of the first and second hand parts 101, 102 and the like. It is configured to determine the moving height and the like from the workbench 2.

The distance calculation unit 32 mainly calculates the moving distance of the first hand unit 101. More specifically, the distance calculation unit 32 refers to the relative movement distance (slide distance) of the first hand unit 101 with respect to the cable member F and the second hand unit 201 of the first hand unit 101 that grips the cable member F. It is configured to calculate the relative movement distance and the like. The distance calculation unit 32 calculates each of the above distances based on the output of the force sensor 15.

The drive signal generation unit 33 generates a drive signal for controlling the drive of the hand units 101, 201 and the articulated arms 102, 202 of the robots 100 and 200, based on the outputs of the position determination unit 31, the distance calculation unit 32, and the like. It is configured as follows.

The storage unit 34 is typically composed of a semiconductor memory or the like. The storage unit 34 is necessary for calculations in each unit, in addition to a program for controlling the operation of each unit of the robot device 1, including a program for executing the functions of the position determination unit 31, the distance calculation unit 32, and the drive signal generation unit 33. It is possible to store parameters, image signals of cameras 16 and 26 output from hand units 101 and 201, detection signals of force sensors 15 and 25, and the like.

The posture determination unit 35 determines the posture of the terminal unit Fa with respect to the first hand unit 101 based on the image information acquired by the camera 16 of the assembly robot 100 or the camera 26 of the auxiliary robot 200. As a result, the terminal portion Fa can be converted into a posture suitable for connection to the connection portion Wf.

In the present embodiment, as will be described later, the posture determination unit 35 has a posture in which the small diameter portion Fa2 of the terminal portion Fa faces downward and the connection surface thereof is horizontal (see FIG. 13B) as a reference posture, and the terminal from the reference posture. The angular deviation of the posture of the portion Fa is calculated.

[Manufacturing method of electronic devices]
Subsequently, the details of the controller 3 will be described together with a typical operation example of the robot device 1.
FIG. 9 is a flowchart showing an example of a processing procedure executed by the controller 3, and includes operation commands for the hand units 101 and 102.

First, the cable member F is gripped by the first hand portion 101 (step 101).

First, the controller 3 determines the position of the cable member F, the supports Wd1 to Wd4, and the support members Wd1 to Wd4 based on the image signal of the work W captured by the camera 16 of the first hand unit 101 or the camera 26 of the second hand unit 201. Acquire information about the position of the connection portion Wf. Then, the position determination unit 31 determines the access points (XYZ coordinate positions) of the hand units 101 and 102.

The drive signal generation unit 33 generates a drive signal for moving the first hand unit 101 to a position where the cable member F is gripped based on the position information set in the position determination unit 31, and outputs the drive signal to the assembly robot 100. .. As a result, the assembly robot 100 moves the first hand portion 101 to the gripping position of the cable member F via the articulated arm 102, and executes the gripping process of the cable member F. Prior to gripping the cable member F, the suction unit 19 may execute a process of moving the cable member F to the gripping position.

In the gripping step of the cable member F, the first hand portion 101 moves directly above the predetermined gripping position of the cable member F, and maintains the clamp mechanism CL1 in the open state shown in FIG. 5A. Then, the first hand portion 101 descends toward the cable member F, brings the cable member F into contact with the lower edge of the protruding portion 110, and then drives the clamp mechanism CL1 to the closing position shown in FIG. 5C. Then, the cable member F is accommodated in the accommodating portion 101c. As a result, the cable member F can be appropriately accommodated in the accommodating portion 101c.

Further, the gripping force of the cable member F by the clamp mechanism CL1 shall be an appropriate strength that allows the clamp mechanism CL1 to slide and move with respect to the cable member F when a tension equal to or higher than a predetermined value is applied to the cable member F. Can be done. As a result, the stress applied to the cable member F can be reduced. The gripping force of the clamp mechanism CL1 can be controlled based on the output of the force sensor 15.

Hereinafter, unless otherwise specified, the control of the movement of the hand units 101 and 102 is performed based on the outputs of the position-determining unit 31 and the drive signal generation unit 33, and detailed description thereof will be omitted. Further, unless otherwise specified, the first hand portion 101 is used in the sense of the clamp mechanism CL1, and similarly, the second hand portion 201 is used in the sense of the clamp mechanism CL2.

Subsequently, the cable member F is sequentially supported by the supports Wd1 and Wd2 by the first hand portion 101 (step 102).

In this process, first, the controller 3 adjusts the gripping position of the cable member F by the clamp mechanism CL1 so as to be a support region for the support Wd1. As a result, an appropriate cable length (S01) from the circuit unit Wc to the support Wd1 is secured.

In this adjustment step, for example, the hand portion 101 pulls the gripping position of the cable member F with a predetermined tension via the clamp mechanism CL1, and the distance between the gripping position and the connection end portion of the circuit unit Wc is a predetermined size. Check if there is one. If the distance is not within the predetermined size, the gripping force is weakened and the clamp mechanism CL1 is slid and moved with respect to the cable member F, and the clamp mechanism CL1 is gripped again at a position where the distance becomes the predetermined size.

Subsequently, as shown in FIG. 10, the controller 3 moves the first hand portion 101 to the support Wd1 to support the vicinity of the gripping region of the cable member F by the support Wd1. As shown in the figure, the first hand portion 101 descends to a position where the target support Wd is sandwiched between the clamp mechanism CL1 and the elevating member 171 so that the cable member F is supported by the support Wd. Engage with Wds. After that, the elevating member 171 is lowered, and the support member F directly underneath is pressed against the upper surface of the base substrate Wa with a predetermined pressure. This makes it possible to engage the cable member F with the support portion Wds in an appropriate posture.

After the operation of engaging the cable member F with the support Wd1, the first hand portion 101 rises by a predetermined distance, weakens the gripping force of the clamp mechanism CL1, and supports the cable member F in the accommodating portion 101c. Move in the direction of the body Wd2. As a result, the clamp mechanism CL1 slides and moves with respect to the cable member F while supporting the cable member F, changes the gripping position to the support region in the support Wd2, and cables to the support Wd2 in the same procedure as described above. Support the member F. The slide length of the clamp mechanism CL1 at this time is set to the cable length (S12) corresponding to the distance between the support Wd1 and the support Wd2.

On the other hand, as shown in FIG. 11, the controller 3 is moved directly above the cable member F in the vicinity of the support Wd by the second hand portion 201, and the cable member F is moved to the base substrate Wa at a predetermined pressure at the tip of the clamp mechanism CL2. Press and hold on. This prevents the cable member F from loosening and falling off from the support Wd1 due to the movement of the first hand portion 101. The predetermined pressure can be controlled based on the output of the force sensor 25 of the second hand unit 201.

Subsequently, after the support of the cable member F to the support Wd2 is completed, the first hand portion 101 slides a predetermined distance with respect to the cable member F (steps 103 and 104).

In this step, as shown in FIG. 12A, the cable member F supported by the support Wd2 is held by the second hand portion 201. In this state, the first hand portion 101 has a first line from the region (first region) gripped when supporting the cable member F to the support Wd2 toward the terminal portion Fa of the cable member F. After sliding with respect to the cable member F to a region (second region) separated by the length S, the region (second region) is gripped.

The first line length S is set to a length (S230) larger than the appropriate cable extra length (S23) between the support Wd2 and the support Wd3. That is, in this step, the support Wd2 has a predetermined range so that the cable length (S34) from the support Wd3 to the support Wd4 and the cable length (S45) from the support Wd4 to the connection portion Wf are in predetermined ranges. An extra length region of the cable member F is formed between the support Wd3 and the support Wd3.

Subsequently, the cable member F is supported by the support Wd3 by the first hand portion 101 (step 105).

In this step, the controller 3 moves the first hand portion 101 to the support Wd3 to support the second region on the support Wd3. As a result, an extra length region of the cable member F is formed between the support Wd2 and the support Wd3 (see FIG. 12B).

Next, the cable member F is extended from the support Wd3 by a predetermined distance by the first hand portion 101 (step 106).

In this step, as shown in FIG. 12C, the first hand portion is held in a state where the support region (second region) of the support Wd3 of the cable member F or its vicinity is held by the second hand portion 201. The 101 is slid and moved with respect to the cable member from the region (second region) to the contact position of the cable member F with the terminal portion Fa. Next, the holding force of the cable member F by the second hand portion 201 is weakened, and the first hand portion 101 is moved together with the terminal portion Fa in the direction away from the support Wd3 (leftward in the Y-axis direction in FIG. 12C). Then, while sliding the cable member F (second region) with respect to the second hand portion 201, the cable member F is fed out from the support Wd3 by the second line length.

The second wire length corresponds to a part of the extra length of the cable member F between the support Wd2 and the support Wd3, and specifically, the wire length (S230) and the wire length (S23). It is the length corresponding to the difference of. As a result, an appropriate cable length (a length corresponding to the sum of S34 and S45) from the support Wd3 to the connection portion Wf is secured.

Subsequently, the cable member F is supported by the support Wd4 by the first hand portion 101 (step 107). Then, by moving the first hand portion 101 to the connecting portion Wf, the terminal portion Fa of the cable member F is connected to the connecting portion Wf. In the present embodiment, before connecting the terminal portion Fa to the connection portion Wf, a step of converting the terminal portion Fa into an appropriate posture is performed, and then the terminal portion Fa is connected to the connection portion Wf (step 108, 109).

In the posture changing step of the terminal portion Fa, as shown in FIG. 13A, the second robot 200 has the cable connection portion Fb (see FIG. 3B) in the vicinity of the terminal portion Fa gripped by the first hand portion 101. The camera 26 acquires an image including the attitude information of the terminal portion Fa. Then, based on the posture information, the gripping position of the terminal portion Fa by the first hand portion 101 is changed.

When changing the gripping position of the terminal portion Fa by the first hand portion 101, first, the small diameter portion Fa2 of the terminal portion Fa faces downward from the image of the terminal portion Fa acquired by the camera 26, and the connection surface thereof is. The controller 3 calculates the angle error from the proper horizontal posture. Then, after the clamp mechanism CL2 of the second hand portion 201 grips the terminal portion Fa in place of the first hand portion 101 (clamp mechanism CL1), the first hand portion 101 has an angle corresponding to the above angle error. Rotate and re-grasp the cable connection Fb. As a result, as shown in FIG. 13B, the terminal portion Fa is gripped by the first hand portion 101 in an appropriate posture.

After that, the first hand portion 101 moves to a position directly above the connecting portion Wf, lowers the terminal portion Fa, and connects to the connecting portion Wf at a predetermined pressure. As a result, the work of routing the cable member F between the plurality of supports Wd and the work of connecting the terminal portion Fa to the connection portion Wf by the robot device 1 are completed.

As described above, according to the present embodiment, since each region of the cable member F can be accurately guided to a predetermined holding position, it is possible to suppress the occurrence of slack in an unintended region due to the variation in the length of the cable member F. be able to.

Further, according to the present embodiment, since the assembly robot 100 and the auxiliary robot 200 are provided with the force sense sensors 15 and 25, it is possible to appropriately adjust the gripping force and the feeding length with respect to the cable member F, and the terminal with respect to the connection portion Wf. It is possible to realize an appropriate pushing pressure of the portion Fa.

Further, according to the present embodiment, the flexible cable member F can be connected to the device while being routed along a predetermined path while creating a desired extra length region by the cooperative work of the assembly robot 100 and the auxiliary robot 200. can.

<Modification example>
For example, in the above embodiment, the cable member F is provided between the extra length region support Wd2 and the support Wd3, but the present invention is not limited to this, and the extra length region may be set in another section. Further, the routing path of the cable member F and the structure of the support Wd are not limited to the above examples, and can be appropriately changed according to the type of the work W and the like.

Further, in the above embodiment, the auxiliary robot 200 performs a predetermined holding action by pressing the tip of the clamp mechanism CL2 against the cable member F, but the clamp mechanism CL2 clamps the cable member F to perform a predetermined holding action. It may be made to perform the holding action of.

Further, in the above embodiment, the cable member F is routed by coordinated control between the assembly robot 100 and the auxiliary robot 200, but the present invention is not limited to this, and the assembly robot 100 alone may be used depending on the structure of the support and the route. You may go.

The present technology can have the following configurations.
(1) A first articulated arm, a first hand portion attached to the first articulated arm and capable of supporting a flexible linear member, and the first articulated arm. A first robot having a force sensor arranged between the first hand portion and capable of detecting an external force acting on the first hand portion.
A second robot having a second articulated arm and a second hand portion attached to the second articulated arm and capable of holding the linear member.
The first position with respect to the linear member held by the second hand portion based on the output of the position determining portion for determining the holding position of the linear member by the second hand portion and the output of the force sensor. A robot device including a distance calculation unit for calculating the slide distance of the hand unit and a control unit having a control unit.
(2) The robot device according to (1) above.
The distance calculation unit is a robot device that further calculates the relative movement distance of the linear member gripped by the first hand unit with respect to the second hand unit based on the output of the force sensor.
(3) The robot device according to (1) or (2) above.
The first hand part is
A clamp mechanism capable of gripping the linear member in the uniaxial direction,
A robot device having an elevating member configured to be movable relative to the clamp mechanism and capable of pressing the linear member held by the clamp mechanism in another axial direction orthogonal to the uniaxial direction.
(4) The robot device according to (3) above.
The clamp mechanism is
With the first clamp claw,
A second clamp claw that can move relative to the first clamp claw in the uniaxial direction,
A protrusion provided on the first clamp claw and extending toward the second clamp claw,
A robot device having a housing portion provided between the protrusion and the tips of the first and second clamp claws and capable of slidably supporting the linear member.
(5) The robot device according to any one of (1) to (4) above.
The second robot further has a camera that photographs the tip of the linear member supported by the first hand portion.
The control unit is a robot device further having a posture determination unit that determines the posture of the tip portion with respect to the hand unit based on the image information acquired by the camera.
(6) Flexibility to be bridged between a base board having a connection portion and a first and second supports having a terminal portion connected to the connection portion at the tip and erected on the base board. A method of manufacturing an electronic device including a linear member of the above.
The linear member is gripped by the first hand portion of the first robot, and the linear member is gripped.
By moving the first hand portion to the first support, the first region of the linear member is supported by the first support.
The linear member is held by the second hand portion of the second robot, and the linear member is held.
After the first hand portion is slid with respect to the linear member to a second region separated by the first line length from the first region toward the terminal portion, the first hand portion is used. The second area is gripped by the hand portion, and the second region is gripped.
A method for manufacturing an electronic device in which the second region is supported by the second support by moving the first hand portion to the second support.
(7) The method for manufacturing an electronic device according to (6) above, and further.
The first hand portion is slid with respect to the linear member from the second region to the contact position with the terminal portion.
By moving the first hand portion together with the terminal portion in a direction away from the second support, the second region is extended from the second support by the second line length.
A method for manufacturing an electronic device that connects a terminal portion to the connection portion by moving the first hand portion to the connection portion.
(8) The method for manufacturing an electronic device according to (7) above, further.
Before connecting the terminal portion to the connection portion, an image including the posture information of the terminal portion is acquired by the camera of the second robot.
A method for manufacturing an electronic device that changes the gripping position of the terminal portion by the first hand portion based on the posture information.
(9) The method for manufacturing an electronic device according to any one of (6) to (8) above.
The linear member is a method for manufacturing an electronic device which is an antenna cable or a wiring cable.

1 ... Robot device 3 ... Controller 11 ... First clamp claw 12 ... Second clamp claw 15, 25 ... Force sensor 16, 26 ... Camera 31 ... Position determination unit 32 ... Distance calculation unit 100 ... Assembly robot 101 ... No. 1 hand 101c ... Accommodating part 102 ... First articulated arm 110 ... Protruding part 171 ... Elevating member 200 ... Auxiliary robot 201 ... Second hand 202 ... Second articulated arm CL1, CL2 ... Clamp mechanism F ... Cable Member Fa ... Terminal part W ... Work Wf ... Connection part

Claims (7)

The first articulated arm, the first hand portion attached to the first articulated arm and capable of supporting a flexible linear member, the first articulated arm and the first articulated arm. A first robot having a force sensor arranged between the hand portion and capable of detecting an external force acting on the first hand portion.
A second robot having a second articulated arm and a second hand portion attached to the second articulated arm and capable of holding the linear member.
The first position with respect to the linear member held by the second hand portion based on the output of the position determining portion for determining the holding position of the linear member by the second hand portion and the output of the force sensor. It is provided with a distance calculation unit for calculating the slide distance of the hand unit and a control unit having .
The first hand part is
A clamp mechanism capable of gripping the linear member in the uniaxial direction,
It has an elevating member that is configured to be movable relative to the clamp mechanism and can press the linear member held by the clamp mechanism in another axial direction orthogonal to the uniaxial direction.
Robot device. The robot device according to claim 1.
The distance calculation unit is a robot device that further calculates the relative movement distance of the linear member gripped by the first hand unit with respect to the second hand unit based on the output of the force sensor. The robot device according to claim 1 .
The clamp mechanism is
With the first clamp claw,
A second clamp claw that can move relative to the first clamp claw in the uniaxial direction,
A protrusion provided on the first clamp claw and extending toward the second clamp claw,
A robot device having a housing portion provided between the protrusion and the tips of the first and second clamp claws and capable of slidably supporting the linear member. The robot device according to claim 1.
The second robot further has a camera that photographs the tip of the linear member supported by the first hand portion.
The control unit further includes a posture determination unit that determines the posture of the tip portion with respect to the first hand unit based on the image information acquired by the camera. A flexible linear structure that is bridged between a base board having a connection portion and a first and second supports having a terminal portion connected to the connection portion at the tip and erected on the base board. It is a method of manufacturing an electronic device including a member.
The linear member is gripped by the first hand portion of the first robot, and the linear member is gripped.
By moving the first hand portion to the first support, the first region of the linear member is supported by the first support.
The linear member is held by the second hand portion of the second robot, and the linear member is held.
After the first hand portion is slid with respect to the linear member to a second region separated by the first line length from the first region toward the terminal portion, the first hand portion is used. The second area is gripped by the hand portion, and the second region is gripped.
By moving the first hand portion to the second support, the second region is supported by the second support.
The first hand portion is slid with respect to the linear member from the second region to the contact position with the terminal portion.
By moving the first hand portion together with the terminal portion in a direction away from the second support, the second region is extended from the second support by the second line length.
By moving the first hand portion to the connection portion, the terminal portion is connected to the connection portion.
Manufacturing method of electronic devices. The method for manufacturing an electronic device according to claim 5 , further.
Before connecting the terminal portion to the connection portion, an image including the posture information of the terminal portion is acquired by the camera of the second robot.
A method for manufacturing an electronic device that changes the gripping position of the terminal portion by the first hand portion based on the posture information. The method for manufacturing an electronic device according to claim 5 .
The linear member is a method for manufacturing an electronic device which is an antenna cable or a wiring cable.

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