WO2018193754A1

WO2018193754A1 - Robot apparatus and electronic device production method

Info

Publication number: WO2018193754A1
Application number: PCT/JP2018/009766
Authority: WO
Inventors: 進一竹山; 弘邦別府
Original assignee: ソニー株式会社
Priority date: 2017-04-21
Filing date: 2018-03-13
Publication date: 2018-10-25
Also published as: CN110520255B; JPWO2018193754A1; JP7052791B2; CN110520255A

Abstract

The robot apparatus of one embodiment of the present technology is provided with a first robot (100), a second robot (200) and a control unit (3). The first robot has a first hand part (101) and a force sensor (15). The first hand part is configured so as to be capable of supporting a flexible linear member. The force sensor detects external forces acting on the first hand part. The second robot has a second hand part (201). The second hand part is configured so as to be capable of holding the linear member. The control unit has a position-determining section (31) for determining the position at which the second hand part holds the linear member, and a distance-calculating section (32) for calculating, on the basis of the output of the force sensor, the sliding distance of the first hand part relative to the linear member held by the second hand part.

Description

Robot apparatus and electronic device manufacturing method

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

For example, in the manufacture of electronic equipment, 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 part is known (see, for example, Patent Documents 1 and 2).

JP 2010-69587 A Japanese Patent Application Laid-Open No. 2014-176917

In the field of manufacturing electronic equipment, a linear member such as a cable may be connected to a connector part while spanning between a plurality of supports in the equipment. However, due to variations in the length of the linear member, the linear member may become loose in an unintended area, which may cause problems in the subsequent assembly process or reduce the electrical characteristics of the device. There is.

In view of the circumstances as described above, an object of the present technology is to provide a robot apparatus and a method for manufacturing an electronic apparatus that can suppress the occurrence of slack in an unintended region due to variations in the length of linear members. .

A robot apparatus according to an embodiment of the present technology includes a first robot, a second robot, and a control unit.
The first robot includes a first articulated arm, a first hand unit, and a force sensor. The first hand portion is attached to the first articulated arm and configured to support a flexible linear member. The force sensor is arranged between the first articulated arm and the first hand unit, and is configured to detect an external force acting on the first hand unit.
The second robot has a second articulated arm and a second hand unit. The second hand portion is attached to the second articulated arm and configured to hold the linear member.
The control unit is configured to determine a holding position of the linear member by the second hand unit, and the linear shape held by the second hand unit based on an output of the force sensor. A distance calculating unit that calculates a sliding distance of the first hand unit relative to the member.

According to the robot apparatus, 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 the unintended region due to the variation in the length of the linear member.

The distance calculation unit is configured to further calculate a relative movement distance of the linear member held by the first hand unit with respect to the second hand unit based on an output of the force sensor. Also good.
Thereby, it can adjust to the suitable length between the arbitrary fixed positions of a linear member.

The first hand unit may include a clamp mechanism and an elevating member.
The clamp mechanism is configured to be able to grip the linear member in a 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 held by the clamp mechanism in another axial direction orthogonal to the one axial direction.
Thereby, the arbitrary area | regions of a linear member can be assembled | attached appropriately to a predetermined holding position.

The clamp mechanism may include a first clamp claw, a second clamp claw, a protruding portion, and a storage portion.
The second clamp pawl is configured to be movable relative to the first clamp pawl 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 distal end portions of the first and second clamp claws, and is configured to be able to slidably support the linear member.
Thereby, a linear member can be appropriately supported by the 1st hand part.

The second robot may further include a camera that captures an end portion of the linear member supported by the first hand unit. The control unit may further include a posture determination unit that determines a posture of the tip portion with respect to the first hand unit based on image information acquired by the camera.
Thereby, the front-end | tip part of a linear member can be converted into the attitude | position suitable for the connection to a connection target object.

A method of manufacturing an electronic device according to an aspect of the present technology includes a base substrate having a connection portion, and first and second erected on the base substrate having a terminal portion connected to the connection portion at a tip. A method for manufacturing an electronic device including a flexible linear member spanned between the support members, the method including gripping the linear member with a first hand portion of a first robot.
By moving the first hand part 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.
The first hand portion is slid with respect to the linear member from the first region toward the terminal portion toward the second region separated by the first line length, and then the first hand portion is moved. The second area is gripped by the hand portion.
The second region is supported by the second support by moving the first hand part to the second support.

The method for manufacturing the electronic device may further include sliding the first hand portion relative to the linear member from the second region to a 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 body, the second region is extended from the second support body by a second line length.
By moving the first hand part to the connection part, the terminal part is connected to the connection part.

The method for manufacturing the electronic device may further include acquiring an image including posture information of the terminal unit with the camera of the second robot before connecting the terminal unit to the connection unit.
Based on the posture information, the gripping position of the terminal unit by the first hand unit 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.
Note that 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 the schematic explaining the procedure of the process of the said robot apparatus with respect to a linear member. It is a perspective view which shows an example of the support form of the said linear member, and the form of a front-end | tip part. 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 principal 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 robot apparatus. It is a flowchart which shows an example of the process sequence performed by the control part in the said robot apparatus. It is a schematic sectional side view explaining the support method of the said linear member. It is a schematic sectional side view explaining the holding method of the said linear member by the said 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 attitude | position conversion process of the front-end | tip part of the said linear member by the said robot apparatus.

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

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

[Schematic configuration of robotic device]
The robot apparatus 1 according to the present embodiment includes a work table that supports an assembly robot 100 (first robot), an auxiliary robot 200 (second robot), and a semi-finished product (hereinafter also referred to as a workpiece W) of an electronic device. 2 and a controller 3 (control unit) that controls driving of the assembly robot 100 and the auxiliary robot 200.

The assembly robot 100 includes a hand unit 101 (first hand unit), and a multi-joint arm 102 (first multi-joint arm) capable of moving the hand unit 101 to an arbitrary coordinate position with six-axis freedom. Have
The auxiliary robot 200 includes a hand unit 201 (second hand unit), a multi-joint arm 202 (second multi-joint arm) capable of moving the hand unit 201 to an arbitrary coordinate position with six axes of freedom. Have
The

multi-joint arms

102 and 202 are respectively connected to the work table 2 or a drive source (not shown) arranged in the vicinity of the work table 2.

The controller 3 is typically composed of a computer having a CPU (Central Processing Unit) and a memory, and is configured to control the driving of the assembly robot 100 and the auxiliary robot 200 in accordance with a program stored in the memory.
An example of control of the

robots

100 and 200 by the controller 3 will be described later.

2A and 2B are schematic diagrams illustrating an example of a workpiece W and a processing procedure of the robot apparatus 1 for the workpiece W.
In the figure, an X axis, a Y axis, and a Z axis indicate triaxial directions orthogonal to each other, and the Z axis corresponds to a height direction.

The workpiece W includes a base substrate Wa, circuit units Wb and Wc disposed on the base substrate Wa, a plurality of supports Wd (Wd1 to Wd4) standing at appropriate positions on the base substrate Wa, a cable member F and so on.

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

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

The cable member F is formed of a flexible wire having a circular cross section having one end connected to the circuit unit Wb and the other end (tip) having 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 is not limited thereto, and may be formed in a rectangular shape.

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

Work W is placed on the work table 2 with one end of the cable member F connected to the circuit unit Wc. As will be described later, the robot apparatus 1 controls the assembly robot 100 and the auxiliary robot 200 in a coordinated manner, bridges the cable member F between the plurality of support bodies Wd through a predetermined path, and then connects the terminal portion Fa to the connection portion. Connect to Wf.

Here, depending on the variation in the length of the cable member F, the cable member F may be loosened in an unintended region, which may cause problems in the subsequent assembly process, or may deteriorate the electrical characteristics of the device. There are things to do.
In the present embodiment, as shown in FIG. 2B, the robot apparatus 1 uses the 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.
Details of the robot apparatus 1 will be described below.

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

The hand unit 101 has a clamp mechanism CL1 (first clamp mechanism) that can grip (clamp) the cable member F in one axis direction (x-axis direction). The hand unit 101 further includes a base block 14, a force sensor 15, a camera 16, a lift 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 (imaging unit), the lifting unit 17, the plurality of illuminators 18, and the suction unit 19.
The camera 16 is configured to be able to photograph 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 CL <b> 1 and the vicinity thereof when the camera 16 is photographing.

The force sensor 15 is provided between the hand unit 101 and the articulated arm 102, and is configured to detect an external force acting on the hand unit 101 and a reaction force of the clamp mechanism CL1. A detection signal from 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, 12 so that they can move relative to each other in the uniaxial direction (x-axis direction). And 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.

1st and 2nd clamp nail |

claws

11 and 12 have

hook part

11a, 12a which protrudes in the direction which mutually opposes each front-end | tip part. The 1st clamp nail | claw 11 has the protrusion part 110 provided in the position right above the hook part 11a. The distance between the protruding part 110 and the hook part 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 moved relative to the second clamp claw 12. Configured.

And the clamp mechanism CL1 has the accommodating part 101c formed when the space | interval of the front-end | tips of the

hook parts

11a and 12a is below the diameter of the cable member F, as shown to FIG. 5C. The accommodating portion 101c is a space portion that is formed between the

hook portions

11a and 12a and the protruding portion 110 and penetrates in the y-axis direction. The drive unit 13 adjusts the distance between the

hook units

11a and 12a to support the cable member F so as to be slidable in the y-axis direction in the housing unit 101c, or to hold the cable member F so as not to slide. Configured to be able to.

As shown in FIG. 6, the elevating unit 17 has an elevating member 171 connected to a drive rod R <b> 1 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 an ascending position indicated by a solid line and a descending position indicated by a two-dot chain line in FIG. 6, and the cable member F supported by the accommodating portion 101c at the lowered position can It can be pressed in the direction (see FIG. 10).

The suction unit 19 has a suction tool 191 that can move in the z-axis direction, as shown in FIG. The suction tool 191 has a suction hole for vacuum suction at the tip thereof, and can move linearly between an ascending position indicated by a solid line and a descending position indicated by a two-dot chain line in FIG. The cable member F on the workpiece W can be sucked. The suction unit 19 is used by the clamp mechanism CL2 to remount the cable member F, and may be omitted as necessary.

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

The hand unit 201 includes a clamp mechanism CL2 (second clamp mechanism) that can grip (clamp) the cable member F in one axis 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 (imaging unit), and a plurality of illuminators 28.
The camera 26 is configured to be able to take an image of 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 CL <b> 2 and the vicinity thereof when the camera 26 captures images.

The force sensor 25 is provided between the hand unit 201 and the articulated arm 202, and is configured to detect an external force acting on the hand unit 201 and a reaction force of the clamp mechanism CL2. A 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, 22 so that they can move relative to each other in the uniaxial direction (a-axis direction). And 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 apparatus 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 a program stored in the memory.

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

The position determination unit 31 uses the access points of the assembly robot 100 (first hand unit 101) and the auxiliary robot 200 (second hand unit 201) for the workpiece W placed on the work table 2 (see FIG. 1). decide. Specifically, the position of each part on the base substrate Wa (the positions of the circuit units Wb, Wc, the support Wd, the connection part Wf, etc.) is recognized, and the movement trajectory of the first and

second hand parts

101, 102 The moving height from the work table 2 is determined.

The distance calculation unit 32 mainly calculates the movement distance of the first hand unit 101. More specifically, the distance calculation unit 32 has a relative movement distance (sliding distance) of the first hand unit 101 with respect to the cable member F and a second hand unit 201 of the first hand unit 101 that holds the cable member F. It is configured to calculate a relative movement distance or the like. The distance calculation unit 32 calculates the distances based on the output of the force sensor 15.

The drive signal generation unit 33 generates a drive signal for controlling the driving of the

hand units

101 and 201 and the articulated

arms

102 and 202 of the

robots

100 and 200 based on outputs from the position determination unit 31, the distance calculation unit 32, and the like. Configured as follows.

The storage unit 34 is typically composed of a semiconductor memory or the like. The storage unit 34 is necessary for calculation in each unit in addition to a program for controlling the operation of each unit of the robot apparatus 1 including programs for executing the functions of the position determination unit 31, the distance calculation unit 32, and the drive signal generation unit 33. Parameters, image signals of the

cameras

16 and 26 output from the

hand units

101 and 201, detection signals of the

force sensors

15 and 25, and the like can be stored.

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

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

[Manufacturing method of electronic equipment]
Subsequently, details of the controller 3 will be described together with a typical operation example of the robot apparatus 1.
FIG. 9 is a flowchart illustrating 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 unit 101 (step 101).

The controller 3 first 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 workpiece W imaged by the camera 16 of the first hand unit 101 or the camera 26 of the second hand unit 201. Information on the position of the connecting portion Wf is acquired. Then, the position determining unit 31 determines the access point (XYZ coordinate position) 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 unit 101 to the gripping position of the cable member F via the multi-joint arm 102 and executes the gripping process of the cable member F. Prior to gripping the cable member F, a process of moving the cable member F to the gripping position by the suction unit 19 may be executed.

Note that, in the gripping process of the cable member F, the first hand unit 101 moves to a position immediately above a predetermined gripping position of the cable member F, and maintains the clamp mechanism CL1 in the open state shown in FIG. 5A. And the 1st hand part 101 descend | falls toward the cable member F, after making the cable member F contact | abut on the lower edge of the protrusion part 110, it drives the clamp mechanism CL1 to the closed position shown to FIG. 5C. Thus, the cable member F is accommodated in the accommodating portion 101c. Thereby, the cable member F can be appropriately accommodated in the accommodating part 101c.

Further, the gripping force of the cable member F by the clamp mechanism CL1 is set to an appropriate strength that allows the clamp mechanism CL1 to slide relative to the cable member F when a predetermined tension or more is applied to the cable member F. Can do. Thereby, the stress added 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 specifically described, control such as movement of the

hand units

101 and 102 is executed based on outputs from the position determination unit 31 and the drive signal generation unit 33, and detailed description thereof is omitted. Unless otherwise specified, the first hand unit 101 is used in the sense of the clamp mechanism CL1, and similarly, the second hand unit 201 is used in the sense of the clamp mechanism CL2.

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

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

In this adjustment process, for example, the hand unit 101 pulls the gripping position of the cable member F with a predetermined tension via the clamp mechanism CL1, and the distance from the gripping position and the connection end of the circuit unit Wc has a predetermined size. Check if it exists. If the distance is not a predetermined size, the gripping force is weakened and the clamp mechanism CL1 is slid with respect to the cable member F to re-hold at the position where the distance is a predetermined size.

Subsequently, as shown in FIG. 10, the controller 3 moves the first hand unit 101 to the support body Wd1, thereby supporting the vicinity of the grip region of the cable member F on the support body 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 and the cable member F is supported by the support portion of the support Wd. Engage with Wds. Thereafter, the elevating member 171 is lowered, and the support member F immediately below is pressed against the upper surface of the base substrate Wa with a predetermined pressure. As a result, the cable member F can be engaged with the support portion Wds in an appropriate posture.

After the operation of engaging the cable member F with the support body Wd1, the first hand unit 101 is raised by a predetermined distance, and the cable member F is supported in a state in which the cable member F is accommodated in the accommodating part 101c by weakening the gripping force of the clamp mechanism CL1 It moves in the direction of the body Wd2. As a result, the clamp mechanism CL1 slides and moves relative to the cable member F while supporting the cable member F, changes the gripping position to the support region of the support Wd2, and connects the cable to the support Wd2 in the same procedure as described above. The member F is supported. 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 body Wd1 and the support body Wd2.

On the other hand, as shown in FIG. 11, the controller 3 moves the cable member F to a position immediately above the cable member F in the vicinity of the support Wd by the second hand unit 201, and the base member Wa at a predetermined pressure at the tip of the clamp mechanism CL2. Press and hold up. Thereby, the slack of the cable member F accompanying the movement of the 1st hand part 101 and the drop-off | omission from the support body Wd1 are prevented. 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 body Wd2 is completed, the first hand unit 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 body Wd2 by the second hand unit 201 is held. In this state, the first hand unit 101 has a first line from the region (first region) gripped when the cable member F is supported by the support body Wd2 toward the terminal portion Fa of the cable member F. After sliding with respect to the cable member F to the area (second area) separated by the length S, the area (second area) is gripped.

The first line length S is set to a length (S230) larger than the appropriate cable surplus length (S23) between the support body Wd2 and the support body Wd3. That is, in this step, the support Wd2 is such 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 within a predetermined range. A surplus length region of the cable member F is formed between the support member Wd3 and the support member Wd3.

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

In this step, the controller 3 moves the first hand unit 101 to the support Wd3, thereby supporting the second region on the support Wd3. Thereby, the extra length area | region of the cable member F is formed between the support body Wd2 and the support body Wd3 (refer FIG. 12B).

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

In this step, as shown in FIG. 12C, the first hand unit is held in a state in which the second hand unit 201 holds the support region (second region) of the cable member F on the support Wd3 or the vicinity thereof. 101 is slid with respect to the cable member from the region (second region) to a contact position with the terminal portion Fa of the cable member F. 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 a direction away from the support body Wd3 (leftward in the Y-axis direction in FIG. 12C). Then, while the cable member F (second region) is slid with respect to the second hand unit 201, the cable member F is extended from the support Wd3 by the second line length.

The second line length corresponds to a part of the extra length of the cable member F between the support body Wd2 and the support body Wd3. Specifically, the line length (S230), the line length (S23), It is the length corresponding to the difference of. Thereby, an appropriate cable length (a length corresponding to the sum of S34 and S45) from the support body Wd3 to the connection portion Wf is ensured.

Subsequently, the cable member F is supported by the support body Wd4 by the first hand unit 101 (step 107). And the terminal part Fa of the cable member F is connected to the connection part Wf by moving the 1st hand part 101 to the connection part 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 process of the terminal portion Fa, as shown in FIG. 13A, the cable connecting portion Fb (see FIG. 3B) in the vicinity of the terminal portion Fa is held by the first hand portion 101, and the second robot 200 An image including the orientation information of the terminal portion Fa is acquired by the camera 26. And based on the said attitude | position information, the holding position of the terminal part Fa by the 1st hand part 101 is changed.

When changing the holding position of the terminal portion Fa by the first hand unit 101, first, the small-diameter portion Fa2 of the terminal portion Fa is directed 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 horizontal proper posture. Then, after the clamp mechanism CL2 of the second hand unit 201 grips the terminal portion Fa instead of the first hand unit 101 (clamp mechanism CL1), the first hand unit 101 has an angle corresponding to the angle error. Rotate and re-clamp the cable connection Fb. As a result, as shown in FIG. 13B, the terminal portion Fa is held in an appropriate posture by the first hand unit 101.

Thereafter, the first hand unit 101 moves to a position directly above the connection part Wf, lowers the terminal part Fa, and connects to the connection part Wf with a predetermined pressure. Thereby, the routing operation of the cable member F and the connection operation of the terminal portion Fa to the connection portion Wf between the plurality of support bodies Wd by the robot apparatus 1 are completed.

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

Further, according to the present embodiment, since the assembly robot 100 and the auxiliary robot 200 include the

force sensors

15 and 25, it is possible to adjust an appropriate gripping force and feeding length for the cable member F, and a terminal for the connection portion Wf. An appropriate pushing pressure of the portion Fa can be realized.

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

<Modification>
For example, in the above embodiment, the cable member F is provided between the surplus length region support body Wd2 and the support body Wd3. However, the present invention is not limited to this, and the surplus length region may be set in another section. Further, the routing route of the cable member F and the structure of the support body Wd are not limited to the above-described example, and can be appropriately changed according to the type of the workpiece W or the like.

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. However, the auxiliary robot 200 is predetermined by clamping the cable member F with the clamp mechanism CL2. The holding action may be performed.

Furthermore, in the above embodiment, the routing of the cable member F is realized by cooperative control of the assembly robot 100 and the auxiliary robot 200. However, the present invention is not limited to this, and depending on the structure of the support and the routing route, the assembly robot 100 alone may be used. You may go.

In addition, this technique can also take the following structures.
(1) a first multi-joint arm, a first hand unit attached to the first multi-joint arm and capable of supporting a flexible linear member, and the first multi-joint arm A first robot having a force sensor arranged between the first hand unit and capable of detecting an external force acting on the first hand unit;
A second robot having a second articulated arm and a second hand unit attached to the second articulated arm and capable of holding the linear member;
A position determining unit that determines a holding position of the linear member by the second hand unit, and the first relative to the linear member held by the second hand unit based on an output of the force sensor. A robot apparatus comprising: a distance calculating unit that calculates a sliding distance of the hand unit;
(2) The robot apparatus according to (1) above,
The distance calculation unit further calculates a relative movement distance of the linear member held by the first hand unit with respect to the second hand unit based on an output of the force sensor.
(3) The robot apparatus according to (1) or (2) above,
The first hand unit includes:
A clamp mechanism capable of gripping the linear member in a uniaxial direction;
A robot apparatus configured to be movable relative to the clamp mechanism and capable of pressing the linear member gripped by the clamp mechanism in another axial direction perpendicular to the one axial direction.
(4) The robot apparatus according to (3) above,
The clamping mechanism is
A first clamping claw;
A second clamp claw movable relative to the first clamp claw in the uniaxial direction;
A protrusion provided on the first clamp pawl and extending toward the second clamp pawl;
A robot apparatus, comprising: a housing portion provided between the projecting portion and the distal end portions 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 includes a camera that photographs the tip of the linear member supported by the first hand unit,
The control unit further includes a posture determination unit that determines a posture of the tip portion with respect to the hand unit based on image information acquired by the camera.
(6) Flexibility to be bridged between a first base plate having a connection portion and a first support and a second support member standing on the base substrate having a terminal portion connected to the connection portion at the tip. A method of manufacturing an electronic device including a linear member of
Grasping the linear member with the first hand portion of the 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,
Holding the linear member by the second hand portion of the second robot;
The first hand part is slid relative to the linear member from the first area toward the terminal part to a second area separated by a first line length, and then the first hand part Holding the second region with the hand part;
The manufacturing method of the electronic device which makes the said 2nd support body support the said 2nd area | region by moving a said 1st hand part to a 2nd support body.
(7) The method for manufacturing the electronic device according to (6), further comprising:
Sliding the first hand part relative to the linear member from the second region to a contact position with the terminal part;
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 a second line length,
A method of manufacturing an electronic device, wherein the terminal portion is connected 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), further comprising:
Before connecting the terminal unit to the connection unit, obtain an image including posture information of the terminal unit with the camera of the second robot,
A method for manufacturing an electronic device, wherein a gripping position of the terminal unit by the first hand unit is changed 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 an antenna cable or a wiring cable.

DESCRIPTION OF SYMBOLS 1 ... Robot apparatus 3 ... Controller 11 ... 1st clamp nail 12 ... 2nd clamp nail | claw 15, 25 ...

Force sensor

16, 26 ... Camera 31 ... Position determination part 32 ... Distance calculation part 100 ... Assembly robot 101 ... 1st 1 hand 101c ... accommodating portion 102 ... first articulated arm 110 ... protruding portion 171 ... lifting 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

A first multi-joint arm; a first hand portion attached to the first multi-joint arm and capable of supporting a flexible linear member; the first multi-joint arm and the first A force sensor that is arranged between the hand part and capable of detecting an external force acting on the first hand part; and
A second robot having a second articulated arm and a second hand unit attached to the second articulated arm and capable of holding the linear member;
A position determining unit that determines a holding position of the linear member by the second hand unit, and the first relative to the linear member held by the second hand unit based on an output of the force sensor. A robot apparatus comprising: a distance calculating unit that calculates a sliding distance of the hand unit;
The robot apparatus according to claim 1,
The distance calculation unit further calculates a relative movement distance of the linear member held by the first hand unit with respect to the second hand unit based on an output of the force sensor.
The robot apparatus according to claim 1,
The first hand unit includes:
A clamp mechanism capable of gripping the linear member in a uniaxial direction;
A robot apparatus configured to be movable relative to the clamp mechanism and capable of pressing the linear member gripped by the clamp mechanism in another axial direction perpendicular to the one axial direction.
The robot apparatus according to claim 3, wherein
The clamping mechanism is
A first clamping claw;
A second clamp claw movable relative to the first clamp claw in the uniaxial direction;
A protrusion provided on the first clamp pawl and extending toward the second clamp pawl;
A robot apparatus, comprising: a housing portion provided between the projecting portion and the distal end portions of the first and second clamp claws and capable of slidably supporting the linear member.
The robot apparatus according to claim 1,
The second robot further includes a camera that photographs the tip of the linear member supported by the first hand unit,
The control unit further includes a posture determination unit that determines a posture of the tip with respect to the first hand unit based on image information acquired by the camera.
A flexible linear shape that spans between a base substrate having a connection portion and a first support and a second support member standing on the base substrate having a terminal portion connected to the connection portion at the tip. A method for manufacturing an electronic device including a member,
Grasping the linear member with the first hand portion of the 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,
Holding the linear member by the second hand portion of the second robot;
The first hand part is slid relative to the linear member from the first area toward the terminal part to a second area separated by a first line length, and then the first hand part Holding the second region with the hand part;
The manufacturing method of the electronic device which makes the said 2nd support body support the said 2nd area | region by moving a said 1st hand part to a 2nd support body.
The method for manufacturing an electronic device according to claim 6, further comprising:
Sliding the first hand part relative to the linear member from the second region to a contact position with the terminal part;
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 a second line length,
A method of manufacturing an electronic device, wherein the terminal portion is connected to the connection portion by moving the first hand portion to the connection portion.
The method for manufacturing an electronic device according to claim 7, further comprising:
Before connecting the terminal unit to the connection unit, obtain an image including posture information of the terminal unit with the camera of the second robot,
A method for manufacturing an electronic device, wherein a gripping position of the terminal unit by the first hand unit is changed based on the posture information.
It is a manufacturing method of the electronic device of Claim 6, Comprising:
The linear member is an antenna cable or a wiring cable.