Hand for connection and hand system

Abstract

Hand for a connection (2, 32) which grasps a component (W) comprising a main body component (4), a flexible plate (5) extending from the main body component (4), and a first connection (6) arranged on the flexible plate (5), and connects the first connection (6) to a second connection (10) of a mounting substrate (7), wherein the hand for a connection (2, 32) comprises: a first gripping unit (12, 26) that grips the main body component (4); a second gripping unit (13, 36) that grips the first connection (6), and a positioning unit, the second gripping unit (13, 36) comprises: a near-contact surface (16) that is brought into close contact with a rear surface of the first terminal (6); and a suction cup (17) which begins to draw in the rear surface of the first connector (6) in a more protruding position than the near contact surface (16), and is drawn into a position where the suction cup (17) is flush with the near contact surface (16) in a drawn-in state, the positioning unit includes: a first positioning unit (22, 39) that performs a positioning of the suction cup (17) of the second gripping unit (13, 36) and of the first connection (6), the rear surface of which is suctioned by the suction cup (17); and a second positioning unit (20, 21, 40) which, in relation to the first connection (6) which is positioned by the first positioning unit (22, 39), bends the flexible plate (5) and performs a positioning, in an interval direction, of the first connection (6) and the main body component (4) by attaching the first connection (6) and the main body component (4) to the mounting substrate (7), wherein the first gripping unit (12, 26) and the second gripping unit (13, 36) grip the main body component (4) and the first connection (6) in a state positioned by the second positioning unit (20, 21, 40).

Description

AREA OF INVENTION

[0001] The present invention relates to a hand for a connection and a hand system. GENERAL STATE OF THE ART

[0002] As work for mounting a component on a substrate, comprising a main body component, a flexible plate extending from the main body component, and an ultra-small connector fixed to the flexible plate, the work of performing a positioning of the main body component after connecting the connector fixed to the flexible plate to a connector located on the substrate was carried out manually.

[0003] JP S59-115600 A shows a machine hand for assembling a seated electronic component, which includes a device for sucking in a seat separate from the electronic component, a device for positioning the seat, and a suction device for the sucked-in seat.

[0004] Furthermore, DE 10 2004 057 775 A1 discloses a handling device for feeding electronic components provided in a component carrier to a test device, with a component holder which has a positioning device for laterally positioning the component in the component holder.

[0005] Furthermore, US 2004 / 0060666 A1 describes, among other things, a component placement device for attaching a foil-like component to a plate-like component, wherein the plate-like component has a first placement section provided on one side edge and a second placement section provided on another side edge, wherein the foil-like component has a first section provided on one side edge and a second section provided on another side edge.

[0006] WO 2017 / 222045 A1 also discloses a robot and a method for transporting a connector with cable harnesses.

[0007] US 2016 / 0203890 A1 further discloses a manufacturing device and a manufacturing process for a cable harness comprising a plurality of electrical wires with a terminal attached thereto and connectors that accommodate the terminals of the electrical wires attached to the terminals. BRIEF DESCRIPTION OF THE INVENTIONAL TECHNICAL TASK

[0008] However, if the connection process is automated by gripping the component with a hand attached to a robot, an excessively large external force is likely to act on the flexible plate due to a flaw in the component's outer shape when the hand grips the side surfaces of both the main body component and the connector. Conversely, if the connector is held in place by a suction cup mounted on the hand, the connection is gripped via the suction cup, which is made of an elastic material. Therefore, a force sensor cannot accurately detect the force applied to the connector. This also makes the connection process more difficult.

[0009] An object of the present invention is to provide a hand for a connection and a hand system that can easily hold a component comprising a connector and a main body component connected by a flexible plate and securely connects the connector to a connector arranged on a substrate. SOLUTION TO THE TASK

[0010] One aspect of the present invention is a hand for a connection joint that grasps a component comprising a main body component, a flexible plate extending from the main body component, and a first connection arranged on the flexible plate, and connects the first connection to a second connection of a mounting substrate. The hand for a connection joint comprises: a first gripping unit that grasps the main body component; and a second gripping unit that grasps the first connection; and a positioning unit.The second gripping unit comprises: a near-contact surface which is brought into close contact with a rear surface of the first connector; and a suction cup which begins to suction the rear surface of the first connector in a more protruding position than the near-contact surface, and is retracted into a position where the suction cup is flush with the near-contact surface in a suctioned state.The positioning unit comprises a first positioning unit that performs a positioning of the suction cup of the second gripping unit and the first connector, the rear surface of which is suctioned by the suction cup; and a second positioning unit that, with respect to the first connector positioned by the first positioning unit, bends the flexible plate and performs a positioning, in an interval direction, of the first connector and the main body component by attaching the first connector and the main body component to the mounting substrate, wherein the first gripping unit and the second gripping unit grasp the main body component and the first connector in a state positioned by the second positioning unit.

[0011] According to this aspect, the main body component is gripped by the first gripping unit, the first connector is gripped by the second gripping unit, and the first connector is pressed against and connected to the second connector of the mounting substrate. When the second gripping unit brings the suction cup into contact with the rear surface of the first connector and suction begins, the suction cup contracts with a suction force, drawing the rear surface of the first connector closer and bringing it into close contact with the near-contact surface located on the second gripping unit.

[0012] The second gripping unit grasps the first connector by suction rather than by gripping a side surface of the first connector. Consequently, it is possible to grip the first connector precisely, regardless of any irregularities in its external shape. The second gripping unit supports the first connector with its near-contact surface rather than a suction cup. Therefore, it is easy to use a force sensor to detect the force applied to the first connector when it is connected to the second connector. As a result, it is possible to easily hold the component, comprising the first connector and the main body component connected by the flexible plate, and to securely connect the first connector to the second connector of the mounting substrate.

[0013] In this aspect, the connection assembly can comprise: a first positioning unit that positions the suction cup of the second gripping unit and the first connector, whose rear surface is held by the suction cup; and a second positioning unit that, relative to the first connector positioned by the first positioning unit, bends the flexible plate and positions, in an interval direction, the first connector and the main body component by attaching the first connector and the main body component to the mounting substrate. The first gripping unit and the second gripping unit can grasp the main body component and the first connector in a state positioned by the second positioning unit.

[0014] With this design, the first positioning unit performs the positioning of the suction cup and the first connector. The second positioning unit then performs the positioning of the first connector and the main body component in the interval direction, as positioned by the first positioning unit. The first and second gripping units grasp the main body component and the first connector in the position determined by the second positioning unit. Consequently, it is possible to directly mount the main body component and the first connector onto the mounting substrate in their positioned state.

[0015] In this aspect, the main body component can be formed in a flat shape and the second positioning unit can comprise: a pressing unit which presses the main body component in a thickness direction; and an inclined surface which is inclined in a direction approaching the first connection along a feed direction of pressing by the pressing unit, with an end face of the main body component being brought into contact with the inclined surface.

[0016] With this configuration, when the flat main body component is pressed through the pressing unit in the thickness direction, the main body component is pressed through the inclined surface with which its end face is in contact, in the direction approaching the first connection. Consequently, the flexible plate is bent, and the first connection and the main body component are positioned in the interval direction by the second positioning unit.

[0017] Another aspect of the present invention is a hand system comprising: a hand for a connection connection, which grasps a component comprising a main body component, a flexible plate extending from the main body component, and a first connection arranged on the flexible plate, and connects the first connection to a second connection of a mounting substrate; and a clamping device for positioning.The hand for a connector connection comprises: a first gripping unit that grasps the main body component; and a second gripping unit that grasps the first connector, the second gripping unit comprising: a near-contact surface that is brought into close contact with a rear surface of the first connector; and a suction cup that begins to draw in the rear surface of the first connector in a more protruding position than the near-contact surface, and is retracted into a position where the suction cup is flush with the near-contact surface in a drawn-in state.The positioning clamping device comprises: a first positioning unit that positions a suction cup of the second gripping unit and the first connector, the rear surface of which is drawn into the suction cup; and a second positioning unit that, relative to the first connector positioned by the first positioning unit, bends the flexible plate and positions, in an interval direction, the first connector and the main body component by securing the first connector and the main body component to the mounting substrate. The first gripping unit and the second gripping unit grasp the main body component and the first connector in a state positioned by the second positioning unit.

[0018] In this aspect, the main body component can be formed in a flat shape and the second positioning unit can comprise: a pressing unit which presses the main body component in a thickness direction; and an inclined surface which is inclined in a direction approaching the first connection along a feed direction of pressing by the pressing unit, with an end face of the main body component being brought into contact with the inclined surface. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0019] According to the present invention, there is an effect that makes it possible to easily hold a component comprising a connector and a main body component connected by a flexible plate and to securely connect the connector to a connector arranged on a substrate. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view showing a hand system according to a first embodiment of the present invention. Fig. Figure 2 is a perspective view showing an example of a workpiece that is shown in Figure 2. Fig. 1. The hand system shown is handled, and a mounting substrate on which the workpiece is mounted. Fig. 3 is a perspective view showing a state in which the in Fig. The workpiece shown in Figure 2 is mounted on the mounting substrate. Fig. 4 is a perspective view showing a grasping unit and a suction unit of a hand main body of the in Fig. The hand system shown in point 1 is shown. Fig. 5 is a longitudinal section view to illustrate the operation of the in Fig. 4 suction units shown. Fig. Figure 6 is a perspective view to illustrate a process for positioning the workpiece on the hand body in the Fig. 1 hand system shown. Fig. Figure 7 is a perspective view to explain the operation for positioning the workpiece on the hand body accordingly. Fig. 6. Fig. Figure 8 is a perspective view to explain the operation for positioning the workpiece on the hand body accordingly. Fig. 7. Fig. Figure 9 is a perspective view to explain a state in which the in Fig. 8. The workpiece is positioned towards the mounting substrate and moved by the hand main body. Fig. Figure 10 is a perspective view showing a hand for a connection according to a second embodiment of the present invention. Fig. Figure 11 is a perspective view showing a grasping unit of the in Fig. The hand shown in 10 indicates a connection. Fig. Figure 12 is a perspective view to explain a process for positioning a workpiece by means of the Fig. 10. Hand shown for a connection. Fig. Figure 13 is a perspective view to explain the operation for positioning the workpiece on the hand for a connection accordingly. Fig. 12. DESCRIPTION OF EXECUTION FORMS

[0020] A hand for a connection 2 and a hand system 1 according to a first embodiment of the present invention are explained below with reference to the drawings.

[0021] The hand system 1 according to this embodiment comprises, as shown in Fig. Figure 1 shows a hand for a connection connection (hereinafter also referred to as the hand body) 2, which is attached to the distal end of a robot, and a clamping device for positioning 3, which is placed near the robot.

[0022] The hand system 1 according to this embodiment is a system comprising a workpiece (a component) W, comprising a main body component 4 formed in a flat shape, a belt-like flexible plate 5 extending from the main body component 4, and a first connection 6 located on the flexible plate 5, as shown in Fig. 2 and Fig. As shown in Figure 3, the workpiece W is arranged and mounted on a mounting substrate 7, which is fixed on the outside. The main body component 4 has a rectangular cuboid shape. A projection 8 for mounting on the mounting substrate 7 is arranged on a surface (a mounting surface) 4a in the thickness direction of the main body component 4.

[0023] One end of the flexible plate 5 is fixed to a side surface of the main body component 4 in a form in which one end can be moved parallel to the mounting surface 4a. The first connection 6 is located on the surface of the flexible plate 5 on the side of the mounting surface 4a.

[0024] On the mounting substrate 7, as shown in Fig. Figure 2 shows a hole 9, into which the projection 8 of the main body component 4 is fitted, and a second port 10, to which the first port 6 is connected, arranged side by side. The distance between the hole 9 and the second port 10 is set shorter than the distance between the projection 8 of the main body component 4 and the first port 6. The mounting substrate 7 has a structure for mounting the workpiece W in a state where the flexible plate 5 is slightly bent. The mounting substrate 7 is positioned so that the second port 10 points upwards, and the workpiece W, with the first port 6 pointing downwards, is pressed down in a vertical downward direction, thus connecting the first port 6 to the second port 10.

[0025] The main body of the hand 2 comprises, as in Fig. Figure 4 shows a hand base 11, a gripping unit (first gripping unit) 12, and a suction unit (second gripping unit) 13, which are fixed to the hand base 11. The gripping unit 12 comprises two claw units 14 arranged opposite each other and a cylinder 15 capable of adjusting the interval between the claw units 14. The gripping unit 12 clamps and grips the main body component 4 in the lateral direction.

[0026] The suction unit 13 comprises, as in Fig. Figure 5 shows a near-contact surface 16, which is brought into close contact with the surface of the flexible plate 5 on the side of the rear surface of the first connector 6, and a suction cup 17, which begins to draw suction onto the surface of the flexible plate 5 on the side of the rear surface of the first connector 6 in a position projecting further than the near-contact surface 16, and is retracted into a position where the suction cup 17 is flush with the near-contact surface 16 in a suction state. The suction cup 17 is made of an elastic material, such as rubber. The near-contact surface 16 is, for example, made of a metal material that has a higher stiffness than the suction cup 17.

[0027] As in Fig. Figure 1 shows an assembly unit 18, detachably mounted to the hand base 11 by an ATC (Automatic Tool Changer) attached to the distal end of the robot. Mounting the assembly unit 18 with the ACT, which is attached to the robot, applies positive pressure from the robot side to the cylinder 15 and negative pressure to the suction unit 13.

[0028] The clamping device for positioning 3 is a clamping device for causing the hand main body 2 to grip the workpiece W in a state in which a positional relationship between the main body component 4 of the workpiece W and the first connection 6 is adapted to a positional relationship in a mounted state on the mounting substrate 7.

[0029] The clamping device for positioning 3 comprises a clamping device base 19, which is placed on the outside, and a cylinder for pushing up (a second positioning unit) 20 and a parallel chuck (the second positioning unit) 21, which are attached to the clamping device base 19.

[0030] An upwardly open terminal positioning recess (a first positioning unit) 22, into which the first terminal 6 is fitted by being brought closer from an upward direction, is arranged on the upper surface of the clamping device base 19.

[0031] The cylinder for upward movement 20 includes a pressing unit 23 capable of moving forward and backward in the vertical upward direction to a position where the mounting surface 4a on the side of the flexible plate 5 of the main body component 4 of the workpiece W, whose first connection 6 is fitted into the connection positioning recess 22, is pushed upward. When the mounting surface 4a on the side of the flexible plate 5 is pushed upward, movement of the side surface (the front side surface) on the side of the flexible plate 5 is suppressed by the flexible plate 5. Therefore, the main body component 4 is tilted into a position in which the side surface (the rear side surface) on the opposite side of the flexible plate 5 is lifted.

[0032] The parallel chuck 21 comprises two jaws 24 and 25, which open and close in the up-down direction. The parallel chuck 21 is positioned so that the main body component 4, located between the jaws 24 and 25, can be clamped in the thickness direction. An inclined surface 24a, which is in contact with the raised rear side face, is located on the upper surface of the lower jaw 24. The raised rear side face of the main body component 4 is moved along the inclined surface 24a, thereby bending the flexible plate 5 and adapting the positional relationship between the first connection 6 and the main body component 4 to a positional relationship during assembly on the mounting substrate 7.

[0033] The operation of the hand system 1 according to this embodiment, which is designed in this way, is explained below.

[0034] In order to mount the workpiece W on the mounting substrate 7 using the hand system 1 according to this embodiment, the position and orientation of the workpiece W with the first connection 6 pointing downwards are first recorded by a camera (not shown), the robot is operated to bring the hand main body 2 close to the workpiece W, the main body component 4 is clamped in the width direction by the two claw units 14, and then the rear surface of the first connection 6 is suctioned by the suction unit 13.

[0035] The suction unit 13 is drawn onto the surface of the flexible plate 5, causing the suction cup 17 to contract under negative pressure and retract to a position where it is flush with the near-contact surface 16 located within the suction unit 13. Therefore, the surface of the flexible plate 5 is brought into close contact with the near-contact surface 16.

[0036] Neither the main body component 4 nor the first connection 6 are gripped in the lateral direction, and the first connection 6 is suctioned. Therefore, even if there is a dimensional error in the outer diameter of the main body component 4 and the first connection 6, it is possible to prevent an external force from acting in the lateral direction on the flexible plate 5 based on this error. It is thus possible to maintain the flexible plate 5 in a defect-free condition.

[0037] In this state, the robot is operated to move the hand body 2 over the clamping device towards positioning 3. As in Fig. As shown in Figure 6, the first connection 6, which is held by the suction unit 13, points downwards and fits into the connection positioning recess 22, which is arranged on the clamping device base 19 of the clamping device for positioning 3. At this point, the main body component 4 is positioned between the two jaws 24 and 25 of the parallel chuck 21.

[0038] When the first connection 6 is fitted into the connection positioning recess 22, the flexible plate 5 is clamped between the clamping device base 19 and the near-contact surface 16 of the suction unit 13 of the hand body 2. Therefore, even if a gripped state is released by the gripping unit 12, the workpiece W is prevented from falling.

[0039] In this state, as in Fig. Figure 7 shows that when the cylinder for pushing up 20, which is arranged on the clamping device base 19, is actuated and the main body component 4 is pushed up by the press unit 23, the main body component 4 and the rear side surface are lifted.

[0040] When the parallel chuck 21 is actuated in this state to narrow the interval between the jaws 24 and 25, the rear side surface comes into contact with the inclined surface 24a, which is located on the top of the jaw 24. The main body component 4 is pressed towards the side of the flexible plate 5 by the inclined surface 24a according to a closing movement of the parallel chuck 21. The distance from the first connection 6 to the rear side surface is set to a predetermined dimension in a position where the main body component 4 is clamped between the two jaws 24 and 25 in the thickness direction by closing the two jaws 24 and 25 of the parallel chuck 21, as shown in Fig. 8 shown.

[0041] In this state, the cylinder 15 of the gripping unit 12 is actuated to grasp the main body component 4 in a state where the main body component 4 is clamped between the two claw units 14 in the lateral direction. Consequently, the workpiece W, comprising the flexible plate 5, is gripped by the hand main body 2 in a mounted position on the mounting substrate 7. Therefore, the robot is actuated to convey the workpiece W to the mounting substrate 7, as shown in Fig. 9 shown. As in Fig. 2 and Fig. As shown in Figure 3, the first connection 6 is pressed against and connected to the second connection 10 of the mounting substrate 7, while the projection 8 of the main body component 4 is fitted into the hole 9 of the mounting substrate 7.

[0042] In this case, with the hand system 1 according to this embodiment, the suction unit 13 does not support the first connector 6 with the suction cup 17, which has elasticity. The first connector 6 is supported by the suction cup 17 contracting and bringing the flexible plate 5 on the rear surface of the first connector 6 into close contact with the near-contact surface 16, which has a higher rigidity than the suction cup 17. Therefore, it is possible to precisely detect a pressing force acting on the first connector 6 during the connection of the first connector 6 to the second connector 10 by the robot using a force sensor integrated into the robot. Consequently, an advantage lies in the fact that it is possible to facilitate the connection of the connectors 6 and 10 by the robot and to easily connect the workpiece W to the mounting substrate 7.

[0043] It should be noted that in this embodiment a curved inclined surface is used as the inclined surface 24a. However, a flat inclined surface can be assumed instead of the curved inclined surface.

[0044] A hand for a connecting connection 32 according to a second embodiment of the present invention is explained below with reference to the drawings.

[0045] The hand for a connection 32 according to this embodiment is provided with the function of the clamping device for positioning 3 of the hand system 1 described above.

[0046] The hand for a connecting connection 32 according to this embodiment comprises, as shown in Fig. Figure 10 shows the assembly unit 18, which can be mounted on the hand base 11 by the ATC, a workpiece gripping unit 33 that grips the workpiece W, and a workpiece positioning unit 34 that positions the workpiece W.

[0047] In this embodiment, the workpiece gripping unit 33 comprises, as shown in Fig. Figure 11 shows a first suction unit (a second gripping unit) 35 that suctions the rear surface of the first port 6, and a second suction unit (a first gripping unit) 36 that suctions the rear surface of the main body component 4. The structure of the first suction unit 35 is the same as the suction unit 13 in the hand system 1. The second suction unit 36 ​​can include a suction hole 38 in the center of a suction cup 37, to which a negative pressure is applied.

[0048] The workpiece positioning unit 34 comprises a positioning element 41, including a first recess (a first positioning unit) 39 into which the first connection 6 is fitted, and a second recess (a second positioning unit) 40 into which the projection 8 of the main body component 4 is fitted, a clamping cylinder (a press unit) 42, which moves the positioning element 41 along an axis and rotates the positioning element 41 about the axis, and a sliding cylinder 43, which moves the clamping cylinder 42 in one direction along the axis. An inclined surface 40a, extending towards an opening of the second recess 40, is arranged on an inner wall on one side of the second recess 40, facing away from the first recess 39.

[0049] The dimensions of the first connection 6 and the main body component 4 are set to dimensions such that a positional relationship between the first connection 6 and the main body component 4 is a positional relationship in a mounted state on the mounting substrate 7 in a state in which the first connection 6 is fitted into the first recess 39 and the projection 8 of the main body component 4 is sufficiently fitted into the second recess 40.

[0050] With the hand for a connection 32 according to this embodiment, which is configured in this way, the rear surface of the first connection 6 is drawn in by the first suction unit 35 and the rear surface of the main body component 4 is drawn in by the second suction unit 36, thereby gripping the workpiece W. In this state, it is assumed that the first connection 6 and the projection 8 of the main body component 4 are gripped by the hand for a connection 32 in a position pointing in the vertical downward direction.

[0051] In this state, the positioning element 41 is moved downwards by actuating the sliding cylinder 43 and the clamping cylinder 42. The positioning element 41 is rotated about its axis by actuating the clamping cylinder 42 to be positioned in the vertical downward direction of the workpiece W, as shown in Fig. Figure 12 shows that the positioning element 41 is raised by actuating the clamping cylinder 42, whereby, as shown in Fig. Figure 13 shows that the first connection 6 of the workpiece W is fitted into the first recess 39 and the projection 8 of the main body component 4 of the workpiece W is fitted into the second recess 40.

[0052] Since the inclined surface 40a is located in the second recess 40, as the projection 8 is fitted into the second recess 40, the main body component 4 is corrected in a direction approaching the first connection 6, and the flexible plate 5 bends. The positional relationship between the main body component 4 and the first connection 6 is the positional relationship in the assembled state on the mounting substrate 7 at the point in time when the fitting of the projection 8 into the second recess 40 is complete. Therefore, after the suction state is stopped once by the first suction unit 35 and the second suction unit 36, it is possible to grip the workpiece W, which has the positional relationship in the assembled state on the mounting substrate 7, by re-engaging the first connection 6 and the main body component 4 with the workpiece gripping unit 33.

[0053] Subsequently, after the positioning element 41 is lowered vertically downwards by actuating the clamping cylinder 42, the positioning element 41 is rotated about its axis and retracted from below the workpiece W by actuating the clamping cylinder 42. Furthermore, the positioning element 41 is moved upwards by actuating the clamping cylinder 42 and the sliding cylinder 43. Consequently, in the same manner as in Fig. Figure 9 shows that the workpiece W, gripped by the workpiece gripping unit 33, can be mounted on the mounting substrate 7 without being hindered by the positioning element 41.

[0054] It should be noted that in this embodiment a flat inclined surface is used as the inclined surface 40a. However, a curved inclined surface can be used instead of the flat inclined surface. REFERENCE MARK LIST 1 hand system 2, 32 Hand for a connection (hand main body) 3 Clamping device for positioning 4 Main body component 5 flexible plates 6 first connection 7 Mounting substrate 10 second connection 12 Gripping unit (first gripping unit) 13 Suction unit (second gripping unit) 16 Close contact surface 17 suction cup 20 cylinders for pushing upwards (second positioning unit) 21 Parallel chucks (second positioning unit) 22 Connection positioning recess (first positioning unit) 23 Press unit 24a, 40a inclined surface 35 first suction unit (second gripping unit) 36 second suction unit (first gripping unit) 39 first recess (first positioning unit) 40 second recess (second positioning unit) 42 clamping cylinders (press unit) W workpiece (component)

Claims

[1] Hand for a connection (2, 32) which grasps a component (W) comprising a main body component (4), a flexible plate (5) extending from the main body component (4), and a first connection (6) arranged on the flexible plate (5), and connects the first connection (6) to a second connection (10) of a mounting substrate (7), wherein the hand for a connection (2, 32) comprises: a first gripping unit (12, 26) that grips the main body component (4); a second gripping unit (13, 36) that grips the first connection (6), and a positioning unit, the second gripping unit (13, 36) comprises: a near-contact surface (16) that is brought into close contact with a rear surface of the first terminal (6); and a suction cup (17) which begins to draw in the rear surface of the first connector (6) in a more protruding position than the near contact surface (16), and is drawn into a position where the suction cup (17) is flush with the near contact surface (16) in a drawn-in state, the positioning unit includes: a first positioning unit (22, 39) that performs a positioning of the suction cup (17) of the second gripping unit (13, 36) and of the first connection (6), the rear surface of which is suctioned by the suction cup (17); and a second positioning unit (20, 21, 40) which, in relation to the first connection (6) which is positioned by the first positioning unit (22, 39), bends the flexible plate (5) and performs a positioning, in an interval direction, of the first connection (6) and the main body component (4) by attaching the first connection (6) and the main body component (4) to the mounting substrate (7), wherein the first gripping unit (12, 26) and the second gripping unit (13, 36) grip the main body component (4) and the first connection (6) in a state positioned by the second positioning unit (20, 21, 40). [2] Hand for a connecting connection (2, 32) according to claim 1, wherein the main body component (4) is formed in a flat shape and the second positioning unit (20, 21, 40) includes: a pressing unit (23, 42) which presses the main body component (4) in a thickness direction; and an inclined surface (24a, 40a) which is inclined in a direction approaching the first connection (6) along a feed direction of pressing by the press unit (23, 42), wherein an end face of the main body component (4) is brought into contact with the inclined surface. [3] Hand system (1), comprising: a hand for a connection (2, 32) which grasps a component (W) comprising a main body component (4), a flexible plate (5) extending from the main body component (4), and a first connection (6) arranged on the flexible plate (5), and connects the first connection (6) to a second connection (10) of a mounting substrate (7); and a clamping device (3) for positioning, where the hand includes a connection (2, 32): a first grasping unit (12, 26) that grasps the main body component (4); and a second gripping unit (13, 36) that grips the first connection (6), the second gripping unit (13, 36) comprises: a near-contact surface (16) that is brought into close contact with a rear surface of the first terminal (6); and a suction cup (17) which begins to draw in the rear surface of the first connector (6) in a more protruding position than the near contact surface (16), and is drawn into a position where the suction cup (17) is flush with the near contact surface (16) in a drawn-in state, wherein the clamping device (3) comprises for positioning: a first positioning unit (21) that performs a positioning of the suction cup (17) of the second gripping unit (13, 36) and of the first connection (6), from which a rear surface is suctioned by the suction cup (17); and a second positioning unit (20, 21, 40) which, in relation to the first connection (6) positioned by the first positioning unit (22, 39), bends the flexible plate (5) and performs a positioning, in an interval direction, of the first connection and the main body component (4) by attaching the first connection and the main body component (4) to the mounting substrate (7), and wherein the first gripping unit (12, 26) and the second gripping unit (13, 36) grip the main body component (4) and the first connection (6) in a state positioned by the second positioning unit (20, 21, 40). [4] Hand system (1) according to claim 3, wherein the main body component (4) is formed in a flat shape and the second positioning unit (20, 21, 40) includes: a pressing unit (23, 42) which presses the main body component (4) in a thickness direction; and an inclined surface (24a, 40a) which is inclined in a direction approaching the first connection (6) along a feed direction of pressing by the press unit (23, 42), wherein an end face of the main body component (4) is brought into contact with the inclined surface (24a, 40a).

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