JP2022089034A - Electronic equipment assembling device and electronic equipment assembling method - Google Patents

Abstract

To provide an electronic equipment assembling device and an electronic equipment assembling method that can precisely fit a cable to a connector.SOLUTION: An electronic equipment assembling device comprises a cable holding tool which has a hook part for hooking a cable, and a robot part and a control part, and the control part executes: first positioning control (S9-1) to position the cable held by the cable holding tool at the connector; first press-in control (S9-2) to press the cable in against the connector so that a part of the positioned cable enters the connector; second positioning control (S9-3) to position the cable holding tool at the connector so as to change the direction of the hook part of the cable holding tool after the cable is pressed in; and second press-in control (S9-4) to further press the cable in against the connector so as to fit a mount part of the cable to the connector.SELECTED DRAWING: Figure 11

Description

The present invention relates to an electronic device assembling device and an electronic device assembling method.

Conventionally, an electronic device assembly device / method for assembling an electronic device by attaching a cable to a connector of the electronic device has been known.

JP-A-2018-69415

It is required that the cable can be attached more accurately by the connector.

Therefore, an object of the present invention is to provide an electronic device assembling device and an electronic device assembling method in which a cable can be accurately attached by a connector in order to solve the above-mentioned problems.

In order to achieve the above object, the electronic device assembling device of the present invention moves a cable holding tool for holding a cable to be attached to a connector of the electronic device and the cable holding tool relative to the electronic device. The cable holding tool includes a robot unit for mounting the cable and a control unit for mounting the cable mounting portion to the connector by driving the robot portion, and the cable holding tool has a hooking portion for hooking the cable. The control unit has a first alignment control for aligning the cable held by the cable holding tool with respect to the connector, and the cable is inserted into the connector so that a part of the aligned cable is inserted into the connector. The first push-in control for pushing toward the connector, the second alignment control for aligning the cable holding tool with respect to the connector so as to change the direction of the hook portion of the cable holding tool after pushing, and the above. A second push-in control, in which the cable is further pushed toward the connector so that the mounting portion of the cable is mounted on the connector, is executed.

Further, the method for assembling an electronic device of the present invention includes a cable holding tool for holding a cable to be attached to a connector of the electronic device, and a robot unit for moving the cable holding tool relative to the electronic device. A method of assembling an electronic device in which the attachment portion of the cable is attached to the connector by using an electronic device assembly device, the cable holding step of holding the cable by the cable holding tool having a hook portion, and the cable. The first alignment step of aligning the cable held by the holding tool with respect to the connector of the electronic device, and directing the cable toward the connector so that a part of the aligned cable enters the connector. The first pushing step of pushing in, the second alignment step of aligning the cable holding tool with respect to the connector so as to change the direction of the hook portion in the cable holding tool after pushing, and the cable A second pushing step of further pushing the cable toward the connector so that the mounting portion is mounted on the connector is included.

According to the present invention, the cable can be attached with high accuracy by the connector.

Schematic perspective view of the electronic device assembly device of the embodiment Perspective view of the electronic device before attaching the cable of the embodiment to the connector Perspective view of the electronic device after the cable of the embodiment is attached to the connector. Schematic plan view of the cable of the embodiment Schematic plan view showing a state in which a plurality of cables are arranged on the tray of the embodiment. Vertical sectional view showing the peripheral configuration of the base portion of the embodiment. Side view of the holding portion in the state where the cable of the embodiment is not held Downward perspective view of the holding portion in the state where the cable of the embodiment is not held. Enlarged perspective view of the holding portion in a state where the cable of the embodiment is not held. Enlarged perspective view of the holding portion in the state of holding the cable of the embodiment Block diagram of the control system of the electronic device assembly device of the embodiment A flowchart showing a method of assembling an electronic device by the electronic device assembling device of the embodiment. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A vertical sectional view for explaining an assembly method according to the flowchart of FIG. A flowchart showing each process included in the mounting process of the embodiment. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Schematic plan view for explaining the mounting process according to the flowchart of FIG. Downward perspective view of the holding portion in the state where the cable according to the modified example 1 is not held. Downward perspective view of the holding portion in the state of holding the cable according to the modified example 1. Downward perspective view of the holding portion in the state where the cable according to the modified example 2 is not held. Downward perspective view of the holding portion in the state of holding the wide cable according to the modified example 2. Downward perspective view of the holding portion in the state of holding the narrow cable according to the modified example 2. Perspective view of the electronic device before attaching the cable according to the modification 3 to the connector. Perspective view of the electronic device after the cable according to the modification 3 is attached to the connector.

According to the first aspect of the present invention, a cable holding tool for holding a cable to be attached to a connector of an electronic device, a robot unit for moving the cable holding tool relative to the electronic device, and the robot. The cable holding tool includes a control unit for mounting the cable mounting portion to the connector by driving the unit, the cable holding tool has a hooking portion for hooking the cable, and the control unit holds the cable. The first alignment control that aligns the cable held by the tool with respect to the connector, and the first push that pushes the cable toward the connector so that a part of the aligned cable enters the connector. The control, the second alignment control for aligning the cable holding tool with respect to the connector so as to change the direction of the hook portion in the cable holding tool after pushing, and the mounting portion of the cable are described. Provided is an electronic device assembling device that performs a second push-in control that further pushes the cable toward the connector so as to be attached to the connector.

According to the second aspect of the present invention, the control unit executes the cable holding control for holding the cable arranged in an arbitrary direction by the cable holding tool before the first alignment control. The electronic device assembly apparatus according to the first aspect is provided.

According to a third aspect of the present invention, the cable provides the electronic device assembly device according to the second aspect, wherein the side opposite to the mounting portion is fixed to the electronic device.

According to the fourth aspect of the present invention, the control unit returns the direction of the hooking unit to the state before the first alignment control by the second alignment control, according to the first to third aspects. The electronic device assembly apparatus according to any one of them is provided.

According to the fifth aspect of the present invention, the control unit changes the orientation of the hooking portion so as to match the orientation of the connector by the second alignment control, which is one of the first to third aspects. The electronic device assembly apparatus according to one is provided.

According to the sixth aspect of the present invention, the electronic device assembly apparatus according to any one of the first to fifth aspects, wherein the control unit performs the second push-in control after the second alignment control. I will provide a.

According to the seventh aspect of the present invention, the electronic device according to any one of the first to fifth aspects, wherein the control unit performs the second alignment control and the second push-in control in parallel. Provides assembly equipment.

According to an eighth aspect of the present invention, the cable has a wide portion extending in the width direction, and the hook portion abuts on the wide portion of the cable in the length direction of the cable. The electronic device assembly apparatus according to any one of the 1st to 7th aspects is provided.

According to a ninth aspect of the present invention, the cable holding tool provides the electronic device assembly device according to any one of the first to eighth aspects, which sucks and holds the cable.

According to the tenth aspect of the present invention, the connector lock tool for operating the lock mechanism included in the connector, the base portion to which the cable holding tool and the connector lock tool are connected, and the robot portion are further provided. An electronic device assembly device according to any one of the first to ninth aspects, wherein the cable holding tool and the connector lock tool are relatively moved relative to the electronic device by moving the base portion. I will provide a.

According to the eleventh aspect of the present invention, an electron including a cable holding tool for holding a cable to be attached to a connector of an electronic device and a robot unit for moving the cable holding tool relative to the electronic device. A method of assembling an electronic device in which a mounting portion of the cable is mounted on the connector using an equipment assembly device, wherein the cable holding step of holding the cable by the cable holding tool having a hook portion and the cable holding. The first alignment step of aligning the cable held by the tool with respect to the connector of the electronic device, and directing the cable toward the connector so that a part of the aligned cable enters the connector. The first pushing step of pushing, the second aligning step of aligning the cable holding tool with respect to the connector so as to change the direction of the hook portion in the cable holding tool after pushing, and the said of the cable. Provided is an electronic device assembly method comprising a second pushing step of further pushing the cable toward the connector so that the mounting portion is mounted on the connector.

According to the twelfth aspect of the present invention, the electronic device assembly method according to the eleventh aspect, wherein in the cable holding step, the cable is held by the cable holding tool in a state where the cable is arranged in an arbitrary direction. I will provide a.

According to the thirteenth aspect of the present invention, the cable provides the electronic device assembly method according to the twelfth aspect, in which the side opposite to the mounting portion is fixed to the electronic device.

According to the 14th aspect of the present invention, in the second alignment step, the orientation of the hook portion is returned to the state before the first alignment step, which is one of the 11th to 13th aspects. The method for assembling an electronic device described in 1 is provided.

According to the fifteenth aspect of the present invention, in the second alignment step, the orientation of the hook portion is changed to match the orientation of the connector, according to any one of the eleventh to thirteenth aspects. Provides a method for assembling electronic devices.

According to the 16th aspect of the present invention, there is provided the electronic device assembly method according to any one of the 10th to 15th aspects, wherein the second pushing step is executed after the second alignment step.

According to the 17th aspect of the present invention, there is provided the electronic device assembly method according to any one of the 10th to 15th aspects, wherein the second alignment step and the second pushing step are executed in parallel. do.

According to an eighteenth aspect of the present invention, the cable has a wide portion extending in the width direction, and the hook portion abuts on the wide portion of the cable in the length direction of the cable. The method for assembling an electronic device according to any one of the 10th to the 17th aspects is provided.

According to the 19th aspect of the present invention, in the cable holding step, the electronic device assembly method according to any one of the 10th to 18th aspects, wherein the cable is sucked and held by the cable holding tool. offer.

According to the twentieth aspect of the present invention, as the electronic device assembling device, a connector lock tool for operating a lock mechanism included in the connector and a base portion to which the cable holding tool and the connector lock tool are connected are provided. From the tenth aspect to the nineteenth aspect, the robot unit moves the cable holding tool and the connector lock tool relative to the electronic device by moving the base unit. A method for assembling an electronic device according to any one of the embodiments is provided.

Hereinafter, exemplary embodiments of the electronic device assembling device and the electronic device assembling method according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the specific configuration of the following embodiments, and the present invention includes configurations based on the same technical idea.

(Embodiment)
First, with reference to FIG. 1, the electronic device assembly device according to the embodiment of the present invention will be described. The electronic device assembly device 1 of the embodiment is a device for assembling the electronic device 4 as a work target. When the electronic device assembly device 1 assembles the electronic device 4, the cable 6 is attached to the connector 15 (FIGS. 2 and 3) of the electronic device 4.

Hereinafter, regarding the coordinate system of the electronic device assembly device 1, the horizontal direction extending to the left and right when viewed from the front of the electronic device assembly device 1 is defined as the X axis, the direction perpendicular to and horizontal to the X axis is defined as the Y axis, and the X axis and Y are used. The direction perpendicular to both axes, that is, the vertical direction is defined as the Z axis.

As shown in FIG. 1, the electronic device assembly device 1 includes a base 2, a work stage 3, a cable supply unit 5, a tray 7, a robot unit 8, an operation panel 12, and a control unit 51. ..

The base 2 is a portion that serves as a base for the electronic device assembly device 1. A work stage 3 and a cable supply unit 5 are provided on the upper surface 2a of the base 2. A plurality of corner posts 2b are erected at the corners of the upper surface 2a. A horizontally extending pedestal 2c is erected at the upper end of the corner post 2b.

The work stage 3 is a stage for positioning and holding the electronic device 4 as a work target. The work stage 3 is configured to be able to move up and down, and when the cable 6 is attached to the electronic device 4, the work stage 3 is moved up and down to position the electronic device 4 at a predetermined work height. Instead of the work stage 3, the electronic device 4 may be positioned by any means such as positioning the electronic device 4 by a conveyor.

Here, the electronic device 4 to be worked on will be described with reference to FIGS. 2 and 3. FIG. 2 is a perspective view of the connector 15 before the cable 6 is attached, and FIG. 3 is a perspective view of the connector 15 after the cable 6 is attached.

The electronic device 4 of the present embodiment is an in-vehicle electronic device having a display device such as a meter on an instrument panel, a navigation device, a rearview mirror, and various controllers. As shown in FIGS. 2 and 3, the electronic device 4 includes a circuit board 13 and a display device 14. 2 and 3 show a state in which the display device 14 is placed with the display surface facing down.

A connector 15 is provided at the edge of the mounting surface of the circuit board 13. The connector 15 has a mounting portion 15a, and the mounting portion 6a (FIG. 3) of the cable 6 is mounted on the mounting portion 15a. A terminal surface 15b for connection is formed on the bottom surface of the mounting portion 15a.

The connector 15 further includes a cover member 16. The cover member 16 constitutes a lock mechanism for fixing the connector 15 mounted on the mounting portion 15a. The cover member 16 of the present embodiment is provided so as to be openable and closable with respect to the connector 15.

When the electronic device 4 is carried into the work stage 3, the cover member 16 is in an upright open state as shown in FIG. As shown in FIG. 3, when the mounting portion 6a is mounted on the connector 15 and the cover member 16 is operated, the cover member 16 is pushed down and closed, and the mounting portion 6a is pressed down to prevent the cable 6 from falling off. do. Not limited to the Philip lock type using the cover member as shown in FIGS. 2 and 3, any kind of lock mechanism such as a slider lock type may be used.

Next, with reference to FIGS. 4A and 4B, the cable 6 mounted on the connector 15 and the tray 7 on which the cable 6 is placed will be described. 4A is a schematic plan view of the cable 6, and FIG. 4B is a schematic plan view showing a state in which a plurality of cables 6 are arranged on the tray 7.

As shown in FIG. 4A, the cable 6 has a mounting portion 6a, a wide portion 6b, and a main body portion 6c. The mounting portion 6a is a mounted portion mounted on the connector 15 described above, and corresponds to the tip of the cable 6 in the length direction L. The wide portion 6b is a portion extending in the width direction W orthogonal to the length direction L, and is provided adjacent to the mounting portion 6a. The main body portion 6c is a portion extending from the wide portion 6b to the side opposite to the mounting portion 6a.

As shown in FIG. 4A, the width W1 of the wide portion 6b is longer than the width W2 of the mounting portion 6a and the main body portion 6c.

The tray 7 shown in FIG. 4B is a member having a size capable of arranging a plurality of cables 6. FIG. 4B illustrates a state in which six cables 6 are arranged on one tray 7. As shown in FIG. 4B, the tray 7 of the present embodiment does not arrange each of the cables 6 in an aligned direction, but arranges each of the cables 6 in a random direction, that is, in an arbitrary direction. Although not shown, each of the cables 6 may be arranged on the tray 7 as a part of the flexible board in a state of being pre-mounted on the board.

Returning to FIG. 1, the robot unit 8 is a member that drives the cable holding tool 20, the connector lock tool 30, and the like, which will be described later. The robot unit 8 includes a fixed base unit 9, a link member 10, and a base unit 11.

The fixed base portion 9 is a member having a built-in drive mechanism of the robot portion 8, and is attached to the gantry 2c. The fixed base portion 9 contains six servo drive mechanisms (not shown) that operate individually. Each servo drive mechanism individually drives six link members 10 extending downward from the fixed base portion 9. The lower end of each link member 10 is coupled to the base portion 11. By moving the base portion 11 by driving the link member 10, the cable holding tool 20 and the connector lock tool are used for the electronic device 4 held in the work stage 3 and the cable 6 supplied from the cable supply section 5. 30 can be moved relatively to each other.

The robot unit 8 of the present embodiment is a 6-DOF parallel link robot having 6 link members 10 that operate individually.

The operation panel 12 is a panel for operating the electronic device assembly device 1. The operation panel 12 of this embodiment is attached to the side surface of the gantry 2c. The operator can execute instruction input for operating the robot unit 8 via the operation panel 12, for example, by touch operation. The operation panel 12 is a display unit having a display function, and has a function of notifying when an abnormality or the like occurs in the electronic device assembly device 1.

The control unit 51 is a member that controls the operation of each component of the electronic device assembly device 1. The control unit 51 is electrically connected to each component of the electronic device assembly device 1 via wiring or the like. The control unit 51 is composed of, for example, a microcomputer.

Next, the cable holding tool 20 and the connector lock tool 30 attached to the base portion 11 will be described with reference to FIG. FIG. 5 is a vertical cross-sectional view showing the peripheral configuration of the base portion 11.

The cable holding tool 20 is a tool for holding the cable 6 for attaching to the connector 15. The cable holding tool 20 of the present embodiment holds the cable 6 by a suction action. The connector lock tool 30 is a tool for operating the lock mechanism included in the connector 15. The connector lock tool 30 of the present embodiment has a function of pushing down the cover member 16 in the connector 15 in a state where the mounting portion 6a of the cable 6 is mounted to close the connector 15.

In the base portion 11, an opening 11a is formed at the drive center, which is the center position of the plurality of universal joints 10a. A cable holding tool 20 is attached to the lower surface of the side end portion of the base portion 11 separated from the opening portion 11a in the right direction (the back side of the electronic device assembly device 1). A fixing plate 21 is provided on the lower surface of the base portion 11 in the vicinity of the side end portion. A holding actuator 22 extending diagonally downward toward the drive center side is fixed to the fixing plate 21.

A slide portion 23 extending diagonally downward toward the drive center side is connected to the holding actuator 22. A holding portion 24 is arranged at the tip of the slide portion 23 on the drive center side. The holding actuator 22 is controlled by the control unit 51. When the holding actuator 22 operates, the slide portion 23 and the holding portion 24 move forward and backward toward the drive center side (arrow a).

In FIG. 5, the bracket 31 is fixed to the lower surface on the left end side (front side of the electronic device assembly device 1) of the base portion 11. The bracket 31 extends diagonally upward in the outward direction away from the drive center. A lock actuator 32 is attached to the bracket 31. The lock actuator 32 has a rod 32a, and the rod 32a moves back and forth toward the drive center of the base portion 11 (arrow b). A cushioning portion 33 is coupled to the rod 32a, a roller holding portion 34 is attached to the tip end portion of the cushioning portion 33, and the roller holding portion 34 rotatably holds the roller 35.

By driving the lock actuator 32, the roller holding portion 34 advances to the drive center side via the cushioning portion 33. As a result, the roller 35 comes into contact with the cover member 16 of the connector 15 to operate the cover member 16. The cushioning portion 33 holds the roller holding portion 34 in a state where the roller holding portion 34 is allowed to rotate around the holding shaft 33a and is urged in the direction of pushing the roller 35 downward. As a result, in the operation of moving the roller 35 forward and backward by the lock actuator 32, the impact when the roller 35 comes into contact with the cover member 16 is alleviated by the function of the cushioning portion 33.

In FIG. 5, a bracket 41 is erected on the upper surface of the base portion 11 in the vicinity of the opening 11a. The bracket 41 is provided with an image pickup unit 40 including an optical lens unit 42 and a camera 43. The image pickup unit 40 is installed in a downward posture with the image pickup optical axis 43a aligned with the drive center. By taking an image with the image pickup unit 40 in a state where the base portion 11 is positioned above the electronic device 4 held by the work stage 3, the mounting portion 6a of the cable 6 held by the cable holding tool 20 and the circuit board 13 are subjected to imaging. The image of the mounted connector 15 can be acquired. The image captured by the image pickup unit 40 is transmitted to the control unit 51.

On the lower surface side of the base portion 11, a support member 44 is erected downward so as to surround the opening 11a. A lighting holding plate 45 corresponding to the outer shape of the electronic device 4 is held at the lower end of the support member 44. A lighting 46 including a light emitting body such as an LED is mounted on the lower surface of the lighting holding plate 45. The lighting 46 is controlled by the control unit 51. An image pickup is performed by the image pickup unit 40 in a state where the illumination 46 is turned on and the cable 6 and the connector 15 to be imaged are illuminated.

A distance measurement sensor 47 is provided on the lower surface of the base portion 11 in the vicinity of the peripheral edge of the opening 11a near the connector lock tool 30. The distance measurement sensor 47 is installed in a posture in which the measurement optical axis 47a faces downward. The distance measurement sensor 47 measures the distance from the measurement target surface of the measurement object located on the measurement optical axis 47a to the measurement reference position of the distance measurement sensor 47, that is, the height position of the measurement target surface. In the present embodiment, the height position of the terminal surface 15b of the connector 15 is measured by the distance measurement sensor 47 with the distance measurement sensor 47 positioned above the connector 15. The measurement result by the distance measurement sensor 47 is transmitted to the control unit 51.

Next, the detailed configuration of the holding portion 24 will be described with reference to FIGS. 6A to 6D. 6A to 6C are a side view, a downward perspective view, and an enlarged perspective view of the holding portion 24 in a state where the cable 6 is not held, respectively, and FIG. 6D is an enlarged view of the holding portion 24 in a state where the cable 6 is held. It is a perspective view.

As shown in FIGS. 6A and 6B, the holding portion 24 includes a first member 60, a second member 62, and a suction portion 64.

The first member 60 is a portion attached to the tip of the slide portion 23 (FIG. 5) described above. The second member 62 is a portion integrally provided with the first member 60, and supports the suction portion 64 together with the first member 60.

The suction unit 64 is a member having a suction function for holding the cable 6. Two suction portions 64 of the present embodiment are provided, and as shown in FIG. 6B, suction holes 66 are formed on the lower surface of each suction portion 64. The suction hole 66 is connected to the vacuum generator 54 shown in FIG. 7, and the operation of the vacuum generator 54 generates a negative pressure.

As shown in FIG. 6B, a first protruding portion 68 and a second protruding portion 70 are provided on the lower surface of the second member 62.

Both the first protruding portion 68 and the second protruding portion 70 are protruding portions protruding from the lower surface of the second member 62. In this embodiment, two first protrusions 68 and two second protrusions 70 are provided. The first protruding portion 68 is provided on the drive center side (arrow c) with respect to the second protruding portion 70.

As shown in FIG. 6C, the first protrusion 68 has a shape extending vertically from the lower surface of the second member 62. On the other hand, the second protruding portion 70 has a shape extending diagonally downward from the lower surface of the second member 62. The second protrusion 70 particularly has an inclined surface 72 inclined toward the drive center side (arrow c). In FIG. 6C, one first protrusion 68 and one second protrusion 70 are shown, but the other first protrusion 68 and the other second protrusion 70 each have the same shape.

By providing the first protruding portion 68 and the second protruding portion 70, when the cable 6 is sucked and held by the suction portion 64 as shown in FIG. 6D, the wide portion 6b of the cable 6 is placed between the protruding portions 68 and 70. Can be placed and positioned in. The second protruding portion 70 functions as a “hooking portion” that abuts on the wide portion 6b of the cable 6 in the length direction L and hooks the cable 6. By hooking the wide portion 6b of the cable 6 on the second protruding portion 70, the cable 6 is pushed in when the cable 6 is moved to the drive center side (arrow c) and the mounting portion 6a of the cable 6 is mounted on the connector 15. Can be assisted.

As shown in FIG. 6D, the two second protrusions 70 are provided at intervals in the width direction W of the cable 6, and depending on the direction of the cable 6 and the pushing direction, the wide portion 6b of the cable 6 is both. It may not come into contact with the second protrusion 70 in a well-balanced manner. In this case, the cable 6 cannot be normally pushed toward the connector 15, for example, the push-in assist of the cable 6 by the second protrusion 70 works only on the second protrusion 70 on one side, resulting in a poor mounting of the cable 6. There is a possibility of becoming. In response to this, the electronic device assembly device 1 of the present embodiment has been devised to control the cable 6 with high accuracy, and the details will be described later.

Next, the configuration of the control system of the electronic device assembly device 1 will be described with reference to FIG. 7.

As shown in FIG. 7, the control unit 51 is connected to the robot unit 8, the image pickup unit 40, the illumination 46, the distance measurement sensor 47, the holding actuator 22, the lock actuator 32, the operation panel 12, and the vacuum generator 54.

When the control unit 51 controls and operates the robot unit 8 and the holding actuator 22, the cable holding tool 20 is moved along the cable 6 supplied from the cable supply unit 5, and the cable 6 is attracted to the holding unit 24. The "cable holding work" to hold is executed. Further, when the control unit 51 controls and operates the robot unit 8 and the holding actuator 22, the “cable mounting operation” of moving the cable 6 described later and mounting it on the connector 15 is executed. Further, the control unit 51 controls and operates the robot unit 8 and the lock actuator 32 to bring the roller 35 of the connector lock tool 30 into contact with the cover member 16 of the connector 15 to lock the connector 15. Is executed.

In the process of attaching the cable, the control unit 51 controls the distance measurement sensor 47 to execute a "distance measurement process" for measuring the distance from the base unit 11 to the connector 15. Further, the control unit 51 controls the image pickup unit 40 and the illumination 46 to execute an “imaging process” for detecting the relative positional relationship between the mounting portion 6a of the cable 6 and the connector 15.

As shown in FIG. 7, the control unit 51 includes a position detection unit 52 as an internal control processing function. The position detection unit 52 is based on an image captured by the image pickup unit 40, which includes the attachment portion 6a of the cable 6 held by the cable holding tool 20 and the connector 15, and the attachment portion 6a of the cable 6 and the connector 15. Execute "position detection processing" to detect the relative positional relationship of. In the cable mounting operation for mounting the mounting portion 6a to the connector 15, the control unit 51 controls the movement of the cable holding portion 20 by the robot unit 8 based on the relative position detection results of the mounting portion 6a and the connector 15.

The control unit 51 includes a storage unit 53 as an internal storage device. The storage unit 53 stores various information necessary for cable holding work, cable mounting work, locking work, and the like. The storage unit 53 contains information such as, for example, the position, size, shape of the connector 15 in the electronic device 4 to be worked, the position of the cover member 16, the size, the shape, the size of the tray 7, and the position of the cable 6 stored in the tray 7. Remember.

Next, a method of assembling the electronic device 4 using the electronic device assembling device 1 having the above-described configuration will be described with reference to FIGS. 8, 9A, 9B and 10A to 10E.

FIG. 8 is a flowchart showing a method of assembling the electronic device 4 by the electronic device assembling device 1. 9A, 9B, and 10A to 10E are vertical cross-sectional views for explaining an assembly method according to the flowchart of FIG. Each process of the flowchart shown in FIG. 8 is executed by the control unit 51.

First, the control unit 51 holds the electronic device 4 (S1: electronic device holding step). Specifically, the electronic device 4 to be worked is held on the work stage 3 (FIG. 1).

The control unit 51 brings the holding portion 24 of the cable holding tool 20 into contact with the cable 6 (S2: holding portion contacting step). Specifically, the cable holding tool 20 is moved onto the tray 7 of the cable supply section 5, and as shown in FIG. 9A, the holding section 24 is aligned above the cable 6 to be held in the horizontal direction. (Arrow d1). The cable 6 to be held is arranged on the tray 7 in any direction. Further, as shown in FIG. 9B, the cable holding tool 20 is lowered (arrow d2) so that the lower surface of the holding portion 24 is brought into contact with the cable 6. The cable holding tool 20 is previously positioned in the XY direction so that the wide portion 6b of the cable 6 is arranged between the first protrusion 68 and the second protrusion 70.

The control unit 51 hooks the cable 6 on the holding unit 24 (S3: cable hooking step). Specifically, as shown in FIG. 9B, the cable holding tool 20 is advanced (arrow d3), and the wide portion 6b of the cable 6 is brought into contact with the second protrusion 70 and hooked.

The control unit 51 sucks the cable 6 by the holding unit 24 (S4: cable suction step, cable holding step). Specifically, the vacuum generator 54 (FIG. 7) is operated to generate a negative pressure in the suction unit 64 to suck the cable 6.

The control unit 51 measures the distance (S5: distance measurement step). Specifically, as shown in FIG. 10A, the base portion 11 is moved to a position where the measurement optical axis 47a of the distance measurement sensor 47 hits the terminal surface 15b of the connector 15 (arrow d), and the distance measurement sensor 47 is used to move the connector 15 to the connector 15. The distance to the terminal surface 15b is measured.

The control unit 51 brings the cable 6 closer to the connector 15 (S6: cable approaching step). Specifically, based on the measurement result in the distance measurement step S5, as shown in FIG. 10B, the holding portion 24 holding the cable 6 is moved so as to approach the electronic device 4 (arrow e), and the cable 6 is moved. Bring the mounting portion 6a closer to the connector 15.

The control unit 51 performs imaging by the imaging unit 40 (S7: imaging step). Specifically, the image pickup unit 40 images the mounting portion 6a of the cable 6 and the connector 15.

The control unit 51 performs position detection by the position detection unit 52 (S8: position detection step). Specifically, the position detection unit 52 executes image processing based on the image captured in the image pickup step S7 to detect the relative positional relationship between the mounting portion 6a of the cable 6 and the connector 15. ..

The control unit 51 mounts the mounting portion 6a of the cable 6 to the connector 15 (S9: mounting step). Specifically, based on the relative positional relationship detected in the position detection step S8, the holding portion 24 is advanced (arrow f) as shown in FIG. 10C, and the mounting portion 6a of the cable 6 is mounted on the connector 15. do. In the present embodiment, in order to mount the cable 6 to the connector 15 with high accuracy, the mounting step S9 is subdivided into a plurality of steps and executed. Details will be described later.

The control unit 51 operates the lock mechanism (S10: lock operation step). Specifically, as shown in FIG. 10C, the lock actuator 32 is operated to project the rod 32a and the cushioning portion 33 coupled to the rod 32a (arrow g1). As a result, the roller 35 of the roller holding portion 34 mounted on the cushioning portion 33 moves to the upper surface side of the connector 15, and while rolling on the upper surface of the connector 15, abuts on the cover member 16 and pushes down the cover member 16. The control unit 51 further operates the lock actuator 32 to move the roller 35 to the right (arrow g2), whereby the roller 35 rolls on the upper surface of the connector 15 and pushes down the cover member 16 to close the cover member 16. do. As a result, the cover member 16 suppresses the mounting portion 6a of the cable 6, the lock mechanism in the connector 15 operates, and the cable 6 is prevented from coming off.

The control unit 51 releases the adsorption (S11: adsorption release step). Specifically, the vacuum generator 54 is stopped to release the vacuum suction by the suction unit 64 of the holding unit 24.

The control unit 51 returns the cable holding tool 20 (S12: cable holding tool return step). Specifically, as shown in FIG. 10D, the cable holding tool 20 is moved backward (arrow h), the cable 6 is released from the holding portion 24, and then the cable holding tool 20 is returned to the original position.

The control unit 51 collects the electronic device 4 (S13: electronic device recovery step). Specifically, as shown in FIG. 10E, the electronic device 4 for which the cable attachment work has been completed is collected from the work stage 3. As a result, the assembly work of one electronic device 4 is completed.

Next, the mounting step S9 for mounting the cable 6 with higher accuracy will be described with reference to FIGS. 11 and 12A to 12F. 11 is a flowchart showing each process included in the mounting process S9, and FIGS. 12A to 12F are schematic plan views for explaining the mounting process S9 according to the flowchart of FIG. 11.

FIG. 12A shows a state in which the mounting portion 6a is close to the connector 15. As shown in FIG. 12A, the orientation A1 of the holding portion 24 substantially matches the orientation A2 of the connector 15, whereas the orientation A3 of the cable 6 sucked and held by the holding portion 24 is the orientation A3 of the holding portion 24. It is held so as to be offset from the orientation A1 and the orientation A2 of the connector 15. In FIG. 12A, of the left and right wide portions 6b, the left wide portion 6b abuts on the second protruding portion 70A, and the right wide portion 6b does not abut on the second protruding portion 70B. The mounting step S9 is started from the state shown in FIG. 12A.

The control unit 51 aligns the cable 6 and the connector 15 (S9-1: first alignment step). Specifically, as shown in FIG. 12B, the cable 6 and the holding portion 24 are aligned so that the orientation A3 of the cable 6 matches the orientation A2 of the connector 15 based on the relative positional relationship detected in the position detection step S8. Is integrally rotated in the XY plane (arrow R1). As a result, the directions of the two protrusions 70A and 70B of the holding portion 24 also change, and the positional relationship is not parallel to the connector 15.

The control unit 51 pushes the cable 6 toward the connector 15 (S9-2: first pushing step). Specifically, with the orientation A3 of the cable 6 and the orientation A2 of the connector 15 aligned, the cable 6 is advanced so that a part of the mounting portion 6a enters the connector 15 as shown in FIG. 12C. Let (arrow i). When a part of the mounting portion 6a enters the connector 15, the mounting portion 6a comes into contact with the connector 15 and receives a resistance force due to the contact from the connector 15.

The control unit 51 aligns the cable holding tool 20 with the connector 15 (S9-3: second alignment step). Specifically, with a part of the mounting portion 6a inserted into the connector 15, the orientation A1 of the holding portion 24 holding the cable 6 is aligned with the orientation A2 of the connector 15 as shown in FIG. 12D. , Rotate the cable holding tool 20 (arrow R2). In the present embodiment, the cable holding tool 20 is rotated in the reverse direction by the same angle so as to return the orientation A1 of the holding portion 24 to the state before the first positioning step S9-1 (the state shown in FIG. 12A). As a result, the directions of the two protrusions 70A and 70B of the holding portion 24 also change, and the positional relationship is parallel to the connector 15.

The control unit 51 pushes the cable 6 toward the connector 15 again (S9-4: second pushing step). Specifically, the cable 6 is advanced toward the connector 15 in a state where the orientation A1 of the holding portion 24 is aligned with the orientation A2 of the connector 15 (arrow j). Since a part of the mounting portion 6a of the cable 6 has entered the connector 15, the cable 6 moves forward while being displaced with respect to the holding portion 24 by receiving a resistance force from the connector 15 as the cable 6 advances. .. More specifically, the cable 6 advances while rotating relative to the holding portion 24 so that the orientation A3 of the cable 6 approaches the orientation A2 of the connector 15 and the orientation A1 of the holding portion 24.

After that, as shown in FIG. 12E, the orientation A3 of the cable 6 is aligned with the orientation A1 of the holding portion 24 and the orientation A2 of the connector 15. As a result, the two wide portions 6b can be brought into contact with and hooked on the second protrusions 70A and 70B. By further pushing the cable 6 toward the connector 15 in this state, the mounting portion 6a of the cable 6 is accurately attached to the connector 15 as shown in FIG. 12F while receiving the pushing assistance by the second protrusions 70A and 70B in a well-balanced manner. Can be installed well.

As described above, after performing the first alignment control S9-1 for aligning the orientation A3 of the cable 6 with the orientation A2 of the connector 15, the first push-in control S9-2 is performed so that a part of the cable 6 enters the connector 15. Then, the second alignment control S9-3 for aligning the orientation A1 of the holding portion 24 with the orientation A2 of the connector 15 is performed. By performing such control, the wide portion 6b of the cable 6 is hooked on the second protrusions 70A and 70B in a well-balanced manner when the second push-in control S9-4 for further pushing the cable 6 toward the connector 15 is performed. The cable 6 can be pushed in in this state, and the cable 6 can be attached to the connector 15 with high accuracy.

As described above, in the electronic device assembly device 1 of the present embodiment, the cable holding tool 20 for holding the cable 6 for mounting on the connector 15 of the electronic device 4 and the cable holding tool 20 are relative to the electronic device 4. The robot unit 8 is provided with a robot unit 8 to be moved, and a control unit 51 for mounting the mounting portion 6a of the cable 6 to the connector 15 by driving the robot unit 8. The cable holding tool 20 has a second protruding portion 70 (hooking portion) for hooking the cable 6. The control unit 51 executes the first alignment step S9-1 (first alignment control) for aligning the cable 6 held by the cable holding tool 20 with respect to the connector 15. The control unit 51 further executes a first pushing step S9-2 (first pushing control) in which the cable 6 is pushed toward the connector 15 so that a part of the aligned cable 6 enters the connector 15. The control unit 51 further aligns the cable holding tool 20 with respect to the connector 15 so as to change the direction of the second protruding portion 70 in the cable holding tool 20 after being pushed in. 2 Alignment control) is executed. The control unit 51 further executes a second pushing step S9-4 (second pushing control) in which the cable 6 is further pushed toward the connector 15 so that the mounting portion 6a of the cable 6 is mounted on the connector 15.

Further, the electronic device assembling method of the present embodiment is a method of assembling an electronic device 4 in which the mounting portion 6a of the cable 6 is mounted on the connector 15 by using the electronic device assembling device 1 including the cable holding tool 20 and the robot unit 8. Is. The method for assembling an electronic device includes a suction step S4 (cable holding step) for holding the cable 6 by a cable holding tool 20 having a second protruding portion 70 as a hooking portion. The electronic device assembly method further includes a first alignment step S9-1 for aligning the cable 6 held by the cable holding tool 20 with respect to the connector 15 of the electronic device 4. The electronic device assembly method further includes a first pushing step S9-2 of pushing the cable 6 toward the connector 15 so that a part of the aligned cable 6 enters the connector 15. The electronic device assembly method further includes a second alignment step S9-3 for aligning the cable holding tool 20 with respect to the connector 15 so as to change the direction of the second protrusion 70 in the cable holding tool 20 after pushing. include. The electronic device assembly method further includes a second pushing step S9-4 in which the cable 6 is further pushed toward the connector 15 so that the mounting portion 6a of the cable 6 is mounted on the connector 15.

According to such an electronic device assembly device 1 / electronic device assembly method, when a part of the cable 6 is inserted into the connector 15 and then the direction of the second protrusion 70 is changed, the cable 6 is further pushed in. The cable 6 can be pushed into the second protrusions 70A and 70B of the cable holding tool 20 while being hooked in a more correct posture. As a result, the cable 6 can be attached to the connector 15 with high accuracy.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, the suction step of holding the cable 6 arranged in an arbitrary direction by the cable holding tool 20 before the first alignment step S9-1. S4 (cable holding process, cable holding control) is executed.

According to such a configuration / method, since the cable 6 is arranged in an arbitrary orientation, the cable 6 is positioned when the cable 6 is held by the cable holding tool 20 as compared with the case where the cable 6 is arranged in the aligned orientation. It becomes easy to shift. In a situation where such misalignment is likely to occur, the cable 6 is executed by executing the second alignment control S9-3 for hooking the cable 6 in the correct posture with respect to the second protrusion 70 of the cable holding tool 20. The mounting accuracy of the cable can be improved more effectively.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, in the second alignment step S9-3, the direction of the second protrusion 70 is set to the state before the first alignment step S9-1. return.

According to such a configuration / method, the second protrusion 70 can be returned to the reference direction by returning the direction of the cable holding tool 20 to the original state, and the cable 6 can be provided with respect to the second protrusion 70. It is possible to push in while hooking in a more correct posture.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, the second pushing step S9-4 is executed after the second alignment step S9-3.

According to such a configuration / method, the second alignment step S9-3 and the second push-in control S9-4 can be executed step by step.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, the cable 6 has a wide portion 6b extending in the width direction W. The second protruding portion 70 abuts on the wide portion 6b of the cable 6 in the length direction L of the cable 6.

According to such a configuration / method, the hooking portion for hooking the cable 6 can be easily realized by the second protruding portion 70.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, the cable holding tool 20 sucks and holds the cable 6.

According to such a configuration / method, the cable 6 can be easily held.

Further, in the electronic device assembly device 1 / electronic device assembly method of the present embodiment, the connector lock tool 30 for operating the cover member 16 (lock mechanism) included in the connector 15, the cable holding tool 20, and the connector lock tool 30 are connected. The base portion 11 and the base portion 11 are further provided. The robot unit 8 moves the cable holding tool 20 and the connector lock tool 30 relative to the electronic device 4 by moving the base unit 11.

According to such a configuration / method, by moving the base portion 11, each of the cable holding tool 20 and the connector lock tool 30 can be moved.

Although the present invention has been described above with reference to the above-described embodiments, the present invention is not limited to the above-mentioned embodiments. For example, in the embodiment, the case where the holding portion 24 for holding the cable 6 has a shape as shown in FIGS. 6A to 6C has been described, but the case is not limited to such a case.

The holding portion 124 according to the first modification is shown in FIGS. 13A and 13B. FIG. 13A is a downward perspective view of the holding portion 124 in a state where the cable 6 is not held, and FIG. 13B is a downward perspective view of the holding portion 124 in a state where the cable 6 is held.

As shown in FIG. 13A, the holding portion 124 includes a first member 160, a second member 162, and two suction portions 164. Two first protruding portions 168 and two second protruding portions 170 are formed on the lower surface of the second member 162. The distance between the first protruding portion 168 and the second protruding portion 170 is set shorter than that of the holding portion 24 shown in FIG. 6B. As shown in FIG. 13B, when the wide portion 106b of the cable 106 is short, the wide portion 106b can be positioned with high accuracy.

The holding portion 224 according to the modified example 2 is shown in FIGS. 14, 15A and 15B. 14 is a downward perspective view of the holding portion 224 in a state where the cable 6 is not held, and FIGS. 15A and 15B are downward perspective views of the holding portion 224 in a state where the cables 206 and 306 are held, respectively.

As shown in FIG. 14, the holding portion 224 includes a first member 260, a second member 262, and three suction portions 264. Two first protrusions 268, two second protrusions 270, and two third protrusions 272 are formed on the lower surface of the second member 262. The two third protrusions 272 are formed inside the width direction W with respect to the two second protrusions 270.

As shown in FIG. 15A, the second protruding portion 270 can function as a hooking portion for hooking the wide portion 206b of the cable 206 having a large dimension in the width direction W. As shown in FIG. 15B, the third protruding portion 272 can function as a hooking portion for hooking the wide portion 306b of the cable 306 having a small dimension in the width direction W. In this way, one holding portion 224 can handle cables 206 and 306 having different dimensions in the width direction W.

Further, in the present embodiment, the case where the cable supply unit 5 is provided and one or a plurality of cables 6 are arranged in the tray 7 and supplied has been described, but the case is not limited to such a case. For example, the cable 6 may be fixed to the electronic device 4 in advance without providing the cable supply unit 5. The modified example will be described with reference to FIGS. 16 and 17.

16 and 17 are perspective views of the electronic device 404 in the modified example 3. FIG. 16 shows a state before the cable 406 is attached to the connector 415, and FIG. 17 shows a state after the cable 406 is attached to the connector 415.

The electronic device 404 according to the third modification includes a circuit board 413 and a display device 414. The circuit board 413 is provided with a connector 415 and a cable 406. The connector 415 includes a cover member 416 as a locking mechanism.

The cable 406 has one end 408 and the other end 410. The one end portion 408 is the end portion on the side having the mounting portion 408a and the wide portion 408b, and the other end portion 410 is the end portion on the opposite side to the mounting portion 408a. As shown in FIGS. 16 and 17, the other end 410 is fixed to the circuit board 413. The cable 406 extends upward from the other end 410, with one end 408 forming a free end and the other end 410 forming a fixed end. The cable 406 is not limited to the case where it stands up upward, but may be the case where it extends laterally.

The process according to the flow of FIG. 8 and the process of the flow of FIG. 11 can be similarly applied to the cable 406 shown in FIGS. 16 and 17. In the cable 406 of this modification, the other end 410 is fixed to the electronic device 404 and the one end 408 is a free end, so that the orientation of the cable 406 tends to vary. By carrying out the flow mounting step S9 shown in FIG. 11 on the cable 406 having such a tendency to vary, the effect of mounting the cable 406 to the connector 415 with high accuracy can be further exhibited.

Further, in the present embodiment, the case where the cable holding tool 20 sucks and holds the cable 6 has been described, but the case is not limited to such a case. For example, any cable holding tool may be used as long as it can hold the cable 6, such as a chuck mechanism that holds the cable 6 by sandwiching it. Even in such a case, the same control as that shown in FIGS. 8 and 11 can be performed.

Further, in the present embodiment, the case where the second pushing step S9-4 is executed after the second alignment step S9-3 has been described, but the case is not limited to such a case. For example, the second alignment step and the second pushing step may be performed in parallel. That is, the alignment control for rotating the cable holding tool 20 so as to match the orientation A1 of the connector 15 and the pushing control for moving the cable holding tool 20 forward and pushing the cable 6 into the connector 15 may be performed at the same time. .. According to such a configuration / method, the mounting time of the cable 6 can be shortened.

Further, in the present embodiment, the case where the cable 6 has a wide portion 6b extending in the width direction W has been described, but the case is not limited to such a case. For example, the cable may have a step in the thickness direction without having a wide portion. Even in such a case, by providing the cable holding tool with a portion that abuts on the step of the cable in the length direction L of the cable, it can function as a hooking portion for hooking the cable.

Further, in the present embodiment, in the second alignment step S9-3, the holding portion 24 is tilted at the same angle so that the orientations of the holding portion 24 and the protruding portion 70 are returned to the state before the first alignment step S9-1. Although the case of rotating in the reverse direction has been described, the case is not limited to such a case. If the orientation of the holding portion 24 approaches the state before the first positioning step S9-1, the holding portion 24 may be rotated in the reverse direction by an arbitrary angle. Further, the orientation of the holding portion 24 and the protruding portion 70 is not limited to the case where the orientation of the holding portion 24 and the protruding portion 70 is returned to the state before the first positioning step S91, and the orientation of the holding portion 24 and the protruding portion 70 is aligned with the current orientation of the connector 15. May be changed. With such control, the accuracy of alignment can be improved.

Although the present disclosure has been fully described in connection with preferred embodiments with reference to the accompanying drawings, various modifications and modifications are obvious to those skilled in the art. It should be understood that such modifications and amendments are included therein, as long as they do not deviate from the scope of the present disclosure by the appended claims. Further, changes in the combination and order of elements in each embodiment can be realized without departing from the scope and ideas of the present disclosure.

It should be noted that, among the various modified examples of the above-described embodiment, any modified example can be appropriately combined to achieve the effects of each.

The present invention is applicable as long as it is an electronic device assembly device and an electronic device assembly method for assembling an electronic device by attaching a cable to a connector of the electronic device.

1 Electronic equipment assembly equipment 2 Base 3 Work stage 4 Electronic equipment 5 Cable supply part 6 Cable 6a Mounting part 6b Wide part 6c Main body part 7 Tray 8 Robot part 9 Fixed base part 10 Link member 11 Base part 12 Operation panel 13 Circuit board 14 Display device 15 Connector 15a Mounting part 15b Terminal surface 16 Cover member 20 Cable holding tool 21 Fixing plate 22 Holding actuator 23 Slide part 24 Holding part 30 Connector lock tool 31 Bracket 32 Lock actuator 32a Rod 33 Buffer part 33a Holding shaft 34 Roller holding Part 35 Roller 40 Imaging part 41 Bracket 42 Optical lens part 43 Camera 44 Support member 45 Lighting holding plate 46 Lighting 47 Distance measurement sensor 47a Measurement optical axis 51 Control part 52 Position detection part 53 Storage part 54 Vacuum generator 60 First member 62 2nd member 64 Suction part 66 Suction hole 68 1st protrusion 70, 70A, 70B 2nd protrusion (hooking part)
72 Inclined surface 106 Cable 106b Wide part 124 Holding part 160 1st member 162 2nd member 164 Suction part 168 1st protruding part 170 2nd protruding part 206 Cable 206b Wide part 224 Holding part 260 1st member 262 2nd member 264 Suction Part 268 First protruding part 270 Second protruding part (hooking part)
272 Third protrusion (hook)
306 Cable 306b Wide part 404 Electronic equipment 406 Cable 408 One end 408a Mounting part 408b Wide part 410 The other end 413 Circuit board 414 Display device 415 Connector 416 Cover member

Claims (20)

A cable holding tool that holds the cable to attach to the connector of the electronic device,
A robot unit that moves the cable holding tool relative to the electronic device,
A control unit for mounting the cable mounting portion to the connector by driving the robot unit is provided.
The cable holding tool has a hooking portion for hooking the cable.
The control unit
The first alignment control for aligning the cable held by the cable holding tool with respect to the connector, and
The first push-in control that pushes the cable toward the connector so that a part of the aligned cable enters the connector, and
A second alignment control that aligns the cable holding tool with respect to the connector so as to change the direction of the hooking portion of the cable holding tool after pushing.
An electronic device assembly device that performs a second push-in control that further pushes the cable toward the connector so that the mounting portion of the cable is mounted on the connector. The electronic device assembly device according to claim 1, wherein the control unit executes a cable holding control for holding the cables arranged in an arbitrary direction by the cable holding tool before the first alignment control. .. The electronic device assembling device according to claim 2, wherein the cable is fixed to the electronic device on the side opposite to the mounting portion. The electronic device assembly device according to any one of claims 1 to 3, wherein the control unit returns the direction of the hooking unit to the state before the first alignment control by the second alignment control. The electronic device assembly device according to any one of claims 1 to 3, wherein the control unit changes the orientation of the hook portion to match the orientation of the connector by the second alignment control. The electronic device assembly device according to any one of claims 1 to 5, wherein the control unit performs the second push-in control after the second alignment control. The electronic device assembly device according to any one of claims 1 to 5, wherein the control unit performs the second alignment control and the second push control in parallel. The cable has a wide portion that extends in the width direction.
The electronic device assembly device according to any one of claims 1 to 7, wherein the hook portion abuts on the wide portion of the cable in the length direction of the cable. The electronic device assembly device according to any one of claims 1 to 8, wherein the cable holding tool sucks and holds the cable. A connector lock tool that activates the lock mechanism provided by the connector, and
Further provided with a base portion to which the cable holding tool and the connector lock tool are connected.
The method according to any one of claims 1 to 9, wherein the robot unit moves each of the cable holding tool and the connector lock tool relative to the electronic device by moving the base unit. Electronic device assembly equipment. Using an electronic device assembly device including a cable holding tool for holding a cable to be attached to a connector of an electronic device and a robot unit for moving the cable holding tool relative to the electronic device, the cable can be connected. It is a method of assembling an electronic device in which a mounting portion is mounted on the connector.
The cable holding process of holding the cable by the cable holding tool having a hook portion,
The first alignment step of aligning the cable held by the cable holding tool with respect to the connector of the electronic device, and
A first pushing step of pushing the cable toward the connector so that a part of the aligned cable enters the connector.
A second alignment step of aligning the cable holding tool with respect to the connector so as to change the direction of the hooking portion of the cable holding tool after pushing.
A method for assembling an electronic device, comprising a second pushing step of further pushing the cable toward the connector so that the mounting portion of the cable is mounted on the connector. The electronic device assembly method according to claim 11, wherein in the cable holding step, the cable is held by the cable holding tool in a state where the cable is arranged in an arbitrary direction. The method for assembling an electronic device according to claim 12, wherein the cable is fixed to the electronic device on the side opposite to the mounting portion. The electronic device assembly method according to any one of claims 11 to 13, wherein in the second alignment step, the orientation of the hook portion is returned to the state before the first alignment step. The electronic device assembly method according to any one of claims 11 to 13, wherein in the second alignment step, the orientation of the hook portion is changed so as to match the orientation of the connector. The electronic device assembly method according to any one of claims 10 to 15, wherein the second pushing step is executed after the second alignment step. The electronic device assembly method according to any one of claims 10 to 15, wherein the second alignment step and the second pushing step are executed in parallel. The cable has a wide portion that extends in the width direction.
The method for assembling an electronic device according to any one of claims 10 to 17, wherein the hook portion abuts on the wide portion of the cable in the length direction of the cable. The electronic device assembly method according to any one of claims 10 to 18, wherein in the cable holding step, the cable is sucked and held by the cable holding tool. As the electronic device assembly device,
A connector lock tool that activates the lock mechanism provided by the connector, and
Using one provided with a base portion to which the cable holding tool and the connector lock tool are connected,
The robot unit according to any one of claims 10 to 19, wherein the robot unit moves each of the cable holding tool and the connector lock tool relative to the electronic device by moving the base unit. Electronic device assembly method.

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