WO2021111701A1 - Dispositif de raccord de connecteur et procédé de raccord de connecteur - Google Patents

Dispositif de raccord de connecteur et procédé de raccord de connecteur Download PDF

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Publication number
WO2021111701A1
WO2021111701A1 PCT/JP2020/034915 JP2020034915W WO2021111701A1 WO 2021111701 A1 WO2021111701 A1 WO 2021111701A1 JP 2020034915 W JP2020034915 W JP 2020034915W WO 2021111701 A1 WO2021111701 A1 WO 2021111701A1
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WO
WIPO (PCT)
Prior art keywords
connector
fitting
force sensor
end effector
profile
Prior art date
Application number
PCT/JP2020/034915
Other languages
English (en)
Japanese (ja)
Inventor
卓旦 高塚
靖 浅居
太田　貴之
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2021562461A priority Critical patent/JP7186900B2/ja
Priority to CN202080083184.6A priority patent/CN114746226B/zh
Publication of WO2021111701A1 publication Critical patent/WO2021111701A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R12/00—Structural associations of a plurality of mutually-insulated electrical connecting elements, specially adapted for printed circuits, e.g. printed circuit boards [PCB], flat or ribbon cables, or like generally planar structures, e.g. terminal strips, terminal blocks; Coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures; Terminals specially adapted for contact with, or insertion into, printed circuits, flat or ribbon cables, or like generally planar structures
    • H01R12/70—Coupling devices
    • H01R12/91—Coupling devices allowing relative movement between coupling parts, e.g. floating or self aligning

Definitions

  • the present disclosure relates to a connector fitting device and a connector fitting method.
  • Patent Document 1 discloses a robot that fits a female connector and a male connector. This robot is configured to be able to determine the quality of the mating state at the same time as performing the fitting work.
  • the robot has a grip portion, an arm portion, and a force sensor.
  • the grip portion is provided at the tip of the arm portion via a force sensor, and is configured to grip the male connector with three fingers.
  • the force sensor is provided between the grip portion and the arm portion, and detects the force acting between the grip portion and the arm portion in the three axial directions and the moment around the axis in the mounting direction of the grip portion. To do.
  • the robot performs the fitting operation by moving the male connector relative to the female connector whose position and orientation are fixed.
  • the robot further uses the force sense information of the force sense sensor and the position information of the grip portion to determine whether the fitting state is good or bad.
  • a target value is generated for the output of the force sensor and the position of the grip portion at each timing, and the operation of the robot is controlled so that the output of the force sensor and the position of the grip portion become the target value.
  • an allowable range is set in advance for each of the output of the force sensor and the position of the grip portion, and the fit state is good or bad based on whether the output of the force sensor and the position of the grip portion are within the allowable range. To judge.
  • the present disclosure has been made in view of the above problems, and an object of the present invention is to fit a first connector and a second connector without gripping the connector, and a second connector with respect to the first connector. It is an object of the present invention to provide a connector fitting device and a connector fitting method capable of stably determining the fitting operation and the quality of the fitting state regardless of the size of the relative position of the connector.
  • the connector fitting device is a connector fitting device that fits the first connector and the second connector.
  • the second connector has a movable portion that is in conductive contact with the first connector, a housing that accommodates the movable portion, and a terminal that connects the housing and the movable portion.
  • the second connector is a floating connector in which the movable portion moves with respect to the housing due to the elastic deformation of the flexible portion of the terminal.
  • the connector fitting device includes a positioning mechanism for positioning the first connector, a robot device, a force sensor, and a controller.
  • the robot device has an end effector and a robot arm for moving the end effector.
  • the force sensor detects the load acting on the end effector.
  • the controller controls the operation of the robot arm based on the detected value of the force sensor.
  • the robot device is configured to push the second connector into the first connector by moving the end effector in the mating direction and pressing the second connector.
  • the controller moves the end effector in the mating direction in two stages.
  • the controller moves the end effector in the direction opposite to the fitting direction so as to reduce the pressing force on the second connector by the end effector between the first-stage movement and the second-stage movement.
  • the fitting operation and the fitting operation are performed independently of the magnitude of the deviation of the relative position of the second connector with respect to the first connector. It is possible to provide a connector fitting device and a connector fitting method capable of stably determining the quality of the fitting state.
  • FIG. 1 It is a perspective view which shows the connector fitting device which concerns on Embodiment 1.
  • FIG. It is a top view which shows the work and the connector in FIG. 1 in an enlarged manner.
  • FIG. 3 is a cross-sectional view taken along the line III-III of FIG.
  • FIG. 2 is a cross-sectional view taken along the line IV-IV of FIG.
  • It is a figure for demonstrating the fitting operation of the 1st connector and the 2nd connector.
  • It is a schematic diagram which shows an example of the hardware composition of the connector fitting device which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the functional structure of the controller shown in FIG. It is a flowchart for demonstrating the connector fitting process which concerns on Embodiment 1.
  • FIG. It is a schematic diagram for demonstrating the connector fitting process which concerns on Embodiment 1.
  • FIG. It is a figure which shows typically the 1st example of the correction of the relative position deviation of the 2nd connector in step S05 of FIG. It is a figure which shows typically the 2nd example of the correction of the relative position deviation of the 2nd connector in step S05 of FIG. It is a figure which shows the 1st example of the profile of the load detected by the force sensor during execution of the connector fitting process shown in FIG. It is a figure which shows the 2nd example of the profile of the load detected by the force sensor during execution of the connector fitting process shown in FIG. It is a flowchart for demonstrating the connector fitting process which concerns on 1st modification of Embodiment 1.
  • FIG. 1 is a perspective view showing a connector fitting device 100 according to the first embodiment.
  • FIG. 2 is an enlarged top view showing the workpieces 6 and 8 and the connectors 10 and 20 in FIG. 1.
  • the connector fitting device 100 according to the first embodiment is applied to a production site of an industrial product or the like, and a second connector 20 provided on the second work 8 is attached to a first connector 10 provided on the first work 6. By inserting it, the first connector 10 and the second connector 20 are configured to be fitted.
  • the connector fitting device 100 uses the robot device 1 for fitting the first connector 10 and the second connector 20.
  • the first work 6 and the second work 8 have a rectangular flat plate shape.
  • Each of the first work 6 and the second work 8 is a printed circuit board on which, for example, a processor and a memory are mounted.
  • the first connector 10 is attached to the first surface 6A, which is one surface of the first work 6.
  • the second connector 20 is attached to the first surface 8A, which is one surface of the second work 8.
  • the first work 6 and the second work 8 are arranged side by side in the horizontal direction so that the first surface 6A and the first surface 8A face the same direction and are adjacent to each other.
  • the first connector 10 and the second connector 20 are arranged so as to face each other on the adjacent first sides 61 and 81 of the first surface 6A and the first surface 8A.
  • the first connector 10 is a female connector
  • the second connector 20 is a male connector.
  • the first connector 10 and the second connector 20 have a rectangular parallelepiped shape.
  • the robot device 1 is configured to insert the second connector 20 into the first connector 10 by moving the second connector 20 relative to the first connector 10.
  • the connector fitting device 100 includes a robot device 1, a force sensor 3, and a positioning mechanism 5.
  • the robot device 1 has a support base 1A, a robot arm 1B, and an end effector 2.
  • the support base 1A supports the robot arm 1B.
  • the robot arm 1B has a plurality of joints, and has a plurality of arms connected to each other at each joint.
  • the robot arm 1B has a first arm 1b1, a second arm 1b2, and a third arm 1b3.
  • the first arm 1b1 is connected to the support base 1A via a first movable shaft (not shown), and is movable around the rotation axis of the first movable shaft with respect to the support base 1A.
  • the second arm 1b2 is connected to the first arm 1b1 via a second movable shaft (not shown), and is movable around the rotation axis of the second movable shaft with respect to the first arm 1b1.
  • the third arm 1b3 is connected to the second arm 1b2 via a third movable shaft (not shown), and is movable around the rotation axis of the third movable shaft with respect to the second arm 1b2.
  • the end effector 2 is connected to the third arm 1b3 via a fourth movable shaft (not shown), and is movable around the rotation axis of the fourth movable shaft with respect to the third arm 1b3.
  • the first movable shaft, the second movable shaft, the third movable shaft, and the fourth movable shaft are driven by a drive source such as a shaft drive motor (not shown).
  • the shaft drive motor is, for example, a servo motor.
  • the end effector 2 is provided at the tip of the robot arm 1B.
  • the end effector 2 has a base 2A and a protrusion 2B.
  • the base portion 2A is formed in a flat plate shape and has a substantially rectangular plate shape.
  • the base portion 2A has a first surface joined to the robot arm and a second surface opposite to the first surface.
  • the projecting portion 2B projects perpendicularly to the second surface of the base portion 2A.
  • two protrusions 2B are arranged side by side on the first side of the base portion 2A having a substantially rectangular shape, but the shape, position, and number of the protrusions 2B are not limited to this.
  • the posture of the end effector 2 can also change freely.
  • the protruding portion 2B of the end effector 2 is brought into contact with the second side 82 of the second work 8 facing the first side 81 where the second connector 20 is arranged. ..
  • the protrusion 2B moves the second work 8 and the second connector 20 toward the first work 6 and the first connector 10 by pressing the second side 82 of the second work 8.
  • the robot device 1 can push the second connector 20 toward the first connector 10 without gripping the second work 8 and the second connector 20. Configuration examples of the connectors 10 and 20 and the connector fitting operation will be described later.
  • the force sensor 3 is provided between the third arm 1b3 of the robot arm 1B and the end effector 2.
  • the force sensor 3 is arranged at a position corresponding to the wrist of the robot arm 1B.
  • the force sensor 3 detects the force (load) acting on the end effector 2 and transmits a signal indicating the detected value to the controller 30.
  • the force sensor 3 is configured to detect a force acting in three axial directions orthogonal to each other.
  • the force sensor 3 may further have a function of detecting the moment load, that is, the torque generated by each of the three axes.
  • the force sensor 3 corresponds to an embodiment of the “force sensor”.
  • the positioning mechanism 5 is for fixing the positions and postures of the first work 6 and the first connector 10 and for restricting the moving directions of the second work 8 and the second connector 20.
  • the positioning mechanism 5 is fixed by a support member (not shown).
  • the positioning mechanism 5 extends perpendicularly to the first portion 5A supporting the second side 62 of the first work 6 facing the first side 61 on which the first connector 10 is arranged, and the first portion 5A. It has a second portion 5B and a third portion 5C.
  • the second portion 5B and the third portion 5C of the positioning mechanism 5 are arranged in parallel with each other, and are configured to support the third side 63 and the fourth side 64 of the first work 6 facing each other.
  • the second portion 5B and the third portion 5C of the positioning mechanism 5 are further configured to support the third side 83 and the fourth side 84 of the second work 8 facing each other.
  • the second portion 5B and the third portion 5C are configured to function as a "guide portion" for moving the second work 8 toward the first work 6.
  • each of the second portion 5B and the third portion 5C is a guide rail having a groove extending along the longitudinal direction (Y-axis direction).
  • the second work 8 is supported by the second portion 5B and the third portion 5C so as to be slidable along the groove of the guide rail.
  • FIG. 3 is a cross-sectional view taken along the line III-III of FIG.
  • FIG. 4 is a cross-sectional view taken along the line IV-IV of FIG.
  • the first connector 10 is formed in a rectangular parallelepiped shape and has a housing 12 and a conduction terminal 14.
  • the housing 12 has a hollow box shape with an opening formed on the top surface.
  • the housing 12 is made of, for example, an insulating resin.
  • the housing 12 is fixed to the first surface 6A of the first work 6 so that the opening faces the second connector 20.
  • the conduction terminal 14 is fixed to the housing 12 so as to project vertically from the bottom surface opposite to the top surface of the housing 12.
  • the conduction terminal 14 has a narrow rectangular plate-like shape and extends in the extending direction of the first surface 6A of the first work 6.
  • the rectangular plate-shaped conductive terminal 14 is provided with a contactor (not shown) for conducting conductive contact with the conductive terminal of the second connector 20.
  • the contact is formed of a conductive metal plate and is electrically connected to an electronic component mounted on the first surface 6A of the first work 6.
  • the second connector 20 is formed in a rectangular parallelepiped shape, and has a housing 22, a movable portion 24, and a terminal 26.
  • the second connector 20 is a floating connector. Floating is a function that enables fitting by absorbing the deviation by moving the connector even when there is a deviation of the fitting shaft between the male connector and the female connector.
  • the housing 22 has a hollow box shape with an opening formed on the top surface.
  • the housing 22 is made of, for example, an insulating resin.
  • the housing 22 is fixed to the first surface 8A of the second work 8 so that the opening faces the first connector 10.
  • the movable portion 24 has a groove shape with an opening formed on the top surface.
  • the opening of the movable portion 24 extends parallel to the first surface 8A of the second work 8.
  • the movable portion 24 is housed in the opening of the housing 22 so that the opening faces the first connector 10.
  • the movable portion 24 constitutes a “fitting portion” into which the conduction terminal 14 of the first connector 10 is inserted.
  • the terminal 26 is connected between a contact that is fixed to the movable portion 24 and makes conductive contact with the conductive terminal 14 of the first connector 10, a fixed portion that is fixed to the housing 22, and the contact and the fixed portion. It has a flexible portion.
  • the terminal 26 is formed by bending a conductive metal plate in the plate thickness direction.
  • the fixing portion is electrically connected to an electric component mounted on the first surface 8A of the second work 8.
  • the flexible portion is elastically deformable, and by elastically connecting the movable portion 24 and the housing 22, the movable portion 24 is displaceably supported with respect to the housing 22.
  • a gap is formed between the inner peripheral surface of the housing 22 and the outer peripheral surface of the movable portion 24.
  • a gap X2 is formed along a direction parallel to the first surface 8A of the second work 8 (X-axis direction), and a gap X2 is formed along a direction perpendicular to the second surface 8A (Z-axis direction).
  • Z2 is formed.
  • the gaps X2 and Z2 have a size of about 0.5 mm.
  • a gap is formed between the inner peripheral surface of the groove portion of the second portion 5B and the third portion 5C and the outer peripheral surface of the second work 8.
  • a gap X1 is formed along a direction parallel to the first surface 8A of the second work 8 (X-axis direction), and a gap X1 is formed along a direction perpendicular to the first surface 8A (Z-axis direction).
  • Z1 is formed.
  • the gaps X1 and Z1 have a size of about 0.2 mm.
  • the second work 8 can be displaced in the directions parallel and perpendicular to the first surface 8A inside the gaps X1 and Z1. Therefore, the second work 8 can be displaced with respect to the first work 6 inside the gaps X1 and Z1.
  • the connector fitting device 100 since the first work 6 is fixed and supported by the positioning mechanism 5, the position and posture of the first connector 10 are fixed.
  • the second work 8 is movably supported by the positioning mechanism 5 along the direction toward the first work 6 (direction of arrow A1 in FIGS. 2 and 3). Therefore, by moving the end effector 2 of the robot device 1 along the direction A1 and pressing the second work 8 by the protruding portion 2B provided on the end effector 2, the second work 8 and the second connector 20 are pressed. While moving toward the first work 6 and the first connector 10, the second connector 20 can be inserted into the first connector 10 to fit the first connector 10 and the second connector 20.
  • the direction of arrow A1 in FIGS. 2 and 3 is also referred to as “fitting direction”.
  • FIG. 5 is a diagram for explaining the fitting operation of the first connector 10 and the second connector 20.
  • FIG. 5 shows in stages the fitting states of the first connector 10 and the second connector 20 when the second work 8 is moved in the fitting direction A1 from the state shown in FIG. ..
  • FIG. 5A is a diagram showing a mating state of the first connector 10 and the second connector 20 when the fitting operation is started.
  • the tip end portion of the conduction terminal 14 of the first connector 10 is inserted into the opening of the movable portion 24 of the second connector 20.
  • a load in the direction opposite to the fitting direction A1 acts on the movable portion 24.
  • the terminal 26 connecting the movable portion 24 and the housing 22 is elastically deformed.
  • the movable portion 24 is displaced in the direction toward the housing 22 (the direction opposite to the fitting direction A1).
  • the movable portion 24 of the second connector 20 moves in the fitting direction A1 while contacting the conduction terminal 14, as shown in FIG. 5 (B). Then, the contact provided in the movable portion 24 makes a conductive contact with the contact of the conductive terminal 14 at the initial contact position set in the conductive terminal 14.
  • the fitting state of the first connector 10 and the second connector 20 from the start of the fitting operation to the time when the movable portion 24 of the second connector 20 reaches the initial contact position is referred to as the “initial fitting state”. Also called.
  • the movable portion 24 of the second connector 20 is further moved in the fitting direction A1 (see FIG. 5C). ).
  • the contact of the movable portion 24 slides on the conductive terminal 14 while contacting the contact of the conductive terminal 14 of the first connector 10.
  • the contact of the movable portion 24 moves in the region of the “effective fitting length” of the conduction terminal 14.
  • the effective mating length indicates the distance that the contact of the movable portion 24 of the second connector 20 moves in contact with the contact of the first connector 10 during the insertion or withdrawal of the second connector 20. .. That is, the effective fitting length corresponds to the length at which the contacts of both the first connector 10 and the second connector 20 can make conductive contact in the fitted state.
  • the effective mating length corresponds to the distance between the initial contact position and the normal contact position.
  • the first connector 10 and the second connector 20 shift to the "fitting completed state". (See FIG. 5 (D)).
  • the first side 61 of the first work 6 and the first side 81 of the second work 8 come into contact with each other.
  • the opening edge of the housing 12 of the first connector 10 and the opening edge of the housing 22 of the second connector 20 come into contact with each other.
  • the movable portion 24 of the second connector 20 receives a load in the direction opposite to the fitting direction A1 by coming into contact with the conductive terminal 14 of the first connector 10.
  • This load acts on the housing 22 from the movable portion 24 via the terminal 26.
  • the load acting on the housing 22 further acts on the end effector 2 of the robot device 1 via the second work 8.
  • the load acting on the end effector 2 is detected by the force sensor 3.
  • the load detected by the force sensor 3 during the fitting operation changes as the fitting state of the first connector 10 and the second connector 20 changes.
  • the load increases monotonically after the fitting operation is started, and the movable portion 24 reaches the initial contact position.
  • the peak value is shown immediately before.
  • the load gradually decreases, and while the movable portion 24 is moving in the effective fitting length region (FIG. 5 (C)), the load is almost a value smaller than the peak value. It does not change.
  • the fitting is completed (FIG. 5 (D))
  • the first sides 61, 81 of the workpieces 6 and 8 and / or the opening edges of the connectors 10 and 20 come into contact with each other, so that the load is applied again.
  • the load is applied again.
  • the robot device 1 since the robot device 1 does not have a mechanism for gripping the second work 8 and the second connector 20, it is before the start of the fitting operation or fitting. During operation, the grip portion cannot be operated to adjust the relative position of the second connector 20 with respect to the first connector 10. Therefore, when performing the above-mentioned fitting operation, it is possible that the relative position of the second connector 20 with respect to the first connector 10 deviates from the regular position. In this case, since the fitting operation is performed in a state where the relative positions are deviated, the first connector 10 and the second connector 20 cannot be properly fitted, and the connectors 10, 20 and / or the work 6 cannot be properly fitted. , 8 may be damaged.
  • the first connector 10 is controlled by controlling the operation of the end effector 2 of the robot device 1 based on the detection value of the force sensor 3 during the fitting operation.
  • the deviation of the relative position of the second connector 20 with respect to the above is corrected.
  • FIG. 6 is a schematic view showing an example of the hardware configuration of the connector fitting device 100 according to the first embodiment.
  • the connector fitting device 100 includes a controller 30 that controls the entire connector fitting device 100 including the robot device 1.
  • the controller 30 has a processor 32, a memory 34, a communication interface (I / F) 36, and an input / output I / F 38 as main components. Each of these parts is communicably connected via a bus.
  • the processor 32 is typically an arithmetic processing unit such as a CPU (Central Processing Unit) or an MPU (Micro Processor Unit).
  • the processor 32 controls the operation of each part of the connector fitting device 100 by reading and executing the program stored in the memory 34. Specifically, the processor 32 realizes the connector fitting process described later by executing the program.
  • FIG. 6 shows a configuration in which the processor 32 is singular, the controller 30 may have a plurality of processors.
  • the memory 34 is realized by a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), and a flash memory.
  • the memory 34 stores a program executed by the processor 32, data used by the processor, and the like.
  • the input / output I / F 38 is an interface for exchanging various data between the processor 32, the robot device 1, and the force sensor 3.
  • An operation unit 40 and a display unit 42 are connected to the input / output I / F 38.
  • the display unit 42 is composed of a liquid crystal panel display or the like.
  • the operation unit 40 receives a user's operation input to the connector fitting device 100.
  • the operation unit 40 is typically composed of a touch panel, a keyboard, a mouse, and the like.
  • the communication I / F 36 is a communication interface for exchanging various data between the connector fitting device 100 and other devices.
  • Other devices include a PLC (Programmable Logic Controller) 50 that controls the production site of industrial products in an integrated manner.
  • the PLC 50 outputs an operation command including a start command of the fitting operation to the connector fitting device 100.
  • the communication method of the communication I / F36 may be a wireless communication method using a wireless LAN (Local Area Network) or the like, or a wired communication method using USB (Universal Serial Bus) or the like.
  • FIG. 7 is a block diagram showing a functional configuration of the controller 30 shown in FIG.
  • the controller 30 includes a control unit 70, an operation control unit 72, a force sense detection unit 74, a waveform processing unit 76, and a quality determination unit 78. These are functional blocks realized by the processor 32 executing a program stored in the memory 34.
  • the control unit 70 When the control unit 70 receives an operation command from the PLC 50 via the communication I / F 36, the control unit 70 generates a control signal for controlling the operation of the robot device 1 according to the control command from the PLC 50. Specifically, the control unit 70 receives an operation command from the PLC 50, receives force sense information from the force sense detection unit 74, and receives determination result information from the pass / fail determination unit 78.
  • the force sense information is information indicating the load acting on the end effector 2 detected by the force sense sensor 3.
  • the determination result information is information indicating the result of performing a quality determination as to whether or not the first connector 10 and the second connector 20 are normally fitted.
  • the control unit 70 generates a control signal based on the operation command, the force sense information, and the determination result information, and outputs the generated control signal to the operation control unit 72.
  • the control unit 70 reads an operation sequence stored in advance in the memory 34, and sets a target value at each operation timing of the fitting operation according to the operation sequence.
  • the target value includes the target value of the load detected by the force sensor 3.
  • the target values are, for example, the target value of the load in the initial mating state (FIGS. 5A and 5B), the target value of the load in the effective mating length region (FIG. 5C), and the mating completed state. (FIG. 5 (D)) includes the target value of the load.
  • the control unit 70 feedback-controls the operation of the robot device 1 so that the detected value of the force sensor 3 approaches the target value at each operation timing. Specifically, the control unit 70 generates a control signal by executing a control calculation according to the deviation of the detection value of the force sensor 3 with respect to the target value, and outputs the generated control signal to the operation control unit 72. ..
  • the motion control unit 72 controls the motion of the robot device 1 based on the control signal generated by the control unit 70. As a result, the support base 1A and the robot arm 1B operate.
  • the force sense detection unit 74 detects the force (load) acting on the end effector 2 of the robot device 1 based on the output signal of the force sense sensor 3, and outputs a signal indicating the detection result to the control unit 70 and the waveform processing unit 76. Output to.
  • the waveform processing unit 76 waveform-processes the profile of the load acting on the end effector 2 included in the force sense information. Specifically, the waveform processing unit 76 obtains feature quantities such as peak value, maximum value, minimum value, average value, standard deviation, and coefficient of variation (standard deviation / average value) with respect to the load profile by waveform processing. ..
  • the quality determination unit 78 determines whether the connectors 10 and 20 are fitted or not based on the load profile output from the waveform processing unit 76. Specifically, the memory 34 stores a threshold value and an allowable range regarding the load acting during the connector fitting operation. The quality determination unit 78 reads the threshold value and the allowable range from the memory 34, and uses these values to determine the quality of whether or not the first connector 10 and the second connector 20 are normally fitted. The quality determination unit 78 outputs the determination result information to the control unit 70 and displays it on the display unit 42.
  • FIG. 8 is a flowchart for explaining the connector fitting process according to the first embodiment.
  • FIG. 9 is a schematic view for explaining the connector fitting process according to the first embodiment.
  • FIG. 9 schematically shows a top view of the first work 6, the first connector 10, the second work 8, the second connector 20, and the end effector 2.
  • FIG. 9 shows the mating states of the first connector 10 and the second connector 20 stepwise during the execution of the connector fitting process.
  • step S01 when the controller 30 receives the fitting start command from the PLC 50 (FIG. 6) in step S01 (YES in S01), the controller 30 starts the connector fitting process.
  • the controller 30 At the start of the connector fitting process, as shown in FIG. 9A, the first connector 10 and the second connector 20 are in a state where the first work 6 and the first connector 10 are fixed by the positioning mechanism 5.
  • the second work 8 is installed in the positioning mechanism 5 so as to face each other.
  • the controller 30 proceeds to step S02 and starts pushing the second connector 20 into the first connector 10.
  • the controller 30 controls the robot device 1 so that the end effector 2 moves along the fitting direction A1 from the state shown in FIG. 9A.
  • the second work 8 moves in the fitting direction A1 in response to the pushing force F1 from the end effector 2
  • a frictional force between the second work 8 and the positioning mechanism 5 acts on the end effector 2.
  • the force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 controls the operation of the end effector 2 by adjusting the pushing force F1 according to the deviation of the detected value with respect to the target value.
  • the mating state of the connectors 10 and 20 shifts to the initial mating state.
  • a frictional force acts on the end effector 2 between the conductive terminal 14 of the first connector 10 and the movable portion 24 of the second connector 20. Therefore, the load acting on the end effector 2 gradually increases as the end effector 2 moves.
  • the force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 pushes the second connector 20 against the first connector 10 until the load detected value by the force sensor 3 reaches the preset first threshold value N1.
  • the first threshold value N1 is set to a load that is larger than the frictional force between the positioning mechanism 5 and the second work 8 and that does not destroy the connectors 10 and 20.
  • the relative position of the second connector 20 with respect to the first connector 10 when the detected value of the force sensor 3 becomes the first threshold value N1 is defined as the “relative position P1”. That is, the relative position P1 is not a fixed value, but a variable value that changes according to the detection value of the force sensor 3.
  • the controller 30 determines in step S03 whether or not the load detected value by the force sensor 3 exceeds the first threshold value N1 during the execution of pushing in step S02. .
  • the controller 30 proceeds to step S04 and is the detection value of the force sensor 3 out of the preset allowable range? Judge whether or not.
  • the permissible range in step S04 can be set based on the profile of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • step S04 If the detection value of the force sensor 3 is out of the permissible range in step S04 (YES in S04), the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and determines that the fitting is defective. The result is displayed on the display unit 42. On the other hand, if the detected value of the force sensor 3 does not deviate from the permissible range (NO in S04), the controller 30 returns to step S02 and continues pushing the second connector 20.
  • the controller 30 stops pushing the second connector 20 by the end effector 2 in step S05.
  • the controller 30 further moves the end effector 2 in the direction opposite to the fitting direction A1 as shown in FIG. 9C. As a result, the pressing force of the end effector 2 against the second work 8 is reduced or the contact with the second work 8 is released.
  • step S05 the pushing force of the second connector 20 into the movable portion 24 is reduced by stopping the pushing of the second connector 20 by the end effector 2.
  • the urging force of the flexible portion of the terminal 26 acts on the movable portion 24 of the second connector 20.
  • the flexible portion of the terminal 26 applies an urging force to the movable portion 24 in a direction in which the relative position of the movable portion 24 with respect to the housing 22 returns to the original position.
  • FIG. 10 is a diagram schematically showing a first example of correcting the deviation of the relative position of the second connector 20 in step S05 of FIG.
  • FIG. 10 shows a top view of the first work 6, the first connector 10, the second work 8, and the second connector 20.
  • the central axis (fitting axis) C1 in the X-axis direction of the first connector 10 and the central axis (fitting axis) C2 in the X-axis direction of the second connector 20 are displaced from each other.
  • the state is shown.
  • the movable portion 24 is the first connector 10. It is displaced in the X-axis direction with respect to the housing 22 so as to engage with the conductive terminal 14. Therefore, an urging force for returning the position of the movable portion 24 with respect to the housing 22 to the original position is generated in the flexible portion of the terminal 26 in the direction opposite to the displacement direction.
  • the end effector 2 When the end effector 2 is moved in the direction opposite to the fitting direction A1 in step S04 of FIG. 8, the pushing force into the movable portion 24 is reduced.
  • the movable portion 24 is immovable because a part of the movable portion 24 is engaged with the conductive terminal 14 of the first connector 10.
  • the urging force of the flexible portion acts on the housing 22 instead of the movable portion 24.
  • the housing 22 moves in the displacement direction of the movable portion 24 in response to the urging force of the flexible portion of the terminal 26, so that the fitting shaft C1 and the second connector of the first connector 10 are connected.
  • the fitting shafts C2 of 20 coincide with each other.
  • the deviation of the relative position of the second connector 20 with respect to the first connector 10 is corrected.
  • the relative positions can be corrected by the gaps X1 and Z1 provided between the positioning mechanism 5 and the second work 8.
  • FIG. 11 is a diagram schematically showing a second example of correcting the deviation of the relative position of the second connector 20 in step S05 of FIG.
  • FIG. 11 shows a perspective view of the first work 6, the first connector 10, the second work 8, and the second connector 20.
  • FIG. 11A shows a state in which the second connector 20 is rotated around the fitting axis and is inclined with respect to the first connector 10.
  • the second connector 20 is pushed into the first connector 10 by the end effector 2
  • the second connector 20 is fitted into the second connector 20 depending on the inclination angle of the second connector 20 and the pushing position in the second work 8.
  • a moment acts around the axis.
  • the pushing force F1 with respect to the second work 8 causes a collision at one end of the first connector 10 and the second connector 20 in the horizontal direction, and as a result, the moment in the arrow A1 direction. Acts on the second connector 20.
  • the second work 8 When the lift of the second work 8 is eliminated, as shown in FIG. 11D, the second work 8 is positioned at an appropriate position due to the horizontal floating and the chamfering effect due to the release of the moment. Move to. As a result, as shown in FIG. 11 (E), the conduction terminal 14 of the first connector 10 and the tip end portions of the movable portion 24 of the second connector 20 are engaged with each other. When pushed in, the second connector 20 can be inserted into the first connector 10.
  • step S05 when the deviation of the relative position of the second connector 20 with respect to the first connector 10 is corrected in step S05, the controller 30 proceeds to step S06 and pushes the second connector 20 again.
  • the load acting on the end effector 2 increases monotonically.
  • the force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 determines in step S07 of FIG. 8 whether or not the load detection value by the force sensor 3 exceeds the preset second threshold value N2.
  • the second threshold value N2 is set to the load required for the initial fitting of the first connector 10 and the second connector 20. That is, the controller 30 determines whether or not the mating state of the connector 10 and the connector 20 is the initial mating state.
  • the controller 30 proceeds to step S08 and determines whether or not the detected value of the force sensor 3 is out of the permissible range. ..
  • the permissible range can be set based on the profile of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit. Display on 42. On the other hand, if the detected value of the force sensor 3 does not deviate from the permissible range (NO in S08), the controller 30 returns to step S06 and continues pushing the second connector 20.
  • the controller 30 determines that the mating state of the connectors 10 and 20 is the initial mating state.
  • the controller 30 proceeds to step S09 and operates the end effector 2 so that the second connector 20 moves along the fitting direction A1 by a preset distance D1.
  • the relative position of the second connector 20 with respect to the first connector 10 when the detected value of the force sensor 3 becomes the second threshold value N2 is defined as the “relative position P2”.
  • the relative position P2 is not a fixed value, but a variable value that changes according to the detection value of the force sensor 3.
  • the controller 30 moves the second connector 20 along the fitting direction A1 by a preset distance D1 from the relative position P2.
  • the relative position of the second connector 20 with respect to the first connector 10 when the second connector 20 is moved from the relative position P2 by the distance D1 is defined as the “relative position P3”.
  • the distance D1 for moving the second connector 20 is a distance at which the mating state of the second connector 20 and the first connector 10 at the relative position P2 can be shifted from the initial mating state to the effective mating length region. It is set.
  • the controller 30 When the controller 30 moves the second connector 20 from the relative position P2 to the relative position P3 separated by the distance D1 in step S09 of FIG. 8, the controller 30 sets the detection value N3 of the force sensor 3 at the relative position P3 in step S10. , The second threshold value N2 (corresponding to the detected value of the force sensor 3 at the relative position P2) is compared.
  • the controller 30 When the detected value N3 of the force sensor 3 at the relative position P3 is smaller than the second threshold value N2 (YES in S10), the controller 30 has the effective mating length from the initial mating state of the connectors 10 and 20. Judge that it has moved to the area. In this case, the controller 30 continues pushing the second connector 20 by moving the end effector 2 in step S11. In the effective mating length region, the load acting on the end effector 2 is smaller than the peak value in the initial mating state and hardly changes. The force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 determines in step S12 whether or not the load detection value by the force sensor 3 exceeds the preset fourth threshold value N4.
  • the "fourth threshold value N4" is a state in which the first connector 10 and the second connector 20 have been fitted, and the first sides 61, 81 of the workpieces 6 and 8 and / or the openings of the connectors 10 and 20 are opened. The load is set when the edges are in contact with each other.
  • the relative position of the second connector 20 with respect to the first connector 10 when the detected value of the force sensor 3 becomes the fourth threshold value N4 is defined as the “relative position P4”.
  • the relative position P4 is not a fixed value, but a variable value that changes according to the detection value of the force sensor 3. That is, in step S12, the controller 30 determines whether or not the mating state of the connectors 10 and 20 is the mating complete state.
  • step S13 determines whether or not the detection value of the force sensor 3 is out of the permissible range. ..
  • the permissible range can be set based on the profile of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit. Display on 42.
  • step S13 if the detected value of the force sensor 3 does not deviate from the permissible range in step S13 (NO in S13), the controller 30 returns to step S11 and continues pushing the second connector 20.
  • the controller 30 determines in step S14 that the mating of the connectors 10 and 20 is normal, and displays the determination result. It is displayed in the unit 42. Subsequently, the controller 30 retracts the end effector 2 from the second connector 20 by moving the end effector 2 in the direction opposite to the fitting direction A1 in step S15.
  • step S10 when the detected value N3 of the force sensor 3 at the relative position P3 is larger than the second threshold value N2 (NO in S10), the controller 30 is fitted with the connectors 10 and 20. It is determined that the state has not shifted from the initial fitting state to the effective fitting length region. In this case, the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42.
  • the controller 30 has the connector based on the result of comparing the load detection value by the force sensor 3 with the plurality of preset threshold values N2, N3, N4 during the execution of the connector fitting process. The mating state of 10 and 20 is determined. Then, the controller 30 determines whether the connectors 10 and 20 are fitted or not based on the determined fitting state.
  • FIG. 12 is a diagram showing a first example of a load profile detected by the force sensor 3 during execution of the connector fitting process shown in FIG.
  • the vertical axis of the profile shows the detected value of the force sensor 3
  • the horizontal axis shows the relative position of the second connector 20 with respect to the first connector 10.
  • the profile of the detected value of the force sensor 3 illustrated in FIG. 12 was acquired when the connectors 10 and 20 were normally fitted, and the second connector was obtained in steps S06, S09, and S11 of FIG.
  • the profile of the load acting on the end effector 2 when 20 is pushed in is shown.
  • the detected value of the force sensor 3 in the initial fitting state increases monotonically, and a peak occurs at the final stage thereof. .. Then, when the mating state of the connectors 10 and 20 shifts to the effective mating length region, the detected value of the force sensor 3 becomes a smaller value than the initial mating state and hardly changes. Further, when the mating state of the connectors 10 and 20 becomes the mating complete state, the detected value of the force sensor 3 starts to increase again.
  • FIG. 13 is a diagram showing a second example of the load profile detected by the force sensor 3 during the execution of the connector fitting process shown in FIG.
  • the vertical axis of the profile shows the detected value of the force sensor 3
  • the horizontal axis shows the relative position of the second connector 20 with respect to the first connector 10.
  • the profile of the detected value of the force sensor 3 illustrated in FIG. 13 was acquired when the connectors 10 and 20 were poorly fitted, and the second connector 20 was connected in steps S06 and S09 of FIG.
  • the profile of the load acting on the end effector 2 when pushed in is shown.
  • the profile shown in FIG. 12 Comparing the profile shown in FIG. 12 with the profile shown in FIG. 13, when the fitting of the connectors 10 and 20 is poor, the profile is completely different from that when the fitting of the connectors 10 and 20 is normal. You can see that. Specifically, in the example of FIG. 13, the detected value of the force sensor 3 continues to increase in the initial mating state, and no peak occurs. Further, after the peak occurs, the detection value of the force sensor 3 is smaller than the peak value and hardly changes.
  • the profile of FIG. 13 can be obtained when the connectors 10 and 20 are not properly fitted and the second connector 20 collides with a component different from the first connector 10 or the first connector 10.
  • the second threshold value N2 in step S07 of FIG. 8 corresponds to the characteristics of the profile (see FIG. 12) of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • the fourth threshold value N4 in step S12 is set, and the distance D1 in step S09 is set.
  • the second threshold value N2 is set so as to correspond to the load acting on the end effector 2 when it is monotonically increasing in the initial mating state.
  • the distance D1 is set to a value larger than the width of the peak of the load appearing in the initial mating state.
  • the load N3 at the relative position P3 when the second connector 20 is moved by the distance D1 from the relative position P2 of the second connector 20 when the load acting on the end effector 2 becomes the second threshold value N2 is It is smaller than the second threshold value N2. Therefore, in step S10 of FIG. 8, when the detected value N3 of the force sensor 3 at the relative position P3 is smaller than the second threshold value N2, the mating state of the connectors 10 and 20 exceeds the peak of the initial mating state. It can be determined that the effective mating length region has been reached.
  • the fourth threshold value N4 is set so as to correspond to the load acting on the end effector 2 when it is monotonically increasing in the fitting completed state. According to this, in step S12 of FIG. 8, when the detected value of the force sensor 3 is larger than the fourth threshold value N4, it can be determined that the fitting of the connectors 10 and 20 is completed.
  • the controller 30 By setting a plurality of threshold values corresponding to the characteristics of the profile (see FIG. 12) of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted, the controller 30 is fitted. By comparing the profile of the detected value of the force sensor 3 acquired during the combined operation with a plurality of threshold values, it is determined whether or not the load acting on the end effector 2 shows the same change as in the normal state. Can be done. This makes it possible to determine whether the connectors 10 and 20 are fitted or not.
  • the connector fitting device has a configuration in which the second connector is pushed by moving the end effector in the fitting direction and pressing the second connector which is a floating connector.
  • the effector is moved in the fitting direction in two stages, and the end effector is moved in the direction opposite to the fitting direction between the movement of the first step and the movement of the second step.
  • the urging force acting on the moving part of the second connector is used to make the second connector relative to the first connector.
  • the misalignment can be corrected.
  • using a robot device that does not have a grip portion that grips the second connector the fitting operation of the first connector and the second connector is performed independently of the relative position of the second connector with respect to the first connector. be able to.
  • the second connector with respect to the first connector is seconded. Whether or not the first connector and the second connector are fitted can be determined independently of the relative positions of the connectors.
  • the configuration in which the first connector 10 is a female connector and the second connector 20 is a male connector has been illustrated, but the first connector 10 is a male connector and the second connector 20 is a female connector.
  • the connector fitting process described above can be executed even in the configuration described above.
  • the configuration in which the second connector 20 is a floating connector has been illustrated, even in the configuration in which the first connector 10 is a floating connector, the first connector is formed by moving the end effector 2 in the direction opposite to the fitting direction. The deviation of the relative position of the second connector 20 with respect to the first connector 10 can be corrected by utilizing the urging force acting on the movable portion of the ten.
  • the force sensor is configured to determine whether the first connector and the second connector are fitted or not based on the load detected value by the force sensor during the fitting operation.
  • the quality of fitting may be determined based on the information indicating the position of the end effector 2.
  • FIG. 14 is a flowchart for explaining the connector fitting process according to the first modification of the first embodiment.
  • the flowchart shown in FIG. 14 is obtained by adding steps S071, S101, and S102 to the flowchart shown in FIG. Since steps S01 to S05 are the same as those in FIG. 8, the illustration is omitted.
  • the controller 30 when the load detected value by the force sensor 3 is larger than the second threshold value N2 (YES in S07), the controller 30 is in the mated state of the connectors 10 and 20. Is in the initial mating state, and the position E2 of the end effector 2 at this time is detected in step S071.
  • the position E of the end effector 2 has a positive direction in the direction toward the first connector 10 along the fitting direction A1. That is, as the end effector 2 approaches the first connector 10, the value of the position E of the end effector 2 increases.
  • controller 30 moves the second connector 20 to the relative position P3 separated from the relative position P2 by the distance D1 in step S09, and in step S10, the detection value N3 of the force sensor 3 at the relative position P3 and Compare with the second threshold N2.
  • the controller 30 detects the position E3 of the end effector 2 at this time in step S101.
  • the controller 30 compares the current position E3 of the end effector 2 with the position E2 of the end effector 2 detected in step S071.
  • the position E2 is the position of the end effector 2 before the second connector 20 is moved by the distance D1 in step S09.
  • the end effector 2 of the controller 30 is moving toward the first connector 10, and the pushing of the second connector 20 by the end effector 2 is in the fitting direction A1. It is determined that the operation is normally performed according to. In this case, the controller 30 proceeds to step S11, further moves the end effector 2 toward the fitting direction A1, and continues pushing the second connector 20.
  • step S102 determines that the end effector 2 has not normally moved toward the first connector 10. In this case, the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42.
  • FIG. 15 is a flowchart for explaining the connector fitting process according to the second modification of the first embodiment.
  • the flowchart shown in FIG. 15 is obtained by adding step S103 to the flowchart shown in FIG. Since steps S01 to S05 are the same as those in FIG. 8 as in FIG. 14, the illustration is omitted.
  • step S102 since the position E3 is larger than the position E2 (YES in S102), the pushing of the second connector 20 by the end effector 2 is in the fitting direction A1. If it is determined that the operation is normally performed, the controller 30 further determines in step S103 whether or not the position E3 of the end effector 2 is within the preset allowable range.
  • the permissible range in step S103 can be set based on the position E of the end effector 2 when the mating state of the connectors 10 and 20 becomes the effective mating length region.
  • the controller 30 determines that the second connector 20 is normally pushed by the end effector 2, and proceeds to step S11. The end effector 2 is further moved toward the fitting direction A1 to continue pushing the second connector 20.
  • step S103 determines that the second connector 20 is not normally pushed by the end effector 2. In this case, the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42.
  • the connector fitting process according to the first modification example and the second modification example whether or not the pushing direction of the second connector 20 by the end effector 2 is normal based on the position information of the end effector 2 during the fitting operation. Can be determined. Further, according to the connector fitting process according to the second modification, it is possible to determine whether or not the amount of pushing of the second connector 20 by the end effector 2 is normal. According to this, the connectors 10 and 20 are damaged due to the second connector 20 being pushed in a direction different from the fitting direction A1 or the second connector 20 being pushed in the fitting direction A1 in excess of the allowable amount. It can be prevented in advance.
  • Embodiment 2 In the first embodiment described above, a plurality of threshold values are set corresponding to the characteristics of the profile of the detected value of the force sensor 3 when the fitting of the connectors 10 and 20 is normal, and are acquired during the fitting operation. A configuration for determining the quality of fitting of the connectors 10 and 20 by comparing the profile of the detected value of the force sensor 3 with the plurality of threshold values has been described.
  • the profile of the differential value can be generated by the waveform processing unit 76 (FIG. 7) of the controller 30.
  • FIG. 16 is a diagram showing a first example of a profile of the differential value of the detected value of the force sensor 3 during the execution of the connector fitting process.
  • the vertical axis of the profile shows the differential value of the detected value of the force sensor 3, and the horizontal axis shows the relative position of the second connector 20 with respect to the first connector 10.
  • the profile of the differential value illustrated in FIG. 16 is obtained when the connectors 10 and 20 are normally fitted, and when the second connector 20 is pushed in in steps S06, S09, and S11 of FIG. Shows the profile of the differential value of the load acting on the end effector 2.
  • the differential value shows a minimum value corresponding to the peak of the detected value of the force sensor 3 in the initial fitting state. ing. Then, when the mating state of the connectors 10 and 20 shifts to the effective mating length region, the differential value becomes a value near 0 and hardly changes. Further, when the mating state of the connectors 10 and 20 becomes the mating complete state, the differential value starts to increase again.
  • FIG. 17 is a diagram showing a second example of a profile of the differential value of the detected value of the force sensor 3 during the execution of the connector fitting process.
  • the vertical axis of the profile shows the differential value of the detected value of the force sensor 3, and the horizontal axis shows the relative position of the second connector 20 with respect to the first connector 10.
  • the profile of the differential value illustrated in FIG. 17 was acquired when the connectors 10 and 20 were poorly fitted, and ended when the second connector 20 was pushed in in steps S06 and S09 of FIG.
  • the profile of the differential value of the load acting on the effector 2 is shown.
  • a plurality of threshold values are set corresponding to the characteristics of the differential value profile (see FIG. 16) of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • the second threshold value D2 is set so as to correspond to the differential value of the load acting on the end effector 2 when monotonically increasing in the initial fitting state.
  • the distance D1 is set to a value larger than the width of the peak of the load appearing in the initial mating state. According to this, from the relative position P2 of the second connector 20 when the differential value of the load acting on the end effector 2 becomes the second threshold value D2 to the relative position P3 when the second connector 20 is moved by the distance D1. A minimum value appears in the profile of the differential value.
  • the fourth threshold value D4 is set so as to correspond to the differential value of the load acting on the end effector 2 when the fitting is monotonically increased in the completed state. According to this, when the differential value of the detected value of the force sensor 3 is larger than the fourth threshold value D4, it can be determined that the fitting of the connectors 10 and 20 is completed.
  • the controller 30 By setting a plurality of thresholds corresponding to the characteristics of the differential value profile (see FIG. 16) of the detected value of the force sensor 3 when the fitting of the connectors 10 and 20 is normal in this way, the controller 30 By comparing the profile of the differential value of the detected value of the force sensor 3 acquired during the fitting operation with a plurality of threshold values, the differential value of the load acting on the end effector 2 changes in the same manner as in the normal state. Can be determined. This makes it possible to determine whether the connectors 10 and 20 are fitted or not.
  • FIG. 18 is a flowchart for explaining the connector fitting process according to the second embodiment.
  • steps S07, S10, and S12 in the flowchart shown in FIG. 8 are replaced with steps S07A, S10A, and S12A, respectively.
  • the end effector 2 is moved in the fitting direction A1 in two stages in the same manner as the connector fitting process according to the first embodiment.
  • the end effector 2 is moved in the direction opposite to the fitting direction A1 between the movement of the first stage and the movement of the second stage to correct the deviation of the relative position of the second connector 20 with respect to the first connector 10. It is composed.
  • the controller 30 executes the same processes of steps S01 to S06 as in FIG. 8 to move the first stage and correct the relative position deviation.
  • the controller 30 determines whether the connectors 10 and 20 are fitted or not based on the profile of the differential value of the detected value of the force sensor 3 in the second stage movement. Specifically, the controller 30 proceeds to step S06 and pushes in the second connector 20 again. The force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 determines in step S07A whether or not the differential value of the load detected value by the force sensor 3 exceeds the preset second threshold value D2.
  • the second threshold value D2 is set to the differential value of the load that monotonically increases in the initial fitting of the first connector 10 and the second connector 20. That is, the controller 30 determines whether or not the mating state of the connector 10 and the connector 20 is the initial mating state.
  • the controller 30 proceeds to step S08 and determines whether or not the differential value is out of the permissible range.
  • the permissible range can be set based on the profile of the differential value of the detection value of the force sensor 3 when the connectors 10 and 20 are normally fitted.
  • step S16 If the differential value is out of the permissible range (YES in S08), the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42. On the other hand, if the differential value does not deviate from the permissible range (NO in S08), the controller 30 returns to step S06 and continues pushing the second connector 20.
  • the controller 30 determines that the mating state of the connectors 10 and 20 is the initial mating state.
  • the controller 30 proceeds to step S09 and operates the end effector 2 so that the second connector 20 moves along the fitting direction A1 by a preset distance D1.
  • the controller 30 determines whether or not a minimum value appears in the profile of the differential value from the relative position P2 to the relative position P3 in step S10A. Is determined.
  • the controller 30 determines that the mating state of the connectors 10 and 20 has shifted from the initial mating state to the effective mating length region. In this case, the controller 30 continues pushing the second connector 20 by moving the end effector 2 in step S11. In the effective mating length region, the load acting on the end effector 2 is smaller than the peak value in the initial mating state and hardly changes.
  • the force sensor 3 detects the load acting on the end effector 2 and outputs the detected value to the controller 30.
  • the controller 30 determines in step S12A whether or not the differential value of the load detected value by the force sensor 3 exceeds the preset fourth threshold value D4. When the differential value is smaller than the fourth threshold value D4 (NO in S12A), the controller 30 proceeds to step S13 and determines whether or not the differential value is out of the permissible range.
  • the permissible range can be set based on the profile of the detected value of the force sensor 3 when the connectors 10 and 20 are normally fitted. If the differential value is out of the permissible range (YES in S13), the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42.
  • step S13 if the differential value does not deviate from the permissible range in step S13 (NO in S13), the controller 30 returns to step S11 and continues pushing the second connector 20.
  • the controller 30 determines in step S14 that the fitting of the connectors 10 and 20 is normal, and displays the determination result on the display unit 42. .. Subsequently, the controller 30 retracts the end effector 2 from the second connector 20 by moving the end effector 2 in the direction opposite to the fitting direction A1 in step S15.
  • step S10A if the minimum value does not appear in the profile of the differential value from the relative position P2 to the relative position P3 (NO in S10A), the controller 30 is the connector 10 and 20. It is determined that the mating state has not shifted from the initial mating state to the effective mating length region. In this case, the controller 30 determines in step S16 that the connectors 10 and 20 are not fitted properly, and displays the determination result on the display unit 42.
  • the differential value of the detected value of the force sensor is a parameter expressing the characteristics of the profile of the detected value of the force sensor
  • a plurality of differential values corresponding to the characteristics of the profile of the differential value in the normal state are used.
  • the profile of the detected value changes. Since the profile of the differential value representing the above is universal, it is possible to determine whether the connectors 10 and 20 are fitted or not without being affected by the variation in the detected values.
  • the configuration in which the differential value of the detected value of the force sensor is used as the parameter expressing the characteristics of the profile of the detected value of the force sensor has been described, but by using a parameter other than the differential value, Also, it is possible to determine whether the connectors 10 and 20 are fitted or not based on the profile of the parameter. Further, in the second embodiment, a plurality of threshold values are set as absolute values, but a plurality of threshold values may be set as relative values.
  • Embodiment 3 the configuration for determining the fit of the connectors 10 and 20 based on the detected value of the force sensor 3 or the differential value of the detected value has been described.
  • the configuration may be such that the quality of fitting of the connectors 10 and 20 is determined based on the combination of the differential values of the detected values.
  • the connector 10 and 20 may be fitted to each other based on a combination of the detected value of the force sensor 3 and its differential value and a value based on other waveform processing.
  • the connector 10 is used even when the detected value of the force sensor 3 varies or noise is superimposed on the detected value. , 20 can be stably judged as to whether or not the fitting is good or bad.
  • Embodiment 4 In the first embodiment, the configuration in which the threshold values N2 and N4 for determining the mating state of the connectors 10 and 20 are set to preset fixed values in steps S07 and S12 of FIG. 8 has been described. May be a variation value using the detection value of the force sensor 3 acquired up to the immediately preceding step.
  • step S10 of FIG. 8 it may be configured to determine whether or not the load N3 at the relative position P3 is 50% or less of the peak value of the detected value of the force sensor 3 obtained immediately before.
  • the fourth threshold value N4 in step S12 of FIG. 8 may be set to a value obtained by multiplying (for example, doubling) the average value of the detected values of the force sensor 3 in the immediately preceding effective fitting length region.
  • the threshold values in steps S10 and S12 of FIG. 8 are set based on the ratio of the detected values of the force sensor 3 obtained up to the immediately preceding step to the detected values in a specific region or a specific relative position of the profile. It may be set based on the increase / decrease with respect to the detected value.
  • Embodiment 5 In the first embodiment, the configuration in which the robot device 1 is used for the fitting work of the connectors 10 and 20 has been described, but instead of the robot device 1, a uniaxial actuator provided with a servomotor may be used.
  • the controller 30 regards the torque value by the servomotor as synonymous with the detected value of the force sensor 3 in the first embodiment, and executes a flowchart similar to the flowchart of FIG. According to this, in addition to the effect of the first embodiment, the connector fitting device can be configured at a lower cost.
  • Embodiment 6 In the first embodiment, in the fitting operation of the connectors 10 and 20, the configuration in which the fitting completion is determined by the determination using the detection value of the force sensor 3 has been described.
  • an image sensor is added to the connector fitting device 100 according to the first embodiment, and the fitting amount detection value of the image sensor is used to complete the fitting of the connectors 10 and 20.
  • the configuration for determination will be described.
  • FIG. 19 is a perspective view showing the connector fitting device 101 according to the sixth embodiment.
  • the connector fitting device 101 according to the sixth embodiment is obtained by adding an image sensor 9 to the connector fitting device 100 shown in FIG.
  • the image sensor 9 is arranged directly above the fitting completion position of the connectors 10 and 20.
  • the image sensor 9 images the connectors 10 and 20 and outputs data indicating the captured images to the controller 30.
  • FIG. 20 is a flowchart for explaining the connector fitting process according to the sixth embodiment.
  • steps S11 to S13 in the flowchart shown in FIG. 8 are replaced with steps S61 to S64.
  • FIG. 21 is a diagram schematically showing an image captured by the image sensor 9 (FIG. 19).
  • M1 indicates the relative distance between the connectors 10 and 20 at the proper fitting positions
  • M2 indicates the current relative positions of the first connector 10 and the second connector 20.
  • step S62 the controller 30 calculates the difference M3 between the relative positions M2 of the connectors 10 and 20 obtained in step S61 and the appropriate relative positions M1 set in advance.
  • the controller 30 determines in step S63 whether or not the calculated difference M3 is within the preset allowable range.
  • the permissible range in step S63 can be set based on the permissible range of the appropriate relative position M1.
  • the controller 30 determines in step S14 that the fitting of the connectors 10 and 20 is normal, and displays the determination result on the display unit 42. Subsequently, the controller 30 retracts the end effector 2 from the second connector 20 by moving the end effector 2 in the direction opposite to the fitting direction A1 in step S15.
  • step S63 when the difference M3 is out of the permissible range (NO in S63), the controller 30 changes the mating state of the connectors 10 and 20 from the initial mating state to the effective mating length region. Judge that it has not migrated. In this case, the controller 30 proceeds to step S64 and moves the end effector 2 in the fitting direction. In step S64, the controller 30 uses the difference M3 calculated in step S62 as the movement amount so that the relative positions of the connectors 10 and 20 become appropriate relative positions. After moving the end effector 2, the controller 30 returns to step S61.
  • the shape of the connector is such that the housings do not collide with each other at an appropriate fitting position, or the shape of the connector is an appropriate fitting position.
  • the shape is such that a large difference does not occur between the reaction force in the above and the reaction force in the effective fitting region, the fitting operation with an appropriate connector fitting amount is possible.
  • 1 robot device 1A support base, 1B robot arm, 2 end effector, 3 force sensor, 5 positioning mechanism, 6 1st work, 8 2nd work, 9 image sensor, 10 1st connector, 20 2nd connector, 12 , 22 housing, 14 continuity terminal, 24 movable part, 26 terminal, 30 controller, 32 processor, 34 memory, 36 communication I / F, 38 input / output I / F, 40 operation unit, 42 display unit, 70 control unit, 72 Motion control unit, 74 force sensor detection unit, 76 waveform processing unit, 78 pass / fail judgment unit, 100 connector fitting device.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
  • Manipulator (AREA)

Abstract

Un dispositif de raccord de connecteur comprend : un mécanisme de positionnement (5) destiné à positionner un premier connecteur (10) ; un dispositif robotique ; un capteur de force ; et un dispositif de commande. Le dispositif robotique présente un effecteur terminal (2) et un bras de robot destiné à déplacer l'effecteur terminal (2). Le capteur de force détecte une charge agissant sur l'effecteur terminal (2). Le dispositif de commande commande des opérations du bras de robot sur les bases de valeurs de détection du capteur de force. Le dispositif robotique est configuré de manière à presser un second connecteur (20) dans le premier connecteur (10) par le déplacement de l'effecteur terminal (2) dans une direction de raccordement et la mise sous pression du second connecteur (20). Le dispositif de commande déplace l'effecteur terminal (2) dans la direction de raccordement en deux étapes et déplace également l'effecteur terminal (2) dans une direction opposée à la direction de raccordement entre un mouvement dans une première étape et un mouvement dans une seconde étape pour réduire la force de mise sous pression sur le second connecteur (20) à partir de l'effecteur terminal (2).
PCT/JP2020/034915 2019-12-05 2020-09-15 Dispositif de raccord de connecteur et procédé de raccord de connecteur WO2021111701A1 (fr)

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JP2021562461A JP7186900B2 (ja) 2019-12-05 2020-09-15 コネクタ嵌合装置およびコネクタ嵌合方法
CN202080083184.6A CN114746226B (zh) 2019-12-05 2020-09-15 连接器嵌合装置及连接器嵌合方法

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