WO2021210200A1

WO2021210200A1 - Assembly device, assembly method, and electronic device manufacturing method

Info

Publication number: WO2021210200A1
Application number: PCT/JP2020/039316
Authority: WO
Inventors: 靖浅居; 卓旦高塚; 豪俊竹山; 太田　貴之
Original assignee: 三菱電機株式会社
Priority date: 2020-04-14
Filing date: 2020-10-20
Publication date: 2021-10-21
Also published as: JP7224537B2; JPWO2021210200A1; CN115443587A

Abstract

In the present invention, a first component (1) is grasped by a robot hand (4), and the robot hand (4) is tilted such that one of a pair of first side walls (10) is positioned lower than the other. The tilted robot hand (4) is lowered from above a second component (2) and, after a lower surface of the one of the pair of first side walls (10) contacts an upper surface of one of a pair of second side walls (16), the grasp is released. A protrusion (14a), which protrudes from a leg (13) extending downward from the one of the pair of side walls (10), is inserted into a recess (19b) formed in the one of the pair of second side walls (16). The first component 1 is pressed by the robot hand (4). A protrusion (14b), which protrudes from a leg (13) extending downward from the other of the pair of side walls (10), is inserted into a recess (19b) formed in the other of the pair of second side walls (16).

Description

Assembling device, assembling method and manufacturing method of electronic equipment

This disclosure relates to an assembling device for assembling parts using a robot, an assembling method, and a manufacturing method for electronic devices.

Conventionally, snap-fit is known as a method of fitting two parts constituting the housing of an electronic device. Snap-fit is a method of fitting by hooking a convex portion provided on one component on a concave portion of the other component by utilizing the elasticity of the material. In recent years, for the purpose of improving the productivity of electronic devices, there has been a demand for the development of an assembling device capable of replacing such snap-fit assembling work with a robot. For example, Patent Document 1 discloses a component assembling device configured to fit a snap-fit portion by pressing the first component with a pressing portion from a state where the first component is mounted on the second component. There is.

Japanese Unexamined Patent Publication No. 2019-195853

On the other hand, for electronic device parts with a board mounted inside the housing, in addition to fitting by snap-fitting, fitting by a connector for electrically connecting the parts is required. However, in the case of a component provided with a connector inside the housing, there is a problem that the conventional method interferes with the connector and cannot be fitted by snap-fitting.

The present disclosure has been made in order to solve the above-mentioned problems, and is an assembling device and an assembling method in which two parts constituting a housing of an electronic device are fitted by a connector and by snap-fitting. And to provide a method of manufacturing electronic devices.

The assembling device according to the present disclosure includes a first component in which a first connector is provided on a first substrate closer to the other than one of a pair of first side wall portions facing each other, and a second side wall surrounding the second substrate. An assembling device for assembling a second component having a portion and having a second connector closer to the other than one of a pair of second side wall portions facing each other, wherein the first component is assembled. A robot hand having a grip portion to be gripped and a pressing portion to press the first component, a robot having the robot hand at the tip, a robot hand, and a control unit for controlling the robot are provided, and the control unit is the first grip portion of the robot hand. The parts are gripped, the robot hand is tilted so that one of the pair of first side wall portions is located below the other, and the tilted robot hand is lowered from above the second component, and one of the pair of first side wall portions is used. By releasing the grip of the grip portion after the lower surface of the robot comes into contact with the upper surface of one of the pair of second side wall portions, the leg portion extending downward from one of the pair of first side wall portions is separated from the pair of second side wall portions. A convex portion protruding outward from the pair of first side wall portions from a leg portion extending downward from one of the pair of first side wall portions is formed into a concave portion formed on one of the pair of second side wall portions. By inserting and pressing the first component with the pressing portion of the robot hand so that the first substrate and the second substrate are parallel to each other, a pair of legs extending downward from the other of the pair of first side wall portions are formed. A convex portion is formed on the other side of the pair of second side wall portions so as to pass through the inside of the second side wall portion and project outward from the pair of first side wall portions from the leg portion extending downward from the other of the pair of first side wall portions. Insert it into the recess.

Further, in the assembly method according to the present disclosure, the first side wall portion surrounding the first substrate is provided, and the first connector is provided on the first substrate closer to the other than one of the pair of first side wall portions facing each other. A second component having a first component and a second side wall portion surrounding the second substrate, and a second connector provided on the second substrate closer to the other than one of the pair of second side wall portions facing each other. This is an assembly method for assembling parts, in which the first part is gripped by the grip portion of the robot hand, and the robot hand is tilted so that one of the pair of first side wall portions is located below the other. The robot hand is lowered from above the second component, and the lower surface of one of the pair of first side wall portions comes into contact with the upper surface of one of the pair of second side wall portions, and then the grip of the grip portion is released. A leg portion extending downward from one of the first side wall portions is passed through the inside of the pair of second side wall portions, and a leg portion extending downward from one of the pair of first side wall portions to the outside of the pair of first side wall portions. The step of inserting the protruding convex portion into the concave portion formed on one of the pair of second side wall portions, and the pressing portion of the robot hand presses the first component so that the first substrate and the second substrate are parallel to each other. As a result, the legs extending downward from the other of the pair of first side wall portions are passed through the inside of the pair of second side wall portions, and the pair of first side walls extending downward from the other of the pair of first side wall portions. A step is provided in which a convex portion protruding outward of the side wall portion is inserted into a concave portion formed on the other side of the pair of second side wall portions.

Further, the method for manufacturing an electronic device according to the present disclosure uses an assembling device to have a first side wall portion surrounding a first substrate, and is closer to the other than one of the pair of first side wall portions facing each other. The first connector has a first component provided on the first board and a second side wall portion surrounding the second board, and the second connector is closer to the other than one of the pair of second side wall portions facing each other. A method for manufacturing an electronic device to which a second component provided on a second substrate is assembled, wherein a lower surface of one of a pair of first side wall portions and an upper surface of one of a pair of second side wall portions are first. In a state where the first connector and the second connector are in contact with each other at the contact point and the first connector and the second connector are in contact with each other at the second contact point, the horizontal distance from the first contact point to the second connector and the distance from the first contact point to the second contact point. A floating mechanism is formed in the second connector based on the difference from the horizontal distance.

According to the assembling device and the assembling method according to the present disclosure, the robot hand holding the first component is tilted and tilted so that one of the pair of first side wall portions of the first component is located below the other. In this state, it descends from above the second component to release the grip of the robot hand, and then presses the first component against the second component. As a result, the first component and the second component can be fitted by the connector and by snap fit.

Further, according to the method for manufacturing an electronic device according to the present disclosure, when a floating mechanism is formed in the second connector so that the relative positions of the first connector and the second connector deviate in the process of fitting by snap-fitting. However, the first connector and the second connector can be fitted.

It is a schematic block diagram of the assembly apparatus which concerns on Embodiment 1. FIG. It is a hardware block diagram of the control part of the assembly apparatus which concerns on Embodiment 1. FIG. It is schematic cross-sectional view of the part which is the work target of the assembly apparatus which concerns on Embodiment 1. FIG. It is the schematic of the part which is the work target of the assembly apparatus which concerns on Embodiment 1. FIG. (A) is a side view, and (b) is a perspective view of the first component. It is schematic cross-sectional view of the part which is the work target of the assembly apparatus which concerns on Embodiment 1. FIG. It is a flowchart explaining the assembling method using the assembling apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram of the robot hand of the assembly device which concerns on Embodiment 1. FIG. It is a schematic block diagram for demonstrating the angle of the work object grasped by the robot hand of the assembly apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows the angle of the part of the work target of the assembly apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows a part of the assembling process using the assembling apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows a part of the assembling process using the assembling apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows a part of the assembling process using the assembling apparatus which concerns on Embodiment 1. FIG. It is a figure for demonstrating the assembling process using the assembling apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows an example of the robot hand of the assembly apparatus which concerns on Embodiment 1. FIG. It is a figure for demonstrating the assembling process using the assembling apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows the part which is the work target of the assembly apparatus which concerns on Embodiment 1. FIG. It is a schematic diagram for demonstrating the manufacturing method of the electronic device in which a part is assembled using the assembly apparatus which concerns on Embodiment 1. FIG. It is a schematic block diagram which shows the robot hand of the assembly apparatus which concerns on Embodiment 2. FIG. It is a flowchart explaining the assembly method using the assembly apparatus which concerns on Embodiment 2. It is a figure which showed the relationship between the load of the load sensor of the assembly apparatus which concerns on Embodiment 2 and the position coordinate in the descending direction. It is a schematic block diagram which shows the dimension of the part to work | work of the assembly apparatus which concerns on Embodiment 3. FIG. It is a schematic block diagram which shows a part of the assembling process using the assembling apparatus which concerns on Embodiment 3. FIG. It is a flowchart explaining the assembling method using the assembling apparatus which concerns on Embodiment 3. FIG. It is a schematic block diagram which shows a part of the assembling process using the assembling apparatus which concerns on Embodiment 3. FIG. (A) is a diagram including a part of the assembling device, and (b) is a diagram of a work target.

Embodiment 1.
Hereinafter, preferred embodiments of the power control device according to the present application will be described with reference to the drawings. The same contents and corresponding parts are designated by the same reference numerals, and detailed description thereof will be omitted. Similarly, in the following embodiments, duplicate description of the configurations with the same reference numerals will be omitted.

The assembly device 100 assembles the first component 1 to the second component 2. FIG. 1 is a schematic configuration diagram of an assembly device according to the first embodiment. As shown in FIG. 1, the assembling device 100 includes a robot 3, a robot hand 4 provided at the tip thereof, a control unit 5 for controlling the operation of the robot 3 and the robot hand 4, and the assembling device 100. A stage 6 on which the first component 1 and the second component 2 are installed, and

alignment members

7 and 8 for fixing the first component 1 and the second component 2 to predetermined positions, respectively, may be further provided. The

alignment members

7 and 8 are not particularly limited, but may be alignment pins. Further, the control unit 5 may be mounted inside the robot 3, may exist outside the robot 3, and the robot 3 may be remotely controlled from the control unit 5 wirelessly or the like.

In FIG. 1 and the drawings described below, the X and Y directions define the installation surface of the robot 3 or the plane of the stage 6 on which the first component 1 and the second component 2 are installed, and the Z direction is the XY plane. It defines the vertical direction perpendicular to. Further, in the following description, the positive direction of the Z-axis will be referred to as the upper side, and the negative direction will be referred to as the lower side.

The robot 3 moves the robot hand 4 to the position coordinates commanded by the control unit 5.
The robot 3 is, for example, a vertical articulated robot having six degrees of freedom of rotation. The robot hand 4 performs a vertical movement or a plane movement in order to grip the first component 1. The robot 3 enables a turning motion so that the robot hand 4 can be tilted at a predetermined angle.

The control unit 5 is a robot controller equipped with a computer such as a microcontroller. FIG. 2 shows an example of the hardware configuration of the control unit 5. It is composed of a processor 5a and a storage device 5b, and although not shown, the storage device 5b includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Further, an auxiliary storage device of a hard disk may be provided instead of the flash memory. The processor 5a controls various operations of the robot 3, for example, by reading and executing software such as a basic program input to the storage device 5b. In this case, the program is input from the auxiliary storage device to the processor 5a via the volatile storage device. Further, the processor 5a may output data such as a calculation result to the volatile storage device of the storage device 5b, or may store the data in the auxiliary storage device via the volatile storage device.

The first component 1 and the second component 2 are components that form a part of the housing of the electronic device, respectively. The material of the first component 1 and the second component 2 is not particularly limited, but it is preferably a resin molded product having appropriate elasticity for fitting by snap-fitting. FIG. 3 is a schematic cross-sectional view of the parts to be worked on by the assembly device according to the first embodiment before fitting. FIG. 4A is a schematic side view of the parts to be worked on by the assembly device according to the first embodiment before fitting, and FIG. 4B is a perspective view of the first part 1. In FIGS. 3 and 4A, the X direction is the depth direction of the first component 1 and the second component 2, the Y direction is the width direction of the first component 1 and the second component 2, and the Z direction is the first component 1 and the first component 2. The two parts 2 coincide with each other in the height direction.

As shown in FIGS. 3 and 4, the first component 1 has a top surface portion 9 that is rectangular when viewed from the height direction, and a first side wall portion 10 that is upright from the outer periphery of the top surface portion 9 in the height direction. The first substrate 11 is fixedly provided inside the first component 1 surrounded by the first side wall portion 10 so as to be parallel to the top surface portion 9 and at intervals in the height direction. The first substrate 11 is arranged at a height similar to, for example, the lower surface of the first side wall portion 10.

The first board 11 is provided with the first connector 12. The first connector 12 is provided closer to the other than one of the pair of first side wall portions 10 facing each other in the width direction. In the following, of the pair of first side wall portions 10 facing each other in the width direction, the side far from the first connector 12 is referred to as the first side wall portion 10a, and the side closer to the first connector 12 is referred to as the first side wall portion 10b. In this case, it is described as the first side wall portion 10. When both the first side wall portion 10 and the first side wall portion 10a are described, the first side wall portion is shown as 10a, 10, or 10b, 10 in the drawings. Hereinafter, the parts where similar members are described are expressed in the same manner.

Two leg portions 13 are provided so as to extend in the height direction on each of the pair of first side wall portions 10 facing the width direction of the first component 1. The legs 13 extend to a height comparable to, for example, the opposite surface of the surface fixed to the first substrate 11 of the first connector 12. The legs 13 are formed with convex portions 14 projecting outward from the pair of first side wall portions 10. The convex portion 14 is provided at, for example, the lower end of the leg portion 13. The convex portion 14 preferably has a tapered shape narrowed in the protruding direction. In the figure, the leg portion 13 and the convex portion 14 are described by omitting the hatching indicating the cross section from the viewpoint of easy viewing. The same applies to other drawings.

In the following, among the legs 13 facing in the width direction, the side far from the first connector 12 will be referred to as the leg 13a, the side closer to the first connector 12 will be referred to as the leg 13b, and when both are referred to, the leg 13 will be described. .. Further, among the convex portions 14, the side far from the first connector 12 is referred to as the convex portion 14a, the side closer to the first connector 12 is referred to as the convex portion 14b, and when both are referred to, the convex portion 14 is described.

As shown in FIGS. 3 and 4, the second component 2 has a rectangular parallelepiped main body portion 15 and a second side wall portion 16 that is upright from the outer periphery of the upper surface of the main body portion 15 in the height direction. A second substrate 17 is fixedly provided inside the second component 2 surrounded by the second side wall portion 16. A second connector 18 is provided on the second substrate 17. The second connector 18 is provided closer to the other than one of the pair of second side wall portions 16 facing each other in the width direction. The second connector 18 is provided corresponding to the position of the first connector 12 of the first component 1. The first connector 12 and the second connector 18 are fitted, and the first component 1 and the second component 2 are electrically connected.

The pair of second side wall portions 16 facing each other in the width direction of the second component 2 are formed with recesses 19 corresponding to the positions where the legs 13 of the first component 1 are provided. The recess 19 is, for example, a through hole penetrating the second side wall portion 16. The length from the upper surface of the second side wall portion 16 to the recess 19 is preferably the same as the length of the leg portion 13 in the height direction. The convex portion 14 formed on the leg portion 13 of the first component 1 is inserted into the concave portion 19 formed on the second side wall portion 16 of the second component 2 to be fitted by snap-fitting. In the figure, the second side wall portion 16 is described by omitting the hatching showing the cross section from the viewpoint of easy viewing. The same applies to other drawings.

In the following, of the pair of second side wall portions 16 facing each other in the width direction, the side far from the second connector 18 is referred to as the second side wall portion 16a, and the side closer to the second connector 18 is referred to as the second side wall portion 16b. In this case, it is described as the second side wall portion 16. Similarly, among the recesses 19 facing each other in the width direction, the side far from the second connector 18 is described as the recess 19a, the side closer to the second connector 18 is described as the recess 19b, and when both are referred to, the recess 19 is described.

As shown in FIGS. 3 and 4, when the first component 1 and the second component 2 are arranged so as to overlap each other in the height direction, the positions of the first connector 12 and the second connector 18, the legs 13 and the protrusions are formed. The positions of the portion 14 and the recess 19 are configured to coincide with each other in the width direction and the depth direction.

FIG. 5 is a schematic cross-sectional view of the parts to be worked on by the assembly device according to the first embodiment after fitting. As shown in FIG. 5, when the fitting of the first component 1 and the second component 2 is completed, the leg portion 13 of the first component 1 is passed through the inside of the second side wall portion 16 of the second component 2. The convex portion 14 of the first component 1 is inserted into the concave portion 19 of the second component 2. Further, in the state where the fitting is completed, the lower surface of the first side wall portion 10 of the first component 1 and the upper surface of the second side wall portion 16 are in contact with each other.

When the first component 1 and the second component 2 are fitted together, the first component 1 is placed in the second component 1 while the first substrate 11 of the first component 1 remains parallel to the second substrate 17 of the second component 2. When trying to push it into the component 2, the first connector 12 and the second connector 18 interfere with each other before the convex portion 14 of the leg portion 13 is inserted into the concave portion 19, so that the fitting by snap fit cannot be performed. .. Further, when the first component 1 of the first component 1 is pushed in while the first substrate 11 of the first component 1 is parallel to the second substrate 17 of the second component 2, the first component 1 in the width direction and the depth direction is tried to be pushed. And the second component 2 may be out of alignment with each other.

Therefore, when fitting the first component 1 and the second component 2, first, the first side wall portion 10a on the side far from the first connector 12 approaches the second side wall portion 16a on the side far from the second connector 18. It is necessary to tilt the first component 1 as described above. Then, the convex portion 14a of the leg portion 13a on the side far from the first connector 12 is inserted into the concave portion 19a of the second component 2. After that, the first connector 12 and the second connector 18 are fitted while returning the inclination of the first component 1 so that the first board 11 is parallel to the second board 17, and from the first connector 12. The convex portion 14b of the leg portion 13b on the near side is inserted into the concave portion 19b of the second component 2.

Next, a method of assembling the first component 1 and the second component 2 using the assembly device 100 will be described. FIG. 6 is a flowchart illustrating an assembling method using the assembling device according to the first embodiment. At the start of the assembling work, as shown in FIG. 1, the first component 1 and the second component 2 are installed, for example, on the stage 6, and are installed at predetermined positions by the

alignment members

7 and 8.

FIG. 7 is a schematic configuration diagram of a robot hand of the assembly device according to the first embodiment. The robot hand 4 includes, for example, a grip portion 20 that grips the first component 1 and a pressing portion 21 that presses the top surface portion 9 of the first component 1. The grip portion 20 includes, for example, a suction pad 20a and is connected to the vacuum ejector 22. When the top surface portion 9 of the first component 1 and the suction pad 20a are in contact with each other, the vacuum ejector 22 performs a suction operation to create a vacuum state between the suction pad 20a and the vacuum ejector 22 and grip the first component 1. It becomes possible to do. The vacuum ejector 22 may further include a vacuum confirmation sensor capable of confirming the vacuum pressure. The material of the pressing portion 21 is not particularly limited, but is preferably a resin-based material so as not to damage the first component 1.

In the following, as an example, an assembling method for assembling the first component 1 and the second component 2 using the robot hand 4 shown in FIG. 7 will be described. As shown in FIG. 6, first, the control unit 5 outputs a command to the robot hand 4 to grip the first component 1 (step S1). First, the robot hand 4 moves above the first component 1 in response to a command from the control unit 5. Then, the vacuum ejector 22 starts the suction operation. The robot hand 4 descends to the position coordinates commanded by the control unit 5. The suction pad 20a of the robot hand 4 is in contact with the top surface portion 9 of the first component 1 at the position where the lowering of the robot hand 4 is completed. A vacuum is created between the suction pad 20a and the vacuum ejector 22, and the first component 1 is gripped.

The vacuum state is confirmed by the vacuum confirmation sensor of the vacuum ejector 22. When the vacuum state is confirmed, a signal is output from the vacuum confirmation sensor to the control unit 5. Upon receiving the output signal, the control unit 5 outputs a command to the robot hand 4 to move the first component 1 to the upper side where the first component 1 is installed while holding the first component 1.

Next, the control unit 5 outputs a command to the robot hand 4 to move the robot hand 4 to the upper side of the second component 2 while holding the first component 1 (step S2).

Next, the control unit 5 outputs a command for tilting the robot hand 4 at a predetermined angle above the second component 2 (step S3). That is, in the control unit 5, of the pair of first side wall portions 10 facing each other in the width direction of the first component 1, the lower surface of the first side wall portion 10a on the side farther from the first connector 12 is closer to the first connector 12. The robot hand 4 is tilted so as to be located below the lower surface of the first side wall portion 10b on the side. That is, the robot hand 4 is tilted so that the lower surface of the first side wall portion 10a on the side farther from the first connector 12 in the vertical direction approaches the upper surface of the second side wall portion 16a on the side farther from the second connector 18. The gripped first component 1 also tilts according to the tilt of the robot hand 4.

FIG. 8 is a schematic configuration diagram for explaining the angle of the work object gripped by the robot hand of the assembly device according to the first embodiment. The angles commanded by the control unit 5 to the robot hand 4 in step S3 are, for example, the lower surface of the first side wall portion 10a on the side far from the first connector 12 of the first component 1 and the second connector 18 of the second component 2. The upper surface of the second side wall portion 16a on the distant side is in contact with the lower surface of the leg portion 13b on the side close to the first connector 12 of the first component 1, and the lower surface of the leg portion 13b on the side closer to the second connector 18 of the second component 2. The angle θ1 formed by the first substrate 11 and the second substrate 17 is set in a state where the upper surface of the two side wall portions 16b is in contact with each other.

The control unit 5 outputs a command to lower the robot hand 4 from above the second component 2 in a state where the robot hand 4 and the first component 1 gripped by the robot hand 4 are tilted at an angle θ1 (step S4). As the first component 1 is lowered, the leg portion 13a on the side closer to the first connector 12 of the first component 1 is elastically deformed, and the second side wall portion 16a on the side farther from the second connector 18 of the second component 2 is formed. It is passed along the inner surface of the.

In the robot hand 4, the lower surface of the first side wall portion 10a on the side far from the first connector 12 of the first component 1 and the upper surface of the second side wall portion 16a on the side far from the second connector 18 of the second component 2 come into contact with each other. In addition, the lower surface of the leg portion 13b on the side close to the first connector 12 of the first component 1 and the upper surface of the second side wall portion 16b close to the second connector 18 of the second component 2 are brought into contact with each other.

After the lowering operation of the robot hand 4 is completed, the control unit 5 stops the suction operation of the vacuum ejector 22 of the robot hand 4 and performs the vacuum breaking operation. As a result, the suction pad 20a is separated from the top surface portion 9 of the first component 1 and is released from gripping (step S5). FIG. 9 is a schematic configuration diagram showing the angles of the work target parts of the assembly device according to the first embodiment. The angle formed by the first substrate 11 and the second substrate 17 is smaller at the angle θ2 after the grip is released than at the angle θ1 before the grip is released. That is, the relationship is θ2 <θ1.

When the grip is released, the convex portion 14a formed on the leg portion 13a extending from the first side wall portion 10a on the side far from the first connector 12 becomes the second side wall portion 16a on the side far from the second connector 18. It is inserted into the recess 19a. As a result, the first component 1 and the second component 2 are positioned in the width direction and the depth direction. As a result, misalignment can be prevented in the assembly steps after step S6 below.

After releasing the grip, the vacuum confirmation sensor in the vacuum ejector 22 outputs the release of the vacuum state to the control unit 5. FIG. 10 is a schematic configuration diagram showing a part of an assembling process using the assembling device according to the first embodiment. As shown in FIG. 10, the control unit 5 issues a command to the robot hand 4 to operate the robot hand 4 so as to take a horizontal state above the second component 2 (step S6).

FIG. 11 is a schematic configuration diagram showing a part of the assembling process using the assembling device according to the first embodiment. As shown in FIG. 11, the robot hand 4 is lowered again by the command of the control unit 5, and the pressing unit 21 presses the top surface portion 9 of the first component 1 (step S7). The first component 1 is pressed by the pressing portion 21 of the robot hand 4 and pressed against the second component 2. At this time, the contact point between the lower surface of the first side wall portion 10a of the first component 1 and the upper surface of the second side wall portion 16a of the second component 2 is the turning center, and the angle formed by the first substrate 11 and the second substrate 17 is formed. Becomes smaller. Further, by pressing the top surface portion 9 of the first component 1 with the pressing portion 21 of the robot hand 4, the leg portion 13b on the side close to the first connector 12 of the first component 1 elastically deforms and bends, while the second component 2 It is passed along the inner side surface of the second side wall portion 16b on the side close to the second connector 18 of the above. Then, the convex portion 14b of the leg portion 13b of the first component 1 is inserted into the concave portion 19b of the second side wall portion 16b of the second component 2, the leg portion 13b elastically returns to the original shape, and the fitting by snap fit is completed. do.

Further, the top surface portion 9 of the first component 1 is pressed by the pressing portion 21 of the robot hand 4, and the leg portion 13b of the first component 1 is passed along the inner surface of the second side wall portion 16b of the second component 2. During this time, the first connector 12 of the first component 1 and the second connector 18 of the second component 2 are fitted.
The first connector 12 and the second connector 18 come into contact with each other to the other end as one end in the width direction comes into contact first and the first substrate 11 of the first component 1 becomes parallel to the second substrate 17 of the second component 2. Then, the fitting is completed (see FIG. 5).

The control unit 5 is set with the position coordinates in the height direction in which the convex portion 14b of the first component 1 and the concave portion 19b of the second component 2 are fitted. When the robot hand 4 reaches the position coordinates where the fitting by the snap fit is completed, the lowering operation of the robot hand 4 is stopped.

FIG. 12 is a schematic configuration diagram showing a part of the assembling process using the assembling device according to the first embodiment. As shown in FIG. 12, the control unit 5 lowers the robot hand 4 to a predetermined position, determines that the fitting by the snap fit is completed, and moves the robot hand 4 to the upper side of the first component 1. (Step S8). As a result, the assembly of the first component 1 and the second component 2 is completed.

In the step S5, as shown in FIG. 13, when the grip of the first component 1 is released, the leg portion 13a of the first component 1 is separated from the second side wall portion 16a of the second component 2. It is also possible that fitting by snap fit is not possible.

FIG. 14 is configured so that such a situation does not occur. FIG. 14 is a schematic configuration diagram showing another example of the robot hand of the assembly device according to the first embodiment. As shown in FIG. 14, the robot hand 4 preferably includes a first side wall guide 23 that comes into contact with the outer surface of the first side wall portion 10b on the side closer to the first connector 12 of the first component 1. The first side wall guide 23 can prevent the leg portion 13a and the convex portion 14a of the first component 1 from being separated from the second side wall portion 16a of the second component 2.

FIG. 15 is a schematic configuration diagram showing a part of an assembling process using the assembling device according to the first embodiment. Here, as shown in FIG. 15, the convex portion 14b of the leg portion 13b on the side closer to the first connector 12 of the first component 1 is the second side wall portion 16b on the side closer to the second connector 18 of the second component 2. Prior to insertion into the recess 19b, a part of the first connector 12 of the first component 1 and a part of the second connector 18 of the second component 2 come into contact with each other. Since the leg portion 13b of the first component 1 undergoes elastic deformation and elastic recovery from the time when a part of the first connector 12 and the second connector 18 comes into contact with each other until the fitting is completed, the first connector 12 and the second connector 12 and the second connector 18 are elastically restored. The position relative to the connector 18 may be displaced. By providing the second connector 18 of the second component 2 with a floating mechanism, the first component 1 and the second component 2 can be fitted even when such a positional deviation occurs.

In the following, the connectors can be fitted to each other even if the first connector 12 and the second connector 18 are relative to each other due to the snap-fit fitting using the assembling device 100. A step of providing a floating mechanism on the second connector 18 of the second component 2 will be described. That is, a method of manufacturing an electronic device to which the first component 1 and the second component 2 are assembled by using the assembly device 100 according to the present embodiment will be described. FIG. 16 is a schematic configuration diagram showing parts that are work targets of the assembly device according to the first embodiment. As shown in FIG. 16, the second connector 18 of the second component 2 has a surface portion 18a which is a surface on the side where the first connector 12 is fitted and a fixing portion 18b fixed to the second substrate 17. Be prepared.

In providing the floating mechanism on the second connector 18, the external dimensions of the first connector 12 and the second connector 18 are determined in advance. Further, the position of the first connector on the first substrate 11 and the position of the second connector 18 on the second substrate 17 are determined.
Further, the dimensions of the first side wall portion 10 of the first component 1, the dimensions of the leg portion 13, and the dimensions of the second side wall portion 16 of the second component 2 are determined.

FIG. 17 is a schematic diagram for explaining a method of manufacturing an electronic device in which parts are assembled using the assembling device according to the first embodiment. In FIG. 17, the X-axis is the depth direction of the second component 2, the Y-axis is the width direction of the second component 2, and the Z-axis is the height direction of the second component 2. The second component 2 requires a floating amount in the Y-axis direction. For the sake of simplicity, it is assumed that the first connector 12 and the second connector 18 each have a rectangular parallelepiped shape. Further, it is assumed that the first substrate 11 to which the first connector 12 is fixed and the lower surface of the first side wall portion 10a are in the same plane.

In Figure 17, the first component first side wall 10a of the lower surface and the pressing portion 21 from a state in which the upper surface and is in contact at the contact point P ₁ of the robot hand 4 of the second part 2 of the second side wall portion 16a of one first A state in which the top surface portion 9 of the component 1 is pressed is shown. As shown in FIG. 17, when to press the first component 1, the lower surface and the first component first contact point P ₁ becomes the center of the upper surface of the second side wall portion 16a of the first side wall portion 10a is rotated .. When the first part 1 is rotated, the first first connector 12 of the component 1 and the second connector 18 of the second part 2 is in contact at the contact point P _2.

As shown in FIG. 17, the linear distance from the contact point P ₁ between the lower surface and the upper surface of the second side wall portion 16a of the first side wall 10a to the contact point P ₂ between the first connector 12 and second connector 18 L _Set to 0. Further, the horizontal distance from the contact point _{P 1} between the lower surface and the upper surface of the second side wall portion 16a of the first side wall 10a to the side surface of the first side wall portion 10a of the second connector 18 and _{L 1.} The linear distance from the contact point _{P 1} between the lower surface and the upper surface of the second side wall portion 16a of the first side wall 10a to the side surface of the first side wall portion 10a side of the first connector 12 and _{L 2.} Further, the lower surface and the horizontal distance from the contact point _{P 1} and the upper surface of the second side wall portion 16a and the first connector 12 to the contact point _{P 2} of the second connector 18 of the first side wall 10a and _{L 3.}

The lower surface and the vertical distance from the contact point _{P 1} and the upper surface of the second side wall portion 16a and the first connector 12 to the contact point _{P 2} of the second connector 18 of the first side wall 10a and _{T 1.} Further, the length from the surface fixed to the first substrate 11 of the first connector 12 to the opposite surface is T ₂ . Further, the lower surface and the straight line from the contact point _{P 1} and the upper surface of the second side wall portion 16a and the first connector 12 to the contact point _{P 2} of the second connector 18 of the first side wall 10a, second from the contact point _{P 1} Let θ be the angle formed by a straight line drawn in a direction parallel to the second substrate 17 of the two components 2.

As described above, the positions of the first connector 12 on the first substrate 11, the positions of the second connector 18 on the second substrate 17, and the external dimensions of the first connector 12 and the second connector 18 are predetermined. That is, L ₁ , L ₂ , T ₁ , and T ₂ are known.

The floating amount required for the second connector 18 of the second component 2 is calculated by _{L 3 −} L _1. L ₃ can be obtained by substituting Eqs. (2) and (3) into Eq. (1).

_{L 3} can be calculated from the formula (1) to the formula (3), and the floating amount of the second connector 18 of the second component 2 is calculated by _{L 3 −} L _1. A floating mechanism considering the calculated floating amount is formed between the surface portion 18a and the fixing portion 18b of the second connector 18 of the second component 2. As a result, the first connector 12 and the second connector 18 can be fitted even when the first connector 12 and the second connector 18 are relatively misaligned due to the fitting by the snap fit.

As described above, the assembling device 100 according to the present embodiment includes a robot 3, a robot hand 4, and a control unit 5 for controlling them. The control unit 5 grips the first component 1 with the gripping unit 20 of the robot hand 4. Then, the robot hand 4 is tilted so that one of the pair of first side wall portions 10 of the first component 1 is located below the other. Then, the tilted robot hand 4 is lowered until one of the pair of first side wall portions 10 comes into contact with one of the second side wall portions 16 to release the grip of the first component 1, so that the pair of first side wall portions 10 is released. The leg portion 13 extending downward from one side is passed through the inside of the pair of second side wall portions 16, and the convex portion 14a protruding outward from the pair of first side wall portions 10 from the leg portion 13a is passed through the pair of second side wall portions. It is inserted into the recess 19a formed on one side of 16.
Then, by pressing the first component 1 with the pressing portion 21 of the robot hand 4 so that the first substrate 11 and the second substrate 17 are parallel to each other, the first component 1 extends downward from the other of the pair of first side wall portions 10. The leg portion 13a is passed through the inside of the pair of second side wall portions 16, and the convex portion 14b protruding outward from the pair of first side wall portions 10 from the leg portion 13 is formed on the other side of the pair of second side wall portions 16. It is inserted into the recess 19b. By using such a configuration, fitting by a connector and fitting by a snap fit become possible. Further, even if the convex portion 14a formed on the leg portion 13a is inserted into the concave portion 19a formed on one of the pair of second side wall portions 16 and then the first component 1 is pressed by the pressing portion 21, the first component 1 is pressed. It is possible to prevent the relative positions of the 1st component 1 and the 2nd component 2 from shifting.

Further, in the method for manufacturing an electronic device in which the first component 1 and the second component 2 are assembled using the assembling device 100 according to the present embodiment, one lower surface of a pair of first side wall portions 10 and a pair of first side wall portions 10 are assembled. The first connector 12 and the second connector 18 from the horizontal distance from the contact point with the upper surface of one of the two side wall portions 16 to the second connector 18 and the contact point with the upper surface of one of the pair of second side wall portions 16. A floating mechanism is formed in the second connector 18 based on the difference from the horizontal distance to the contact point of. As a result, even if the relative positions of the first connector 12 and the second connector 18 are displaced in the process of fitting by snap-fitting, the first connector 12 and the second connector 18 can be fitted.

Embodiment 2.
Next, a second embodiment of the present disclosure will be described. The assembling device according to the present embodiment further includes a load sensor 24 for detecting the load due to the reaction force from the first component 1 on the robot hand 4b, and the robot hand 4b responds to the load detected by the load sensor 24. Control the descending motion.

FIG. 18 is a schematic configuration diagram showing a robot hand of the assembly device according to the second embodiment. As shown in FIG. 18, the robot hand 4b includes a load sensor 24 that detects a reaction force. The load sensor 24 is, for example, a contact type sensor, in which the pressing portion 21 of the robot hand 4b presses the top surface portion 9 of the first component 1 and the convex portion 14 of the first component 1 fits into the concave portion 19 of the second component 2. It detects the reaction force when it is pushed in.

Next, an assembling method for assembling the first part 1 and the second part 2 using the assembling device according to the present embodiment will be described. FIG. 19 is a flowchart illustrating the assembling method of the present embodiment. The part that overlaps with the description shown in the first embodiment will be omitted as appropriate.

The control unit 5 outputs a command to the robot hand 4b to grip the first component 1 (FIG. 19, step S1). The robot hand 4b moves to the upper part of the first component 1 in response to a command from the control unit 5, and causes the vacuum ejector 22 to start the suction operation. The robot hand 4b descends to a predetermined position coordinate in response to a command from the control unit 5. The first component 1 is gripped by the suction pad 20a of the grip portion 20 of the robot hand 4b.

The robot hand 4b moves to the upper part of the second component 2 in response to a command from the control unit 5 (step S2). In the control unit 5, of the pair of first side wall portions 10 facing each other in the width direction of the first component 1, the lower surface of the first side wall portion 10a on the side farther from the first connector 12 is on the side closer to the first connector 12. The robot hand 4b is tilted so as to be located below the lower surface of the first side wall portion 10b. (Step S3). When the robot hand 4b is tilted, the first component 1 is also tilted at the same angle.

In the robot hand 4b, the lower surface of the first side wall portion 10a of the first component 1 and the upper surface of the second side wall portion 16a of the second component 2 are in contact with each other, and the lower surface of the leg portion 13b of the first component 1 and the second component are in contact with each other. The lowering operation is performed to a position where the upper surface of the second side wall portion 16b of No. 2 comes into contact with the upper surface (step S4).

Next, the vacuum ejector 22 of the robot hand 4b stops the suction operation and performs the vacuum breaking operation. The suction pad 20a is separated from the top surface portion 9 of the first component 1 to release the grip (step S5). When the grip is released, the convex portion 14a formed on the leg portion 13a extending from the first side wall portion 10a on the side far from the first connector 12 becomes the second side wall portion 16a on the side far from the second connector 18. It is inserted into the recess 19a. The robot hand 4b is returned to a horizontal state above the first component 1 (step S6). The robot hand 4b performs a descending operation again (step S7). The pressing portion 21 of the robot hand 4b presses the top surface portion 9 of the first component 1 and presses the first component 1 toward the second component 2 (step S7).

In the process of the pressing portion 21 of the robot hand 4b pressing the top surface portion 9 of the first component 1, the leg portion 13b of the first component 1 elastically deforms and bends, and inside the second side wall portion 16b of the second component 2. Passed through.

In the present embodiment, the load sensor 24 detects the reaction force when the pressing portion 21 of the robot hand 4b presses the first component 1. The load sensor 24 has a load at the time of primary insertion due to bending of the leg portion 13b when the leg portion 13b of the first component 1 starts to be passed through the second side wall portion 16b of the second component 2, and when the fitting is completed. Detects the final pushing load of. The load at the time of primary insertion bends the leg portion 13b, so that a large load is required. Therefore, the load relationship is that the load at the time of primary insertion> the final pushing load.

FIG. 20 is a relationship diagram showing the relationship between the load of the load sensor of the assembly device according to the second embodiment and the position coordinates in the descending direction. In FIG. 19, the vertical axis shows the load of the load sensor, and the horizontal axis shows the position coordinates in the descending direction. As shown in FIG. 20, the load detected by the load sensor 24 is the load F1 when the leg portion 13b of the first component 1 enters the inside of the second side wall portion 16b of the second component 2 and begins to bend. The load F2 when the leg portion 13b of the first component 1 is pushed in in a bent state, and the load F3 when the convex portion 14b of the leg portion 13b of the first component 1 is fitted into the concave portion 19b of the second component 2. It is displaced in three stages.

When the convex portion 14b is fitted into the concave portion 19b, the assembly of the first component 1 and the second component 2 is completed, and the lower surface of the first side wall portion 10 and the upper surface of the second side wall portion 16 are in contact with each other. Since the robot hand 4b is pushed by the pressing portion 21 as it is, the load F3 of the load sensor 24 increases. The load sensor 24 detects that the detected load is within the range S of the load at the time of fitting completed, which is stored in advance, at the position coordinates where the fitting is completed, and determines the fitting completion (step S9). .. If the load does not fall within the range of the load stored in advance, it may be determined that the fitting is defective and an abnormality may be transmitted to the control unit and the outside (step S10).

The control unit 5 raises the robot hand 4b after the load at the time of fitting completion is within the range of the load stored in advance, and after it is determined that the fitting is completed, the first component 1 and the second component 2 are fitted. Is completed (step S8).

As described above, in the assembling device according to the present embodiment, as in the first embodiment, the robot hand 4b holding the first component 1 is held by one of the pair of first side wall portions 10 of the first component 1. Tilt so that it is located below, and in the tilted state, lower the first component 1 from above the second component 2, release the grip of the robot hand 4b, and then attach the first component 1 to the second component 2. Press. This enables fitting by a connector and fitting by a snap fit.

Further, in the present embodiment, the lowering motion of the robot hand 4b can be controlled according to the load detected by the load sensor 24, and the load on the first component 1 and the second component 2 is reduced. Further, by detecting the load of the reaction force pushed by the load sensor 24, when a load outside the permissible range is detected in the load pushed at the time of primary insertion and the final insertion, the first component 1 and the second component 2 It is possible to determine a fitting defect.

The floating mechanism described in the first embodiment can also be mounted in the second embodiment.

Embodiment 3.
Next, a third embodiment of the present disclosure will be described. The assembling device 100b according to the present embodiment further includes a second side wall guide 25 which is a mechanism for pressing the first side wall portion 10 of the first component 1 on the stage 6, and the first component 1 is provided with the first side wall guide 25. Assembling is performed by pressing from two directions of the Z axis and the Y axis.

For example, as shown in FIG. 21, in the relationship between the fitting dimension of the dimension 13c between the legs 13 of the first component 1 and the dimension 16c between the second side wall portion 16 of the second component 2, the first component When the dimension 16c between the second side wall portions 16 of the second component 2 is smaller than the dimension 13c between the legs 13 of 1, the pressing portion 21 of the robot hand 4 presses the top surface portion 9 of the first component 1. When pressed, the leg portion 13b of the first component 1 comes into contact with the upper portion of the second side wall portion 16b of the second component 2, and the leg portion 13b of the first component 1 does not elastically deform, making assembly impossible. Sometimes. In such a case, assembling is possible by performing not only the pressing in the Z-axis direction described in the first and second embodiments but also the pressing in the Y-axis direction.

FIG. 22 is a schematic configuration diagram of the assembly device according to the third embodiment. As shown in FIG. 22, the stage 6 includes a second side wall guide 25 which is a pressing mechanism for pressing the first side wall portion 10 of the first component 1. The second side wall guide 25 is, for example, a pneumatic cylinder, and presses the first side wall portion 10 in the Y-axis direction before the pressing portion 21 of the robot hand 4 presses the top surface portion 9 of the first component 1. It is a thing.

Next, an assembling method for assembling the first part 1 and the second part 2 using the assembling device 100b according to the present embodiment will be described. FIG. 23 is a flowchart illustrating the assembling method of the present embodiment. The part that overlaps with the description shown in the first embodiment will be omitted as appropriate.

The control unit 5 outputs a command to the robot hand 4b to grip the first component 1 (FIG. 6, step S1). The robot hand 4b moves to the upper part of the first component 1 in response to a command from the control unit 5, and causes the vacuum ejector 22 to start the suction operation. The robot hand 4b descends to a predetermined position coordinate in response to a command from the control unit 5. The first component 1 is gripped by the suction pad 20a of the grip portion 20 of the robot hand 4b.

Next, the vacuum ejector 22 of the robot hand 4b stops the suction operation and performs the vacuum breaking operation. The suction pad 20a is separated from the top surface portion 9 of the first component 1 to release the grip (step S5). When the grip is released, the convex portion 14a formed on the leg portion 13a extending from the first side wall portion 10a on the side far from the first connector 12 becomes the concave portion of the second side wall portion 16a on the side far from the second connector 18. It is inserted in 19a. The robot hand 4b is returned to a horizontal state above the first component 1 (step S6).

Next, as shown in FIG. 24A, the first side wall portion 10b of the first component 1 is pressed in the Y-axis direction by the second side wall guide 25 that presses the first side wall portion 10 provided in the stage 6. (Step S11). In the process of pressing the first side wall portion 10b of the first component 1 in the Y-axis direction, the leg portion 13a of the first component 1 elastically deforms and bends as shown in FIG. 24 (b), and the second component 2 second. 2 It is pressed inside the side wall portion 16a.

That is, in FIG. 24B, the first side wall portion 10b of the first component 1 is first pressed in the Y-axis direction, the leg portion 13a of the first component 1 is bent, and the pressing portion 21 of the robot hand 4 is pressed. By making it easy for the leg portion 13b of the first component 1 to be elastically deformed when the top surface portion 9 of the first component 1 is pressed, the leg portion 13b of the first component 1 becomes the second side wall portion 16b of the second component 2. It becomes easier to enter.

The robot hand 4 performs the lowering operation again while pressing the first side wall portion 10b of the first component 1. Then, the pressing portion 21 of the robot hand 4 presses the top surface portion 9 of the first component 1 and presses the first component 1 toward the second component 2 (step S7).

As described above, in the assembling device according to the present embodiment, as in the first and second embodiments, the robot hand 4b holding the first component 1 is attached to the pair of first side wall portions of the first component 1. Tilt so that one side of 10 is located below the other, and in the tilted state, lower the first part 1 from above the second part 2, release the grip of the robot hand 4b, and then move the first part 1 to the first part. 2 Press against the part 2. This enables fitting by a connector and fitting by a snap fit.

Further, in the present embodiment, even if the dimension 16c between the second side wall portions 16 of the second component 2 is smaller than the dimension 13c between the legs 13 of the first component 1, the assembly can be performed without difficulty. Make it possible.

The floating mechanism described in the first embodiment can also be mounted in the third embodiment.

In the first to third embodiments, the robot 3 is a 6-axis robot, but a robot having less than 6 axes or a robot having 6 or more axes may be used. For example, the robot 3 may be a three-axis orthogonal type robot having orthogonal movements of the X, Y-axis, and Z-axis, and may have a mechanism that allows the hand mounting portion to turn in one axis. Further, a robot other than the vertical articulated type such as a horizontal articulated type may be used.

Further, in the first to third embodiments, the robot hands 4 and 4b are provided with the vacuum ejector 22 and the grip portion 20 has the suction pad 20a. However, it suffices if the first component 1 can be gripped, for example, an air chuck. May be used. Further, the robot hand may be provided with several fingers for sandwiching and gripping the first component 1.

Further, in the first to third embodiments, two leg portions 13a are provided on the first side wall portions 10 facing each other of the first component 1, and two legs are provided on the second side wall portions 16 facing each other of the second component 2. Although an example including the recess 19 is shown, the leg portion 13 and the recess 19 may be two or more.

Although the present disclosure describes various exemplary embodiments and examples, the various features, embodiments, and functions described in one or more embodiments are those of a particular embodiment. It is not limited to application, but can be applied to embodiments alone or in various combinations.
Therefore, innumerable variations not illustrated are envisioned within the scope of the techniques disclosed herein. For example, it is assumed that at least one component is modified, added or omitted, and further, at least one component is extracted and combined with the components of other embodiments.

1: 1st part, 2: 2nd part, 3: Robot, 4, 4b: Robot hand, 5: Control unit, 6: Stage, 7, 8: Alignment member, 9: Top surface part, 10, 10a, 10b: 1st side wall, 11: 1st substrate, 12: 1st connector, 13, 13a, 13b: legs, 14, 14a, 14b: convex, 15: main body, 16, 16a, 16b: 2nd side wall , 17: 2nd substrate, 18: 2nd connector, 19, 19a, 19b: recess, 20: gripping part, 20a: suction pad, 21: pressing part, 22: vacuum ejector, 23: first side wall guide, 24 : Load sensor, 25: Second side wall guide.

Claims

A pair having a first component in which a first connector is provided on the first substrate and a second side wall portion surrounding the second substrate, and facing each other, with a first connector closer to the other than one of the pair of first side wall portions facing each other. An assembling device for assembling a second component provided on the second substrate with a second connector closer to the other than one of the second side wall portions.
A robot hand having a grip portion that grips the first component and a pressing portion that presses the first component.
A robot having the robot hand at the tip,
The robot hand and a control unit for controlling the robot are provided.
The control unit
The first component is gripped by the grip portion of the robot hand, and the robot hand is tilted so that one of the pair of first side wall portions is located below the other.
The tilted robot hand is lowered from above the second component, and the lower surface of one of the pair of first side wall portions comes into contact with the upper surface of one of the pair of second side wall portions, and then the grip portion is gripped. By releasing the legs, the legs extending downward from one of the pair of first side wall portions are passed through the inside of the pair of second side wall portions.
A convex portion protruding outward from the pair of first side wall portions from the leg portion extending downward from one of the pair of first side wall portions is inserted into a concave portion formed on one of the pair of second side wall portions. Let me
By pressing the first component with the pressing portion of the robot hand, the legs extending downward from the other of the pair of first side wall portions are passed through the inside of the pair of second side wall portions.
A convex portion protruding outward from the pair of first side wall portions from the leg portion extending downward from the other of the pair of first side wall portions is inserted into a concave portion formed on the other side of the pair of second side wall portions. Assembling device to be made to.
In the control unit, one lower surface of the pair of first side wall portions and one upper surface of the pair of second side wall portions come into contact with each other, and the lower surface of the leg portion extends from the other of the pair of first side wall portions. The assembling device according to claim 1, wherein the robot hand is lowered until the robot hand comes into contact with the other upper surface of the pair of second side wall portions.
The angle at which the robot hand is tilted is such that the lower surface of one of the pair of first side walls and the upper surface of one of the pair of second side walls are in contact with each other, and the legs extend from the other of the pair of first side walls. The assembling device according to claim 1 or 2, wherein the angle between the first substrate and the second substrate in a state where the lower surface of the portion and the other upper surface of the pair of second side wall portions are in contact with each other.
The assembly device according to any one of claims 1 to 3, wherein the grip portion of the robot hand has a suction pad, and the first component is gripped by the suction pad.
The assembling device according to any one of claims 1 to 4, wherein the robot hand has a side wall guide that contacts the other outer surface of the pair of first side wall portions.
The robot hand has a load sensor that detects a load due to a reaction force when the first component is pressed by the pressing unit, and the control unit controls a lowering operation of the robot hand according to the detected load. The assembling device according to any one of claims 1 to 5.
A first component having a first side wall portion surrounding the first substrate and having a first connector closer to the other than one of the pair of the first side wall portions facing each other, and a second component. Assembly for assembling a second component having a second side wall portion surrounding the substrate and having a second connector closer to the other than one of the pair of the second side wall portions facing each other. It's a method
A step of gripping the first component with a grip portion of the robot hand and tilting the robot hand so that one of the pair of first side wall portions is located below the other.
The tilted robot hand is lowered from above the second component, and the lower surface of one of the pair of first side wall portions comes into contact with the upper surface of one of the pair of second side wall portions, and then the grip portion is gripped. By releasing the legs, the legs extending downward from one of the pair of first side wall portions are passed through the inside of the pair of second side wall portions, and the legs extending downward from one of the pair of first side wall portions. A step of inserting a convex portion protruding outward from the pair of first side wall portions into a concave portion formed on one of the pair of second side wall portions.
By pressing the first component so that the first substrate and the second substrate are parallel to each other by the pressing portion of the robot hand, the leg portion extending downward from the other of the pair of first side wall portions is formed. The pair of first side wall portions are formed by passing through the inside of the pair of second side wall portions and projecting outward from the leg portion extending downward from the other of the pair of first side wall portions to the outside of the pair of first side wall portions. 2 Steps to insert into the recess formed on the other side of the side wall,
Assembling method including.
The assembling device according to any one of claims 1 to 6 has a first side wall portion that surrounds the first substrate, and is closer to the other than one of the pair of the first side wall portions facing each other. The first connector has a first component provided on the first substrate and a second side wall portion surrounding the second substrate, and is closer to the other than one of the pair of the second side wall portions facing each other. A method for manufacturing an electronic device in which two connectors are assembled with a second component provided on the second substrate.
The lower surface of one of the pair of first side wall portions and the upper surface of one of the pair of second side wall portions are in contact with each other at a first contact point, and the first connector and the second connector are in contact with each other at a second contact point. Floating on the second connector based on the difference between the horizontal distance from the first contact point to the second connector and the horizontal distance from the first contact point to the second contact point. A method of manufacturing an electronic device that forms a mechanism.