WO2018043212A1 - Dispositif d'assemblage, et procédé de fabrication de dispositif électronique - Google Patents

Dispositif d'assemblage, et procédé de fabrication de dispositif électronique Download PDF

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Publication number
WO2018043212A1
WO2018043212A1 PCT/JP2017/029953 JP2017029953W WO2018043212A1 WO 2018043212 A1 WO2018043212 A1 WO 2018043212A1 JP 2017029953 W JP2017029953 W JP 2017029953W WO 2018043212 A1 WO2018043212 A1 WO 2018043212A1
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WIPO (PCT)
Prior art keywords
cable
insertion port
insert
axis direction
distal end
Prior art date
Application number
PCT/JP2017/029953
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English (en)
Japanese (ja)
Inventor
近藤　満
進一 竹山
弘邦 別府
Original Assignee
株式会社ソニー・インタラクティブエンタテインメント
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Application filed by 株式会社ソニー・インタラクティブエンタテインメント filed Critical 株式会社ソニー・インタラクティブエンタテインメント
Priority to JP2018537161A priority Critical patent/JP6840154B2/ja
Publication of WO2018043212A1 publication Critical patent/WO2018043212A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device

Definitions

  • the present invention relates to an assembly apparatus used for manufacturing an electronic device or the like, and a method for manufacturing the electronic device.
  • the insert When manufacturing a product such as an electronic device by assembling a plurality of parts, it may be necessary to insert an insert into the insertion slot, such as inserting a cable into a connector.
  • the insert is inserted into the insertion port using a robot apparatus such as a vertical articulated robot.
  • the present invention has been made in view of the above circumstances, and one of its purposes is an assembly apparatus and an electronic device manufacturing method that can facilitate the success of an insertion operation of inserting an insert into an insertion slot. Is to provide.
  • An assembling apparatus is an assembling apparatus that inserts an insert into an insertion port, a holding portion that holds the insert, and a tip of the insert in a state where the holding portion holds the insert.
  • the portion is moved to an intermediate position partially overlapping with the side wall forming the insertion port in a side view, and then moved in a crossing direction intersecting the insertion axis direction, and further along the insertion axis direction in the insertion port And a control unit to be inserted into the control unit.
  • the method for manufacturing an electronic device is a method for manufacturing an electronic device including a connector into which a cable is inserted, and the tip of the cable is inserted into the connector while the holding portion holds the cable. Moving to a middle position that partially overlaps the side wall that forms the mouth in a side view, moving the tip portion of the cable from the middle position in a crossing direction that intersects the insertion axis direction, and And moving the distal end portion in the intersecting direction and then inserting the distal end portion into the insertion port along the insertion axis direction.
  • FIG. 1 is a diagram schematically showing an overall configuration of an assembling apparatus 1 according to an embodiment of the present invention.
  • the assembling apparatus 1 is an apparatus used for manufacturing a product including a plurality of parts such as an electronic device. As shown in FIG. 1, a control apparatus 10, a vertical articulated robot 11, The force sensor 12, the cameras 13a and 13b, and the holding unit 14 are included.
  • the assembling apparatus 1 is used for assembling an electronic device including a connector and a flexible flat cable. More specifically, the assembling apparatus 1 performs an insertion operation of inserting the flexible flat cable into an opening (hereinafter referred to as an insertion port) provided in the connector without depending on a human hand. Through various processes including this insertion operation, an electronic device including a connector and a flexible flat cable is manufactured.
  • the control device 10 is a computer that controls the operation of the entire assembly device 1.
  • the control device 10 performs the cable insertion work by operating the vertical articulated robot 11 based on information obtained from a force sensor 12 and cameras 13a and 13b described later.
  • the vertical articulated robot 11 is a manipulator including a plurality of joints, and performs a moving operation of moving the tip portion to an arbitrary position and orientation based on a control signal received from the control device 10.
  • the force sensor 12 is a sensor that detects the strength and direction of the force applied from the outside.
  • the force sensor 12 is disposed between the vertical articulated robot 11 and the holding unit 14 and detects a force applied to the holding unit 14.
  • the camera 13a is fixed at a position and orientation in which a predetermined range in front of the holding unit 14 can be photographed.
  • the camera 13b is fixed at a position and orientation in which the vicinity of the tip position of the holding portion 14 can be photographed.
  • the holding unit 14 is a mechanism that holds a part to be assembled in the present embodiment, and is attached to a tip portion of the vertical articulated robot 11.
  • the holding part 14 is constituted by two L-shaped fingers 14a and 14b.
  • the finger 14b is fixed to the vertical articulated robot 11, and the finger 14a arranged to face the finger 14b is driven along a direction toward the finger 14b by an actuator.
  • the holding unit 14 holds the flexible flat cable, which is one of the parts to be assembled, between the fingers 14a and 14b by driving the fingers 14a.
  • the assembling apparatus 1 operates the vertical articulated robot 11 in a state in which the holding portion 14 holds the tip portion of the cable, and inserts the tip portion of the cable into the insertion port provided in the connector.
  • the control device 10 captures each of the connector insertion port and the distal end portion of the cable held by the holding unit 14 with the cameras 13a and 13b, and identifies each position by analyzing the captured image. Then, positioning control is performed to move the tip portion of the cable so as to coincide with the insertion port of the connector according to the specified position. Thereafter, the distal end portion of the cable is inserted into the insertion port.
  • the control device 10 first moves the distal end portion of the cable to an intermediate position, then moves the cable toward the crossing direction intersecting the insertion axis direction, and finally, the insertion shaft.
  • the insertion work is performed by stepwise control of inserting the cable into the insertion slot along the direction. As a result, it is possible to facilitate the insertion.
  • the insertion axis direction is a direction in which the cable is finally inserted into the insertion port, and coincides with the extending direction of the cable in the insertion port when the insertion is completed.
  • the intermediate position is a position of the cable in the middle of the insertion work, and is a position where the tip portion of the cable partially overlaps with the side wall forming the insertion port in a side view.
  • control contents executed by the control device 10 during cable insertion work in the present embodiment will be described.
  • FIG. 2 is a diagram showing a state at the time of insertion work in the present embodiment.
  • a connector 21 having an insertion port 22 is fixed on a substrate 20.
  • the insertion port 22 has a substantially rectangular outer edge.
  • the width direction (long side direction) of the outer edge of the insertion port 22 is defined as the X-axis direction
  • the thickness direction (short side direction) is defined as the Z-axis direction
  • the depth direction of the insertion port 22 is defined as the Y-axis direction.
  • the Y-axis direction is the insertion axis direction.
  • the assembling apparatus 1 finally inserts the distal end portion of the cable 23 into the insertion port 22 along the insertion axis direction.
  • control device 10 controls the vertical articulated robot 11 to move the camera 13 a in the front direction of the connector 21 and photograph the connector 21. By analyzing this captured image, the control device 10 specifies the position of the connector 21 (S1).
  • the control device 10 grips and holds the tip portion of the cable 23 placed in another place by the holding portion 14 and photographs the tip portion of the cable 23 held by the holding portion 14 with the camera 13b.
  • the position is specified (S2).
  • the control device 10 may grip the tip portion of the cable 23 by the holding unit 14 in the following procedure. That is, first, an arbitrary position away from the tip portion of the cable 23 is grasped by the holding portion 14 with a light force. In this case, the first holding position is not required to be highly accurate, and it is only necessary to be able to grasp some position of the cable 23. Then, the control apparatus 10 moves the holding
  • the control device 10 stops the movement of the holding unit 14 and holds the cable 23 with a stronger force than before so that the cable 23 does not shift further. Thereby, as shown in FIG. 2, only the front-end
  • the control device 10 causes the distal end portion of the cable 23 to enter the insertion port 22 in a predetermined direction (S3).
  • the predetermined direction is a direction in which the extending direction of the cable 23 obliquely intersects with the insertion axis direction of the insertion port 22. More specifically, the control device 10 determines not only the insertion axis direction (Y-axis direction) but also the X-axis direction that is the extending direction of the insertion port 22 and the Z-axis orthogonal to these axes. Orient in an oblique direction to each of the directions. Then, with the orientation maintained, the distal end portion of the cable 23 is translated along the insertion axis direction to enter the insertion port 22.
  • FIGS. 4A and 4B are views for explaining a predetermined direction of the cable 23 at the time of S3, in which FIG. 4A is a plan view of the connector 21 as viewed from above, and FIG. FIG. 4C is a view from the front.
  • the connector 21 is shown in cross section in order to show how the cable 23 is inserted into the insertion port 22.
  • FIG. 4C the most distal end portion of the cable 23 is indicated by a broken-line rectangle.
  • the distal end portion of the cable 23 has an angle c around the Z axis, an angle a around the X axis, an angle b around the Y axis, from the direction coinciding with the insertion axis direction.
  • Each is oriented in a rotated direction.
  • the cable 23 is inserted into the insertion port 22 in such an oblique direction as described above. In this state, one point (point F in the drawing) of the cable 23 is surely entered into the insertion port 22. It is because it can be made.
  • the cable 23 When the cable 23 is inserted into the insertion port 22 in the direction shown in FIGS. 4A to 4C, the cable 23 is obliquely crossed, so that one of the positions of the distal end portion of the cable 23 is the periphery of the insertion port 22. Will come into contact.
  • the control device 10 can detect such a contact by monitoring the force applied to the cable 23 by the force sensor 12. This is because when the cable 23 comes into contact with the connector 21, a force opposite to the moving direction is applied from the connector 21 to the cable 23.
  • the point F at the distal end of the cable 23 has entered the insertion port 22, and a part of the distal end of the cable 23 overlaps the side wall of the insertion port 22 in a side view. .
  • the control device 10 When detecting that the cable 23 is in contact with the peripheral edge of the insertion port 22, the control device 10 once moves the cable 23 slightly in the direction away from the connector 21 (Y-axis negative direction), and then inserts the distal end portion of the connector 21. Rotate and move in the crossing direction that intersects the axial direction (S4). Specifically, the control device 10 rotates the tip portion of the cable 23 by an angle ⁇ a around the X axis and an angle ⁇ b around the Y axis. As a result, the inclination in the width direction and the thickness direction of the distal end portion of the cable 23 coincides with the width direction and the thickness direction of the insertion port 22.
  • 5A, 5B, and 5C show the position of the cable 23 in this state in the same manner as in FIGS. 4A to 4C.
  • the tip end portion of the cable 23 has elasticity, even if the position in the Z-axis direction does not exactly coincide with the insertion port 22, the end of the cable 23 is inserted into the insertion port 22 by bending. One side can enter.
  • the control device 10 moves the distal end portion of the cable 23 in the lateral direction (that is, the direction substantially orthogonal to the insertion axis direction, here, the X axis positive direction) (S5).
  • the distal end portion of the cable 23 is moved in the lateral direction, one end of the cable 23 comes into contact with the peripheral edge of the insertion port 22.
  • FIG. 6 is a plan view showing this state.
  • S3 when the distal end portion of the cable 23 comes into contact with the peripheral edge of the insertion port 22, a force in the direction opposite to the moving direction (here, the X-axis negative direction) is applied to the cable 23.
  • the control device 10 can detect such a contact by detecting this force with the force sensor 12.
  • the control device 10 When detecting that the cable 23 is in contact with the peripheral edge of the insertion port 22, the control device 10 stops moving in the lateral direction and moves the cable 23 slightly in the direction opposite to the previous moving direction. Then, the distal end portion of the cable 23 is further rotated in the crossing direction intersecting the insertion axis direction (S6). Specifically, here, the control device 10 rotates the tip portion of the cable 23 by an angle ⁇ c around the Z axis. As a result, the inclination of the distal end portion of the cable 23 in a plan view is canceled, the distal end portion of the cable 23 partially enters the insertion port 22, and the extending direction of the cable 23 coincides with the insertion axis direction.
  • FIG. 7 is a plan view showing this state.
  • FIG. 8 is a plan view showing a state in which this insertion is performed. Since the most advanced portion of the cable 23 has already entered the insertion port 22 in S6, the cable 23 can be inserted to the back of the insertion port 22 without being caught in the periphery of the insertion port 22 in S7. . As described above, since the distal end portion of the cable 23 has elasticity, even if the position of the cable 23 in the XZ plane is slightly deviated from the insertion port 22, the cable 23 is deformed. The distal end portion of the cable 23 can be advanced into the insertion port 22.
  • the distal end portion of the cable 23 enters the insertion port 22 in an oblique direction with respect to the insertion axis, and then the cable 23 is rotated and moved in a direction intersecting the insertion axis. , And by parallel movement, the distal end portion enters the insertion port 22.
  • the cable 23 can be inserted into the insertion port 22 without failure. For this reason, it is not necessary to perform alignment with much higher accuracy than before when S3 is inserted for the first time.
  • FIG. 9 is a diagram showing a state at the time of insertion work in the present embodiment.
  • maintenance part 14 etc. which comprise the assembly apparatus 1 is abbreviate
  • a connector 31 of a different type from that of the first embodiment is fixed on a substrate 30.
  • the connector 31 is provided with an insertion port 32 having a substantially rectangular outer edge in plan view.
  • the width direction of the outer edge of the insertion port 32 is defined as the Y-axis direction
  • the thickness direction is defined as the X-axis direction
  • the depth direction of the insertion port 32 is defined as the Z-axis direction.
  • a lock plate 33 is attached to the connector 31.
  • the lock plate 33 When the lock plate 33 is pulled upward (Z-axis positive direction), the lock is released and the lock plate 33 moves freely with respect to the connector 31 within a certain range.
  • the lock plate 33 can move in the X-axis direction and the Y-axis direction intersecting with the insertion axis direction (Z-axis direction).
  • the lock plate 33 When the lock plate 33 is pushed down, the lock plate 33 is fixed to the connector 31 and cannot move freely, and the cable 34 inserted into the insertion port 32 is pressed so that the cable 34 is not pulled out. Lock it.
  • the lock plate 33 is formed in a substantially U shape with the X-axis negative direction side opened in a plan view, and the surface of the lock plate 33 on the X-axis negative direction side constitutes the side wall of the insertion port 32.
  • the insertion port 32 of the connector 31 forms a protruding portion in which edges in three directions (X-axis positive direction side, Y-axis positive direction side, and Y-axis negative direction side) protrude. That is, the height of the side wall constituting the insertion port 32 is asymmetrical in the front-rear direction.
  • the side wall on the lock plate 33 side (X-axis positive direction side) is higher than the side wall on the reverse side (X-axis negative direction side). Therefore, when viewed from the X axis negative direction side, the side wall on the X axis positive direction side is exposed.
  • an insertion operation is performed in which the cable 34, which is a flexible flat cable, is inserted into the insertion port 32 in a state where the lock plate 33 is released.
  • the insertion port 32 may be hidden as a result of the lock plate 33 moving with respect to the connector 31. Therefore, there is a possibility that the lock plate 33 may become an obstacle and the insertion of the cable 34 may fail. Therefore, in the present embodiment, as will be described in detail below, the insertion of the cable 34 is realized without receiving interference from the lock plate 33 by performing a stepwise insertion operation.
  • control device 10 controls the vertical articulated robot 11 to move the camera 13 a to the front of the connector 31 and photograph the connector 31. By analyzing this captured image, the control device 10 specifies the position of the connector 31 (S11).
  • control device 10 grips and holds the distal end portion of the cable 34 placed at another place by the holding portion 14 (S12).
  • This control may be realized by the same procedure as S2 in the first embodiment, or may be realized by a different procedure.
  • the control device 10 moves the tip portion of the cable 34 to the initial position (S13).
  • the initial position is substantially above the connector 31, and the direction is the same as the insertion axis direction. Furthermore, this initial position is a position shifted in the X-axis negative direction with respect to the position of the insertion port 32 in plan view.
  • FIG. 11 is a diagram showing the positional relationship between the initial position of the cable 34 and the connector 31 and is a plan view showing the connector 31 as viewed from above.
  • the control device 10 moves the cable 34 downward from this initial position, thereby moving the cable 34 to an intermediate position where it overlaps the lock plate 33 in a side view (S14).
  • the side wall constituting the insertion port 32 is higher on the lock plate 33 side than on the opposite side. Therefore, at the intermediate position, the tip end portion of the cable 34 is in a state of being overlapped with the side wall constituting the insertion port 32 in a side view. However, at this time, the distal end portion of the cable 34 does not overlap the side wall on the X axis negative direction side of the insertion port 32 in a side view, and is positioned higher than the upper side of the side wall on the X axis negative direction side.
  • the control device 10 translates the cable 34 in a plurality of directions within a plane orthogonal to the Z-axis direction (that is, the XY plane) (S15).
  • the plurality of directions include a direction toward the lock plate 33. This is because the lock plate 33 is pressed to widen the insertion port 32 when the lock plate 33 moves in the negative direction of the X axis and narrows the insertion port 32. Further, in this embodiment, the cable 34 is not simply moved linearly toward the lock plate 33, but is translated in a direction oblique to the positive X-axis direction.
  • the cable 34 is translated in each of the direction between the X-axis positive direction and the Y-axis positive direction and the direction between the X-axis positive direction and the Y-axis negative direction. Since the plurality of parallel movements performed in S15 are movements in the XY plane, the movement in any direction is a movement in a direction intersecting the insertion axis direction.
  • the position of the lock plate 33 is shifted not only in the X-axis direction but also in the Y-axis direction and the insertion port 32 is narrowed. However, the position can be corrected so that the cable 34 can be inserted into the insertion port 32.
  • FIG. 12 is a diagram showing an example of a parallel movement route in S15, and shows a movement route in the XY plane of the center position of the cable 34 in plan view.
  • Point P1 indicates the position of the cable 34 at the time of S14.
  • a point P5 indicates the center position of the insertion slot 32 specified in S11.
  • the control device 10 starts from the point P1 corresponding to the initial position, and translates the cable 34 toward the direction between the X-axis positive direction and the Y-axis negative direction. As a result, the cable 34 reaches the point P2. Thereafter, the control device 10 translates the cable 34 toward the point P3.
  • This is a movement in the direction between the X-axis positive direction and the Y-axis positive direction, and is a movement from the right side to the left side as viewed from the center position of the insertion port 32.
  • the tip end portion of the cable 34 is pressed against the corner C1 of the lock plate 33, and when this movement causes the lock plate 33 to shift to the X axis negative direction side and to the Y axis negative direction side.
  • the deviation is corrected.
  • the tip portion of the cable 34 can be included in the recess formed by the substantially U-shaped lock plate 33.
  • the control device 10 moves the cable 34 in the lateral direction (Y-axis negative direction) toward the point P4.
  • FIG. 13 shows a state in which the lock plate 33 is pressed by the tip portion of the cable 34 in this way. Then, the control device 10 moves the distal end portion of the cable 34 to the center position (point P5) of the insertion port 32 specified in S11.
  • the lock plate 33 is moved to the X-axis positive direction side to widen the insertion port 32, and the distal end portion of the cable 34 is substantially U-shaped above the insertion port 32.
  • a three-sided state may be surrounded by the lock plate 33 having a shape.
  • the control device 10 moves the cable 34 along the insertion axis direction. Thereby, the front-end
  • the cable 34 is moved by the parallel movement in the crossing direction after moving the distal end portion of the cable 34 to the intermediate position, so that the freely moving lock plate 33 is not obstructed.
  • the distal end portion of the cable 34 can be inserted into the insertion port 32.
  • a connector provided with a cable to be inserted and an insertion port are not limited to those described above, and may have various shapes and types.
  • the assembly apparatus according to the present embodiment is not limited to a cable or a connector, and may perform an operation of inserting various types of inserts into the insertion port.
  • control procedure of the control device 10 in the insertion work is only an example, and the movement path and the execution order of each step in the insertion work may be different from the above description.
  • configuration of the assembling apparatus 1 is not limited to the above-described configuration, and for example, the shape of the holding portion 14 and the arrangement position of the force sensor 12 may be different from the above description. Further, the number of cameras and their installation positions may be different from those described above.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Dispositif d'assemblage (1) comprenant une unité de maintien (14) qui maintient une pièce rapportée, et une unité de commande (10) qui, pendant que l'unité de maintien (14) maintient la pièce rapportée, déplace la partie distale de la pièce rapportée vers une position intermédiaire chevauchant partiellement une face latérale formant une ouverture d'introduction dans une vue latérale, déplace celle-ci dans une direction d'intersection qui croise une direction d'axe d'introduction, puis introduit celle-ci dans l'ouverture d'introduction le long de la direction d'axe d'introduction.
PCT/JP2017/029953 2016-08-29 2017-08-22 Dispositif d'assemblage, et procédé de fabrication de dispositif électronique WO2018043212A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018537161A JP6840154B2 (ja) 2016-08-29 2017-08-22 組立装置、及び電子機器の製造方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-167379 2016-08-29
JP2016167379 2016-08-29

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WO2018043212A1 true WO2018043212A1 (fr) 2018-03-08

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JP2020082228A (ja) * 2018-11-16 2020-06-04 セイコーエプソン株式会社 ロボットシステムおよび接続方法
JPWO2021111701A1 (fr) * 2019-12-05 2021-06-10
CN113199505A (zh) * 2020-01-30 2021-08-03 精工爱普生株式会社 连接方法以及机器人系统

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CN114746226A (zh) * 2019-12-05 2022-07-12 三菱电机株式会社 连接器嵌合装置及连接器嵌合方法
JP7186900B2 (ja) 2019-12-05 2022-12-09 三菱電機株式会社 コネクタ嵌合装置およびコネクタ嵌合方法
CN114746226B (zh) * 2019-12-05 2024-03-08 三菱电机株式会社 连接器嵌合装置及连接器嵌合方法
CN113199505A (zh) * 2020-01-30 2021-08-03 精工爱普生株式会社 连接方法以及机器人系统

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