Hand, assembly method of electronic device, and assembly method of projection type display device

Abstract

To provide a hand and an assembly method of an electronic device which can inhibit slippage of a flat cable to enable efficient assembly of the electronic device when work of connecting the flat cable is conducted, and to provide an assembly method of a projection type display device which can inhibit the aforementioned slippage of the flat cable to enable efficient assembly of the projection type display device.SOLUTION: A hand is attached to a robot arm and includes: a suction part configured to suction a flat cable; and a holding part having a pair of chucks which opens or closes to sandwich the flat cable in a width direction and sandwiching tools which sandwich the flat cable with the chucks in a thickness direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In the process of assembling electronic devices, a connection step is performed in which the attached part of a flexible cable is inserted into a connector. This connection step has traditionally been performed 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] When the hand attached to the robot holds the cable in a lateral position and inserts the cable into the connector, the cable may slip. If the cable slips, the position of the cable changes relative to the cable holding tool, making the cable connection operation more likely to fail. Therefore, the challenge is to increase the success rate of cable connection work by suppressing cable slippage. [Means for solving the problem]

[0006] The hand according to the application example of the present invention is A hand attached to a robot arm, an adsorption portion for adsorbing the flat cable; a gripping portion having a pair of chucks that open and close to hold the flat cable in a width direction, and a clamping tool that holds the flat cable in a thickness direction between the pair of chucks; Equipped with.

[0007] A method for assembling an electronic device according to an application example of the present invention includes the steps of: Using a hand according to an application example of the present invention, electronic equipment is assembled, including the task of connecting the flat cable to a connector.

[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 a configuration of an electronic device assembly device including a hand according to an embodiment. [Diagram 2] 2 is a perspective view showing the flat cable, the functional module, and the circuit board shown in FIG. 1. [Diagram 3] 3 is a cross-sectional view showing the flat cable, the functional module, and the circuit board of FIG. 2. [Figure 4] FIG. 2 is a diagram showing a configuration of the hand in FIG. 1. [Diagram 5] FIG. 2 is a diagram showing a configuration of the hand in FIG. 1. [Figure 6] FIG. 2 is a diagram showing a configuration of the hand in FIG. 1. [Figure 7] 1 is a functional block diagram of an electronic device assembly device including a hand according to an embodiment. FIG. [Figure 8] 8 is a diagram illustrating an example of a hardware configuration of a control unit in FIG. 7. [Figure 9] 4 is a flowchart showing a configuration of an assembly method for an electronic device according to an embodiment. [Figure 10] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, and is a cross-sectional view showing a state before a second end portion of the flat cable is inserted into a second connector. [Figure 11] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, and is a cross-sectional view showing a state in which the attracted part of the second tip is attracted by the attracting part. [Figure 12] 12 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, and is a side view of the hand and the second tip portion shown in FIG. 11 as viewed from the negative side of the X-axis. FIG. [Figure 13] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, 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 14] 13 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, and is a side view of the hand and the second tip portion shown in FIG. 12 as viewed from the negative side of the X-axis. FIG. [Figure 15] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, 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 16] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, 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 17] FIG. 10 is a schematic diagram for explaining a method of assembling the electronic device shown in FIG. 9, and is a cross-sectional view showing a state in which the second tip portion held by the holding portion has been inserted into the second connector. [Figure 18] 4 is a flowchart showing a configuration of a method for assembling the projection display device according to the embodiment. [Figure 19] 19 is a schematic diagram for explaining a method of assembling the projection type display device shown in FIG. 18. [Figure 20]19 is a schematic diagram for explaining a method of assembling the projection type display device shown in FIG. 18. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a hand, an assembly method for an electronic device, and an assembly method for a projection display device of the present invention will be described in detail based on embodiments shown in the accompanying drawings.

[0011] 1. Electronic equipment assembly equipment First, the configuration of an electronic device assembly apparatus including a hand according to the embodiment will be described. Fig. 1 is a perspective view showing a configuration of an electronic device assembly apparatus 100 including a hand 2 according to an embodiment. Fig. 2 is a perspective view showing a 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 flat cable 91, the functional module 92, and the circuit board 95 shown in Fig. 2.

[0012] 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."

[0013] 1 performs a connection operation for connecting a flat cable 91 to a circuit board 95. The flat cable 91 and the circuit board 95 are placed on a workbench 90. By connecting the flat cable 91 to the circuit board 95, an electro-optical device 9 serving as an electronic device is assembled.

[0014] As shown in Fig. 2, the flat cable 91 is pulled out from the functional module 92 and has a belt-like shape. The term "belt-like" refers to a cross-sectional shape of the cable extending in the X-axis direction, in which the thickness in the Z-axis direction is sufficiently thinner than the width in the Y-axis direction. Although the flat cable 91 shown in Fig. 2 is branched in a y-shape, the shape of the flat cable 91 in a plan view (shape as viewed from the Z-axis) is not particularly limited, and the flat cable 91 may have an unbranched shape or may have three or more branched shapes.

[0015] 2 includes a base end 912, and a first end 914 and a second end 916 branching 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 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.

[0016] The functional module 92 is a module having any desired function, and is electrically connected to a circuit board 95 via a 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 a terminal row of the base end portion 912 via wiring (not shown) installed inside the 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 flat cable 91.

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

[0021] 2, the 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 electronic device assembly apparatus 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 comes into contact with the terminal row provided inside the insertion portion 955, and they are electrically connected to each other.

[0022] 2, the 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 electronic device assembly apparatus 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 flat cable 91 is connected to the circuit board 95. The flat cable 91 is flexible. Therefore, the first end 914 and the second end 916 before the connection operation are free ends and tend to hang down under their own weight. As a result, as shown in FIG. 3, the flat cable 91 tends to take a posture in which it sticks to the wiring board 952. Therefore, the electronic device assembly apparatus 100 is required to hold the flat cable 91 in such a posture and provide it for the connection operation. The flat cable 91 may be, for example, a cable called an FPC (Flexible Printed Circuits) or an FFC (Flexible Flat Cable).

[0024] The connectors 954 and 956 are adapted to maintain the inserted state by fitting with the 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 10 and a base 110, a hand 2, a camera 3, 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 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 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.Hand 1, a hand 2 is attached to the robot arm 10. The hand 2 has a function of adsorbing and gripping the 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 hand 2 in FIG. 4 to 6, the hand 2 has an adsorption portion 20 and a gripping portion 24. The adsorption portion 20 has a function of sucking and adsorbing the flat cable 91. The gripping portion 24 has a function of gripping the 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 flat cable 91 located below the suction pad 21 is sucked in. Then, the sucked flat cable 91 can be sucked onto the suction pad 21. Examples of materials that can be used to form the suction pad 21 include rubber materials and thermoplastic elastomers.

[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 10 to the suction pad 21. Examples of the suction pad driving unit 22 include an air cylinder, a ball screw actuator, and an electric actuator. Of these, an air cylinder is preferably used. An air cylinder is useful as the suction pad driving unit 22 because it has a simple structure, is lightweight, and is inexpensive. The operations of the vacuum generating device and the suction pad driving unit 22 are controlled by the control unit 5.

[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. The position restriction portions 254 sandwich the flat cable 91 in the width direction, thereby restricting the position of the flat cable 91 in the Y-axis direction. 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. The pair of support portions 256, 256 can be inserted below the flat cable 91 to support the flat cable 91 in the thickness direction. Note that the "thickness" refers to the thickness in the Z-axis direction.

[0040] In this embodiment, the position restricting portion 254 and the support portion 256 are integrated, but they may be separate. The constituent material of the position restricting portion 254 and the support portion 256 is not particularly limited, and may be a resin material, but is preferably a metal material. This can increase the rigidity of the position restricting portion 254 and the support portion 256.

[0041] The chuck driving unit 26 has an electric actuator 262 , a guide rail 264 , and a slider 266 .

[0042] The electric actuator 262 has, for example, a built-in stepping motor or the like, and continuously changes the distance between the pair of chucks 25, 25. The electric actuator 262 can be replaced with an actuator having a similar function. The change in the distance may be discontinuous.

[0043] 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. 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 support parts 256, 256 and are movable along the Z axis. This allows the flat cable 91 to be clamped in the thickness direction between the support parts 256 and the clamping tool 27. The pair of clamping tools 27, 27 and the pair of support parts 256, 256 are configured to clamp both ends of the flat cable 91 in the width direction in the thickness direction. Therefore, even if the flat cable 91 receives a force, the flat cable 91 is prevented from rotating around the Z axis, and the posture of the flat cable 91 is less likely to be disturbed.

[0045] The material of the clamping tool 27 is not particularly limited, but examples thereof include metal materials, resin materials, etc. By using a metal material, the rigidity of the clamping tool 27 can be increased, and a large gripping force can be applied to the flat cable 91. Furthermore, by using a resin material, a large frictional force can be generated between the clamping tool 27 and the flat cable 91.

[0046] The clamping tool driving unit 28 has an air cylinder 282, a movable unit 284, and a pair of shafts 286, 286.

[0047] The air cylinder 282 translates the clamping tool 27 in the Z-axis direction via the movable part 284 and the pair of shafts 286. This makes it possible to change the distance between the support part 256 and the clamping tool 27, and to clamp and release the flat cable 91 in the thickness direction. The air cylinder 282 is useful because it has a simple structure, is lightweight, and is inexpensive. Note that the air cylinder 282 can be replaced with an actuator having a similar function.

[0048] 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. The operations of the electric actuator 262 and the air cylinder 282 are controlled by the control unit 5.

[0049] 6, the clamping tool driving unit 28 has two guide rails 288, 288 and sliders 290, 290 combined with each guide rail 288.

[0050] 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.

[0051] The sliders 290 are connected to the clamping tools 27. The sliders 290 allow each clamping tool 27 to move smoothly relative to the chuck 25. Furthermore, these guide rails 288 and sliders 290 are adapted to open and close in conjunction with the opening and closing of the chuck 25. Therefore, the clamping tools 27 and the support parts 256 can move in the Y-axis direction in accordance with the width of the flat cable 91. As a result, even when flat cables 91 of different widths are gripped, both ends in the width direction can be clamped by the clamping tools 27 and the support parts 256.

[0052] 1.3.Camera The imaging range of the camera 3 is set so that, for example, the position restriction 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 hand 2. This allows the camera 3 to be moved in the same way as the hand 2. As a result, the positions of the position restriction 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 performing image processing on the image to recognize each part. The camera 3 may be attached to a part different from the hand 2, for example, the robot 1, or may be attached to a floor, wall, ceiling, etc. away from the robot 1.

[0053] The camera 3 has an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). 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.

[0054] 1.4.Force detection unit The hand 2 may further include a force detection unit 4. The force detection unit 4 detects a force applied to the hand 2, in particular a 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. Force detection information detected by the force detection unit 4 is output to the control unit 5.

[0055] 1.5.Control Unit The control unit 5 has a function of controlling the operation of the robot 1 and each part attached thereto.

[0056] FIG. 7 is a functional block diagram of an electronic device assembly apparatus 100 including a hand 2 according to the embodiment. 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.

[0057] The robot control unit 50 controls the operation of the robot 1 and the position and posture of the hand 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 hand 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 hand 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 tracking control. In the tracking 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.

[0058] The cable position detection unit 51 detects the position of the 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 connectors 954 and 956 based on the image captured by the camera 3. The insertion state detection unit 53 detects the insertion state of the flat cable 91 based on the image captured by the camera 3 and the force detection information detected by the force detection unit 4.

[0059] 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.

[0060] FIG. 8 is a diagram illustrating an example of a hardware configuration of the control unit 5 in FIG. The functions performed by each functional unit of the control unit 5 are realized by hardware including a CPU 701, a ROM 702, a RAM 703, an external interface 704, and a bus 705, as shown in Fig. 8. The CPU 701, the ROM 702, the RAM 703, and the external interface 704 are capable of communicating with each other via the bus 705.

[0061] The CPU 701 is a central processing unit. The functions of each functional unit are realized by having the CPU 701 execute various programs stored in the ROM 702 and the RAM 703. The CPU 701 may be, for example, a DSP (Digital Signal Processor). Furthermore, all or part of the hardware may be configured with an FPGA (Field-Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or the like.

[0062] ROM 702 is a read-only memory and is composed of any non-volatile storage element. RAM 703 is a random access memory and is composed of any volatile storage element. ROM 702 and RAM 703 store programs, data, setting values, etc. These may be provided from the outside via a removable storage medium or a network. ROM 702 and RAM 703 may be a removable external storage device, or may be installed in a different location via a network.

[0063] Examples of the external interface 704 include a digital input / output port such as a Universal Serial Bus (USB), an Ethernet (registered trademark) port, etc. The external interface 704 is used to transmit and receive signals between the robot 1 and each unit attached thereto.

[0064] 2. Electronic equipment assembly method Next, a method for assembling the electronic device according to the embodiment will be described.

[0065] Fig. 9 is a flow chart showing the configuration of a method for assembling an electronic device according to an embodiment of the present invention Fig. 10 to Fig. 17 are schematic diagrams for explaining the method for assembling the electronic device shown in Fig. 9.

[0066] 9 is a method for assembling an electro-optical device 9 as an electronic device by performing a connecting operation of connecting a second end portion 916 of a flat cable 91 to a connector 956 using an electronic device assembly apparatus 100 including the above-mentioned hand 2. It is assumed that the first end portion 914 has already been connected to the connector 954.

[0067] This connection operation includes a suction step S102, a gripping step S104, a connection step S106, and a release step S108.

[0068] 2.1.Adsorption process In the suction step S102, the second tip 916 of the flat cable 91 placed on the workbench 90 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 hand 2. Note that if there is little variation in the relative position of the second tip 916 with respect to the hand 2, image acquisition and cable recognition processing may be omitted.

[0069] Next, based on the obtained positional relationship, the robot control unit 50 moves the hand 2 relative to the second tip 916. In this specification, "relative movement" means that at least one of the objects moves so that the positional relationship between the two objects changes. Then, the suction control unit 54 outputs a control signal to make the suction unit 20 suck and suck 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.

[0070] An appropriate portion is selected as the portion to be suctioned by the suction unit 20 in anticipation of the gripping step S104 and the connecting step S106 described below.

[0071] 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. 10, 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 inserting the gripped portion 919 and the connector 956.

[0072] 11, 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 creates a gap between the second tip 916 and the workbench 90. As a result, the gripping operation by the gripper 24 becomes possible in the gripping step S104 described later.

[0073] Fig. 12 is a side view of the hand 2 and the second tip portion 916 shown in Fig. 11, viewed from the negative side of the X-axis. At this point in time, the suction pad 21 is located below the support portion 256, as shown in Fig. 12. In other words, the position at which the suction portion 20 suctions the suction target portion 918 is set to a position farther from the robot arm 10 than the gripping portion 24. This makes it easier to bring the suction pad 21 closer to the upper surface of the second tip portion 916, i.e., the suction target portion 918, while avoiding interference between the support portion 256 and the second tip portion 916.

[0074] In order to realize the above-mentioned operation, the suction pad driving unit 22 drives the suction pad 21 so that the maximum value of the distance from the tip of the robot arm 10 to the suction pad 21 becomes greater than the distance from the tip of the robot arm 10 to the chuck 25 (the distance to the support unit 256). This makes it possible to move the suction pad 21 between the above-mentioned position where the suction operation is easy and a position where the gripping operation described later is easy.

[0075] 2.2. Gripping process In the gripping step S104, 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.

[0076] 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. 13. That is, the suction pad driving unit 22 performs a shortening operation to shorten the distance from the robot arm 10 to the suction pad 21.

[0077] 14 to 16 are side views of the hand 2 and the second tip portion 916 shown in Fig. 12, 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. 14. This causes the grasped portion 919, which 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 grasped portion 919 without any hindrance.

[0078] 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. 15. 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. In addition, 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. This allows the relative position of the second tip part 916 with respect to the gripping part 24 to be adjusted to a target position.

[0079] 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 flat cables 91 having different widths at the first tip portion 914 and the second tip portion 916 as shown in Fig. 2 or flat cables having individual differences in width of each portion.

[0080] 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. 16. As a result, the gripped portion 919 can be gripped with a sufficient gripping force.

[0081] 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 connection step S106 or the release step S108 described later.

[0082] 2.3.Connection process In the connecting step S106, the second tip portion 916 gripped by the gripping portion 24 is inserted into an inserted portion 957 of a connector 956 as shown in FIG.

[0083] Specifically, first, the second tip portion 916 is moved close to the connector 956. For this movement, position control by the position control portion 501 of the robot control portion 50 is preferably used.

[0084] Next, the grasped second tip portion 916 and connector 956 are imaged by the camera 3. The cable position detection unit 51 and connector position detection unit 52 of the control unit 5 perform cable recognition processing and connector recognition processing on the captured image. As a result, the second tip portion 916 and the connector 956 are detected, and their relative positional relationship with respect to the hand 2 is obtained.

[0085] Next, based on the obtained positional relationship, the robot control unit 50 brings the second tip portion 916 closer to the 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 connector 956 can be performed more efficiently.

[0086] 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.

[0087] 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.

[0088] When the insertion of the second tip portion 916 is complete, the force that the hand 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.

[0089] 2.4. Release process In the release step S108, the chuck driving unit 26 is operated to make the distance between the chucks 25 wider than the width of the gripped portion 919.

[0090] Next, the robot 1 retracts the hand 2. In this manner, the connection operation of the flat cable 91 is completed. Note that the assembly method in this specification is synonymous with the manufacturing method.

[0091] In the electronic device assembly apparatus 100, the suction unit 20 and the gripper 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 apparatus configured such that two robots move the suction unit 20 and the gripper 24 separately.

[0092] According to the above-described method for assembling electronic devices, the connection work for connecting the 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 electronic device 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.

[0093] 3. Method for assembling a projection display device Next, a method for assembling the projection display device according to the embodiment will be described.

[0094] Fig. 18 is a flowchart showing the configuration of a method for assembling a projection display device according to an embodiment of the present invention. Fig. 19 and Fig. 20 are schematic diagrams for explaining a method for assembling the projection display device shown in Fig. 18.

[0095] The method for assembling a projection type display device shown in FIG. 18 includes a first step S202 of assembling an electro-optical device 9 as an electronic device using an electronic device assembly apparatus 100 including the hand 2 described above, 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.

[0096] 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.

[0097] 3.1.First step In the first step S202, an electronic device assembly apparatus 100 including a hand 2 is used to perform the same steps as in the electronic device assembly method shown in FIG. 9 to assemble an electro-optical device 9 shown in FIG. 19. The electro-optical device 9 shown in FIG. 19 is a modified example of the electro-optical device 9 shown in FIG. 2, and has a different shape of a flat cable 91. The flat cable 91 shown in FIG. 19 has a base end 912 divided into two layers. The cable in the first layer constitutes a first tip end 914, and the cable in the second layer constitutes a second tip end 916. The flat cable 91 shown in FIG. 19 may have three or more branches. In this case, it is sufficient that the base end 912 is divided into three or more layers.

[0098] 3.2.Second process In a second step S204, the electro-optical device 9 shown in Fig. 19 is assembled into a housing 82. In this way, the projection type display device 8 shown in Fig. 20 is obtained.

[0099] According to the above-described method for assembling the projection type display device, it is possible to automate the connection work for connecting the flat cable 91. This makes it possible to reduce the number of workers required for assembling the projection type display device 8.

[0100] 3.3.Projection type display device 20 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.

[0101] 4. Advantages of the above embodiment As described above, the hand 2 according to the embodiment is a hand attached to the robot arm 10, and includes the suction unit 20 and the gripping unit 24. The suction unit 20 sucks the flat cable 91. The gripping unit 24 has a pair of chucks 25, 25 that open and close to clamp the flat cable 91 in the width direction, and a clamping tool 27 that clamps the flat cable 91 between the chucks 25 and the gripping unit 27 in the thickness direction.

[0102] According to this configuration, when the hand 2 is attached to the robot arm 10 and the operation of connecting the flat cable 91 to the connector 956 is performed using the hand 2, it is possible to prevent the flat cable 91 from slipping relative to the gripping portion 24. Therefore, it is possible to realize the hand 2 that can efficiently perform the operation of connecting the flat cable 91.

[0103] The suction unit 20 preferably has a suction pad 21 and a suction pad driving unit 22. The suction pad 21 adsorbs the flat cable 91. The suction pad driving unit 22 changes the distance from the robot arm 10 to the suction pad 21.

[0104] According to such a configuration, for example, even if the suction pad 21 is positioned below the support portion 256 in the suction step S102, the suction pad 21 can be positioned above the support portion 256 in the gripping step S104. As a result, in the gripping step S104, the flat cable 91 that is sucked to the suction pad 21 can be pulled up above the support portion 256, and the support portion 256 can be inserted below the flat cable 91 without hindrance.

[0105] It is preferable that the suction pad driving unit 22 operates so that the maximum distance from the robot arm 10 to the suction pad 21 is greater than the distance from the robot arm 10 to the chuck 25 .

[0106] According to this configuration, the suction pad 21 can be moved between a position where the suction operation is easy and a position where the gripping operation is easy, thereby making it possible to more efficiently connect the flat cable 91.

[0107] The chuck 25 preferably has a position restricting portion 254 and a support portion 256. The position restricting portion 254 restricts the position of the flat cable 91 in the width direction. The support portion 256 supports the flat cable 91 in the thickness direction.

[0108] According to this configuration, the position of the flat cable 91 in the width direction can be regulated. As a result, the relative position of the flat cable 91 with respect to the gripping portion 24 can be adjusted to a target position. Furthermore, the clamping tool 27 can clamp the flat cable 91 in the thickness direction between itself and the support portion 256. This allows both ends of the flat cable 91 in the width direction to be clamped in the thickness direction, and even if a force is applied to the flat cable 91, rotation around the Z axis can be suppressed.

[0109] It is preferable that the gripping unit 24 has a clamping tool driving unit 28 that changes the distance between the support portion 256 and the clamping tool 27 .

[0110] With this configuration, the flat cable 91 can be clamped in the thickness direction and released.

[0111] The hand 2 according to the embodiment may include a force detection unit 4. The force detection unit 4 is provided between the gripping unit 24 and the robot arm 10. The force detection unit 4 detects a force applied to the gripping unit 24, and outputs force detection information.

[0112] According to such a configuration, for example, the output force detection information can be utilized for controlling the operation of the robot arm 10, so that the operation of connecting the flat cable 91 to the connector 956 can be performed more efficiently. Note that any intermediate object may be present between the gripper 24 and the robot arm 10.

[0113] In the method for assembling the electronic device according to the embodiment, the electro-optical device 9, which is an electronic device, is assembled using the hand 2, including the operation of connecting the flat cable 91 to the connector 956.

[0114] According to such a configuration, it is possible to reduce the number of workers required for assembling the electro-optical device 9. Also, the success rate of the operation of connecting the flat cable 91 to the connector 956 can be increased.

[0115] 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.

[0116] This configuration can reduce the number of workers required to assemble the projection display device 8. In addition, the success rate of connecting the flat cable 91 to the connector 956 can be increased.

[0117] While the hand, the method of assembling an electronic device, and the method of assembling a projection display device according to the present invention have been described above based on the illustrated embodiments, the present invention is not limited to this.

[0118] For example, the hand of the present invention may be one in which each part of the above-described embodiment is replaced with any component having a similar function, or one in which any component is added to the above-described embodiment.

[0119] Furthermore, the method for assembling an electronic device and 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]

[0120] 1 ... robot, 2 ... hand, 3 ... camera, 4 ... force detection unit, 5 ... control unit, 8 ... projection type display device, 9 ... electro-optical device, 10 ... robot arm, 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 ... workbench, 91 ... flat cable, 92 ... functional module, 95 ... circuit board, 100 ... assembly device, 110 ... base, 252 ... chuck body, 254 ... position regulation unit, 256: Support section, 262: Electric actuator, 264: Guide rail, 266: Slider, 282: Air cylinder, 284: Movable section, 286: Shaft, 288: Guide rail, 290: Slider, 501: Position control section, 502: Force control section, 701: CPU, 702: ROM, 703: RAM, 704: External interface, 705: Bus, 912: Base end section , 914...First tip, 916...Second tip, 918...Adsorbed part, 919...Gripped part, 931...Terminal row, 932...Terminal row, 952...Wiring board, 954...Connector, 955...Inserted part, 956...Connector, 957...Inserted part, O6...Shaft, S102...Adsorption process, S104...Gripping process, S106...Connection process, S108...Release process, S202...1st process, S204...2nd process

Claims

1. A hand attached to a robot arm, an adsorption portion for adsorbing the flat cable; a gripping portion having a pair of chucks that open and close to hold the flat cable in a width direction, and a clamping tool that holds the flat cable in a thickness direction between the pair of chucks; A hand comprising:

2. The adsorption portion is a suction pad for suctioning the flat cable; a suction pad driving unit that changes a distance from the robot arm to the suction pad; The hand of claim 1 , comprising:

3. The hand according to claim 2 , wherein the suction pad driving unit operates so that a maximum value of a distance from the robot arm to the suction pad is greater than a distance from the robot arm to the chuck.

4. The chuck is a position restricting portion that restricts a position of the flat cable in a width direction; a support portion that supports the flat cable in a thickness direction; The hand according to any one of claims 1 to 3, comprising:

5. The hand according to claim 4 , wherein the gripping portion has a clamping tool driving portion that changes the distance between the support portion and the clamping tool.

6. a force detection unit provided between the gripping unit and the robot arm, The hand according to claim 1 , wherein the force detection section detects a force applied to the gripping section and outputs force detection information.

7. 4. A method for assembling an electronic device, comprising the step of connecting the flat cable to a connector by using the hand according to claim 1.

8. 8. A method for assembling a projection type display device, comprising the method for assembling an electronic device according to claim 7, wherein the projection type display device is assembled.

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