Electronic device assembly apparatus and electronic device assembly method

Abstract

An electronic device assembly apparatus and an electronic device assembly method capable of performing insertion error determination with good accuracy are provided. An electronic device assembly apparatus (1) includes a cable holding tool (20) having a movable portion (20B) and an urging member (22), a base portion (8), a robot portion (5), and a control portion (61), and further includes a first detection unit (74A) that detects a first relative position (P1) to which the movable portion (20B) reaches against a force (F) from a given position (P0), and a second detection unit (74B) that detects a second relative position (P2) to which the movable portion (20B) reaches against the force (F) further from the first relative position (P1).

Description

Technical Field

[0001] This invention relates to an electronic device assembly apparatus and an electronic device assembly method. Background Technology

[0002] Previously, there were known electronic device assembly apparatuses / methods for assembling electronic devices by attaching cables to connectors of electronic devices.

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-69415

[0006] For proper cable installation to the connector, it is desirable to insert the cable with an appropriate insertion depth / load. Furthermore, accurate detection of cable insertion errors is also required for successful cable installation. Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] Therefore, the purpose of this invention is to solve the above-mentioned problems and provide an electronic device assembly apparatus and method capable of accurately determining cable insertion errors.

[0009] Methods for solving problems

[0010] To achieve the above objectives, the electronic device assembly apparatus of the present invention comprises: a cable holding tool for holding a cable for installation to a connector of an electronic device; a base on which the cable holding tool is mounted; a robot unit for moving the base, thereby moving the cable holding tool relative to the electronic device; and a control unit for driving the robot unit to install the cable held by the cable holding tool to the connector. The cable holding tool has: a movable part capable of moving relative to the base and having the function of holding the cable; and a force-applying member for applying a force to the movable part toward a given position. The electronic device assembly apparatus of the present invention further comprises: a first detection unit for detecting that the movable part has reached a first relative position away from the given position against the force; and a second detection unit for detecting that the movable part has reached a second relative position further away from the first relative position against the force.

[0011] Furthermore, the electronic device assembly method of the present invention is an electronic device assembly method for installing cables into a connector of an electronic device, comprising: a holding step, in which a base on which a cable holding tool is mounted is moved, and the cable is held by the cable holding tool; and an insertion step, in which the cable held by the cable holding tool is inserted into the connector, the cable holding tool having: a movable part capable of moving relative to the base and having the function of holding the cable; and a force-applying member for applying a force to the movable part in a manner toward a given position. The electronic device assembly method of the present invention further comprises: a first detection step, in which the movable part resists the force and reaches a first relative position away from the given position; and a second detection step, in which the movable part resists the force and reaches a second relative position further away from the first relative position.

[0012] Invention Effects

[0013] According to the present invention, cable insertion error detection can be performed with high accuracy. Attached Figure Description

[0014] Figure 1 This is a schematic perspective view of the electronic device assembly apparatus according to the embodiment.

[0015] Figure 2A This is a schematic cross-sectional view showing the peripheral structure of the base portion of the embodiment.

[0016] Figure 2B This is an enlarged view showing the peripheral structure of the cylinder of the cable holding tool according to an embodiment.

[0017] Figure 2C This is an enlarged view showing the state in which the cylinder of the embodiment is in operation (the movable part is in the first relative position).

[0018] Figure 2D This is an enlarged view showing the state in which the cylinder of the embodiment is in operation (the movable part is in the second relative position).

[0019] Figure 3 This is a perspective view of an electronic device with the cable of the embodiment installed before the connector.

[0020] Figure 4 This is a perspective view of an electronic device with the cable of the embodiment installed after the connector.

[0021] Figure 5A This is a top view of the cable in the implementation method.

[0022] Figure 5B This is a perspective view of the cable in the implementation method.

[0023] Figure 6AThis is an enlarged perspective view showing the operation of the clamping mechanism of the cable holding tool according to the embodiment.

[0024] Figure 6B This is an enlarged perspective view showing the operation of the clamping mechanism of the cable holding tool according to the embodiment.

[0025] Figure 7A This is an enlarged perspective view showing the cable holding action performed by the cable holding tool according to the embodiment.

[0026] Figure 7B This is an enlarged perspective view showing the cable holding action performed by the cable holding tool according to the embodiment.

[0027] Figure 8 This is a block diagram of the control system of the electronic device assembly apparatus according to the embodiment.

[0028] Figure 9 This is a flowchart illustrating a method for assembling an electronic device using an electronic device assembly apparatus according to an embodiment.

[0029] Figure 10 This is a schematic top view showing an example of a video image (first image) captured by the camera unit of the embodiment.

[0030] Figure 11 It is used to illustrate based on Figure 9 The flowchart is a longitudinal sectional view of the assembly method of the electronic device.

[0031] Figure 12 It is used to illustrate based on Figure 9 The flowchart is a longitudinal sectional view of the assembly method of the electronic device.

[0032] Figure 13 This is a schematic top view showing an example of a video image (intermediate image) captured by the camera unit of the embodiment.

[0033] Figure 14 It is used to illustrate based on Figure 9 The flowchart is a longitudinal sectional view of the assembly method of the electronic device.

[0034] Figure 15A This is a schematic diagram showing the relative movement of the movable part of the cable holding tool when the cable is inserted (load OK mode).

[0035] Figure 15B This is a schematic diagram showing the relative movement of the movable part of the cable holding tool when the cable is inserted (load OK mode).

[0036] Figure 15C This is a schematic diagram showing the relative movement of the movable part of the cable holding tool when the cable is inserted (load NG mode).

[0037] Figure 15D This is a schematic diagram showing the relative movement of the movable part of the cable holding tool when the cable is inserted (load NG mode).

[0038] Figure 16 It is used to illustrate based on Figure 9 The flowchart is a longitudinal sectional view of the assembly method of the electronic device.

[0039] Figure 17 This is a schematic top view showing an example of a video image (second image) captured by the camera unit of the embodiment.

[0040] Figure 18 This is a flowchart illustrating an assembly method for an electronic device involved in a variation example.

[0041] Figure 19 This is a schematic top view showing an example of a video image (first image) captured by the camera unit involved in the modified example.

[0042] Symbol Explanation

[0043] 1. Electronic equipment assembly equipment;

[0044] 2 abutment;

[0045] 3. Workbench;

[0046] 4. Electronic devices;

[0047] 5. Robotics Department;

[0048] 6. Fix the base;

[0049] 7. Linkage components;

[0050] 8. Base;

[0051] 9. Operation panel;

[0052] 13 Connectors;

[0053] 15. Cable body section;

[0054] 16. Reinforcing plates;

[0055] 17. Cables;

[0056] 18. Objectives;

[0057] 20. Cable holding tools;

[0058] 20A Fixing Part;

[0059] 20B Movable part;

[0060] 21. Installation Department;

[0061] 22. Cylinder (force-applying component);

[0062] 23. Fixing block;

[0063] 24. Clamp the base;

[0064] 25 Actuators;

[0065] 26. Sliding part;

[0066] 27. Clamping block;

[0067] 28 plates;

[0068] 40 Distance measuring unit;

[0069] 50. Camera Department;

[0070] 51 Bracket;

[0071] 52. Optical lens section;

[0072] 53. Cameras;

[0073] 54. Support components;

[0074] 55 Lighting retainer plate;

[0075] 56 lighting;

[0076] 60 Electric-pneumatic regulator;

[0077] 61. Control Department;

[0078] 62. Position Detection Unit;

[0079] 63. Distance Calculation Unit;

[0080] 64. Insert error detection section;

[0081] 64A Movement Determination Unit;

[0082] 64B Insertion Amount Determination Unit;

[0083] 65. Storage Unit;

[0084] 70 Cylinder mounting part;

[0085] 72. Cylinder movable part;

[0086] 74A First Detection Unit;

[0087] 74B, Detection Unit 2;

[0088] 80 video images (image 1);

[0089] 82. Camera image (intermediate image);

[0090] 84. Camera image (image 2);

[0091] 100 camera images (image 1);

[0092] 102 Clamping block;

[0093] 104 Opening;

[0094] B. Reaction force;

[0095] F is the force;

[0096] LB1 and LB2 are the lengths before insertion;

[0097] Lengths of LA1 and LA2 after insertion;

[0098] ΔL1, ΔL2 difference;

[0099] P0 is the given position (reference position);

[0100] P1 is the first relative position;

[0101] P2, second relative position;

[0102] Q: Insertion direction;

[0103] S represents the retreat direction. Detailed Implementation

[0104] According to a first aspect of the present invention, an electronic device assembly apparatus is provided, comprising: a cable holding tool for holding a cable for installation to a connector of an electronic device; a base on which the cable holding tool is mounted; a robot unit for moving the base, thereby moving the cable holding tool relative to the electronic device; and a control unit for driving the robot unit to install the cable held by the cable holding tool to the connector, the cable holding tool having: a movable part capable of moving relative to the base and having the function of holding the cable; and a force-applying member for applying a force to the movable part toward a given position, the electronic device assembly apparatus further comprising: a first detection unit for detecting that the movable part has reached a first relative position away from the given position in opposition to the force; and a second detection unit for detecting that the movable part has reached a second relative position further away from the first relative position in opposition to the force.

[0105] According to a second aspect of the present invention, an electronic device assembly apparatus as described in the first aspect is provided, which further includes a force variable unit for variably controlling the force applied by the force-applying component.

[0106] According to a third aspect of the present invention, an electronic device assembly apparatus as described in the second aspect is provided, wherein the force-applying component is a cylinder and the variable force unit is an electro-pneumatic regulator.

[0107] According to a fourth aspect of the present invention, an electronic device assembly apparatus is provided, wherein the first detection unit and the second detection unit each have an automatic switch disposed in a cylinder that serves as the force-applying component.

[0108] According to a fifth aspect of the present invention, an electronic device assembly apparatus is provided, wherein the control unit determines the cable insertion error based on the detection results of the first detection unit and the detection results of the second detection unit.

[0109] According to a sixth aspect of the present invention, an electronic device assembly apparatus as described in the fifth aspect is provided, wherein the control unit determines that the cable insertion error is based on the first detection unit not detecting that the cable holding tool has reached the first relative position, and determines that the cable insertion error is based on the second detection unit detecting that the cable holding tool has reached the second relative position.

[0110] According to a seventh aspect of the present invention, an electronic device assembly apparatus is provided in which the control unit controls the insertion of the cable by detecting, through the second detection unit, that the cable holding tool has reached the second relative position.

[0111] According to an eighth aspect of the present invention, an electronic device assembly apparatus is provided, wherein the connector has a locking mechanism that automatically locks the cable upon insertion of the cable.

[0112] According to a ninth aspect of the present invention, an electronic device assembly method is provided, wherein the electronic device is assembled by attaching a cable to a connector of the electronic device. The electronic device assembly method includes: a holding step in which a base on which a cable holding tool is mounted is moved, wherein the cable holding tool holds the cable; and an insertion step in which the cable held by the cable holding tool is inserted into the connector. The cable holding tool has: a movable portion capable of relative movement with respect to the base, having the function of holding the cable; and a force-applying member applying a force to the movable portion toward a given position. The electronic device assembly method further includes: a first detection step in which the movable portion resists the force and reaches a first relative position away from the given position; and a second detection step in which the movable portion resists the force and reaches a second relative position further away from the first relative position.

[0113] According to a tenth aspect of the present invention, an electronic device assembly method is provided as described in a ninth aspect, wherein the force of the force-applying component is variable via a force-variable unit.

[0114] According to the eleventh aspect of the present invention, an electronic device assembly method is provided as described in the tenth aspect, wherein the force-applying component is a cylinder and the variable force unit is an electro-pneumatic regulator.

[0115] According to a 12th aspect of the present invention, an electronic device assembly method is provided, wherein in the first detection step and the second detection step, an automatic switch is used for detection, the automatic switch being disposed in a cylinder serving as the force-applying component.

[0116] According to a 13th aspect of the present invention, an electronic device assembly method is provided according to any one of the 9th to 12th aspects, that is, it further includes: an insertion error determination step, which determines whether the cable has been properly inserted based on the detection results of the first detection step and the detection results of the second detection step.

[0117] According to a 14th aspect of the present invention, an electronic device assembly method described in a 13th aspect is provided, wherein, in the insertion error determination step, the insertion error of the cable is determined to be an error based on the failure to detect the cable holding tool reaching the first relative position in the first detection step, and the insertion error of the cable is determined to be an error based on the detection of the cable holding tool reaching the second relative position in the second detection step.

[0118] According to a 15th aspect of the present invention, an electronic device assembly method is provided according to any one of the 9th to 14th aspects, that is, it further includes an insertion interruption step, wherein the insertion of the cable is interrupted based on the detection in the second detection step that the cable holding tool has reached the second relative position.

[0119] According to a 16th aspect of the present invention, an electronic device assembly method is provided according to any one of the 9th to 15th aspects, wherein the connector has a locking mechanism that automatically locks the cable upon insertion of the cable.

[0120] Hereinafter, exemplary embodiments of the electronic device assembly apparatus and electronic device assembly method according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the specific structure of the following embodiments; structures based on the same technical concept are also included in the present invention.

[0121] (Implementation Method)

[0122] First, refer to Figure 1 An electronic device assembly apparatus according to one embodiment of the present invention will be described. Figure 1 The electronic device assembly apparatus 1 shown takes electronic devices 4, such as vehicle-mounted electronic devices, as the work object, and has a connector 13 (see reference) for connecting functional modules such as circuit boards assembled inside the housing of the electronic device 4. Figure 3 , Figure 4 The function of installing cable 17.

[0123] A worktable 3 is provided on the upper surface 2a of the base 2. The worktable 3 positions and holds the electronic device 4, which is the object to be worked, in a given posture.

[0124] Here, refer to Figure 3 , Figure 4 The electronic device 4, which is the object of the operation, will be described. Figure 3 The installation of cable 17 to connector 13 is shown. Figure 4 The previous state, Figure 4 The diagram shows the state after cable 17 has been installed into connector 13. Figure 3 In the electronic device 4, a circuit board 11, on which electronic components 11a are mounted, is disposed inside a box-shaped housing 4a. A connector 13 is mounted on the edge of the circuit board 11 disposed inside the housing 4a. A rigid reinforcing plate 16 is attached to the end of a flexible cable 17 and mounted on the connector 13. An opening 4c is formed on the back side 4b of the housing 4a for connecting the cable 17 from the outside to the connector 13 inside the housing 4a.

[0125] like Figure 3As shown, in connector 13, a terminal array for connection is formed on the terminal surface 13b of the bottom surface of the mounting portion 13a for mounting cable 17. When the reinforcing plate 16 of cable 17 is inserted and mounted on connector 13, the wiring pattern formed on cable 17 contacts these terminal arrays. The number of terminals (pins) in the wiring pattern varies depending on the type of cable 17, therefore the reaction force experienced by cable 17 when inserted into connector 13 also varies. The more terminals the wiring pattern of cable 17 has, the greater the reaction force when inserted into connector.

[0126] The connector 13 includes a locking mechanism (not shown) to prevent the installed cable 17 from falling off. The locking mechanism in Embodiment 1 is a so-called automatic locking type, which automatically locks the cable 17 inserted into the mounting portion 13a upon insertion. The automatic locking type locking mechanism, for example, includes a spring (not shown) that applies force to each terminal formed on the terminal face 13b. The reinforcing plate 16 of the cable 17 is inserted between the spring and the terminal with an insertion force exceeding the spring force, thereby locking the cable 17 in a state where the wiring pattern of the cable 17 is in contact with the terminal face 13b, thus securing the cable 17 to the connector 13. The automatic locking type locking mechanism also includes a release member (not shown) for selectively releasing the lock on the cable 17.

[0127] like Figure 4 As shown, if the locking mechanism operates after the cable 17 is installed on the connector 13, the locking mechanism presses down on the reinforcing plate 16 to prevent the cable 17 from falling off.

[0128] exist Figure 3 In this configuration, the electronic device 4, the object to be worked on, is positioned and held on the worktable 3 with its back side 4b raised relative to the worktable 3 at an operating angle θ, such that the back side 4b faces obliquely upward. When the electronic device 4 is held horizontally on the worktable 3 (operating angle θ is zero), the connector 13 inside the housing 4a is not visible from above. However, by tilting the worktable θ, at least a portion of the connector 13 can be seen from above through the opening 4c. The electronic device 4 can be held on a retaining table (not shown) with an inclined surface at an operating angle θ provided on the worktable 3, or it can be transported to the worktable 3 while held on a retaining table. Alternatively, it can be transported to the worktable 3 in a horizontal position and then tilted at the operating angle θ.

[0129] In this embodiment, the cable 17 is inserted at an angle relative to the inclined connector 13, but this is not a limitation. The operating angle θ of the connector 13 and the insertion direction of the cable 17 can also be any angle / direction. For example, depending on the specifications of the connector 13 and the cable 17, the connector 13 may be configured with an operating angle θ = 0 degrees and the cable 17 may be inserted in a horizontal direction.

[0130] exist Figure 1 In this system, the workbench 3 is capable of lifting and lowering. During the installation of the cable 17, which is the object of the work, the workbench 3 is raised and lowered to position the electronic device 4 at a given working height. A corner post 2b is erected at the corner of the upper surface 2a of the base 2, and a horizontal platform 2c is mounted on the upper end of the corner post 2b. An operation panel 9 with a touch panel is arranged on the side of the platform 2c.

[0131] The robot unit 5 is operated and its actions are instructed via touch input through the operation panel 9. The operation panel 9 has a display function, showing notifications of any abnormalities or malfunctions that occur during cable installation performed by the electronic equipment assembly unit 1. The operation panel 9 functions as a notification unit. Regarding the coordinate system of the electronic equipment assembly unit 1, the left-right direction is defined as the X-axis when viewed from the front, the front-back direction as the Y-axis, and the vertical direction as the Z-axis.

[0132] exist Figure 1 In this configuration, a fixed base 6, incorporating the drive mechanism of the robot unit 5 (described below), is disposed on the lower surface of the platform 2c. Six individually actuating servo drive mechanisms are built into the fixed base 6, each driving six link members 7 extending downwards from the fixed base 6. The lower ends of the link members 7 are engaged with the base 8. In this structure, the fixed base 6 and the link members 7 constitute the robot unit 5. The robot unit 5 moves the base 8, changing its posture.

[0133] Robot section 5 is a 6-DOF parallel linkage robot with 6 independently actuating linkage components 7. The lower ends of the 6 linkage components 7, extending downwards from the fixed base 6, are connected to the base 8 of the work unit, which performs the installation operation of attaching the cable 17 to the connector 13. Figure 2A As shown, the linkage component 7 is connected to the base 8 via a universal joint 7a. According to this structure, the base 8 can perform 6 degrees of freedom of movement via the robot unit 5.

[0134] exist Figure 2A In the center, a cable holding tool 20, a distance measuring unit 40, a camera unit 50, and a lighting unit 56 are mounted on the base 8. The cable holding tool 20 has the function of holding the cable 17 (not shown) that is to be installed onto the connector 13.

[0135] The robot unit 5 moves the base 8, thereby enabling the cable holding tool 20 to move relative to the electronic device 4 held on the worktable 3. During the installation operation of installing the cable 17 to the connector 13, the control unit 61 operates the robot unit 5, the cable holding tool 20, the distance measuring unit 40, the camera unit 50, and the lighting 56.

[0136] In this way, the robot unit 5 moves the base 8, thereby moving the cable holding tool 20 relative to the electronic device 4 equipped with the connector 13. In this embodiment, the robot unit 5, which is a parallel linkage robot, moves the base 8, but the electronic device assembly device 1 may also be a structure that uses a multi-joint robot with multiple rotation axes in the middle of the arm to move the base 8.

[0137] Below, refer to Figure 2A The detailed structure of the base 8 will be described below. An opening 8a is provided in the base 8 at the drive center, which represents the center position of the plurality of universal joints 7a. A distance measuring unit 40 is mounted on a side end of the base 8 spaced to the left (on the front side of the electronic device assembly 1) from the opening 8a, with the measuring optical axis 40a facing downwards. The distance measuring unit 40 is a distance measuring sensor that measures the distance to a target by illuminating measuring light and detecting the measuring light reflected from the target being measured. The measurement result measured by the distance measuring unit 40 is sent to the control unit 61.

[0138] In this embodiment, the distance measuring unit 40 moves above the opening 4c of the electronic device 4 and measures the distance measuring target 18 (see reference 13) located near the connector 13. Figure 11 The distance to the reflective surface 18a of the distance measuring unit 40 is measured. The target 18 has a reflective surface 18a that reflects the measuring light irradiated from the distance measuring unit 40 toward the distance measuring unit 40. The target 18 can be any target as long as it can measure the distance from the base 8 to the connector 13 or calculate the distance based on the measurement result.

[0139] That is, the reflective surface 18a, which is approximately horizontal, is positioned so that the electronic device 4 is held at the operating angle θ. The target 18 can be part of the connector 13 or a dedicated target provided on the connector 13 or the electronic device 4. In this way, the distance measuring unit 40 provided on the base 8 measures the distance from the base 8 to the connector 13 or to the distance measuring target 18 provided on the electronic device 4.

[0140] If you return to Figure 2AA camera unit 50 is mounted on a bracket 51 located near the opening 8a on the upper surface of the base 8. The camera unit 50 is configured to include an optical lens 52 and a camera 53, with the camera optical axis 53a aligned with the drive center and positioned downwards. The control unit 61 operates the robot unit 5, thereby positioning the camera unit 50 mounted on the base 8 above the electronic equipment 4 held on the worktable 3 (see reference). Figure 12 In this state, the camera unit 50 takes a picture, thereby acquiring images of the reinforcing plate 16 of the cable 17 held in the cable holding tool 20 and the connector 13. The image captured by the camera unit 50 is sent to the control unit 61.

[0141] If you return to Figure 2A A support member 54 is erected below the lower surface of the base 8, arranged to surround the opening 8a. At the lower end of the support member 54, an illumination holding plate 55 corresponding to the external shape of the electronic device 4 is held. An illumination 56, configured to include a light-emitting element such as an LED, is mounted on the lower surface of the illumination holding plate 55. The illumination 56 is controlled by the control unit 61. When the camera unit 50 is taking a picture, the illumination 56 is turned on to illuminate the cable 17, connector 13, etc., of the object being photographed.

[0142] From Figure 2A A cable holding tool 20 is mounted on the lower surface near the right-hand side end of the opening 8a of the base 8 shown. Figures 2A to 2D The detailed structure of the cable holding tool 20 is described below. Figure 2B This is an enlarged view showing the peripheral structure of the cylinder 22 of the cable holding tool 20. Figure 2C , Figure 2D This is an enlarged view showing the state of cylinder 22 in operation.

[0143] Figure 2A The cable holding tool 20 shown includes a mounting part 21, a cylinder 22, a fixing block 23, a clamping base 24, an actuator 25, a sliding part 26, a clamping block 27, and a plate 28.

[0144] Mounting part 21 is a component that fixes and mounts the cable holding tool 20 to the base 8. Mounting part 21 fixes the cylinder 22 to the lower surface of the base 8, thereby mounting the cable holding tool 20 to the base 8.

[0145] Cylinder 22 is a component that generates a force F in the cable holding tool 20. The force F acts in the insertion direction Q of the cable holding tool 20 as it inserts the cable 17 into the connector 13. The force F is generated, for example, by the force of an air spring inside the cylinder 22. When the cable is inserted, and the front end of the plate 28 (described later) comes into contact with the electronic device 4, the force F provides a cushioning effect.

[0146] like Figure 2B As shown, cylinder 22 has a cylinder fixed part 70 and a cylinder movable part 72.

[0147] The cylinder fixing part 70 is the part fixed to the mounting part 21. A first detection unit 74A and a second detection unit 74B are provided on the cylinder fixing part 70 for detecting the relative position of the movable part 72 of the cylinder. Detection units 74A and 74B will be described later. The cylinder fixing part 70, together with the mounting part 21, constitutes a "fixed part 20A" whose positional relationship relative to the base 8 is fixed, and which fixes the cable holding tool 20 to the base 8.

[0148] The movable part 72 of the cylinder is assembled in a state where it can move relative to the fixed part 70 of the cylinder (arrow b). The direction of movement of the movable part 72 of the cylinder is approximately parallel to the insertion direction Q of the cable 17. The movable part 72 of the cylinder is subjected to a force F such that it is oriented toward a given position P0 relative to the fixed part 70 of the cylinder. The given position P0 may also be referred to as the reference position.

[0149] If the cable is inserted or the front end of plate 28 (described later) comes into contact with electronic device 4, the movable part 72 of the cylinder is subjected to a reaction force B in the opposite direction to the applied force F. The movable part 72 of the cylinder moves away from the given position P0 due to the reaction force B while being subjected to the force F based on cylinder 22.

[0150] like Figure 2A As shown, an electro-pneumatic regulator 60 is connected to the cylinder 22. The electro-pneumatic regulator 60 is a variable force unit that variably controls the force F applied by the cylinder 22. In this embodiment, the electro-pneumatic regulator 60 is connected to the control unit 61, but it can also be provided independently of the control unit 61.

[0151] The force F can be set to an appropriate value according to the type of cable 17 by means of the electric pneumatic adjuster 60. As mentioned above, the reaction force B (insertion load) received from the connector 13 when the cable is inserted varies according to the number of terminals of the cable 17, so the force F can be adjusted according to the number of terminals.

[0152] A fixing block 23 is mounted on the lower surface of the cylinder movable part 72. The fixing block 23 is a component that fixes the clamping base 24 to the cylinder movable part 72. The fixing block 23 and the cable holding tool 20 mounted below it together with the cylinder movable part 72 constitute a "movable part 20B" that moves relative to the base 8. Figure 2A The movable part 20B is composed of the fixed block 23, clamping base 24, actuator 25, sliding part 26, clamping block 27, and plate 28 together with the cylinder movable part 72 in the cable holding tool 20 shown.

[0153] Figure 2C , Figure 2D This shows the state in which the movable part 20B has moved relative to the fixed part 20A.

[0154] Figure 2C The image shows the movable part 20B resisting the force F and reaching a first relative position P1, far from the given position P0 (arrow b1). A first detection unit 74A is positioned to detect when the movable part 20B reaches the first relative position P1. Based on the detection result of the first detection unit 74A, it can be determined whether the movable part 20B has reached the first relative position P1.

[0155] Figure 2D The image shows the movable part 20B resisting the force F and reaching a second relative position P2, further away from the first relative position P1 (arrow b2). A second detection unit 74B is positioned to detect when the movable part 20B reaches the second relative position P2. Based on the detection result of the second detection unit 74B, it can be determined whether the movable part 20B has reached the second relative position P2.

[0156] In this embodiment, the control unit 61 determines whether the movement of the movable part 20B during cable insertion is within the normal range based on the detection results of the first detection unit 74A and the second detection unit 74B, thereby determining whether the cable 17 insertion error is correct. The specific determination method will be described later.

[0157] In this embodiment, the first detection unit 74A and the second detection unit 74B each utilize an automatic switch (also called a limit switch) installed in the cylinder 22, which is a platform-type cylinder. The automatic switch of the first detection unit 74A is as follows: Figure 2C The position shown is where a detection signal is generated when the movable part 72 of the cylinder reaches the first relative position P1. The automatic switch of the second detection unit 74B is as follows... Figure 2D The position shown is where a detection signal is generated when the movable part 72 of the cylinder reaches the second relative position P2.

[0158] If you return to Figure 2A A clamping base 24 extending obliquely downward toward the drive center side of the base base 8 is attached to the fixing block 23. An actuator 25 having a sliding portion 26 that moves forward and backward toward the drive center side is provided on the upper surface of the clamping base 24. Furthermore, at the lower end of the clamping base 24, a plate 28, which is a thin plate member with a tapered portion at the front end, is installed in an inclined position. The plate 28 is positioned such that its front end is below the opening 8a and included in the field of view of the camera unit 50.

[0159] A clamping block 27 with a trapezoidal side profile is attached to the end face of the retraction side of the sliding portion 26. When the actuator 25 is activated and the clamping block 27 retracts obliquely downwards, the clamping surface 27a of the clamping block 27 (see reference) Figure 7A , Figure 7B The reinforcing plate 16 abuts against the plate 28. In this embodiment, during the process of holding the cable 17 by the cable holding tool 20, the reinforcing plate 16 is clamped from the top and bottom between the plate 28 and the clamping surface 27a of the clamping block 27, thereby holding the cable 17.

[0160] Below, refer to Figure 5A , Figure 5B The details of the structure of cable 17 are described below. For example... Figure 5A , Figure 5B As shown, the cable 17 has: a ribbon-shaped cable body portion 15, with a mounting portion 15b formed at one end 15a for mounting to the connector 13; and a reinforcing plate 16, which is joined to one end 15a side via a joining portion 17a in one side 15c of the cable body portion 15. The opposite side of the one side 15c in the cable body portion 15 where the reinforcing plate 16 is joined becomes a pattern forming surface where a wiring pattern 15d is formed. During the installation operation of the cable 17 to the connector 13, the wiring pattern 15d of the mounting portion 15b is pressed against the terminal surface 13b formed on the mounting portion 13a of the connector 13 to make contact. Thus, the cable body portion 15 of the cable 17 is electrically connected to the connector 13.

[0161] The cable body 15 can be, for example, a flexible printed circuit (FPC) or a flexible flat cable (FFC). The reinforcing plate 16, compared to the cable body 15, is made of a rigid material, suitable for retention by the cable holding tool 20 and insertion into the connector 13. The reinforcing plate 16 and the mounting portion 15b are the "mounting portions" that are inserted into the connector 13 and mounted.

[0162] like Figure 5B As shown, relative to the joint portion 17a in the reinforcing plate 16 that engages with one side 15c of the cable body portion 15, an opening 17b separate from the one side 15c of the cable body portion 15 is formed on the portion located on the opposite side of one end 15a (free end 16a). In this embodiment, in the portion formed by... Figure 2A When the cable holding tool 20 shown holds the cable 17, it holds the cable 17 by inserting a plate 28 into the opening 17b and clamping a reinforcing plate 16 between the plate and the clamping block 27 (see reference). Figure 7A , Figure 7B ).

[0163] When the cable 17 with the above-described structure is used as the object, the cable holding tool 20 clamps the reinforcing plate 16 to hold it, thereby holding the cable 17. That is, the cable holding tool 20 of this embodiment is a clamping mechanism that clamps the reinforcing plate 16 in the thickness direction. Moreover, the clamping mechanism has: a plate 28 that is inserted into an opening 17b between the cable body portion 15 and the reinforcing plate 16; and a clamping block 27 that abuts against the reinforcing plate 16 located on the upper surface of the plate 28 and presses it downward.

[0164] Below, refer to Figure 6A , Figure 6B Details of the clamping block 27, which is provided on the cable holding tool 20 and used in the clamping mechanism for clamping the reinforcing plate 16 described above, will be explained. Figure 6A The image shows the clamping block 27 disengaged from the plate 28. Multiple claws 27b protrude from the clamping surface 27a of the clamping block 27. When the reinforcing plate 16 is clamped between the plate 28 and the clamping surface 27a, the claws 27b slightly engage with the surface of the reinforcing plate 16, thereby preventing the clamped reinforcing plate 16 from slipping and falling off. In other words, in the cable holding tool 20, an anti-slip material is formed on the clamping surface 27a of the clamping block 27 that abuts against the reinforcing plate 16. The anti-slip material is not limited to the claws 27b; various methods can be used, such as roughening the clamping surface 27a.

[0165] Figure 6B The drive actuator 25 is shown (reference). Figure 2A The clamping block 27 is lowered along the clamping base 24 (arrow d), closing the clamping surface 27a close to the plate 28. The dimensions of the clamping block 27 and the plate 28 are set such that, in this state, a protrusion of a given width B is formed at the front end of the clamping surface 27a protruding from the front end of the plate 28. By setting the dimensions of the clamping block 27 in the cable holding tool 20 in this way, as... Figure 7A , Figure 7B As shown, the deformation of the cable 17 held in the cable holding tool 20 can be corrected.

[0166] Figure 7A , Figure 7B It shows that Figure 5A , Figure 5B The cable 17 shown is used as a retaining element. Figure 7A As shown, a reinforcing plate 16 is joined to the cable body 15 with the mounting portion 15b protruding at one end 15a of the cable body 15. In the cable 17 with this structure, a plate 28 is inserted into the opening 17b between the cable body 15 and the reinforcing plate 16. In this state, at the end 15a where the mounting portion 15b is formed, deformations such as warping or wavy shapes may sometimes occur in the width direction.

[0167] Even in such circumstances, such as Figure 7B As shown, the clamping block 27 is also brought close to the plate 28 (arrow e). With the reinforcing plate 16 clamped between the clamping surface 27a and the plate 28, the clamping surface 27a of the clamping block 27 protrudes at least to the upper surface of the joint 17a that joins the cable body 15 and the reinforcing plate 16 when clamping the reinforcing plate 16. As a result, the aforementioned deformation is corrected in the vicinity of one end 15a of the cable body 15, which mimics the planar shape of the clamping surface 27a.

[0168] Below, refer to Figure 8 The structure of the control system for the electronic equipment assembly apparatus 1 will be described. The control unit 61 of the electronic equipment assembly apparatus 1 is connected to the robot unit 5, the worktable 3, the camera unit 50, the lighting 56, the distance measuring unit 40, the actuator 25, the detection units 74A and 74B, the electro-pneumatic regulator 60, and the operation panel 9. The control unit 61 controls the robot unit 5 and the actuator 25 of the cable holding tool 20 to perform cable installation work, thereby moving the cable 17 (described later) and installing it onto the connector 13.

[0169] During the cable installation operation, the control unit 61 controls the distance measuring unit 40 to perform distance measurement processing, which measures the distance from the base 8 to the target 18. Furthermore, the control unit 61 controls the camera unit 50 and the lighting 56 to perform imaging processing for detecting the relative positional relationship between one end 15a of the cable 17 and the connector 13.

[0170] exist Figure 8 In the middle, the control unit 61 includes a position detection unit 62, a distance calculation unit 63, and an insertion error determination unit 64, which serve as internal control processing functions.

[0171] The position detection unit 62 performs position detection processing based on the image captured by the camera unit 50, detecting the position of the cable 17 or connector 13, or the relative positional relationship between the cable 17 and connector 13. During the cable installation operation of attaching one end 15a of the cable 17 to the connector 13, the control unit 61 controls the movement of the cable holding tool 20 implemented by the robot unit 5 based on the relative position detection results of the end 15a and the connector 13.

[0172] The control unit 61 includes a storage unit 65, which serves as a storage device. The storage unit 65 stores information required for cable installation operations, such as the position, size, and shape of the connector 13 in the electronic device 4 to be operated, and the position of the reflective surface 18a of the distance measuring target 18.

[0173] The distance calculation unit 63 calculates the distance from the base 8 to the terminal face 13b of the connector 13 based on the distance to the target 18 measured by the distance measuring unit 40 and the position of the reflective surface 18a of the target 18 stored in the storage unit 65. In addition, the distance measuring unit 40 calculates the tilt of the connector 13 based on the difference in distances to multiple targets 18.

[0174] The insertion error determination unit 64 performs insertion error determination based on the image captured by the camera unit 50 and the detection results of the detection units 74A and 74B to determine whether the cable 17 is properly inserted into the connector 13. The insertion error determination unit 64 of this embodiment includes a movement amount determination unit 64A and an insertion amount determination unit 64B.

[0175] Based on the detection results of the first detection unit 74A and the second detection unit 74B, the movement amount determination unit 64A determines whether the relative movement amount of the movable part 20B of the cable holding tool 20 is within an appropriate range when the connector is inserted. If the movement amount determination unit 64A determines that the movement amount deviates from the appropriate range, the insertion error determination unit 64 determines that the cable 17 has not been properly inserted into the connector 13, indicating an "insertion error".

[0176] The insertion amount determination unit 64B determines whether the insertion amount of the cable 17 is within an appropriate range based on the length of the reinforcing plate 16, which serves as the mounting portion of the cable 17, and a first image including the reinforcing plate 16 before insertion into the connector 13 and a second image including the reinforcing plate 16 after insertion. If the insertion amount determination unit 64B determines that the insertion amount deviates from the appropriate range, the insertion error determination unit 64 determines that an insertion error has occurred.

[0177] If the movement amount determination unit 64A determines that the movement amount is within the appropriate range, and the insertion amount determination unit 64B determines that the insertion amount is within the appropriate range, the insertion error determination unit 64 determines that the cable 17 is normally inserted into the connector 13.

[0178] Below, along Figure 9 The process is described with reference to the accompanying drawings, which describes an electronic device assembly method that includes a cable installation operation from the electronic device assembly apparatus 1 to the reinforcing plate 16, which is internally located on the connector 13 of the electronic device 4, to which the cable 17 is installed.

[0179] exist Figure 9 In the process, firstly, the electronic device 4 of the work object is held on the worktable 3 in a posture that raises the opening 4c side to a working angle θ (S0: Electronic device holding process) (refer to...) Figure 3 ).

[0180] Next, imaging is performed based on the camera unit 50 (S1: imaging process). Specifically, the camera unit 50 captures an image (first image) of the reinforcing plate 16 containing the cable 17 previously held by the cable holding tool 20. The cable 17 is arranged, for example, in a configuration with... Figure 1 The workbench 3 shown has trays (not shown) in different locations. The control unit 61 drives the robot unit 5, positioning the camera unit 50 above the tray, and then the camera unit 50 photographs the cable 17 on the tray. An example of a camera image obtained by the photographing process S1 is shown below. Figure 10 .

[0181] Figure 10 The image 80 shown includes a reinforcing plate 16 of the cable 17 held by the cable holding tool 20. Since the reinforcing plate 16 is included as a whole, its total length can be calculated. The total length of the reinforcing plate 16 is the length of the reinforcing plate 16 along the length direction L of the cable 17, and is the length in a direction orthogonal to the width direction W of the cable 17.

[0182] based on Figure 10 The camera image 80 shown is used by the position detection unit 62 to determine the positions of recognition points R1, R2, R3, and R4. The distance between recognition points R1 and R2 is calculated as the length LB1 of the first side of the reinforcing plate 16, and the distance between recognition points R3 and R4 is calculated as the length LB2 of the second side of the reinforcing plate 16. Length LB1 is also called "first insertion length LB1", and length LB2 is also called "second insertion length LB2". The first insertion length LB1 and the second insertion length LB2 are used in the insertion amount determination process S12 described later. Figure 9 Determining the amount of insertion in ).

[0183] Then, the control unit 61 causes the cable holding tool 20 to hold the cable 17 (S2: cable holding process). Specifically, the drive robot unit 5 positions the cable holding tool 20 near the cable 17 on the tray, and on this basis, as... Figure 7A , Figure 7B As shown, a plate 28 is inserted into the opening 17b of the cable 17. Based on this, the clamping block 27 is slid toward the reinforcing plate 16 (arrow e), clamping the reinforcing plate 16 between the clamping block 27 and the plate 28, thereby holding the cable 17.

[0184] Next, the control unit 61 uses the distance measurement unit 40 to perform distance measurement (S3: distance measurement process). Specifically, the drive robot unit 5, such as... Figure 11The distance measuring unit 40 is moved to a position where the measuring optical axis 40a touches the reflective surface 18a of the target 18. Based on this, the distance measuring unit 40 measures the distance from the base 8 to the target 18 provided on the connector 13 or electronic device 4. The distance calculation unit 63 calculates the distance from the base 8 to the terminal surface 13b of the connector 13 based on the measured distance to the target 18 and the position of the reflective surface 18a stored in the storage unit 65.

[0185] like Figure 13 As shown in the image 82 (intermediate image), targets 18 are positioned on the left and right sides in front of the connector 13 of the electronic device 4. In the distance measurement process S3, the distances to the reflective surfaces 18a of the two targets 18 are measured, and the tilt of the connector 13 in the X-axis direction is calculated based on the difference between the distances measured by the distance calculation unit 63. Thus, in the distance measurement process S3, the distance from the base 8 to the connector 13 or the electronic device 4 is measured.

[0186] Then, based on the measurement results in the distance measurement process S3, the control unit 61, such as Figure 12 As shown, the cable holding tool 20 is moved relative to the electronic device 4 (arrow f), thereby bringing one end 15a of the cable 17 held by the cable holding tool 20 closer to the connector 13 (S4: cable approach process).

[0187] Next, the control unit 61 performs imaging based on the camera unit 50 (S5: imaging process). Specifically, the insertion direction Q relative to the cable 17 is tilted at an acute angle to the connector 13. An image (intermediate image) is captured in the direction of the angle obtained by subtracting the working angle θ from 90 degrees, showing an image of one end 15a of cable 17, the reinforcing plate 16, and the connector 13. (Acute angle) For example, it can be set to a value between 35 degrees and 75 degrees. An example of a camera image obtained by the imaging process S5 is shown below. Figure 13 .

[0188] Figure 13 The image 82 shown includes a connector 13 disposed inside the electronic device 4. Image 82 also includes a clamping block 27 of the cable holding tool 20, one end 15a of the cable 17 held in the cable holding tool 20, and a reinforcing plate 16. Thus, from an acute angle... The camera is positioned in the direction of the opening 4c, thereby enabling the camera to capture images of the connector 13 located inside the electronic device 4, one end 15a which serves as the mounting portion of the cable 17, and the reinforcing plate 16.

[0189] Since the positional relationship between the camera unit 50 and the cable holding tool 20 is fixed, the clamping block 27 always appears in a fixed position aligned with the image frame direction in the captured image 82. In contrast, the reinforcing plate 16 and one end 15a of the cable 17, held between the clamping block 27 and the plate 28, experience some positional deviation due to positional errors in the cable holding process S2. Furthermore, the connector 13 is in a positional deviation state due to positional holding errors of the electronic device 4 in the electronic device holding process S0, assembly position errors of the connector 13 in the electronic device 4, etc. That is, the relative positional relationship between the connector 13 and the one end 15a and the reinforcing plate 16 mounted on the connector 13 deviates for each connector 13 that is the object of the installation operation.

[0190] Then, the control unit 61 performs position detection (S6: position detection process). Specifically, based on the camera image 82 captured in the camera process S5, the position detection unit 62 detects the relative positional relationship between one end 15a of the cable 17 and the connector 13.

[0191] Reference Figure 13 The position detection processing based on the position detection unit 62 will be described. First, the position detection unit 62 determines the positions of identification points R5 and R6 for detecting the position of one end 15a of the cable 17. Next, the position detection unit 62 uses the midpoint of identification points R5 and R6 as a representative point PM1 indicating the position of one end 15a. Then, the position detection unit 62 determines the positions of identification points R7 and R8 for detecting the position of the connector 13. Next, the position detection unit 62 uses the midpoint of identification points R7 and R8 as a representative point PM2 indicating the position of the connector 13. The detected representative points PM1 and PM2 represent information indicating the relative positional relationship between one end 15a of the cable 17 and the connector 13.

[0192] Next, the control unit 61 inserts the cable 17 into the connector 13 (S7: cable insertion process). Specifically, based on the relative positional relationship of representative points PM1 and PM2 detected in the position detection process S6, the robot unit 5 is driven to align the cable holding tool 20 holding the cable 17, so that each representative point PM1, PM2 is in the appropriate positional relationship. Then, as... Figure 14 As shown, the drive robot 5 moves the cable holding tool 20 along the insertion direction Q, thereby inserting one end 15a of the cable 17 and the reinforcing plate 16 from an inclined direction into the mounting portion 13a of the connector 13 of the electronic device 4. Figure 3 ).

[0193] like Figure 4As shown, the reinforcing plate 16 with cable 17 is inserted relative to connector 13, and cable 17 is mounted on connector 13. If the automatic locking mechanism built into connector 13 operates normally, cable 17 is automatically locked, preventing cable 17 from falling off connector 13.

[0194] In the cable insertion process S7, the insertion amount of cable 17 is determined to be such that one end 15a of cable 17 fully reaches the inside of connector 13, and is determined to be within a range that will not become excessively pressed. If cable 17 is properly inserted / installed into connector 13, the movable part 20B of cable holding tool 20 moves a moderate amount in the direction opposite to the insertion direction Q. Figure 14 Arrow b3).

[0195] Then, the control unit 61 determines whether the amount of movement is within the normal range (S8: movement amount determination process). Specifically, the movement amount determination unit 64A determines whether the amount of movement of the movable part 20B associated with the insertion of the cable 17 is within the normal range based on the detection results of the first detection unit 74A and the second detection unit 74B.

[0196] Specifically, if the first detection unit 74A detects that the movable part 20B of the cable holding tool 20 has reached the first relative position P1, and the second detection unit 74B does not detect that the movable part 20B has reached a second relative position P2 further away from the first relative position P1, the movement determination unit 64A determines that the movement is within the normal range (in S8). In this case, the process proceeds to the cable release step S10.

[0197] On the other hand, if the first detection unit 74A does not detect that the movable part 20B has reached the first relative position P1, or if the second detection unit 74B detects that the movable part 20B has reached the second relative position P2, the movement determination unit 64A determines that the movement is not within the normal range, that is, it determines that there is an insertion error (No in S8). In this case, the process proceeds to the notification step S9.

[0198] Here, regarding the determination mode in the movement amount determination process S8, the following is utilized: Figures 15A to 15D Please provide an explanation. Figures 15A to 15D These are schematic diagrams illustrating the relative movement of the movable part 20B of the cable holding tool 20 during the cable insertion process S7, where the cable 17 is inserted into the connector 13. Figures 15A to 15D In the figure, the horizontal axis represents time, and the vertical axis represents the relative position of the movable part 20B of the cable holding tool 20.

[0199] exist Figures 15A to 15DIn the diagram, the first detection range represents the detection range of the first detection unit 74A, and the second detection range represents the detection range of the second detection unit 74B. The first detection range includes a first relative position P1, and the second detection range includes a second relative position P2. The second detection range is located further away from the first detection range than a given position P0 and does not overlap with the first detection range.

[0200] exist Figure 15A In the example shown, the movable part 20B moves away from the given position P0 and reaches the first relative position P1, stopping within the first detection range and remaining in this state until the insertion ends. The first detection unit 74A detects that the movable part 20B has reached the first relative position P1 and sends a detection signal to the control unit 61 (first detection step: detection result ON). The second detection unit 74B does not detect that the movable part 20B has reached the second relative position P2 (second detection step: detection result OFF). The movement amount determination unit 64A determines that the movement amount is within the normal range (in step S8) and proceeds to the next cable release step S10.

[0201] exist Figure 15B In the example shown, the movable part 20B moves beyond the first detection range and stops before reaching the second detection range, thus ending the insertion. The first detection unit 74A detects that the movable part 20B has reached the first relative position P1 and sends a detection signal to the control unit 61 (first detection step: detection result ON). The second detection unit 74B does not detect that the movable part 20B has reached the second relative position P2 (second detection step: detection result OFF). At the end of the insertion, although the detection results of both the first detection unit 74A and the second detection unit 74B are OFF, since the detection signal received from the first detection unit 74A is recorded, the detection result of the first detection unit 74A is determined to be ON, and the detection result of the second detection unit 74B is determined to be OFF. Therefore, the movement amount determination unit 64A determines that the movement amount is within the normal range (as in step S8) and proceeds to the next cable release step S10.

[0202] exist Figure 15CIn the example shown, the movable part 20B stops at a position before reaching the first relative position P1, and the insertion ends while maintaining this state. The first detection unit 74A does not detect the movable part 20B reaching the first relative position P1 (first detection step: detection result OFF), and the second detection unit 74B also does not detect the movable part 20B reaching the second relative position P2 (second detection step: detection result OFF). Therefore, the detection result of the first detection unit 74A becomes OFF, and the detection result of the second detection unit 74B becomes OFF. In particular, based on the detection result of the first detection unit 74A being OFF, the movement amount determination unit 64A determines that the movement amount is not within the normal range, that is, it determines that there is an insertion error (No in S8). Then, it proceeds to the notification step S9.

[0203] exist Figure 15D In the example shown, the movable part 20B passes through the first detection range including the first relative position P1 and reaches the second relative position P2. The first detection unit 74A detects that the movable part 20B has reached the first relative position P1 (first detection step: detection result ON), and the second detection unit 74B also detects that the movable part 20B has reached the second relative position P2 (second detection step: detection result ON). The detection result of the first detection unit 74A becomes ON, and the detection result of the second detection unit 74B becomes ON. In particular, based on the detection result of the second detection unit 74B being ON, the movement amount determination unit 64A determines that the movement amount is not within the normal range, that is, it determines that there is an insertion error (No in step S8). Then, it proceeds to the notification step S9.

[0204] exist Figure 15D In the example shown, the control unit 61 of this embodiment interrupts the insertion (insertion interruption process) at the point when the detection result of the second detection unit 74B becomes ON, that is, at the point when the detection signal is received from the second detection unit 74B. Even at the point before reaching the final insertion position of the cable 17 determined based on the position detection process S6, further insertion of the cable 17 is forcibly stopped at the point when the detection result of the second detection unit 74B becomes ON. As a result, excessive insertion load can be prevented from acting on the cable holding tool 20, preventing malfunction of the electronic equipment assembly device 1.

[0205] In this embodiment, the locking mechanism of the cable 17 in the connector 13 is an automatic locking type, therefore requiring an insertion force and insertion load that overcome the force of the spring contacting the terminal face 13b of the connector 13. There are cases where the locking function does not operate when the insertion force of the cable 17 is small, or where the terminal rows of the connector 13 and the terminal rows of the cable 17 are locked in a state where they are not in contact with each other (partial insertion). On the other hand, if the insertion force of the cable 17 becomes too large, although the locking function of the cable 17 operates, the load relative to the cable holding tool 20 becomes excessive, sometimes leading to a malfunction of the electronic device assembly 1. Furthermore, if the cable 17 is mistakenly contacted with the housing 4a or the like of the electronic device 4 instead of the connector 13, the load relative to the cable holding tool 20 also becomes excessive, sometimes leading to a malfunction of the electronic device assembly 1.

[0206] Therefore, by setting the first detection unit 74A and the second detection unit 74B, it is determined whether the amount of movement of the movable part 20B of the cable holding tool 20 (and its corresponding insertion load / insertion force) is within an appropriate range, thereby enabling accurate insertion error detection.

[0207] If you return to Figure 9 If the movement amount is determined to be outside the normal range (insertion error) by the movement amount determination process S8, the control unit 61 issues a notification (S9: notification process). Specifically, the operation panel 9, which functions as a notification unit, displays an indication of an insertion error and performs an audible notification based on a buzzer or similar device. This allows the operator to be aware that an insertion error has occurred. The operation panel 9 may also display information indicating that the cause of the insertion error is that the insertion load (i.e., the movement amount of the movable part 20B) is too large or too small. Along with the notification based on the operation panel 9, the control unit 61 can also perform any control associated with the insertion error, such as stopping the equipment, troubleshooting, or retrying.

[0208] If the movement is determined to be within the normal range by the movement amount determination process S8, the control unit 61 drives the actuator 25 to raise the clamping block 27 and release the cable holding tool 20 from holding the cable 17 (S10: cable release process).

[0209] Next, after the cable holding tool 20 is retracted, the control unit 61 performs imaging based on the camera unit 50 (S11: imaging process). Specifically, as... Figure 16 As shown, after the cable holding tool 20 is moved in the retraction direction S, which is opposite to the insertion direction Q, the imaging unit 50 captures an image (second image) including the connector 13 and the reinforcing plate 16 mounted on the connector 13. An example of the image obtained by the imaging process S11 is shown below. Figure 17 .

[0210] Figure 17 The image 84 shown includes a connector 13 disposed inside the electronic device 4 and a reinforcing plate 16 inserted into the connector 13. The portion of the reinforcing plate 16 protruding from the connector 13 is visually identifiable. Based on the image 84, the length of the reinforcing plate 16 after insertion into the connector 13 can be calculated.

[0211] First, the position detection unit 62 determines the positions of identification points R9, R10, R11, and R12 for detecting the insertion length of the reinforcing plate 16. The distance between identification points R9 and R10 is calculated as the length LA1 of the first side of the reinforcing plate 16, and the distance between identification points R11 and R12 is calculated as the length LA2 of the second side of the reinforcing plate 16. Length LA1 is also called "first insertion length LA1", and length LA2 is also called "second insertion length LA2". The first insertion length LA1 and the second insertion length LA2 are used to determine the insertion amount in the subsequent insertion amount determination process S12.

[0212] Then, the control unit 61 determines whether the insertion amount is within the normal range (S12: Insertion amount determination process). Specifically, the insertion amount determination unit 64B determines the insertion amount based on the difference between the first pre-insertion length LB1 and the second pre-insertion length LB2 of the reinforcing plate 16 calculated based on the camera image 80 of the camera process S1, and the first post-insertion length LA1 and the second post-insertion length LA2 of the reinforcing plate 16 calculated based on the camera image 84 of the camera process S11.

[0213] like Figure 17 As shown, the insertion amount determination unit 64B calculates the first difference ΔL1 as the difference between the first pre-insertion length LB1 and the first post-insertion length LA1, and calculates the second difference ΔL2 as the difference between the second pre-insertion length LB2 and the second post-insertion length LA2. The first difference ΔL1 corresponds to the insertion amount of the first side of the reinforcing plate 16, and the second difference ΔL2 corresponds to the insertion amount of the second side of the reinforcing plate 16.

[0214] The insertion amount determination unit 64B determines whether the insertion amount is within a normal range based on whether it falls within a predefined given range for the first difference ΔL1 and the second difference ΔL2. Regarding the given range, a first given range related to the first difference ΔL1 and a second given range related to the second difference ΔL2 can be defined. The first given range and the second given range can be the same range or different ranges.

[0215] If the insertion amount determination unit 64B determines that the insertion amount is within the normal range when the first difference ΔL1 is within the first given range and the second difference ΔL2 is within the second given range, then proceeds to the next tool return step S14. On the other hand, if the insertion amount determination unit 64B determines that the insertion amount is not within the normal range when the first difference ΔL1 deviates from the given range, or when the second difference ΔL2 deviates from the given range, then it determines that the insertion amount is not within the normal range, that is, it determines that an insertion error has occurred, and proceeds to the notification step S13.

[0216] According to the above method, image analysis is performed on the camera image 80 (first image) acquired through camera process S1 and the camera image 84 (second image) acquired through camera process S11, thereby enabling insertion error determination based on the insertion amount of the reinforcing plate 16 inserted into the connector 13. In particular, the determination is based on the differences ΔL1 and ΔL2 between the pre-insertion lengths LB1 and LB2 corresponding to the total length of the reinforcing plate 16 and the post-insertion lengths LA1 and LA2 that are visible after the reinforcing plate 16 is inserted into the connector 13, thereby enabling insertion error determination while accurately grasping the actual insertion amount.

[0217] In particular, the reinforcing plate 16 of the cable 17 is attached to the main body 15 of the cable as a separate component, and its dimensions may sometimes deviate. Even if the dimensions of the reinforcing plate 16 deviate, by determining the insertion amount based on the differences ΔL1 and ΔL2, it is possible to accurately determine the actual insertion amount while also identifying insertion errors.

[0218] Furthermore, the first difference ΔL1 related to the first side of the reinforcing plate 16 and the second difference ΔL2 related to the second side are determined to be within a given range, thereby enabling a more accurate grasp of the insertion amount of the two sides of the reinforcing plate 16 and enabling the insertion error determination to be performed with good precision.

[0219] If an insertion error is determined by the insertion amount determination process S12, the control unit 61 issues a notification (S13: notification process). Specifically, the process is roughly the same as the aforementioned notification process S9, so the explanation is omitted. However, as a retry is performed as an adjunct to the control of insertion errors, it is possible to return to intermediate processes such as the imaging process S11. As a result, the efficiency of the insertion error recovery operation can be improved.

[0220] If the insertion amount is determined to be within the normal range by the insertion amount determination process S12, the control unit 61 returns the cable holding tool 20 to its original position (S14: tool return process), and retrieves the electronic device 4, whose cable installation work has been completed, from the workbench 3 (S15: electronic device retrieval process). Thus, the assembly of one electronic device 4 is completed.

[0221] (Function / Effect 1)

[0222] As described above, the electronic device assembly apparatus 1 of this embodiment includes: a cable holding tool 20 for holding a cable 17 for installation to a connector 13 of an electronic device 4; a base 8 on which the cable holding tool 20 is mounted; a robot unit 5 for moving the base 8, thereby moving the cable holding tool 20 relative to the electronic device; and a control unit 61 for driving the robot unit 5 to install the cable 17 held by the cable holding tool 20 to the connector 13. The cable holding tool 20 includes: a movable part 20B capable of moving relative to the base 8 and having the function of holding the cable 17; and a cylinder 22 (force-applying member) for applying a force F to the movable part 20B toward a given position P0. Furthermore, it also includes: a first detection unit 74A for detecting the movable part 20B reaching a first relative position P1 away from the given position P0 due to resistance to the force F; and a second detection unit 74B for detecting the movable part 20B reaching a second relative position P2 further away from the first relative position P1 due to resistance to the force F.

[0223] Furthermore, the electronic device assembly method of this embodiment assembles the electronic device 4 by installing a cable 17 onto the connector 13 of the electronic device 4. This assembly method includes: an electronic device holding step S0, in which a base 8 on which a cable holding tool 20 is mounted is moved, and the cable holding tool 20 holds the cable 17; and a cable insertion step S7, in which the cable 17 held by the cable holding tool 20 is inserted into the connector 13. The cable holding tool 20 has: a movable part 20B, which is movable relative to the base 8 and has the function of holding the cable 17; and a cylinder 22 (force-applying member), which applies a force F to the movable part 20B toward a given position P0. In the insertion movement amount determination step S8, a first detection step is performed to detect that the movable part 20B has reached a first relative position P1 away from the given position P0 due to resistance to the force F, and a second detection step is performed to detect that the movable part 20B has reached a second relative position P2 further away from the first relative position P1 due to resistance to the force F.

[0224] According to this electronic device assembly apparatus 1 / electronic device assembly method, when the movable part 20B of the cable holding tool 20 is detected to have reached the first relative position P1, it can be determined that the insertion force required to insert the cable 17 into the connector 13 has been generated. On the other hand, if the movable part 20B is not detected to have reached the first relative position P1, it is determined that the required insertion force has not been generated, and an insertion error can be identified. On the other hand, if the movable part 20B is not detected to have reached the second relative position P2, it can be determined that the insertion load when inserting the cable 17 into the connector 13 has not been excessively applied. If the movable part 20B is detected to have reached the second relative position P2, an insertion error can be identified as an excessive application of the insertion load. According to this detection method, it is possible to determine whether the insertion force or insertion load when inserting the cable 17 into the connector 13 is within an appropriate range, and insertion error detection can be performed with high accuracy.

[0225] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the force F of the cylinder 22 is variable by the electro-pneumatic regulator 60, which is a variable force unit.

[0226] Based on this structure / method, an appropriate force F can be set according to the specifications of connector 13 and cable 17.

[0227] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the force-applying component that generates the force F is a cylinder 22, and the force-variable unit is an electro-pneumatic regulator 60.

[0228] Based on this structure / method, highly versatile components can be utilized.

[0229] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, in the first detection step and the second detection step of the movement amount determination step S8, the detection is performed using an automatic switch provided on the cylinder 22.

[0230] Based on this structure / method, detection can be performed using inexpensive materials.

[0231] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, it is determined whether the cable 17 has been properly inserted based on the detection results of the first detection step and the second detection step in the movement amount determination step S8.

[0232] Based on this structure / method, insertion error determination is performed by combining the detection results of the first detection step and the second detection step, thereby enabling insertion error determination to be implemented with good accuracy.

[0233] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, in the movement amount determination step S8, it is determined that the cable 17 is inserted incorrectly based on the failure to detect the cable holding tool 20 reaching the first relative position P1 (no in S8), and it is determined that the cable 17 is inserted incorrectly based on the detection that the cable holding tool 20 has reached the second relative position P2 (no in S8).

[0234] Based on this structure / method, an insertion error can be identified when the insertion force is too small or the insertion load is too large.

[0235] Furthermore, the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment also includes an insertion interruption step, in which the insertion of the cable 17 is interrupted based on the detection in the second detection step of the movement amount determination step S8 that the cable holding tool 20 has reached the second relative position P2.

[0236] According to this structure / method, the insertion of cable 17 is interrupted in the event of excessive insertion load, thereby preventing excessive load from being applied to cable holding tool 20 and suppressing malfunctions of electronic equipment assembly device 1.

[0237] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the connector 13 has a locking mechanism that automatically locks the cable 17 according to the insertion of the cable 17.

[0238] According to this structure / method, in the case of a so-called automatic locking type locking mechanism, when it is necessary to increase the insertion force of the cable 17 to a certain extent in order to properly install the cable 17, it is possible to determine whether a given or greater insertion force has been generated through the first detection step, so that the locking function of the cable 17 can work accurately.

[0239] (Function / Effect 2)

[0240] As described above, the electronic device assembly apparatus 1 of this embodiment includes: a cable holding tool 20 for holding a cable 17 for mounting to a connector 13 of an electronic device 4; a base 8 on which the cable holding tool 20 and a camera unit 50 are mounted; a robot unit 5 that moves the cable holding tool 20 relative to the electronic device by moving the base 8; and a control unit 61 that drives the robot unit 5 to mount a reinforcing plate 16 (mounting portion) of the cable 17 held by the cable holding tool 20 to the connector 13. The control unit 61 captures an image 80 (first image) of the reinforcing plate 16 before it is inserted into the connector 13 via the camera unit 50, and captures an image 84 (second image) of the reinforcing plate 16 protruding from the connector 13 after it is inserted into the connector 13. The control unit 61 further determines the insertion error related to the insertion of the cable 17 based on the difference ΔL1, ΔL2 between the lengths LB1, LB2 of the reinforcing plate 16 before insertion based on the camera image 80 and the lengths LA1, LA2 of the reinforcing plate 16 after insertion based on the camera image 84.

[0241] Furthermore, the electronic device assembly method of this embodiment assembles the electronic device 4 by installing a cable 17 onto the connector 13 of the electronic device 4. This electronic device assembly method includes: a cable holding step S2 (holding step), in which the base 8 on which the cable holding tool 20 is mounted is moved, and the cable 17 is held by the cable holding tool 20; a cable approach step S4 (approach step), in which the reinforcing plate 16 of the cable 17 held by the cable holding tool 20 is brought close to the connector 13; a cable insertion step S7 (insertion step), in which the reinforcing plate 16 (mounting portion) of the cable 17 is inserted into the connector 13; and a camera step S1 (first camera step), in which an image is captured. The camera unit 50 captures an image 80 (first image) of the reinforcing plate 16 before it is inserted into the connector 13; in the imaging process S11 (second imaging process), the camera unit 50 captures an image 84 (second image) of the reinforcing plate 16 protruding from the connector 13 after it is inserted into the connector 13; and in the insertion amount determination process S12 (insertion error determination process), an insertion error determination related to the insertion of the cable 17 is performed based on the difference ΔL1, ΔL2 between the lengths LB1, LB2 of the reinforcing plate 16 before insertion based on the image 80 and the lengths LA1, LA2 of the reinforcing plate 16 after insertion based on the image 84.

[0242] According to this electronic device assembly apparatus 1 / electronic device assembly method, even if the dimensions of the reinforcing plate 16, which serves as the mounting portion of the cable 17, deviate, insertion error determination can be made based on the difference ΔL1 and ΔL2 between the lengths before and after insertion into the connector 13, thereby determining the insertion error based on the actual insertion amount into the connector 13. Thus, insertion error determination can be performed with high accuracy.

[0243] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the video image 80 captured by the imaging process S1 before the cable holding process S2 includes the reinforcing plate 16 of the cable 17 held by the cable holding tool 20.

[0244] Based on this structure / method, the total length of the reinforcing plate 16 can be easily determined.

[0245] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the pre-insertion lengths LB1 and LB2 include a first pre-insertion length LB1 related to the length of the first side of the reinforcing plate 16 and a second pre-insertion length LB2 related to the length of the second side opposite to the first side. The post-insertion lengths LA1 and LA2 include a first post-insertion length LA1 related to the length of the first side and a second post-insertion length LA2 related to the length of the second side. The differences ΔL1 and ΔL2 include the difference between the first pre-insertion length LB1 and the first post-insertion length LA1, i.e., the first difference ΔL1, and the difference between the second pre-insertion length LB2 and the second post-insertion length LA2, i.e., the second difference ΔL2. In the insertion error determination process, the insertion error determination implemented by the insertion amount determination process S12 is performed based on the first difference ΔL1 and the second difference ΔL2, respectively.

[0246] Based on this structure / method, error detection can be performed with greater accuracy by determining the error based on the lengths of the first and second sides of the reinforcing plate 16, respectively.

[0247] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, in the insertion amount determination step S12, if the differences ΔL1 and ΔL2 deviate from a predetermined given range, it is determined to be an insertion error.

[0248] Based on this structure / method, by presetting the appropriate ranges related to the differences ΔL1 and ΔL2 to a given range, insertion error detection can be performed with good accuracy.

[0249] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, a reinforcing plate 16 attached to the cable 17 is used as the mounting part of the cable 17.

[0250] Based on this structure / method, the length of the installation portion of cable 17 can be easily measured. Furthermore, even if there is a dimensional deviation in the reinforcing plate 16, insertion error can be accurately determined by using the differentials ΔL1 and ΔL2 to identify insertion errors.

[0251] Furthermore, in the electronic device assembly apparatus 1 / electronic device assembly method of this embodiment, the connector 13 has a locking mechanism that automatically locks the cable 17 according to the insertion of the cable 17.

[0252] Based on this structure / method, even a so-called automatic locking type locking mechanism can accurately determine whether the cable 17 has been properly inserted by performing an insertion amount determination based on the camera image 80 and the camera image 84.

[0253] The present invention has been described above with examples of the embodiments listed above, but the present invention is not limited to the embodiments described above. For example, in the embodiments, regarding Figure 9 The flowchart shown illustrates a scenario where, prior to the cable holding step S2, a camera step S1 is performed to capture images of the reinforcing plate 16 held before the cable holding tool 20, and the insertion lengths LB1 and LB2 of the reinforcing plate 16 are obtained. This scenario is not limited to this case. For example, if the insertion lengths LB1 and LB2 of the reinforcing plate 16 can be obtained in a camera step S5 performed while the reinforcing plate 16 of the cable 17 and the connector 13 are brought close together via the cable approach step S4, then the camera step S5 can replace the camera step S1, or the camera step S1 can be omitted.

[0254] The flowchart of the variant example that omits the camera operation S1 is shown below. Figure 18 .like Figure 18 As shown, the imaging process S1 is omitted, and the first image is acquired through imaging process S5. An example of an image acquired by imaging process S5 is shown below. Figure 19 .

[0255] Figure 19 The photographic image 100 (first image) shows the state of the reinforcing plate 16 of the cable 17 held by clamping blocks 102, which are different from the clamping blocks 27 of the cable holding tool 20 in terms of structure and implementation.

[0256] In the modified example, the clamping block 102 forms an opening 104 extending through the camera section 50 in the imaging direction. The opening 104 is formed at a position including the rear end, i.e., the free end 16a, of the reinforcing plate 16 when it is held by the clamping block 102. Since the free end 16a of the reinforcing plate 16 can be identified through the opening 104, the position detection section 62 can determine the positions of the identification points R13 and R14 related to the two corners of the free end 16a. The distance between identification points R5 and R13 is calculated as the first pre-insertion length LC1 of the reinforcing plate 16, and the distance between identification points R6 and R14 is calculated as the second pre-insertion length LC2 of the reinforcing plate 16.

[0257] exist Figure 18In the insertion amount determination process S12 shown, the insertion amount is determined using the pre-insertion lengths LC1 and LC2 of the image 100 (first image) captured by the imaging process S5, and the post-insertion lengths LA1 and LA2 of the image 84 (second image) captured by the imaging process S11. The specific determination method is the same as... Figure 9 The insertion amount determination process S12 in the flowchart is the same, so the description is omitted.

[0258] According to this modified example, the imaging process S1 can be omitted, and both the first and second images are captured with the connector 13 and the reinforcing plate 16 close together, thus ensuring that the scales of the first and second images are consistent. Therefore, the insertion error determination based on the insertion amount determination process S12 can be performed with high accuracy.

[0259] According to the electronic device assembly apparatus of this modification, the control unit 61 performs control (image capture step S5) to capture an image 100 while the reinforcing plate 16 and connector 13 of the cable 17 held by the cable holding tool 20 are brought close together. The image 100 captured under this control includes the reinforcing plate 16 and connector 13 of the cable 17. Furthermore, according to the electronic device assembly method of this modification, the image 100 captured by the image capture step S5 (first image capture step) after the cable approach step S4 includes the reinforcing plate 16 and connector 13 of the cable 17 held by the cable holding tool 20.

[0260] Based on this structure / method, it is possible to capture a camera image 100 (first image) before insertion and a camera image 84 (second image) after insertion from the same camera angle, and to calculate the difference ΔL1 and ΔL2 in the length of the reinforcing plate 16 with good accuracy.

[0261] Alternatively, the cable 17 and cable retaining tool 20 can be used separately depending on the combination thereof. Figure 9 Flowchart processing and based on Figure 18 The processing of flowcharts. Specifically, this could be, for example... Figure 19 As shown, in the captured image 100 showing the holding state of the cable 17 held by the cable holding tool 20, the total length of the reinforcing plate 16 (mounting portion) can be calculated, based on... Figure 18 The processing of flowcharts, in such Figure 13 In cases where the overall length of the reinforcing plate 16 cannot be calculated due to the inability to visually identify it from the camera image 82, a method based on... Figure 9 The processing of flowcharts.

[0262] That is, the control unit 61 can control the recording of the image 80 (first image) before the cable holding tool 20 holds the cable 17. Figure 9The camera operation S1), and the control of camera imaging of image 100 (first image) after bringing the reinforcing plate 16 (mounting part) of cable 17 and connector 13 close together. Figure 18 In the imaging process S5, either the cable 17 and the cable holding tool 20 can be selectively performed based on their combination. In other words, either the imaging process S1 (first imaging step) performed before the cable holding process S2, or the imaging process S5 (first imaging step) performed after the cable approaching process S4, can be selectively performed based on the combination of the cable 17 and the cable holding tool 20.

[0263] Based on this structure / method, by switching controls according to the respective specifications of cable 17 and cable holding tool 20, more appropriate control can be performed, thereby achieving processing efficiency.

[0264] Furthermore, in this embodiment, the locking mechanism of cable 17 is described as an automatic locking type, but it is not limited to this case. A locking mechanism that is not an automatic locking type, such as locking cable 17 using a connector locking tool, may also be used. For example, a locking mechanism may be provided that has a cover member for opening and closing the terminal face 13b of connector 13, and the cover member is closed using a connector locking tool different from the cable holding tool 20 to lock cable 17.

[0265] Furthermore, while the embodiment describes inserting the cable 17 at an angle relative to the inclined connector 13, it is not limited to this case. The operating angle θ of the connector 13 and the insertion direction Q of the cable 17 can also be any angle / direction. For example, depending on the specifications of the connector 13 and the cable 17, the connector 13 can be configured with an operating angle θ = 0 degrees and the cable 17 can be inserted in a horizontal direction.

[0266] Furthermore, in this embodiment, the cable holding tool 20 is described as holding the cable 17 by clamping the reinforcing plate 16 above and below it, but this is not a limitation. For example, any cable holding tool can be used as long as it can hold the cable 17, such as one that can hold the upper surface of the reinforcing plate 16.

[0267] Furthermore, in the embodiment, a reinforcing plate 16, which is harder than the connector body 15, was described as the mounting portion for mounting the cable 17 to the connector 13, but this is not a limitation. Even if a target object is placed at a given position away from the end 15a of the cable body 15 without the reinforcing plate 16, the portion from the end 15a to the given position can be distinguished as a mounting portion. For example, this could be in the case where there is printing on the main surface of the cable body 15, or in the case where the cable body 15 is provided with a through hole or notch.

[0268] Furthermore, in this embodiment, a platform-type cylinder 22 is described as the force-applying component that generates a force F in the cable holding tool 20, and an electro-pneumatic adjuster 60 is described as the force-variable unit that makes the force F variable. However, this is not a limitation. Any force-applying component can be used as long as the cable holding tool 20 generates a force F, and any force-variable unit can be used as long as the force F can be variably controlled. Furthermore, it is also possible to omit the force-variable unit, or for the force-applying component itself to variably generate the force F.

[0269] Furthermore, in the embodiment, the case where the movable part 20B reaches the first relative position P1 is detected by the first detection unit 74A, and the second relative position P2 is detected by the second detection unit 74B (different from the first detection unit 74A), has been described, but the embodiment is not limited to this case. It is also possible to use a single detection unit that serves as both the first detection unit 74A and the second detection unit 74B to detect the movable part 20B reaching the relative positions P1 and P2 respectively. That is, the first detection unit and the second detection unit can also be the same.

[0270] Furthermore, in this embodiment, the case where the first detection unit 74A and the second detection unit 74B are automatic switches of the cylinder 22 has been described, but the implementation is not limited to this case. Any detection unit can be used as long as it can detect the relative movement of the movable part 20B with respect to the fixed part 20A.

[0271] Furthermore, in this embodiment, the case where insertion error determination is performed on the insertion amounts of the first and second sides of the reinforcing plate 16 in the insertion amount determination process S12 is described, but it is not limited to this case. Insertion error determination may also be performed based on the insertion amount of either the first or second side, or on the value obtained by summing the insertion amounts of the first and second sides (average value).

[0272] This disclosure has been fully described with reference to the accompanying drawings and in connection with preferred embodiments, but various modifications and alterations will be apparent to those skilled in the art. It should be understood that such modifications and alterations are included therein as long as they do not depart from the scope of this disclosure based on the added claims. Furthermore, variations in the combination and order of elements in the various embodiments can be implemented without departing from the scope and spirit of this disclosure.

[0273] Furthermore, by appropriately combining any of the various modifications of the above-described embodiments, the respective effects can also be achieved.

[0274] Industrial availability

[0275] This invention can be applied to any electronic device assembly apparatus and method that assembles electronic devices by installing cables to the connectors of electronic devices.

Claims

1. An electronic device assembling apparatus comprising: a cable holding tool that holds a cable for attachment to a connector of an electronic device; a base portion on which the cable holding tool is mounted; a robot portion that relatively moves the cable holding tool with respect to the electronic device by moving the base portion; and a control portion that attaches the cable held by the cable holding tool to the connector by driving the robot portion, wherein the cable holding tool has a movable portion that is relatively movable with respect to the base portion and has a function of holding the cable, and a force applying member that applies a force to the movable portion in a direction toward a given position, wherein the electronic device assembling apparatus further comprises: a first detection unit that detects that the movable portion reaches a first relative position away from the given position against the force; and a second detection unit that detects that the movable portion reaches a second relative position further away from the first relative position against the force, wherein the first detection unit and the second detection unit each have an automatic switch provided to a cylinder as the force applying member.

2. The electronic device assembling apparatus according to claim 1, further comprising: a force variable unit that variably controls the force of the force applying member.

3. The electronic device assembling apparatus according to claim 2, wherein the force applying member is a cylinder, and the force variable unit is an electro-pneumatic regulator.

4. The electronic device assembling apparatus according to any one of claims 1 to 3, wherein the control portion performs an insertion error determination of the cable based on a detection result of the first detection unit and a detection result of the second detection unit.

5. The electronic device assembling apparatus according to claim 4, wherein the control portion determines that the cable has an insertion error based on that the first detection unit does not detect that the cable holding tool reaches the first relative position, and determines that the cable has an insertion error based on that the second detection unit detects that the cable holding tool reaches the second relative position.

6. The electronic device assembling apparatus according to any one of claims 1 to 3, wherein the control portion performs control so as to interrupt the insertion of the cable based on that the second detection unit detects that the cable holding tool reaches the second relative position.

7. The electronic device assembling apparatus according to any one of claims 1 to 3, wherein the connector has a locking mechanism that automatically locks the cable based on the insertion of the cable.

8. An electronic device assembling method of assembling an electronic device by attaching a cable to a connector of the electronic device, the electronic device assembling method comprising: a holding step of moving a base portion on which a cable holding tool is mounted, and holding the cable by the cable holding tool; and an insertion step of inserting the cable held by the cable holding tool into the connector, wherein the cable holding tool has a movable portion that is relatively movable with respect to the base portion and has a function of holding the cable. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ and a force applying member to apply a force to the movable portion in a manner to approach a given position, The electronic device assembly method further includes: a first detection process of detecting that the movable portion reaches a first relative position away from the given position against the force, and a second detection process of detecting that the movable portion reaches a second relative position further away from the first relative position against the force, In the first detection process and the second detection process, detection is performed using an automatic switch provided to a cylinder as the force applying member.

9. The electronic device assembly method according to claim 8, wherein the force of the force applying member is variable by a force variable unit.

10. The electronic device assembly method according to claim 9, wherein the force applying member is a cylinder, and the force variable unit is an electro pneumatic regulator.

11. The electronic device assembly method according to any one of claims 8 to 10, further comprising: an insertion error determination process of determining whether the cable is normally inserted based on a detection result of the first detection process and a detection result of the second detection process.

12. The electronic device assembly method according to claim 11, wherein in the insertion error determination process, it is determined that the cable is inserted with an error in accordance with that the cable holding tool does not reach the first relative position in the first detection process, and it is determined that the cable is inserted with an error in accordance with that the cable holding tool reaches the second relative position in the second detection process.

13. The electronic device assembly method according to any one of claims 8 to 10, further comprising: an insertion interruption process of interrupting the insertion of the cable in accordance with that the cable holding tool reaches the second relative position in the second detection process.

14. The electronic device assembly method according to any one of claims 8 to 10, wherein the connector has a locking mechanism that automatically locks the cable in accordance with the insertion of the cable. ​ ​

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