Assembly method of electronic device and assembly method of projection type display device

Abstract

To provide an assembly method of an electronic device which enables an electronic device to be assembled by conducting work of connecting a branched flat cable, and to provide an assembly method of a projection type display device which enables a projection type display device to be assembled by conducting the aforementioned connection work.SOLUTION: In an assembly method of an electronic device, an electronic device is assembled by conducting connection work of a branched flat cable, including a base end portion and a first tip portion and a second tip portion branched from the base end portion and having flexibility, with an assembly device. The assembly device includes a suction part, a gripping part, a robot arm part, and a control unit. The assembly method of the electronic device includes: a first gripping step in which the first tip portion is gripped; a first connection step in which the first tip portion is connected to a first connector; a first release step in which the gripping is released; a suction step in which the second tip portion is suctioned; a second gripping step in which the second tip portion is gripped; a second connection step in which the second tip portion is connected to a second connector; and a second release step in which the gripping of the second tip portion is released.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a method for assembling an electronic device and a method for assembling a projection display device. [Background technology]

[0002] In the process of assembling electronic devices, it is sometimes necessary to insert the attached part of a flexible cable into a connector. This connection work has traditionally been done manually, but automation using robots and other tools is being considered.

[0003] For example, Patent Document 1 discloses an electronic device assembly device that includes a cable holding tool that vacuum-sucks a ribbon-shaped cable and holds the cable by regulating the position of the cable in the width direction, a robot unit that moves the cable holding tool relative to the electronic device, and a control unit that operates the robot unit. With this electronic device assembly device, it is possible to insert and connect the attachment portion of the ribbon-shaped cable to the connector of the electronic device. This makes it possible to automate the assembly work of the electronic device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-103334 A Summary of the Invention [Problem to be solved by the invention]

[0005] Depending on the electronic device to be assembled, a branched flat cable that is branched into two may be used. Such a branched flat cable has, for example, one base end and a first tip end and a second tip end that branch from the base end. When automating the task of connecting such a branched flat cable to a connector, the connecting operation of the base end, the connecting operation of the first tip end, and the connecting operation of the second tip end are required.

[0006] However, for example, when performing the connecting operation of the second tip after the connecting operation of the first tip, it is difficult to automate the connecting operation of the second tip. Specifically, when the first tip is connected to the connector, the second tip is pulled by the first tip and comes into close proximity to the board or the like of the electronic device. In this case, the second tip is in a position where it is attached to the board or the like, making it difficult to hold it with the cable holding tool described in Patent Document 1. For this reason, automating the operation of connecting a branched flat cable has become an issue. [Means for solving the problem]

[0007] A method for assembling an electronic device according to an application example of the present invention includes the steps of: A method for assembling an electronic device, comprising the steps of: connecting a branched flat cable having flexibility, the branched flat cable having a base end and a first tip end and a second tip end branched from the base end, to a first connector and a second connector using an assembly device, the method comprising the steps of: The assembly device includes: a suction portion that suctions the branched flat cable; a gripping portion having a pair of chucks that open and close to hold the branched flat cable in a width direction; a robot arm unit that moves the suction unit and the gripping unit relative to the first connector and the second connector; a control unit that controls operations of the suction unit, the gripping unit, and the robot arm unit; Equipped with a first gripping step of gripping the first tip portion with the gripping portion; a first connecting step of connecting the gripped first tip portion to the first connector; A first release step of releasing the grip of the first tip portion; a suction step of suctioning the second tip portion with the suction portion after the first release step; a second gripping step of gripping the second tip portion with the gripping portion after the suction step; a second connecting step of connecting the gripped second tip portion to the second connector; A second release step of releasing the grip of the second tip portion; has.

[0008] A method for assembling a projection type display device according to an application example of the present invention includes the steps of: The present invention includes an assembly method for electronic devices according to an application example of the present invention, and assembles a projection type display device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view showing an example of a configuration of an assembly device used in a method for assembling an electronic device according to an embodiment; [Diagram 2] 2 is a perspective view showing the branched flat cable, the functional module, and the circuit board shown in FIG. 1. [Diagram 3] 3 is a cross-sectional view showing the branched flat cable, the functional module, and the circuit board shown in FIG. 2. [Figure 4] FIG. 2 is a diagram showing a configuration of the assembly tool of FIG. 1. [Diagram 5] FIG. 2 is a diagram showing a configuration of the assembly tool of FIG. 1. [Figure 6] FIG. 2 is a diagram showing a configuration of the assembly tool of FIG. 1. [Figure 7] FIG. 2 is a functional block diagram of the assembling device shown in FIG. [Figure 8] 4 is a flowchart showing a configuration of an assembly method for an electronic device according to an embodiment. [Figure 9] FIG. 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a cross-sectional view showing a state before a second end portion of the branched flat cable is inserted into a second connector. [Figure 10] FIG. 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a cross-sectional view showing a state in which the attracted portion of the second tip portion is attracted to the attracting portion. [Figure 11] 11 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a side view of the assembly tool and the second tip portion shown in FIG. 10 as viewed from the negative side of the X-axis. [Figure 12] FIG. 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a cross-sectional view showing a state in which the adsorbing part that has adsorbed the adsorbed part has been pulled upward. [Figure 13] 13 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a side view of the assembly tool and the second tip portion shown in FIG. 12 as viewed from the negative side of the X-axis. FIG. [Figure 14] FIG. 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a side view of the state in which the gap between the chucks is narrowed, as viewed from the negative side of the X-axis. [Figure 15] FIG. 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a side view of the state in which the gripped part is clamped in the thickness direction between the support part and the clamping tool, as viewed from the negative side of the X-axis. [Figure 16] 9 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 8, and is a cross-sectional view showing a state in which the second tip portion held by the holding portion is inserted into the second connector. FIG. [Figure 17] 4 is a flowchart showing a configuration of a method for assembling the projection display device according to the embodiment. [Figure 18] 18 is a schematic diagram for explaining a method of assembling the projection type display device shown in FIG. 17. [Figure 19] 18 is a schematic diagram for explaining a method of assembling the projection type display device shown in FIG. 17. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a method for assembling an electronic device and a method for assembling a projection display device according to the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings.

[0011] 1. Electronic equipment assembly equipment First, an example of the configuration of an assembly device used in the method for assembling an electronic device according to the embodiment will be described.

[0012] Fig. 1 is a perspective view showing an example of the configuration of an assembly apparatus 100 used in a method for assembling an electronic device according to an embodiment. Fig. 2 is a perspective view showing a branched flat cable 91, a functional module 92, and a circuit board 95 shown in Fig. 1. Fig. 3 is a cross-sectional view showing the branched flat cable 91, the functional module 92, and the circuit board 95 shown in Fig. 2.

[0013] In each figure of the present application, an X-axis, a Y-axis, and a Z-axis are set as three mutually orthogonal axes. Each axis is represented by an arrow, with the tip of the arrow being "plus" and the base of the arrow being "minus." In the following description, for example, "X-axis direction" includes both the plus and minus directions of the X-axis. The same applies to the Y-axis and Z-axis directions. In the following description, the plus side of the Z-axis is also referred to as "upward" and the minus side of the Z-axis is also referred to as "downward."

[0014] 1 performs a connection operation for connecting a branched flat cable 91 to a circuit board 95. The branched flat cable 91 and the circuit board 95 are placed on a workbench 90. By connecting the branched flat cable 91 to the circuit board 95, an electro-optical device 9 serving as an electronic device is assembled.

[0015] As shown in FIG. 2, the branched flat cable 91 is a cable that is pulled out from the functional module 92, has a belt shape, and branches into a y-shape. The belt shape means that the cross-sectional shape of the cable extending in the X-axis direction is sufficiently thinner in the Z-axis direction than the width in the Y-axis direction. The branched flat cable 91 includes a base end 912, and a first end 914 and a second end 916 that branch off from the base end 912. The base end 912 is connected to the functional module 92. The first end 914 and the second end 916 are each located on the negative side of the X-axis relative to the base end 912. The first end 914 and the second end 916 are aligned in the Y-axis direction. The number of branches is not limited to two, and may be three or more.

[0016] The functional module 92 is a module having any desired function, and is electrically connected to a circuit board 95 via a branched flat cable 91 .

[0017] The base end portion 912 has a terminal row (not shown) that is in contact with a terminal row (not shown) on the functional module 92 side inside the functional module 92.

[0018] The first tip end portion 914 has a terminal row 931 provided at an end portion on the negative side of the X-axis and extending in the Y-axis direction. The terminal row 931 is electrically connected to the terminal row of the base end portion 912 via wiring (not shown) that is installed inside the branched flat cable 91.

[0019] The second tip end portion 916 has a terminal row 932 provided at an end portion on the negative side of the X-axis and extending in the Y-axis direction. The terminal row 932 is electrically connected to the terminal row of the base end portion 912 or the terminal row 931 via wiring (not shown) installed inside the branched flat cable 91.

[0020] The circuit board 95 has a wiring board 952 on which wiring (not shown) is laid, and a first connector 954 and a second connector 956 provided on the wiring board 952.

[0021] 2, the first connector 954 has an insertion portion 955 that opens toward the positive side of the X-axis and into which the first tip portion 914 is inserted. The assembly device 100 performs an operation of inserting the first tip portion 914 into the insertion portion 955. A terminal row (not shown) is provided inside the insertion portion 955. When the first tip portion 914 is inserted into the insertion portion 955, the terminal row 931 of the first tip portion 914 and the terminal row provided inside the insertion portion 955 come into contact with each other, and are electrically connected to each other.

[0022] 2, the second connector 956 has an insertion portion 957 that opens toward the positive side of the X-axis and into which the second tip portion 916 is inserted. The assembly device 100 performs an operation of inserting the second tip portion 916 into the insertion portion 957. A terminal row (not shown) is provided inside the insertion portion 957. When the second tip portion 916 is inserted into the insertion portion 957, the terminal row 932 of the second tip portion 916 comes into contact with the terminal row provided inside the insertion portion 957, and they are electrically connected to each other.

[0023] 1 to 3 show a state before the branched flat cable 91 is connected to the circuit board 95. The branched flat cable 91 has flexibility. Therefore, the first end 914 and the second end 916 before the connection work are free ends and tend to hang down under their own weight. In particular, the second end 916 after the first end 914 is connected tends to take a posture in which it sticks to the wiring board 952 as shown in FIG. 3. Therefore, the assembly device 100 is required to hold the second end 916 in such a posture and provide it for the connection work. The branched flat cable 91 may be, for example, a cable called an FPC (Flexible Printed Circuits) or an FFC (Flexible Flat Cable).

[0024] The first connector 954 and the second connector 956 are adapted to maintain an inserted state by fitting with the branched flat cable 91. The fitting method is not particularly limited, but in this embodiment, as an example, a one-action fitting method is adopted.

[0025] 1 includes a robot 1 having a robot arm unit 10 and a base 110, an assembly tool 2, a camera 3, a force detection unit 4, and a control unit 5. The configuration of each unit will be described below in order.

[0026] 1.1.Robots 1 is, for example, a six-axis vertical articulated robot. Note that the robot 1 may be a horizontal articulated robot (SCARA robot) or a dual-arm articulated robot.

[0027] The base 110 is a part for attaching the robot arm unit 10 to an installation location. In this embodiment, the base 110 is installed on a floor. Note that the installation location of the base 110 is not limited to a floor or the like, and may be, for example, a wall, a ceiling, a stand, a movable dolly, or the like.

[0028] The robot arm unit 10 has an arm 11, an arm 12, an arm 13, an arm 14, an arm 15, and an arm 16. These arms 11 to 16 are connected in this order from the base end to the tip end. The arms 11 to 16 are rotatable relative to the adjacent arms or the base 110. The arm 16 is disk-shaped and rotatable relative to the arm 15 around an axis O6.

[0029] The robot 1 has a driving unit (not shown) provided at a joint between the arms or at a joint between the arm and the base 110. The driving unit includes a motor and a reducer. Examples of the motor include servo motors such as AC servo motors and DC servo motors. Examples of the reducer include planetary gear type reducers and wave gear devices. The robot 1 also has an angle sensor (not shown) that detects the rotation angle of the rotation shaft of the motor or the reducer. Examples of the angle sensor include a rotary encoder. These driving units and angle sensors are provided at, for example, each joint. The operation of the driving unit is controlled by the control unit 5 based on the detection result by the angle sensor.

[0030] 1.2. Assembly tools 1, an assembly tool 2 is attached to the robot arm unit 10. The assembly tool 2 has a function of sucking and gripping the branched flat cable 91. By using this function, the above-mentioned connection work is performed.

[0031] 4 to 6 are diagrams showing the configuration of the assembly tool 2 of FIG. 4 to 6, the assembly tool 2 has a suction part 20 and a gripping part 24. The suction part 20 has a function of sucking and adsorbing the branched flat cable 91. The gripping part 24 has a function of gripping the branched flat cable 91.

[0032] As shown in FIG. 4, the suction unit 20 includes a suction pad 21 and a suction pad driving unit 22.

[0033] The suction pad 21 is flexible and has, for example, a truncated cone shape. As an example, the suction pad 21 shown in Fig. 4 is disposed so as to protrude downward, and the inside is connected to a vacuum generator (not shown). When the inside of the suction pad 21 is depressurized by the operation of the vacuum generator, the branched flat cable 91 located below the suction pad 21 is sucked in. Then, the sucked branched flat cable 91 can be sucked onto the suction pad 21.

[0034] The suction pad driving unit 22 translates the suction pad 21 in the Z-axis direction. This makes it possible to change the distance from the tip of the robot arm unit 10 to the suction pad 21. An example of the suction pad driving unit 22 is an air cylinder. An air cylinder is useful as the suction pad driving unit 22 because it has a simple structure, is lightweight, and is inexpensive.

[0035] As shown in FIG. 6, the gripping unit 24 has a pair of chucks 25, 25, a chuck driving unit 26, a pair of clamping tools 27, 27, and a clamping tool driving unit .

[0036] The pair of chucks 25, 25 are openable and closable along the Y axis. Openable and closable refers to the fact that the distance between the chucks 25 in the Y axis direction is variable. The change in distance may be continuous or may be stepwise. Each chuck 25 has a rod-shaped chuck body 252 extending along the Z axis, a position restricting portion 254 connected to the lower end of the chuck body 252, and a support portion 256 connected to the lower end of the position restricting portion 254.

[0037] The chuck body 252 is moved along the Y axis by the chuck driving unit 26. As a result, the position restriction unit 254 and the support unit 256 connected to the chuck body 252 also move along the Y axis.

[0038] 5, the position restriction portion 254 includes a plate-shaped portion extending in the XZ plane. By sandwiching the branched flat cable 91 between the position restriction portions 254 in the width direction, the position of the branched flat cable 91 in the Y-axis direction can be restricted. Note that the "width" refers to the width in the Y-axis direction.

[0039] 5, the support portion 256 includes a plate-like portion extending in the XY plane. By inserting the pair of support portions 256, 256 below the branched flat cable 91, the branched flat cable 91 can be supported in the thickness direction. Note that the "thickness" refers to the thickness in the Z-axis direction.

[0040] The chuck driving unit 26 has an electric actuator 262 , a guide rail 264 , and a slider 266 .

[0041] The electric actuator 262 incorporates, for example, a stepping motor and continuously changes the distance between the pair of chucks 25, 25.

[0042] The guide rail 264 is a rail that extends along the Y axis. The slider 266 coupled to the guide rail 264 moves smoothly along the Y axis.

[0043] The slider 266 is connected to the upper end of each chuck 25. Through the slider 266, each chuck 25 can be smoothly moved along the Y axis.

[0044] The pair of clamping tools 27, 27 are disposed above the pair of supporting parts 256, 256 and are movable along the Z axis. This allows the branched flat cable 91 to be clamped between the supporting parts 256 and the clamping tool 27 in the thickness direction.

[0045] The clamping tool driving unit 28 has an air cylinder 282, a movable unit 284, and a pair of shafts 286, 286.

[0046] Air cylinder 282 translates clamping tool 27 in the Z-axis direction via movable part 284 and a pair of shafts 286. This makes it possible to change the distance between support part 256 and clamping tool 27, and to clamp or release branched flat cable 91 in the thickness direction.

[0047] As shown in Fig. 6, the movable part 284 is interposed between the air cylinder 282 and the shaft 286, and supports the shaft 286 so that the interval between the shafts 286 in the Y-axis direction can be freely changed. As shown in Fig. 6, the shaft 286 is a rod-shaped member extending along the Z-axis.

[0048] 6, the clamping tool driving unit 28 has two guide rails 288, 288 and sliders 290, 290 combined with each guide rail 288.

[0049] Each guide rail 288 is attached to the chuck 25 and extends along the Z axis. A slider 290 coupled to the guide rail 288 moves smoothly along the Z axis.

[0050] The sliders 290 are connected to the clamping tools 27. By using the sliders 290, the clamping tools 27 can move smoothly relative to the chuck 25. Furthermore, the guide rails 288 and the sliders 290 are adapted to open and close in conjunction with the opening and closing of the chuck 25.

[0051] 1.3.Camera The imaging range of the camera 3 is set so that, for example, the position restricting unit 254, the support unit 256, the suction pad 21, etc. are within the same field of view. The camera 3 is fixed to the assembly tool 2. This allows the camera 3 to be moved in the same way as the assembly tool 2. As a result, the positions of the position restricting unit 254, the support unit 256, the suction pad 21, etc. in the captured image can be fixed. This makes it possible to increase the recognition rate when image processing is performed on the image to recognize each part. The camera 3 may be attached to a location different from the assembly tool 2, for example, the robot 1, or may be attached to a floor, wall, ceiling, etc. away from the robot 1.

[0052] The camera 3 may be a monochrome camera, a color camera, or a spectroscopic camera. The camera 3 may also be a three-dimensional camera. The image captured by the camera 3 is output to the control unit 5.

[0053] 1.4.Force detection unit The force detection unit 4 detects the force applied to the assembly tool 2, in particular the force applied to the gripping unit 24. This force also includes a moment. The force detection unit 4 is configured with, for example, a 6-axis force sensor or a 3-axis force sensor. The force detection information detected by the force detection unit 4 is output to the control unit 5.

[0054] 1.5.Control Unit The control unit 5 has a function of controlling the operation of the robot 1 and each part attached thereto. FIG. 7 is a functional block diagram of the assembling apparatus 100 shown in FIG. As shown in FIG. 7, the control unit 5 has, as functional units, a robot control unit 50, a cable position detection unit 51, a connector position detection unit 52, an insertion state detection unit 53, an adsorption control unit 54, and a grip control unit 55.

[0055] The robot control unit 50 controls the operation of the robot 1 and the position and posture of the assembly tool 2. The robot control unit 50 has a position control unit 501 and a force control unit 502. The position control unit 501 performs position control to control the operation of the robot 1 so that the assembly tool 2 is located at a predetermined coordinate. The position control means controlling the operation of the robot 1 based on a target position and the position of the assembly tool 2. The force control unit 502 performs force control to control the operation of the robot 1 based on the force detection information. Examples of force control include impedance control and force trigger control. In the force trigger control, the operation of the robot 1 is controlled until the force detected by the force detection unit 4 becomes a predetermined value. The impedance control includes, for example, a tracing control. In the tracing control, the operation of the robot 1 is controlled so that the force in a predetermined direction detected by the force detection unit 4 is maintained at a target value.

[0056] The cable position detection unit 51 detects the position of the branched flat cable 91, in particular the positions of the first tip 914 and the second tip 916, based on the image captured by the camera 3. The connector position detection unit 52 detects the positions of the first connector 954 and the second connector 956 based on the image captured by the camera 3. The insertion state detection unit 53 detects the insertion state of the branched flat cable 91 based on the image captured by the camera 3 and the force detection information detected by the force detection unit 4.

[0057] The suction control unit 54 controls the operation of the suction unit 20 based on the image, force detection information, a signal indicating the operating state of the vacuum generating device, etc. The grip control unit 55 controls the operation of the gripper 24 based on the image, force detection information, and also on signals indicating the operating states of the chuck driving unit 26 and the gripper driving unit 28, etc.

[0058] 2. Electronic equipment assembly method Next, a method for assembling the electronic device according to the embodiment will be described. In the following description, an assembly method using the above-described assembly device 100 will be described as an example.

[0059] Fig. 8 is a flow chart showing the configuration of a method for assembling an electronic device according to an embodiment Fig. 9 to Fig. 16 are schematic diagrams for explaining a method for assembling the electronic device shown in Fig. 8.

[0060] The method of assembling the electronic device shown in Figure 8 is, as an example, a method of assembling an electro-optical device 9 as an electronic device by performing a connection operation to connect a first end 914 and a second end 916 of a branched flat cable 91 to a first connector 954 and a second connector 956.

[0061] This connection operation includes a first gripping step S102, a first connecting step S104, a first releasing step S106, a suction step S108, a second gripping step S110, a second connecting step S112, and a second releasing step S114.

[0062] 2.1.First gripping process In the first gripping step S102, the first tip portion 914 of the branched flat cable 91 placed on the workbench 90 is gripped by the gripper 24. The gripping operation by the gripper 24 will be described in detail in the second gripping step S110.

[0063] The branched flat cable 91 to be subjected to the first gripping step S102 can be prepared in a position that allows the first tip portion 914 to be easily gripped by the gripping unit 24. In this case, the gripping of the first tip portion 914 by the gripping unit 24 can be performed without performing a suction operation by the suction unit 20. However, depending on the position of the first tip portion 914, the suction unit 20 may suck the first tip portion 914 prior to the gripping operation. This allows the gripping operation to be performed efficiently. The suction operation by the suction unit 20 will also be described in detail in the suction step S108.

[0064] 2.2. First connection process In the first connecting step S104, the first tip portion 914 held by the holding portion 24 is connected to the first connector 954. The connecting operation by the holding portion 24 will be described in detail in the second connecting step S112.

[0065] 2.3.First release process In the first releasing step S106, the grip of the first tip portion 914 is released. The releasing operation by the gripping portion 24 will be described in detail in the second releasing step S114.

[0066] 2.4.Adsorption process In the adsorption step S108, after the first release step S106, first, the second tip 916 is imaged by the camera 3. The cable position detection unit 51 of the control unit 5 performs cable recognition processing on the captured image. This detects the second tip 916 and determines the relative positional relationship of the second tip 916 with respect to the assembly tool 2. Note that if there is little variation in the relative position of the second tip 916 with respect to the assembly tool 2, image acquisition and cable recognition processing may be omitted.

[0067] Next, based on the obtained positional relationship, the robot control unit 50 moves the assembly tool 2 relative to the second tip 916. In this specification, "relative movement" refers to at least one of the objects moving so that the positional relationship between the two objects changes. Then, the suction control unit 54 outputs a control signal to cause the suction unit 20 to suck and adsorb the second tip 916. In the suction operation by the suction unit 20, even if the second tip 916 is somewhat separated from the suction unit 20, the suction force can be exerted. Therefore, even if the position of the second tip 916 relative to the suction unit 20 is somewhat unclear, the suction operation can be performed without any problems. Also, as shown in FIG. 3, even if the second tip 916 is in a position such that it sticks to the wiring board 952, the second tip 916 can be sucked by bringing the suction unit 20 close to the upper surface of the second tip 916.

[0068] As the portion to be suctioned by the suction unit 20, an appropriate portion is selected in anticipation of the second gripping step S110 and the second connecting step S112 described below.

[0069] 2 has an adsorbed portion 918 that is adsorbed by the adsorption unit 20, and a gripped portion 919 that is gripped by the gripping unit 24. The adsorbed portion 918 is set closer to the base end portion 912 than the gripped portion 919. As a result, as shown in FIG. 9, when the adsorbed portion 918 is adsorbed by the adsorption unit 20, a space can be left on the negative side of the X-axis than the adsorbed portion 918, and this space can be allocated as a portion for insertion into the gripped portion 919 and the second connector 956.

[0070] 10, when the suction operation by the suction unit 20 is completed, the second tip 916 that has been attached to the wiring board 952 can be moved while being suctioned by the suction unit 20. This allows the second tip 916 to be lifted from the wiring board 952, and a gap can be created between the second tip 916 and the workbench 90. As a result, in the second gripping step S110 described below, the gripping operation by the gripper 24 becomes possible.

[0071] 11 is a side view of the assembly tool 2 and the second tip 916 shown in FIG. 10, as viewed from the negative side of the X-axis. At this time, the suction pad 21 is located below the support 256, as shown in FIG. 11. That is, the position where the suction part 20 suctions the suction target part 918 is located farther from the robot arm part 10 than the gripper 24. This makes it easier to bring the suction pad 21 closer to the upper surface of the second tip 916, that is, the suction target part 918, while avoiding interference between the support 256 and the second tip 916. Note that "a position farther from the robot arm part 10 than the gripper 24" refers to a position on the negative side of the Z-axis than the tip (support 256) of the gripper 24.

[0072] 2.5.Second gripping process In the second gripping step S110, first, the gripping control unit 55 outputs a control signal to operate the chuck driving unit 26, and sets the interval between the chucks 25 (the distance between the support parts 256) to a "first interval" that is sufficiently wider than the width of the gripped part 919. The first interval is set in consideration of the width of the gripped part 919 and the variation in the relative position of the gripped part 919 sucked by the suction pad 21. Therefore, although the first interval is not particularly limited, it is set to be more than 1.0 times, preferably 1.1 times or more, the width of the gripped part 919. Note that in this specification, the "interval between the chucks 25" refers to the shortest distance between the support parts 256 in the Y-axis direction.

[0073] Next, the suction control unit 54 outputs a control signal to operate the suction pad driving unit 22, and the suction pad 21 is pulled upward as shown in Fig. 12. In other words, the suction pad driving unit 22 performs a shortening operation to shorten the distance from the robot arm unit 10 to the suction pad 21.

[0074] 13 to 15 are side views of the assembly tool 2 and the second tip portion 916 shown in Fig. 11, as viewed from the negative side of the X-axis. The suction pad driving portion 22 pulls the suction pad 21 upward, and positions the suction pad 21 above the support portion 256, as shown in Fig. 13. This causes the gripped portion 919 that is sucked to the suction pad 21 to be pulled upward above the support portion 256. As a result, the support portion 256 can be inserted below the gripped portion 919 without any hindrance.

[0075] Next, the chuck driving unit 26 is operated to narrow the interval between the chucks 25 (the distance between the support parts 256) to a "second interval" narrower than the width of the gripped part 919, as shown in FIG. 14. The second interval is set to less than 1.0 times the width of the gripped part 919. This allows the pair of support parts 256, 256 to be inserted below the gripped part 919 to support it from below. The interval between the position regulating parts 254 is set to be approximately the same as the width of the gripped part 919, specifically, approximately 1.0 to 1.5 times the width of the gripped part 919. This allows the position of the gripped part 919 in the width direction to be regulated when the gripped part 919 is sandwiched between the pair of position regulating parts 254, 254 in the width direction. In this specification, at least the state in which the gripped part 919 is sandwiched between the pair of position regulating parts 254, 254 in the width direction is referred to as "gripping". As a result of the gripping, the relative position of the second tip portion 916 with respect to the assembly tool 2 can be adjusted to a target position.

[0076] The first and second intervals are appropriately selected according to the width of the gripped portion 919. The width of the gripped portion 919 can be obtained from the image captured by the camera 3. This makes it possible to easily assemble branched flat cables 91 having different widths at the first tip portion 914 and the second tip portion 916 as shown in Fig. 2 and branched flat cables having individual differences in width of each portion.

[0077] Next, the gripping control unit 55 outputs a control signal to operate the gripping tool driving unit 28, and the pair of gripping tools 27, 27 are lowered downward. This allows the gripped portion 919 to be sandwiched not only in the width direction but also in the thickness direction between the support unit 256 and the gripping tool 27, as shown in Fig. 15. As a result, the gripped portion 919 can be gripped with a more sufficient gripping force.

[0078] After the gripping is completed, the adsorption operation of the adsorption unit 20 on the adsorbed portion 918 is stopped. The timing for stopping the adsorption operation is not particularly limited, and may be the second connecting step S112 or the second releasing step S114 described later.

[0079] 2.6. Second connection process In the second connecting step S112, the second tip portion 916 gripped by the gripping portion 24 is inserted into an inserted portion 957 of a second connector 956, as shown in FIG.

[0080] Specifically, first, the second tip portion 916 is moved close to the second connector 956. For this movement, position control by the position control portion 501 of the robot control portion 50 is preferably used.

[0081] Next, the grasped second tip portion 916 and second connector 956 are imaged by the camera 3. The cable position detection unit 51 and the connector position detection unit 52 of the control unit 5 perform a cable recognition process and a connector recognition process on the captured image. As a result, the second tip portion 916 and the second connector 956 are detected, and their relative positional relationship with respect to the assembly tool 2 is obtained.

[0082] Next, based on the obtained positional relationship, the robot control unit 50 brings the second tip portion 916 closer to the second connector 956. At this time, it is preferable to switch to force control by the force control unit 502 of the robot control unit 50 at a predetermined position. This allows the insertion operation of the second tip portion 916 into the inserted portion 957 to be performed by, for example, tracing control. As a result, the connection operation of the second tip portion 916 to the second connector 956 can be performed more efficiently.

[0083] In addition, in the gripping section 24, the gripped portion 919 is sandwiched between the support section 256 and the clamping tool 27 in the thickness direction, so that the gripped portion 919 is gripped with sufficient gripping force. Therefore, when the second tip portion 916 is inserted into the inserted portion 957, friction between the inserted portion 957 and the second tip portion 916 and the like prevents the gripped portion 919 from slipping even if a force is applied to the second tip portion 916. By preventing the gripped portion 919 from slipping in this way, the positional relationship of the gripped portion 919 with respect to the gripping section 24 can be maintained well during the connection operation. As a result, the success rate of the connection operation can be increased.

[0084] Furthermore, the gripping portion 24 is configured to pinch both widthwise ends of the gripped portion 919 in the thickness direction. Therefore, even if a force is applied to the second tip portion 916, the second tip portion 916 is unlikely to rotate around the Z axis. This can further increase the success rate of the connection work.

[0085] When the insertion of the second tip 916 is complete, the force that the assembly tool 2 receives changes. The insertion state detection unit 53 determines whether or not the insertion is complete based on this change in force. Then, when it is determined that the insertion is complete, the robot control unit 50 ends the insertion work. If the completion of the connection work can be detected in this manner, the occurrence of connection failures can be suppressed, and the rate of non-defective products can be increased.

[0086] 2.7.Second release process In the second release step S114, the chuck driver 26 is operated to make the distance between the chucks 25 wider than the width of the gripped portion 919.

[0087] Next, the robot 1 retracts the assembly tool 2. In this manner, the connection operation of the branched flat cable 91 is completed. Note that the assembly method in this specification is synonymous with the manufacturing method.

[0088] In the assembly device 100, the suction unit 20 and the gripping unit 24 are attached to the same robot 1, but they may be attached to different robots. In other words, each of the above steps may be performed using an assembly device configured such that two robots move the suction unit 20 and the gripping unit 24 separately.

[0089] According to the above-described method for assembling electronic devices, the connection work for connecting the branched flat cable 91 can be automated. Automation means that the connection work is performed by a device that operates based on a program, such as the assembly device 100. This makes it possible to reduce the number of workers required in assembling electronic devices. Note that the electronic devices that can be assembled are not particularly limited, and examples thereof include projection display devices (projectors), portable personal computers, printers, personal digital assistants (PDAs: Personal Digital Assistants), digital still cameras, televisions, video cameras, car navigation devices, in-vehicle displays such as instrument panels, electronic organizers, electronic paper, calculators, word processors, workstations, videophones, and POS terminals.

[0090] 3. Projection display device assembly method Next, a method for assembling the projection display device according to the embodiment will be described.

[0091] Fig. 17 is a flowchart showing the configuration of a method for assembling a projection display device according to an embodiment of the present invention. Fig. 18 and Fig. 19 are schematic diagrams for explaining a method for assembling the projection display device shown in Fig. 17.

[0092] The method for assembling a projection type display device shown in Figure 17 includes a first step S202 of assembling an electro-optical device 9 as an electronic device, and a second step S204 of incorporating the obtained electro-optical device 9 into a housing 82 to obtain a projection type display device 8.

[0093] Below, we will explain the assembly method of the projection display device according to the embodiment. In the following explanation, we will focus on the differences from the assembly method of the electronic device described above, and omit explanations of similar points.

[0094] 3.1.First step In the first step S202, for example, an assembly apparatus 100 is used to perform the same steps as in the assembly method for the electronic device shown in FIG. 8 to assemble the electro-optical device 9 shown in FIG. 18. The electro-optical device 9 shown in FIG. 18 is a modified example of the electro-optical device 9 shown in FIG. 2, and has a different shape of the branched flat cable 91. The branched flat cable 91 shown in FIG. 18 has a base end 912 divided into two layers. The cable in the first layer constitutes a first tip portion 914, and the cable in the second layer constitutes a second tip portion 916. The number of branches of the branched flat cable 91 shown in FIG. 18 may also be three or more. In this case, it is sufficient that the base end 912 is divided into three or more layers.

[0095] 3.2.Second process In a second step S204, the electro-optical device 9 shown in Fig. 18 is assembled into a housing 82. In this way, the projection type display device 8 shown in Fig. 19 is obtained.

[0096] According to the above-described method for assembling the projection display device, it is possible to automate the connection work for connecting the branched flat cable 91. This makes it possible to reduce the number of workers required for assembling the projection display device 8.

[0097] 3.3.Projection type display device 19 includes an electro-optical device 9, a housing 82 that houses the electro-optical device 9, and a projection optical system 84 provided in the housing 82. The electro-optical device 9 has a function of modulating light emitted from a light source (not shown) and adding image information. The image light to which the image information has been added is projected via the projection optical system 84 onto a screen (not shown) or the like.

[0098] 4. Advantages of the above embodiment As described above, the method for assembling the electronic device according to the embodiment is a method for assembling an electro-optical device 9 (electronic device) by performing a connection operation to connect a flexible branched flat cable 91 having a base end 912 and a first end end 914 and a second end end 916 branching off from the base end 912 to a first connector 954 and a second connector 956, for example, using an assembly device 100.

[0099] The above-mentioned assembly device 100 includes a suction unit 20, a gripping unit 24, a robot arm unit 10, and a control unit 5. The suction unit 20 sucks the branched flat cable 91. The gripping unit 24 has a pair of chucks 25, 25 that open and close to sandwich the branched flat cable 91 in the width direction. The robot arm unit 10 moves the suction unit 20 and the gripping unit 24 relative to the first connector 954 and the second connector 956. The control unit 5 controls the operations of the suction unit 20, the gripping unit 24, and the robot arm unit 10.

[0100] The assembly method of the electronic device according to the embodiment includes a first gripping step S102, a first connecting step S104, a first releasing step S106, a suction step S108, a second gripping step S110, a second connecting step S112, and a second releasing step S114. In the first gripping step S102, the first tip 914 is gripped by the gripping part 24. In the first connecting step S104, the gripped first tip 914 is connected to the first connector 954. In the first releasing step S106, the gripping of the first tip 914 is released. In the suction step S108, after the first releasing step S106, the second tip 916 is sucked by the suction part 20. In the second gripping step S110, after the suction step S108, the second tip 916 is gripped by the gripping part 24. In a second connecting step S112, the gripped second tip portion 916 is connected to the second connector 956. In a second releasing step S114, the grip of the second tip portion 916 is released.

[0101] According to this configuration, the electro-optical device 9 (electronic device) can be assembled by simply connecting the branched flat cable 91. This allows for labor saving in assembling the electro-optical device 9.

[0102] The second tip portion 916 may also have a gripped portion 919 and an attached portion 918 located closer to the base end portion 912 than the gripped portion 919.

[0103] In this case, the suction step S108 includes an operation in which the suction unit 20 suctions the suction target portion 918. In addition, the second gripping step S110 includes an operation in which the gripping unit 24 grips the grip target portion 919.

[0104] According to this configuration, when the adsorbed portion 918 is adsorbed by the adsorption portion 20, a space can be left on the negative side of the X-axis from the adsorbed portion 918.

[0105] This space is thereby used as a site for insertion of the gripped portion 919 and the second connector 956 .

[0106] Moreover, the position where the adsorption unit 20 adsorbs the adsorbed portion 918 is preferably a position farther from the robot arm unit 10 than the gripping unit 24. This makes it easier to bring the adsorption unit 20 close to the upper surface of the second tip portion 916, i.e., the adsorbed portion 918, while avoiding interference between the gripping unit 24 and the second tip portion 916. As a result, the adsorption operation can be performed without hindrance.

[0107] Moreover, the suction unit 20 preferably has a suction pad 21 and a suction pad driving unit 22. The suction pad 21 adsorbs the suction target portion 918. The suction pad driving unit 22 changes the distance from the robot arm unit 10 to the suction pad 21.

[0108] The suction step S108 includes a suction operation and a contraction operation. In the suction operation, the suction pad 21 sucks the suction target portion 918. In the contraction operation, after the suction operation, the suction pad driving unit 22 shortens the distance from the robot arm unit 10 to the suction pad 21.

[0109] According to such a configuration, even if the suction pad 21 is positioned below the support portion 256 in the suction step S108, the suction pad 21 can be positioned above the support portion 256 in the second gripping step S110. As a result, in the second gripping step S110, the gripped portion 919 that is suctioned to the suction pad 21 can be pulled up above the support portion 256, and the support portion 256 can be inserted below the gripped portion 919 without any hindrance.

[0110] Moreover, the chuck 25 preferably has a position restricting portion 254 and a supporting portion 256. The position restricting portion 254 restricts the position of the gripped portion 919 in the width direction. The supporting portion 256 supports the gripped portion 919 in the thickness direction.

[0111] Furthermore, gripping unit 24 has clamping tool 27 and clamping tool driving unit 28. Clamping tool 27 clamps gripped portion 919 in the thickness direction between clamping tool 27 and support portion 256. Clamping tool driving unit 28 changes the distance between support portion 256 and clamping tool 27.

[0112] According to this configuration, the position of the gripped portion 919 in the width direction can be regulated. As a result, the relative position of the second tip portion 916 with respect to the assembly tool 2 can be aligned with a target position. In addition, the gripping portion 24 has a function of sandwiching the gripped portion 919 in the thickness direction, so that the gripped portion 919 can be gripped with a more sufficient gripping force.

[0113] The assembly apparatus 100 may also include a force detection unit 4. The force detection unit 4 is provided between the gripping unit 24 and the robot arm unit 10. The force detection unit 4 detects a force applied to the gripping unit 24. The control unit 5 controls the operation of the robot arm unit 10 based on the detected force.

[0114] With this configuration, for example, the operation of connecting the second tip portion 916 to the second connector 956 can be performed more efficiently.

[0115] Moreover, it is preferable that the control unit 5 controls the operation of the robot arm unit 10 so that the branched flat cable 91 follows the second connector 956 based on the detected force.

[0116] With this configuration, the operation of connecting the second tip portion 916 to the second connector 956 can be performed more efficiently.

[0117] Moreover, it is preferable that the control unit 5 detects that the branched flat cable 91 is connected to the second connector 956 based on the detected force.

[0118] According to this configuration, the occurrence of connection failures can be suppressed, and the yield rate can be increased.

[0119] The method of assembling the projection display device according to the embodiment includes the method of assembling the electronic device according to the embodiment, and assembles the projection display device 8.

[0120] With such a configuration, the projection type display device 8 can be assembled with fewer manpower.

[0121] Although the method for assembling an electronic device and a projection display device according to the present invention have been described based on the illustrated embodiments, the present invention is not limited to this.

[0122] For example, the method for assembling an electronic device and a method for assembling a projection display device according to the present invention may include any process added for any purpose to the above-described embodiments. [Explanation of symbols]

[0123] 1...robot, 2...assembly tool, 3...camera, 4...force detection unit, 5...control unit, 8...projection display device, 9...electro-optical device, 10...robot arm unit, 11...arm, 12...arm, 13...arm, 14...arm, 15...arm, 16...arm, 20...suction unit, 21...suction pad, 22...suction pad drive unit, 24...gripping unit, 25...chuck, 26...chuck drive unit, 27...clamping tool, 28...clamping tool drive unit, 50...robot control unit, 51...cable position detection unit, 52...connector position detection unit, 53...insertion state detection unit, 54...suction control unit, 55...gripping control unit, 82...housing, 84...projection optical system, 90...work table, 91...branched flat cable, 92...functional module, 95...circuit board, 100...assembly device, 110...base, 252...chuck body, 254...position rule Control part, 256...support part, 262...electric actuator, 264...guide rail, 266...slider, 282...air cylinder, 284...movable part, 286...shaft, 288...guide rail, 290...slider, 501...position control part, 502...force control part, 912...base end part, 914...first tip part, 916...second tip part, 918...attached part, 919...held part, 931...end part Sub row, 932...terminal row, 952...wiring board, 954...first connector, 955...receiving portion, 956...second connector, 957...receiving portion, O6...shaft, S102...first gripping step, S104...first connecting step, S106...first releasing step, S108...suction step, S110...second gripping step, S112...second connecting step, S114...second releasing step, S202...first step, S204...second step

Claims

1. A method for assembling an electronic device, comprising: performing a connecting operation of connecting a branched flat cable having flexibility, the branched flat cable having a base end and a first tip end and a second tip end branched from the base end, to a first connector and a second connector using an assembly device, the method comprising: The assembly device includes: a suction portion that suctions the branched flat cable; a gripping portion having a pair of chucks that open and close to hold the branched flat cable in a width direction; a robot arm unit configured to move the suction unit and the grip unit relative to the first connector and the second connector; a control unit that controls operations of the suction unit, the gripping unit, and the robot arm unit; Equipped with a first gripping step of gripping the first tip portion with the gripping portion; a first connecting step of connecting the gripped first tip portion to the first connector; a first release step of releasing the grip of the first tip portion; a suction step of suctioning the second tip portion with the suction portion after the first release step; a second gripping step of gripping the second tip portion with the gripping portion after the suction step; a second connecting step of connecting the gripped second tip portion to the second connector; a second release step of releasing the grip of the second tip portion; 13. A method for assembling an electronic device, comprising the steps of:

2. The second tip portion has a grasped portion and an adsorbed portion located closer to the base end portion than the grasped portion, the adsorption step includes an operation of the adsorption portion adsorbing the adsorbed portion, The method for assembling an electronic device according to claim 1 , wherein the second gripping step includes an operation of the gripping portion gripping the gripped portion.

3. The method for assembling electronic devices according to claim 2 , wherein the position at which the suction part suctions the suction target part is farther from the robot arm part than the gripping part is.

4. The adsorption portion is A suction pad that suctions the suction target portion; a suction pad driving unit that changes a distance from the robot arm unit to the suction pad; having The adsorption step comprises: a suction operation in which the suction pad suctions the suction target portion; a shortening operation in which the suction pad driving unit shortens the distance after the suction operation; The method for assembling an electronic device according to claim 3 , comprising:

5. The chuck is A position regulating portion that regulates the position of the gripped portion in a width direction; A support portion that supports the gripped portion in a thickness direction; having The gripping portion is A clamping tool that clamps the gripped portion in a thickness direction between the clamping tool and the support part; a clamping tool driving unit that changes the distance between the support unit and the clamping tool; The method for assembling an electronic device according to claim 2, further comprising the steps of:

6. the assembly apparatus includes a force detection unit provided between the gripping unit and the robot arm unit, The force detection unit detects a force applied to the gripping unit, 6. The method for assembling an electronic device according to claim 1, wherein the control unit controls an operation of the robot arm unit based on the detected force.

7. The method for assembling an electronic device according to claim 6 , wherein the control unit controls the operation of the robot arm unit based on the detected force so that the branched flat cable follows the second connector.

8. The method for assembling an electronic device according to claim 6 , wherein the control unit detects that the branched flat cable has been connected to the second connector based on the detected force.

9. 5. A method for assembling a projection type display device, comprising the method for assembling an electronic device according to claim 1, wherein the projection type display device is assembled by assembling the projection type display device.

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