Assembly apparatus, assembly method, and manufacturing method of electronic equipment

Abstract

The robot hand (4) grasps the first component (1) and tilts it so that one of the pair of first sidewall portions (10) is lower than the other. The tilted robot hand (4) descends from above the second component (2) and releases the grasp after the lower surface of one of the pair of first sidewall portions (10) contacts the upper surface of one of the pair of second sidewall portions (16). The protrusion (14a) protruding from the foot (13) extending downward from one of the pair of first sidewall portions (10) is inserted into the recess (19b) formed in one of the pair of second sidewall portions (16). The robot hand (4) presses the first component 1. The protrusion (14b) protruding from the foot (13) extending downward from the other of the first sidewall portion (10) is inserted into the recess (19b) formed in the other of the pair of second sidewall portions (16).

Description

Technical Field

[0001] This invention relates to an assembly apparatus, an assembly method, and a method for manufacturing electronic devices that use robots to assemble components. Background Technology

[0002] Conventionally, snap-fit ​​devices are known as a method for fitting two components that constitute the frame of an electronic device. A snap-fit ​​device utilizes the elasticity of a material to fit together by hooking a protrusion on one component onto a recess on another component. In recent years, with the aim of improving the productivity of electronic devices, there has been a demand for developing a device that can replace manual assembly operations using snap-fit ​​devices as described above with robotic operations. For example, Patent Document 1 discloses a component assembly apparatus configured such that, with a first component placed on top of a second component, a pressing part presses down on the first component, thereby engaging the snap-fit ​​parts.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-195853 Summary of the Invention

[0004] On the other hand, for components of electronic devices with a substrate mounted inside the housing, in addition to the snap-fit ​​fitting, a connector for electrically connecting the components to each other is also required for fitting. However, in the case of components with connectors provided inside the housing, the existing method has the problem that the connectors interfere, making it impossible to perform the snap-fit ​​fitting.

[0005] The present invention was proposed to solve the above-mentioned problems. Its purpose is to provide an assembly device, an assembly method, and a manufacturing method for an electronic device that fits two components constituting the frame of an electronic device together by means of a connector and by means of a snap fastener.

[0006] The assembly apparatus of the present invention assembles a first component and a second component. The first component has a first connector disposed on a first substrate such that it is closer to one of a pair of opposing first sidewall portions than the other. The second component has a second sidewall portion surrounding a second substrate, and a second connector disposed on the second substrate such that it is closer to one of a pair of opposing second sidewall portions than the other. The assembly apparatus includes: a robotic hand having a gripping portion for gripping the first component and a pressing portion for pressing the first component; a robot having a robotic hand at its front end; and a control unit for controlling the robotic hand and the robot. The control unit grips the first component via the gripping portion of the robotic hand, such that one of the pair of first sidewall portions is positioned lower than the other, causing the first component gripped by the robotic hand to... The components are tilted, causing the tilted first component to descend from above the second component. After the lower surface of one of the pair of first sidewalls contacts the upper surface of one of the pair of second sidewalls, the gripping part is released. This causes the foot extending downward from one of the pair of first sidewalls to pass through the inner side of the pair of second sidewalls. The protrusion of the foot extending downward from one of the pair of first sidewalls to the outer side of the pair of first sidewalls is inserted into the recess formed in one of the pair of second sidewalls. The first component is pressed by the pressing part of the robot hand, causing the foot extending downward from the other of the pair of first sidewalls to pass through the inner side of the pair of second sidewalls. The protrusion of the foot extending downward from the other of the pair of first sidewalls to the outer side of the pair of first sidewalls is inserted into the recess formed in the other of the pair of second sidewalls.

[0007] Furthermore, the assembly method of the present invention assembles a first component and a second component. The first component has a first sidewall portion surrounding a first substrate, and a first connector is provided on the first substrate in such a way that it is closer to the other than one of a pair of opposing first sidewall portions. The second component has a second sidewall portion surrounding a second substrate, and a second connector is provided on the second substrate in such a way that it is closer to the other than one of a pair of opposing second sidewall portions. The assembly method involves: tilting the first component, which is gripped by a robotic arm, such that one of the pair of first sidewall portions is lower than the other; lowering the tilted first component from above the second component, such that the lower surface of one of the pair of first sidewall portions and the pair of second sidewall portions... After the upper surface of one of the parts contacts, the gripping part releases its grip, thereby allowing the foot extending downward from one of the pair of first sidewalls to pass through the inside of the pair of second sidewalls and insert the protrusion protruding from the foot extending downward from one of the pair of first sidewalls to the outside of the pair of first sidewalls into the recess formed in one of the pair of second sidewalls; and the first component is pressed by the pressing part of the robot hand in such a way that the first substrate and the second substrate are parallel, thereby allowing the foot extending downward from the other of the pair of first sidewalls to pass through the inside of the pair of second sidewalls and insert the protrusion protruding from the foot extending downward from the other of the pair of first sidewalls to the outside of the pair of first sidewalls into the recess formed in the other of the pair of second sidewalls.

[0008] Furthermore, the manufacturing method of the electronic device according to the present invention uses an assembly apparatus to assemble a first component and a second component. The first component has a first sidewall portion surrounding a first substrate, and a first connector is provided on the first substrate in such a way that it is closer to the other than one of a pair of opposing first sidewall portions. The second component has a second sidewall portion surrounding a second substrate, and a second connector is provided on the second substrate in such a way that it is closer to the other than one of a pair of opposing second sidewall portions. The lower surface of one of the pair of first sidewall portions and the upper surface of one of the pair of second sidewall portions are in contact at a first contact point. When the first connector and the second connector are in contact at a second contact point, a floating mechanism is formed in the second connector based on the difference between the horizontal distance from the first contact point to the second connector and the horizontal distance from the first contact point to the second contact point.

[0009] The effects of the invention

[0010] According to the assembly apparatus and method of the present invention, a robotic hand holding a first component is tilted such that one of the pair of first sidewalls of the first component is lower than the other. While tilted, the robotic hand descends from above the second component to release its grip, and then the first component is pressed against the second component. Thus, the first and second components can be engaged via a connector and also via a snap-fit ​​mechanism.

[0011] Furthermore, according to the manufacturing method of the electronic device according to the present invention, a floating mechanism is formed in the second connector, thereby enabling the engagement of the first connector and the second connector to be performed even when the relative positions of the first connector and the second connector are misaligned during the engagement process by snapping. Attached Figure Description

[0012] Figure 1 This is a schematic structural diagram of the assembly device involved in Embodiment 1.

[0013] Figure 2 This is a hardware structure diagram of the control unit of the assembly device according to Embodiment 1.

[0014] Figure 3 This is a schematic cross-sectional view of the work object, i.e., the component, of the assembly apparatus involved in Embodiment 1.

[0015] Figure 4 This is a schematic diagram of the work object, i.e., the component, of the assembly apparatus according to Embodiment 1. (a) is a side view, and (b) is a perspective view of the first component.

[0016] Figure 5 This is a schematic cross-sectional view of the work object, i.e., the component, of the assembly apparatus involved in Embodiment 1.

[0017] Figure 6 This is a flowchart illustrating the assembly method using the assembly apparatus described in Embodiment 1.

[0018] Figure 7 This is a schematic structural diagram of the robotic arm of the assembly device according to Embodiment 1.

[0019] Figure 8 This is a schematic structural diagram illustrating the angle of the work object grasped by the robotic arm of the assembly apparatus according to Embodiment 1.

[0020] Figure 9 This is a schematic structural diagram showing the angles of the components of the assembly apparatus according to Embodiment 1.

[0021] Figure 10 This is a schematic structural diagram showing a part of the assembly process using the assembly apparatus involved in Embodiment 1.

[0022] Figure 11 This is a schematic structural diagram showing a part of the assembly process using the assembly apparatus involved in Embodiment 1.

[0023] Figure 12 This is a schematic structural diagram showing a part of the assembly process using the assembly apparatus involved in Embodiment 1.

[0024] Figure 13 This is a diagram used to illustrate the assembly process using the assembly apparatus according to Embodiment 1.

[0025] Figure 14 This is a schematic structural diagram showing an example of the robotic hand of the assembly device according to Embodiment 1.

[0026] Figure 15 This is a diagram used to illustrate the assembly process using the assembly apparatus according to Embodiment 1.

[0027] Figure 16 This is a schematic structural diagram showing the work objects, i.e., components, of the assembly apparatus involved in Embodiment 1.

[0028] Figure 17 This is a schematic diagram illustrating a method for manufacturing an electronic device that assembles components using the assembly apparatus according to Embodiment 1.

[0029] Figure 18 This is a schematic structural diagram of the robotic arm of the assembly device according to Embodiment 2.

[0030] Figure 19 This is a flowchart illustrating the assembly method using the assembly apparatus described in Embodiment 2.

[0031] Figure 20 This is a diagram showing the relationship between the load of the load sensor and the position coordinates of the descent direction of the assembly device according to Embodiment 2.

[0032] Figure 21 This is a schematic structural diagram showing the dimensions of the components of the assembly apparatus according to Embodiment 3.

[0033] Figure 22 This is a schematic structural diagram showing a part of the assembly process using the assembly apparatus involved in Embodiment 3.

[0034] Figure 23 This is a flowchart illustrating the assembly method using the assembly apparatus described in Embodiment 3.

[0035] Figure 24This is a schematic structural diagram showing a part of the assembly process using the assembly apparatus according to Embodiment 3. (a) is a diagram including a part of the assembly apparatus, and (b) is a diagram of the work object. Detailed Implementation

[0036] Implementation method 1.

[0037] Hereinafter, suitable embodiments of the power control device according to the present invention will be described with reference to the accompanying drawings. Furthermore, the same reference numerals will be used to denote the same content and equivalent parts, and detailed descriptions will be omitted. Similarly, in subsequent embodiments, repeated descriptions of structures labeled with the same reference numerals will be omitted.

[0038] Assembly device 100 assembles the first component 1 to the second component 2. Figure 1 This is a schematic structural diagram of the assembly apparatus according to Embodiment 1. (As shown) Figure 1 As shown, the assembly apparatus 100 includes a robot 3, a robot hand 4 disposed at its front end, and a control unit 5 for controlling the movements of the robot 3 and the robot hand 4. The assembly apparatus 100 may also include a worktable 6 for setting the first component 1 and the second component 2, and alignment components 7 and 8 for fixing the first component 1 and the second component 2 to predetermined positions, respectively. The alignment components 7 and 8 are not particularly limited and may also be alignment pins. In addition, the control unit 5 may be mounted inside the robot 3 or may be located outside the robot 3, and the robot 3 may be remotely operated from the control unit 5 via wireless or other means.

[0039] exist Figure 1 In the accompanying drawings described below, the X and Y directions define the plane on which the robot 3 is mounted or the plane on which the worktable 6 that mounts the first component 1 and the second component 2 is mounted, and the Z direction defines the vertical direction perpendicular to the XY plane. Furthermore, in the following description, the positive direction of the Z-axis will be referred to as "up" and the negative direction as "down".

[0040] Robot 3 moves robot hand 4 to the position coordinates specified by control unit 5.

[0041] Robot 3 is, for example, a vertically jointed robot with 6 rotational degrees of freedom. Robotic hand 4 performs vertical or planar movements to grasp the first component 1. Robot 3 can rotate by tilting robotic hand 4 at a predetermined angle.

[0042] Control unit 5 is, for example, a robot controller equipped with a computer such as a microcontroller. An example of the hardware structure of control unit 5 is shown below. Figure 2The system is shown. It consists of a processor 5a and a storage device 5b, which, although not shown, includes a volatile storage device such as random access memory and a non-volatile auxiliary storage device such as flash memory. Alternatively, a hard disk can be used as an auxiliary storage device instead of flash memory. The processor 5a reads and executes software such as basic programs input to the storage device 5b, thereby controlling various actions of the robot 3, for example. In this case, the program is input from the auxiliary storage device to the processor 5a via the volatile storage device. Furthermore, the processor 5a can also output data such as calculation results to the volatile storage device of the storage device 5b, or it can save data to the auxiliary storage device via the volatile storage device.

[0043] Component 1 and Component 2 are each components that form part of the frame of the electronic device. The material of Component 1 and Component 2 is not particularly limited, but for the fitting by snap-fit, it is preferable to be a resin molded product that is appropriately elastic. Figure 3 This is a schematic cross-sectional view of the assembly apparatus according to Embodiment 1 before the components are fitted together. Figure 4 (a) is a schematic side view of the assembly apparatus according to Embodiment 1 before the components are fitted together. Figure 4 (b) is a perspective view of component 1. Figure 3 and Figure 4 In (a), the X direction is consistent with the depth direction of the first component 1 and the second component 2, the Y direction is consistent with the width direction of the first component 1 and the second component 2, and the Z direction is consistent with the height direction of the first component 1 and the second component 2.

[0044] like Figure 3 and Figure 4 As shown, the first component 1 has a rectangular top portion 9 when viewed from the height direction, and a first sidewall portion 10 that stands upright from the outer periphery of the top portion 9 in the height direction. A first substrate 11 is fixed to the inner side of the first component 1, which is surrounded by the first sidewall portion 10, parallel to the top portion 9 and spaced apart in the height direction. The first substrate 11 is, for example, positioned at the same height as the lower surface of the first sidewall portion 10.

[0045] A first connector 12 is provided on the first substrate 11. The first connector 12 is configured to be closer to one of a pair of first sidewall portions 10 facing each other in the width direction. Hereinafter, the side of the pair of first sidewall portions 10 facing each other in the width direction that is farther away from the first connector 12 will be designated as first sidewall portion 10a, and the side that is closer to the first connector 12 will be designated as first sidewall portion 10b. When referring to both, it will be referred to as first sidewall portion 10. Furthermore, when describing both first sidewall portion 10 and first sidewall portion 10a, in the accompanying drawings, the first sidewall portion will be indicated as 10a, 10 or 10b, 10. The parts for which the same components are described below will also be indicated in the same way.

[0046] Two feet 13 are provided on a pair of first sidewall portions 10 facing each other in the width direction of the first component 1, each extending in the height direction. The feet 13 extend, for example, to the same height as the side of the first connector 12 that is fixed to the first substrate 11. A protrusion 14 is formed on each foot 13, projecting outwards from the pair of first sidewall portions 10. The protrusion 14 is, for example, located at the lower end of the foot 13. The protrusion 14 is preferably a tapered shape that narrows in the projecting direction. Furthermore, in the figures, the feet 13 and the protrusion 14 are shown with shading lines indicating cross-sections omitted from the viewpoint of easy observation. The same applies to the other figures.

[0047] Hereinafter, the side of the feet 13 that are opposite each other in the width direction that is farther away from the first connector 12 will be designated as foot 13a, and the side that is closer to the first connector 12 will be designated as foot 13b. When referring to both, it will be referred to as foot 13. In addition, the side of the protrusions 14 that is farther away from the first connector 12 will be designated as protrusion 14a, and the side that is closer to the first connector 12 will be designated as protrusion 14b. When referring to both, it will be referred to as protrusion 14.

[0048] like Figure 3 and such Figure 4 As shown, the second component 2 has a cuboid-shaped main body 15 and a second sidewall 16 extending vertically from the outer periphery of the upper surface of the main body 15 in the height direction. A second substrate 17 is fixedly disposed on the inner side of the second component 2, surrounded by the second sidewall 16. A second connector 18 is disposed on the second substrate 17. The second connector 18 is positioned closer to one of the pair of second sidewalls 16 facing each other in the width direction. The second connector 18 is positioned corresponding to the first connector 12 of the first component 1. The first connector 12 and the second connector 18 engage to electrically connect the first component 1 and the second component 2.

[0049] On the second component 2, a pair of second sidewall portions 16 facing each other in the width direction are respectively formed with recesses 19 corresponding to the positions on the first component 1 where the feet 13 are provided. The recesses 19 are, for example, through holes through which the second sidewall portions 16 pass. The length of the second sidewall portion 16 from its upper surface to the recess 19 is preferably the same as the length of the feet 13 in the height direction. The protrusions 14 formed on the feet 13 of the first component 1 are inserted into the recesses 19 formed on the second sidewall portions 16 of the second component 2, and are engaged by a snap-fit. Furthermore, in the figures, the shading lines representing cross-sections of the second sidewall portions 16 are omitted for ease of observation. The same applies to the other figures.

[0050] Hereinafter, the side of the second sidewall portion 16 that is opposite in the width direction, away from the second connector 18, will be designated as second sidewall portion 16a, and the side that is close to the second connector 18 will be designated as second sidewall portion 16b. When referring to both, they will be referred to as second sidewall portion 16. Similarly, the side of the recess 19 that is opposite in the width direction, away from the second connector 18, will be designated as recess 19a, and the side that is close to the second connector 18 will be referred to as recess 19b. When referring to both, they will be referred to as recess 19.

[0051] like Figure 3 and Figure 4 As shown, the first component 1 and the second component 2 are configured such that, if they are arranged to overlap in the height direction, the positions of the first connector 12 and the second connector 18, the position of the foot 13 and the position of the protrusion 14 and the recess 19 are consistent in the width direction and the depth direction.

[0052] Figure 5 This is a schematic cross-sectional view of the assembly apparatus according to Embodiment 1 after the components are fitted together. Figure 5 As shown, when the first component 1 and the second component 2 are fitted together, the foot 13 of the first component 1 passes inside the second side wall portion 16 of the second component 2, and the protrusion 14 of the first component 1 is inserted into the recess 19 of the second component 2. Furthermore, in the fitted state, the lower surface of the first side wall portion 10 of the first component 1 and the upper surface of the second side wall portion 16 are in contact.

[0053] When fitting the first component 1 and the second component 2, if the first substrate 11 of the first component 1 is kept parallel to the second substrate 17 of the second component 2 while pressing the first component 1 into the second component 2, the first connector 12 and the second connector 18 will interfere before the protrusion 14 of the foot 13 is inserted into the recess 19, thus preventing the fitting by snap-fit. Furthermore, if the first substrate 11 of the first component 1 is kept parallel to the second substrate 17 of the second component 2 while pressing the first component 1 into the second component 2, the relative positions of the first component 1 and the second component 2 in the width and depth directions may deviate.

[0054] Therefore, when fitting the first component 1 and the second component 2 together, firstly, the first component 1 needs to be tilted so that the first sidewall portion 10a on the side away from the first connector 12 approaches the second sidewall portion 16a on the side away from the second connector 18. Then, the protrusion 14a of the foot portion 13a on the side away from the first connector 12 is inserted into the recess 19a of the second component 2. Then, while restoring the tilt of the first component 1 so that the first substrate 11 becomes parallel to the second substrate 17, the first connector 12 and the second connector 18 are fitted together, and the protrusion 14b of the foot portion 13b on the side approaching the first connector 12 is inserted into the recess 19b of the second component 2.

[0055] Next, the method of assembling the first component 1 and the second component 2 using the assembly device 100 will be described. Figure 6 This is a flowchart illustrating the assembly method using the assembly apparatus according to Embodiment 1. At the start of the assembly operation, as... Figure 1 As shown, the first component 1 and the second component 2 are, for example, disposed on the worktable 6 at positions specified by the alignment components 7 and 8.

[0056] Figure 7 This is a schematic structural diagram of the robotic arm of the assembly apparatus according to Embodiment 1. The robotic arm 4, for example, has a gripping part 20 for grasping the first component 1 and a pressing part 21 for pressing the top surface 9 of the first component 1. The gripping part 20, for example, has a suction cup 20a connected to a vacuum ejector 22. With the top surface 9 of the first component 1 in contact with the suction cup 20a, the vacuum ejector 22 performs a suction action, thereby creating a vacuum between the suction cup 20a and the vacuum ejector 22, enabling the gripping of the first component 1. The vacuum ejector 22 may also have a vacuum confirmation sensor capable of confirming the vacuum pressure. The material of the pressing part 21 is not particularly limited, but a resin-based material is preferred to avoid damaging the first component 1.

[0057] Below, we will use it as an example. Figure 7 The assembly method of the robot arm 4 assembling the first component 1 and the second component 2 is illustrated below. Figure 6 As shown, the control unit 5 first outputs a command to the robot arm 4 to grasp the first component 1 (step S1). First, the robot arm 4 receives the command from the control unit 5 and moves above the first component 1. Then, the vacuum ejector 22 begins its suction action. The robot arm 4 descends to the position coordinates specified by the control unit 5. The suction cup 20a of the robot arm 4 contacts the top surface 9 of the first component 1 at the position where the robot arm 4 has completed its descent. A vacuum is created between the suction cup 20a and the vacuum ejector 22, and the first component 1 is grasped.

[0058] The vacuum status is confirmed by the vacuum confirmation sensor of the vacuum ejector 22. After confirming the vacuum status, the vacuum confirmation sensor outputs a signal to the control unit 5. Upon receiving the output signal, the control unit 5 outputs a command to the robot hand 4 to move upward above the part on which the first part 1 is located while it is gripping the first part 1.

[0059] Next, the control unit 5 outputs a command to the robot hand 4 to move above the second part 2 while holding the first part 1 (step S2).

[0060] Next, the control unit 5 outputs a command to tilt the robot hand 4 at a predetermined angle above the second component 2 (step S3). That is, the control unit 5 tilts the robot hand 4 such that the lower surface of the first sidewall portion 10a (farthest from the first connector 12) of the pair of opposing first sidewall portions 10 in the width direction is lower than the lower surface of the first sidewall portion 10b (closer to the first connector 12). In other words, the robot hand 4 is tilted such that the lower surface of the first sidewall portion 10a (farthest from the first connector 12) in the vertical direction approaches the upper surface of the second sidewall portion 16a (farthest from the second connector 18). Corresponding to the tilt of the robot hand 4, the first component 1 being gripped also tilts in the same manner.

[0061] Figure 8 This is a schematic structural diagram illustrating the angle of the work object grasped by the robotic arm of the assembly apparatus according to Embodiment 1. In step S3, the angle specified by the control unit 5 for the robotic arm 4 is set, for example, as angle θ1. This angle θ1 is the angle formed by the first substrate 11 and the second substrate 17 when the lower surface of the first sidewall portion 10a on the side away from the first connector 12 of the first component 1 is in contact with the upper surface of the second sidewall portion 16a on the side away from the second connector 18 of the second component 2, and the lower surface of the foot portion 13b on the side close to the first connector 12 of the first component 1 is in contact with the upper surface of the second sidewall portion 16b on the side close to the second connector 18 of the second component 2.

[0062] When the robot hand 4 and the first component 1 held by the robot hand 4 are tilted at an angle θ1, the control unit 5 outputs a command to lower the robot hand 4 from above the second component 2 (step S4). As the first component 1 lowers, the foot 13a of the first component 1 on the side close to the first connector 12 elastically deforms and passes along the inner side of the second sidewall 16a of the second component 2 on the side away from the second connector 18.

[0063] The robot hand 4 descends until it contacts the lower surface of the first sidewall portion 10a of the first component 1 on the side away from the first connector 12 and the upper surface of the second sidewall portion 16a of the second component 2 on the side away from the second connector 18, and the lower surface of the foot portion 13b of the first component 1 on the side close to the first connector 12 and the upper surface of the second sidewall portion 16b of the second component 2 on the side close to the second connector 18.

[0064] After the robot arm 4 completes its descent, the control unit 5 stops the suction action of the vacuum ejector 22 of the robot arm 4 and performs a vacuum breaking action. As a result, the suction cup 20a separates from the top surface 9 of the first component 1 and releases the grip (step S5). Figure 9 This is a schematic structural diagram showing the angles of the components of the assembly apparatus according to Embodiment 1. The angle between the first substrate 11 and the second substrate 17 is smaller than the angle θ1 before the grip is released, and the angle θ2 after the grip is released is smaller. That is, the relationship is θ2 < θ1.

[0065] If the grip is released, the protrusion 14a formed by the foot 13a extending from the first sidewall portion 10a away from the first connector 12 is inserted into the recess 19a of the second sidewall portion 16a away from the second connector 18. Thus, the first component 1 and the second component 2 are positioned in both the width and depth directions. This prevents positional deviation in the following step S6 and subsequent assembly processes.

[0066] After the grip is released, the vacuum confirmation sensor inside the vacuum ejector 22 outputs the release of the vacuum status to the control unit 5. Figure 10 This is a schematic structural diagram showing a portion of the assembly process using the assembly apparatus described in Embodiment 1. (Example) Figure 10 As shown, the control unit 5 issues a command to make the robot hand 4 move in a horizontal position above the second component 2 (step S6).

[0067] Figure 11 This is a schematic structural diagram showing a portion of the assembly process using the assembly apparatus described in Embodiment 1. (Example) Figure 11As shown, the robot arm 4 descends again under the command of the control unit 5, and presses the top surface 9 of the first component 1 with the pressing part 21 (step S7). The first component 1 is pressed towards the second component 2 by the pressing part 21 of the robot arm 4. At this time, the contact point between the lower surface of the first side wall 10a of the first component 1 and the upper surface of the second side wall 16a of the second component 2 becomes the rotation center, and the angle between the first substrate 11 and the second substrate 17 becomes smaller. Furthermore, by pressing the top surface 9 of the first component 1 with the pressing part 21 of the robot arm 4, the foot 13b of the first component 1 on the side close to the first connector 12 is elastically deformed and flexed, while passing along the inner side surface of the second side wall 16b of the second component 2 on the side close to the second connector 18. Subsequently, the protrusion 14b of the foot 13b of the first component 1 is inserted into the recess 19b of the second side wall portion 16b of the second component 2, and the foot 13b elastically returns to its original shape, and the fitting is completed by the snap fastener.

[0068] In addition, during the period when the top surface 9 of the first component 1 is pressed by the pressing part 21 of the robot hand 4 and the foot 13b of the first component 1 passes along the inner side surface of the second side wall 16b of the second component 2, the first connector 12 of the first component 1 and the second connector 18 of the second component 2 are engaged.

[0069] The first connector 12 and the second connector 18 first make contact at one end in the width direction, and as the first substrate 11 of the first component 1 and the second substrate 17 of the second component 2 become parallel, they are engaged until they make contact at the other end (see reference). Figure 5 ).

[0070] The control unit 5 is configured with position coordinates in the height direction where the protrusion 14b of the first component 1 and the recess 19b of the second component 2 engage. If the robot arm 4 reaches the position coordinates where engagement is completed via the latch, the descent motion of the robot arm 4 is stopped.

[0071] Figure 12 This is a schematic structural diagram showing a portion of the assembly process using the assembly apparatus described in Embodiment 1. (Example) Figure 12 As shown, after the control unit 5 lowers the robot hand 4 to a predetermined position, it determines that the engagement through the latch is complete, and moves the robot hand 4 above the first component 1 (step S8). Thus, the assembly of the first component 1 and the second component 2 is completed.

[0072] Furthermore, in the process of step S5, such as Figure 13 As shown, when the grip of the first component 1 is released, the following situation is also considered: the foot 13a of the first component 1 separates from the second side wall 16a of the second component 2, and the engagement by the snap fastener cannot be achieved.

[0073] The following constitute the situation where the above-mentioned situation does not occur: Figure 14 . Figure 14 This is a schematic structural diagram illustrating another example of the robotic hand of the assembly apparatus according to Embodiment 1. (As shown...) Figure 14 As shown, the robot hand 4 preferably has a first sidewall guide 23, which contacts the outer surface of the first sidewall portion 10b of the first component 1 near the first connector 12. The first sidewall guide 23 prevents the foot portion 13a and the protrusion 14a of the first component 1 from separating from the second sidewall portion 16a of the second component 2.

[0074] Figure 15 This is a schematic structural diagram illustrating a portion of the assembly process using the assembly apparatus described in Embodiment 1. Here, as... Figure 15 As shown, before the protrusion 14b of the foot 13b of the first component 1 on the side near the first connector 12 is inserted into the recess 19b of the second sidewall 16b of the second component 2 on the side near the second connector 18, a portion of the first connector 12 of the first component 1 and a portion of the second connector 18 of the second component 2 are in contact. From the moment the first connector 12 and a portion of the second connector 18 come into contact until the engagement is complete, the foot 13b of the first component 1 undergoes elastic deformation and elastic recovery, thus sometimes causing a misalignment in the relative positions of the first connector 12 and the second connector 18. The second connector 18 of the second component 2 is given a floating mechanism, thereby enabling the first component 1 and the second component 2 to engage even in the event of a misalignment as described above.

[0075] The following describes the process of providing a floating mechanism on the second connector 18 of the second component 2 in order to still allow the connectors to engage when the first connector 12 and the second connector 18 are misaligned relative to each other during engagement using the snap-fit ​​mechanism of the assembly device 100. That is, a method for manufacturing an electronic device that assembles the first component 1 and the second component 2 using the assembly device 100 according to this embodiment will be described. Figure 16 This is a schematic structural diagram showing the work objects, i.e., the components, of the assembly apparatus involved in Embodiment 1. For example... Figure 16 As shown, the second connector 18 of the second component 2 has a surface portion 18a that mates with the first connector 12 and a fixing portion 18b that is fixed to the second substrate 17.

[0076] When the floating mechanism is installed on the second connector 18, the external dimensions of the first connector 12 and the second connector 18 are predetermined. In addition, the positions of the first connector on the first substrate 11 and the second connector 18 on the second substrate 17 are determined.

[0077] In addition, the dimensions of the first side wall portion 10 of the first component 1, the dimensions of the foot portion 13, and the dimensions of the second side wall portion 16 of the second component 2 are determined.

[0078] Figure 17 This is a schematic diagram illustrating a method for manufacturing an electronic device that assembles components using the assembly apparatus according to Embodiment 1. Figure 17 In the diagram, the X-axis represents the depth of the second component 2, the Y-axis represents the width of the second component 2, and the Z-axis represents the height of the second component 2. The second component 2 requires a floating amount in the Y-axis direction. For simplicity, the first connector 12 and the second connector 18 are both designed as cuboids. Furthermore, the lower surfaces of the first substrate 11 and the first sidewall portion 10a, which fix the first connector 12, are designed to be on the same plane.

[0079] exist Figure 17 The diagram shows a state where the lower surface of the first sidewall portion 10a of the first component 1 and the upper surface of the second sidewall portion 16a of the second component 2 are in contact at contact point P1, and the top surface 9 of the first component 1 is pressed by the pressing part 21 of the robot hand 4. Figure 17 As shown, if the first component 1 is pressed, the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a becomes the center, and the first component 1 rotates. If the first component 1 rotates, the first connector 12 of the first component 1 and the second connector 18 of the second component 2 contact at the contact point P2.

[0080] like Figure 17 As shown, the straight-line distance from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the contact point P2 between the first connector 12 and the second connector 18 is defined as L0. The horizontal distance from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the side surface of the second connector 18 on the first sidewall portion 10a side is defined as L1. The straight-line distance from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the side surface of the first connector 12 on the first sidewall portion 10a side is defined as L2. The horizontal distance from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the contact point P2 between the first connector 12 and the second connector 18 is defined as L3.

[0081] The vertical distance from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the contact point P2 between the first connector 12 and the second connector 18 is defined as T1. The length from the surface of the first connector 12 fixed to the first substrate 11 to its opposite surface is defined as T2. Furthermore, the angle between the straight line from the contact point P1 between the lower surface of the first sidewall portion 10a and the upper surface of the second sidewall portion 16a to the contact point P2 between the first connector 12 and the second connector 18, and the straight line drawn from the contact point P1 in a direction parallel to the second substrate 17 of the second component 2, is defined as θ.

[0082] As mentioned above, the positions of the first connector 12 in the first substrate 11, the second connector 18 in the second substrate 17, and the external dimensions of the first connector 12 and the second connector 18 are predetermined. That is, L1, L2, T1, and T2 are known.

[0083] The required float of the second connector 18 of the second component 2 is calculated using L3-L1. L3 is obtained by substituting equation (1) into equation (2) and equation (3).

[0084] Formula 1

[0085] L3=L0×cosθ····Equation (1)

[0086] Formula 2

[0087]

[0088]

Formula 3

[0089]

[0090] L3 can be calculated using equations (1) to (3), and the floating amount of the second connector 18 of the second component 2 can be calculated using L3-L1. A floating mechanism taking into account the calculated floating amount is formed between the surface portion 18a and the fixing portion 18b of the second connector 18 of the second component 2. As a result, even if the relative positions of the first connector 12 and the second connector 18 deviate during engagement by snap-fit, the first connector 12 and the second connector 18 can still be engaged.

[0091] As described above, the assembly apparatus 100 according to this embodiment includes a robot 3, a robot hand 4, and a control unit 5 for controlling them. The control unit 5 can grasp the first component 1 via the gripping portion 20 of the robot hand 4. The robot hand 4 is tilted such that one of the pair of first sidewall portions 10 of the first component 1 is lower than the other. The robot hand 4 is lowered until one of the pair of first sidewall portions 10 contacts one of the second sidewall portions 16, thereby releasing the grip on the first component 1. As a result, a foot 13 extending downward from one of the pair of first sidewall portions 10 passes inside the pair of second sidewall portions 16, and a protrusion 14a protruding from the foot 13a outward from the pair of first sidewall portions 10 is inserted into a recess 19a formed in one of the pair of second sidewall portions 16.

[0092] Furthermore, by pressing the first component 1 with the pressing part 21 of the robot hand 4, the first substrate 11 and the second substrate 17 are made parallel. This causes the foot 13a, extending downward from the other of the pair of first sidewall portions 10, to pass inside the pair of second sidewall portions 16, and the protrusion 14b protruding from the foot 13a outward from the pair of first sidewall portions 10 is inserted into the recess 19b formed in the other of the pair of second sidewall portions 16. By using the structure described above, both connector-based and snap-fit-based engagement can be achieved. Additionally, by inserting the protrusion 14a formed in the foot 13a into the recess 19a formed in one of the pair of second sidewall portions 16, even if the first component 1 is subsequently pressed with the pressing part 21, the relative positions of the first component 1 and the second component 2 can be prevented from shifting.

[0093] Furthermore, in the manufacturing method of an electronic device that assembles the first component 1 and the second component 2 using the assembly apparatus 100 according to this embodiment, a floating mechanism is formed in the second connector 18 based on the difference between the horizontal distance from the contact point between the lower surface of one of the pair of first sidewall portions 10 and the upper surface of one of the pair of second sidewall portions 16 to the second connector 18, and the horizontal distance from the contact point between the upper surface of one of the pair of second sidewall portions 16 to the contact point between the first connector 12 and the second connector 18. Therefore, during the engagement process via snap-fit, even if the relative positions of the first connector 12 and the second connector 18 are misaligned, the first connector 12 and the second connector 18 can still be engaged.

[0094] Implementation method 2.

[0095] Next, Embodiment 2 of the present invention will be described. The assembly apparatus according to this embodiment also includes a load sensor 24 for detecting the load generated by the reaction force from the first component 1 on the robot hand 4b, and controlling the descent motion of the robot hand 4b in accordance with the load detected by the load sensor 24.

[0096] Figure 18 This is a schematic structural diagram showing the robotic arm of the assembly device according to Embodiment 2. (Example) Figure 18 As shown, the robot hand 4b has a load sensor 24 that detects the reaction force. The load sensor 24 is, for example, a contact sensor that detects the reaction force when the pressing part 21 of the robot hand 4b pushes the top part 9 of the first component 1 and the protrusion 14 of the first component 1 is inserted into the recess 19 of the second component 2.

[0097] Next, an assembly method for assembling the first component 1 and the second component 2 using the assembly apparatus according to this embodiment will be described. Figure 19 This is a flowchart illustrating the assembly method of this embodiment. Parts that overlap with the description in Embodiment 1 are omitted as appropriate.

[0098] Control unit 5 outputs a command to robot arm 4b to grasp the first component 1. Figure 19 (Step S1). The robot arm 4b receives a command from the control unit 5 and moves to above the first component 1, causing the vacuum ejector 22 to begin its suction action. The robot arm 4b receives a command from the control unit 5 and descends to a predetermined position coordinate. The first component 1 is gripped by the suction cup 20a of the gripping part 20 of the robot arm 4b.

[0099] The robot hand 4b moves above the second component 2 after receiving a command from the control unit 5 (step S2). The control unit 5 tilts the robot hand 4b such that the lower surface of the first sidewall 10a on the side furthest from the first connector 12 is lower than the lower surface of the first sidewall 10b on the side closest to the first connector 12 (step S3). The robot hand 4b tilts, thereby tilting the first component 1 at the same angle.

[0100] The robot hand 4b descends until the lower surface of the first side wall portion 10a of the first component 1 contacts the upper surface of the second side wall portion 16a of the second component 2, and the lower surface of the foot portion 13b of the first component 1 contacts the upper surface of the second side wall portion 16b of the second component 2 (step S4).

[0101] Next, the vacuum ejector 22 of the robot hand 4b stops its suction action and performs a vacuum breaking action. The suction cup 20a separates from the top surface 9 of the first component 1, releasing the grip (step S5). If the grip is released, the protrusion 14a formed by the foot 13a extending from the first sidewall portion 10a away from the first connector 12 is inserted into the recess 19a of the second sidewall portion 16a away from the second connector 18. The robot hand 4b is restored to a horizontal position above the first component 1 (step S6). The robot hand 4b performs a descent action again (step S7). The pressing part 21 of the robot hand 4b presses the top surface 9 of the first component 1, pushing the first component 1 toward the second component 2 (step S7).

[0102] During the pressing process of the pressing part 21 of the robot hand 4b pressing the top part 9 of the first component 1, the foot 13b of the first component 1 elastically deforms and flexes, passing through the inner side of the second side wall 16b of the second component 2.

[0103] In this embodiment, the load sensor 24 detects the reaction force when the pressing part 21 of the robot hand 4b pushes the first component 1. The load sensor 24 detects the load during the first insertion caused by the deflection of the foot 13b when it begins to pass the second side wall 16b of the second component 2, and the final pressing load when the engagement is completed. The load during the first insertion causes the foot 13b to deflect, thus requiring a large load. Therefore, the load relationship is that the load during the first insertion is greater than the final pressing load.

[0104] Figure 20 This is a graph showing the relationship between the load of the load sensor and the position coordinates of the descent direction of the assembly device according to Embodiment 2. Figure 19 The vertical axis represents the load of the load sensor, and the horizontal axis represents the position coordinates in the descent direction. For example... Figure 20 As shown, the load detected by the load sensor 24 is displaced in three stages: load F1 when the foot 13b of the first component 1 enters the inner side of the second side wall 16b of the second component 2 and begins to flex; load F2 when the foot 13b of the first component 1 is pressed in while flexed; and load F3 when the protrusion 14b of the foot 13b of the first component 1 is embedded into the recess 19b of the second component 2.

[0105] When the protrusion 14b is inserted into the recess 19b, the assembly of the first component 1 and the second component 2 is completed. The lower surface of the first sidewall 10 and the upper surface of the second sidewall 16 are in contact, and the robot hand 4b presses the component directly in, thus increasing the load F3 of the load sensor 24. The load sensor 24 detects that the detected load is within the pre-stored range S of the load at the completed engagement position and determines that the engagement is complete (step S9). If the load is not within the pre-stored range, it can be determined as a poor engagement, and an exception can be sent to the control unit and external systems (step S10).

[0106] When the load at the time of engagement is within the range of the pre-stored load, the control unit 5 determines that engagement is complete and raises the robot hand 4b, thus completing the engagement of the first component 1 and the second component 2 (step S8).

[0107] As described above, in the assembly apparatus according to this embodiment, similarly to Embodiment 1, the robotic hand 4b holding the first component 1 is tilted such that one of the pair of first sidewall portions 10 of the first component 1 is lower than the other. While tilted, the first component 1 is lowered from above the second component 2, releasing the grip of the robotic hand 4b, and then the first component 1 is pressed against the second component 2. This allows for both coupling via a connector and coupling via a snap-fit ​​mechanism.

[0108] Furthermore, in this embodiment, the descent motion of the robot hand 4b can be controlled in accordance with the load detected by the load sensor 24, thereby reducing the load on the first component 1 and the second component 2. In addition, by detecting the load of the reaction force of the insertion by the load sensor 24, if a load outside the allowable range is detected in the loads inserted during the first insertion and the final insertion, a poor fit between the first component 1 and the second component 2 can be determined.

[0109] Furthermore, the floating mechanism described in Embodiment 1 can also be mounted in Embodiment 2.

[0110] Implementation method 3.

[0111] Next, Embodiment 3 of the present invention will be described. The assembly apparatus 100b according to this embodiment also has a mechanism, namely a second sidewall guide 25, on the worktable 6 for pressing the first sidewall portion 10 of the first component 1, and assembling the first component 1 by pressing it from the two directions of the Z-axis and the Y-axis.

[0112] For example, such as Figure 21As shown, regarding the relationship between the fitting dimensions of the dimensions 13c between the feet 13 of the first component 1 and 16c between the second sidewall portions 16 of the second component 2, when the dimension 16c between the second sidewall portions 16 of the second component 2 is smaller than the dimension 13c between the feet 13 of the first component 1, when the top surface 9 of the first component 1 is pressed by the pressing part 21 of the robot hand 4, the feet 13b of the first component 1 come into contact with the upper part of the second sidewall portion 16b of the second component 2. Sometimes, the feet 13b of the first component 1 do not elastically deform and cannot be assembled. In the case described above, not only the pressing in the Z-axis direction as described in embodiments 1 and 2, but also the pressing in the Y-axis direction can be performed simultaneously for assembly.

[0113] Figure 22 This is a schematic structural diagram of the assembly apparatus involved in Embodiment 3. (Example) Figure 22 As shown, the worktable 6 has a pressing mechanism, namely a second sidewall guide 25, for pressing the first sidewall portion 10 of the first component 1. The second sidewall guide 25 is, for example, an air pressure cylinder, which presses the first sidewall portion 10 in the Y-axis direction before the top surface 9 of the first component 1 is pushed by the pressing part 21 of the robot hand 4.

[0114] Next, an assembly method for assembling the first component 1 and the second component 2 using the assembly apparatus 100b according to this embodiment will be described. Figure 23 This is a flowchart illustrating the assembly method of this embodiment. Parts that overlap with the description in Embodiment 1 are omitted where appropriate.

[0115] Control unit 5 outputs a command to robot arm 4b to grasp the first component 1. Figure 6 (Step S1). The robot arm 4b receives a command from the control unit 5 and moves to above the first component 1, causing the vacuum ejector 22 to begin its suction action. The robot arm 4b receives a command from the control unit 5 and descends to a predetermined position coordinate. The first component 1 is gripped by the suction cup 20a of the gripping part 20 of the robot arm 4b.

[0116] The robot hand 4b moves above the second component 2 after receiving a command from the control unit 5 (step S2). The control unit 5 tilts the robot hand 4b such that the lower surface of the first sidewall 10a on the side furthest from the first connector 12 is lower than the lower surface of the first sidewall 10b on the side closest to the first connector 12 (step S3). The robot hand 4b tilts, thereby tilting the first component 1 at the same angle.

[0117] The robot hand 4b descends until the lower surface of the first side wall portion 10a of the first component 1 contacts the upper surface of the second side wall portion 16a of the second component 2, and the lower surface of the foot portion 13b of the first component 1 contacts the upper surface of the second side wall portion 16b of the second component 2 (step S4).

[0118] Next, the vacuum ejector 22 of the robot hand 4b stops its suction action and performs a vacuum breaking action. The suction cup 20a separates from the top surface 9 of the first component 1, releasing the grip (step S5). If the grip is released, the protrusion 14a formed by the foot portion 13a extending from the side of the first sidewall portion 10a away from the side of the first connector 12 is inserted into the recess 19a of the second sidewall portion 16a away from the side of the second connector 18. The robot hand 4b is then restored to a horizontal position above the first component 1 (step S6).

[0119] Next, as Figure 24 As shown in (a), the first sidewall portion 10b of the first component 1 is pressed in the Y-axis direction by the second sidewall guide portion 25 provided on the worktable 6, which presses the first sidewall portion 10 (step S11). During the pressing of the first sidewall portion 10b of the first component 1 in the Y-axis direction, as... Figure 24 (b) The foot 13a of the first component 1 is elastically deformed and flexed, pushing against the inside of the second side wall 16a of the second component 2.

[0120] That is, in Figure 24 In (b), the first side wall portion 10b of the first component 1 is pressed in the Y-axis direction to flex the foot portion 13a of the first component 1. When the pressing part 21 of the robot hand 4 presses the top part 9 of the first component 1, the foot portion 13b of the first component 1 is easily elastically deformed, thereby the foot portion 13b of the first component 1 can easily enter the second side wall portion 16b of the second component 2.

[0121] While the first side wall 10b of the first component 1 is being pressed, the robot arm 4 descends again. Furthermore, the pressing part 21 of the robot arm 4 presses the top part 9 of the first component 1, pushing the first component 1 toward the second component 2 (step S7).

[0122] As described above, in the assembly apparatus according to this embodiment, similarly to Embodiments 1 and 2, the robotic hand 4b holding the first component 1 is tilted such that one of the pair of first sidewall portions 10 of the first component 1 is lower than the other. While tilted, the first component 1 is lowered from above the second component 2, releasing the grip of the robotic hand 4b, and then the first component 1 is pressed relative to the second component 2. This allows for both coupling via a connector and coupling via a snap-fit ​​mechanism.

[0123] Furthermore, in this embodiment, even when the dimension 16c between the second sidewall portions 16 of the second component 2 is smaller than the dimension 13c between the feet 13 of the first component 1, assembly can be easily achieved.

[0124] Furthermore, the floating mechanism described in Embodiment 1 can also be mounted in Embodiment 3.

[0125] In embodiments 1 to 3, examples of robots 3 being 6-axis robots are shown, but robots with fewer than 6 axes, or robots with 6 or more axes, are also possible. For example, robot 3 can be a 3-axis linear robot with linear motion on the X, Y, and Z axes, and the hand assembly is a 1-axis rotatable mechanism. Alternatively, it can be a robot other than a horizontal multi-joint type, such as a vertical multi-joint type.

[0126] Furthermore, in embodiments 1 to 3, examples are shown where the robot hand 4, 4b has a vacuum ejector 22 and the gripping part 20 has a suction cup 20a, but any method that can grip the first component 1 is acceptable; for example, a pneumatic chuck can also be used. Alternatively, a robot hand with multiple fingers that grip across the first component 1 can also be used.

[0127] In addition, in embodiments 1 to 3, an example is shown in which each of the first sidewall portions 10 opposite to each other in the first component 1 has two feet 13a and each of the second sidewall portions 16 opposite to each other in the second component 2 has two recesses 19, but the number of feet 13 and recesses 19 may be greater than or equal to two.

[0128] This invention describes various exemplary embodiments and examples, but the various features, methods and functions described in one or more embodiments are not limited to the application of a specific embodiment, and can also be applied to the embodiment alone or in various combinations.

[0129] Therefore, numerous variations not illustrated will arise within the scope of the technology disclosed in this invention. For example, variations may include at least one structural element being modified, added, or omitted, and variations may include at least one structural element being extracted and combined with structural elements of other embodiments.

[0130] Explanation of the label

[0131] 1: First component, 2: Second component, 3: Robot, 4, 4b: Robot hand, 5: Control unit, 6: Worktable, 7, 8: Alignment unit, 9: Top surface, 10, 10a, 10b: First side wall, 11: First substrate, 12: First connector, 13, 13a, 13b: Feet, 14, 14a, 14b: Protrusions, 15: Main body, 16, 16a, 16b: Second side wall, 17: Second substrate, 18: Second connector, 19, 19a, 19b: Recesses, 20: Gripping part, 20a: Suction cup, 21: Pressing part, 22: Vacuum ejector, 23: First side wall guide part, 24: Load sensor, 25: Second side wall guide part.

Claims

1. An assembly apparatus for assembling the first component and the second component, the first component having a first sidewall portion surrounding the first substrate, wherein a first connector is disposed on the first substrate in such a manner that it is closer to the other than one of a pair of opposing first sidewall portions; the second component having a second sidewall portion surrounding the second substrate, wherein a second connector is disposed on the second substrate in such a manner that it is closer to the other than one of a pair of opposing second sidewall portions. The assembly device has: A robotic hand having a gripping part for grasping the first component and a pressing part for pressing the first component; A robot having the robotic hand at its front end; and The control unit controls the robotic arm and the robot itself. The control unit grips the first component via the gripping part of the robotic arm, tilting the first component gripped by the robotic arm such that one of the pair of first sidewalls is positioned below the other. The tilted first component is lowered from above the second component. After the lower surface of one of the pair of first sidewalls contacts the upper surface of one of the pair of second sidewalls, the gripping part is released, thereby allowing the foot extending downward from one of the pair of first sidewalls to pass through the inside of the pair of second sidewalls. The protrusion of the foot, which extends downward from one of the pair of first sidewalls and protrudes outward from the pair of first sidewalls, is inserted into the recess formed in one of the pair of second sidewalls. The first component is pressed by the pressing part of the robotic hand, thereby causing the foot extending downward from the other of the pair of first sidewalls to pass inside the pair of second sidewalls. The protrusion of the foot, which extends downward from the other of the pair of first sidewalls, protrudes outward from the other of the pair of first sidewalls and is inserted into the recess formed in the other of the pair of second sidewalls.

2. The assembly apparatus according to claim 1, wherein, The control unit lowers the first component until the lower surface of one of the pair of first sidewall portions contacts the upper surface of one of the pair of second sidewall portions, and the lower surface of the foot extending from the other of the pair of first sidewall portions contacts the upper surface of the other of the pair of second sidewall portions.

3. The assembly apparatus according to claim 1 or 2, wherein, The angle at which the first component is tilted is the angle formed between the first substrate and the second substrate when the lower surface of one of the pair of first sidewall portions and the upper surface of one of the pair of second sidewall portions are in contact, and the lower surface of the foot portion extending from the other of the pair of first sidewall portions and the upper surface of the other of the pair of second sidewall portions are in contact.

4. The assembly apparatus according to claim 1 or 2, wherein, The gripping part of the robotic hand has a suction cup, which grips the first component.

5. The assembly apparatus according to claim 1 or 2, wherein, The robotic hand has a sidewall guide that contacts the outer surface of the other of the pair of first sidewalls.

6. The assembly apparatus according to claim 1 or 2, wherein, The robotic hand has a load sensor that detects the load generated by the reaction force when the first component is pressed by the pressing part, and the control unit controls the descent motion of the robotic hand in accordance with the detected load.

7. An assembly method for assembling a first component and a second component, the first component having a first sidewall portion surrounding a first substrate, wherein a first connector is disposed on the first substrate in such a manner that it is closer to the other than one of a pair of opposing first sidewall portions; the second component having a second sidewall portion surrounding a second substrate, wherein a second connector is disposed on the second substrate in such a manner that it is closer to the other than one of a pair of opposing second sidewall portions. The assembly method is as follows: The first component held by the gripper of the robotic hand is tilted such that one of the pair of first sidewalls is positioned below the other. The tilted robotic hand descends from above the second component, and after the lower surface of one of the pair of first sidewalls contacts the upper surface of one of the pair of second sidewalls, the gripping part releases its grip, thereby allowing a foot extending downward from one of the pair of first sidewalls to pass inside the pair of second sidewalls. A protrusion protruding from the foot extending downward from one of the pair of first sidewalls towards the outside of the pair of first sidewalls is inserted into a recess formed in one of the pair of second sidewalls; and The first component is pressed by the pressing part of the robot hand with the first substrate and the second substrate parallel, thereby causing the foot extending downward from the other of the pair of first sidewalls to pass through the inside of the pair of second sidewalls and insert the protrusion protruding from the foot extending downward from the other of the pair of first sidewalls toward the outside of the pair of first sidewalls into the recess formed in the other of the pair of second sidewalls.

8. A method of manufacturing an electronic device, comprising assembling a first component and a second component using an assembly apparatus according to any one of claims 1 to 6, the first component having a first sidewall portion surrounding a first substrate, wherein a first connector is disposed on the first substrate in such a manner that it is closer to the other than one of a pair of opposing first sidewall portions; the second component having a second sidewall portion surrounding a second substrate, wherein a second connector is disposed on the second substrate in such a manner that it is closer to the other than one of a pair of opposing second sidewall portions. With the lower surface of one of the pair of first sidewall portions and the upper surface of one of the pair of second sidewall portions in contact at the first contact point, and the first connector and the second connector in contact at the second contact point, a floating mechanism is formed in the second connector based on the difference between the horizontal distance from the first contact point to the second connector and the horizontal distance from the first contact point to the second contact point.

Images