Connector insertion method and inspection method
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-04-18
- Publication Date
- 2026-04-01
AI Technical Summary
Existing connector insertion methods using robots do not adequately address the smooth insertion of connectors, leading to potential damage and prolonged insertion times due to improper alignment and force application.
A method involving a robot to grasp a first connector, shift its central axis relative to a second connector, align the axes, and insert it along the central axis while monitoring force application to ensure precise and smooth insertion.
Enhances the probability of successful connector insertion, reduces damage risk, and shortens the inspection time by ensuring accurate alignment and controlled force application.
Smart Images
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Abstract
Description
[Technical field]
[0001] The present invention relates to a connector insertion method and an inspection method. [Background technology]
[0002] Patent document 1 discloses a robot device that performs the steps of grasping a first connector with a robot and inserting it into a second connector, resonating the first connector and the second connector while the first connector is inserted into the second connector, and adjusting the insertion depth of the first connector based on the resonant frequency. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Patent Publication No. 2021-012784 Summary of the Invention [Problem to be solved by the invention]
[0004] Thus, in the robot device of Patent Document 1, although a measure is taken to adjust the insertion depth after inserting the first connector into the second connector, no measure is taken for the operation of inserting the first connector into the second connector. Therefore, the first connector cannot be smoothly inserted into the second connector, which may result in a long insertion time or damage to the first and second connectors. [Means for solving the problem]
[0005] A connector insertion method of the present invention is a connector insertion method for inserting a first connector into a second connector using a robot, comprising: a gripping step of gripping the first connector with the robot; a first insertion step of inserting a tip end of the first connector into the second connector in a state in which a central axis of the first connector is shifted with respect to a central axis of the second connector; an axial alignment step of displacing the first connector so that a central axis of the first connector coincides with a central axis of the second connector; and a second insertion step of advancing the first connector in a direction along a central axis of the first connector and inserting the first connector into the second connector.
[0006] The inspection method of the present invention is an inspection method for inserting a first connector into a second connector using a robot, the inspection method comprising: a gripping step of gripping the first connector with the robot; a first insertion step of inserting a tip end of the first connector into the second connector in a state in which a central axis of the first connector is shifted with respect to a central axis of the second connector; an axial alignment step of aligning a central axis of the first connector with a central axis of the second connector; a second insertion step of advancing the first connector in a direction along a central axis of the first connector and inserting the first connector into the second connector; and a withdrawal step of withdrawing the first connector from the second connector by retracting the first connector in a direction along a central axis of the first connector. [Brief description of the drawings]
[0007] [Figure 1] 1 is a configuration diagram of a robot system according to a first embodiment. [Diagram 2] FIG. 2 is a plan view showing a cable used in the inspection. [Diagram 3] 1 is a rear view of an electronic device to be inspected; [Figure 4] 13 is a flowchart of an inspection method performed using a robot system. [Diagram 5] FIG. 13 is a diagram for explaining an inspection method. [Figure 6] FIG. 13 is a diagram for explaining an inspection method. [Figure 7] FIG. 13 is a diagram for explaining an inspection method. [Figure 8] FIG. 13 is a diagram for explaining an inspection method. [Figure 9] FIG. 13 is a diagram for explaining an inspection method. [Figure 10] FIG. 13 is a diagram for explaining an inspection method. [Figure 11] FIG. 13 is a diagram for explaining an inspection method. [Figure 12] FIG. 13 is a diagram for explaining an inspection method. [Figure 13] FIG. 13 is a diagram for explaining an inspection method. [Figure 14] FIG. 13 is a diagram for explaining an inspection method. [Figure 15] 13 is a perspective view showing a first connector and a second connector used in an inspection method of a second embodiment. FIG. [Figure 16] FIG. 13 is a diagram for explaining an inspection method. [Figure 17] FIG. 13 is a diagram for explaining an inspection method. [Figure 18] FIG. 13 is a diagram for explaining an inspection method. [Figure 19] FIG. 13 is a diagram for explaining an inspection method. [Figure 20] FIG. 13 is a diagram for explaining an inspection method. [Figure 21] FIG. 13 is a configuration diagram of a robot system according to a fourth embodiment. [Figure 22] FIG. 13 is a perspective view showing a gripping jig used in an inspection performed by a robot system according to a fifth embodiment. [Diagram 23] FIG. 23 is an exploded perspective view of the holding jig shown in FIG. 22. [Figure 24] FIG. 13 is a perspective view showing a state in which the gripping jig is gripped by a tool. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a connector inserting method and an inspection method of the present invention will be described in detail based on embodiments shown in the accompanying drawings.
[0009] First Embodiment Fig. 1 is a configuration diagram of a robot system according to a first embodiment. Fig. 2 is a plan view showing a cable used in the inspection. Fig. 3 is a rear view of an electronic device to be inspected. Fig. 4 is a flowchart of an inspection method performed using the robot system. Figs. 5 to 14 are diagrams for explaining the inspection method.
[0010] The robot system 1 shown in FIG. 1 includes a robot 2 that inserts and removes a held cable 9 into and from an electronic device 8, and a control device 3 that controls the driving of the robot 2.
[0011] The robot 2 is a six-axis vertical articulated robot having six drive axes. Such a robot 2 has a base 21, a robot arm 22 rotatably connected to the base 21, a tool 23 attached to the tip of the robot arm 22, a force sensor 24 disposed between the robot arm 22 and the tool 23, and an imaging device 25 disposed on the tool 23.
[0012] The robot arm 22 is configured with six arms 221, 222, 223, 224, 225, and 226 connected to rotate freely, and includes six joints J1, J2, J3, J4, J5, and J6. Of these six joints J1 to J6, the joints J2, J3, and J5 are bending joints, and the joints J1, J4, and J6 are torsion joints. Each of the joints J1, J2, J3, J4, J5, and J6 is provided with a motor and an encoder (not shown). During operation of the robot system 1, the control device 3 executes feedback control for each of the joints J1 to J6 to make the rotation angle of the joints J1 to J6 indicated by the output of the encoder coincide with a target position.
[0013] Moreover, tool 23 has a pair of claws that open and close, and clamps and holds cable 9 between the pair of claws. However, the configuration of tool 23 is not particularly limited as long as it can hold cable 9. For example, tool 23 may be configured to hold cable 9 by suction.
[0014] Furthermore, the force sensor 24 has three detection axes perpendicular to each other, and can detect translational forces (axial forces) along each detection axis and rotational forces (torque) around each detection axis independently. Such a force sensor 24 detects the force applied to the cable 9 held by the tool 23. However, the configuration of the force sensor 24 is not particularly limited as long as it can detect the force applied to the cable 9 held by the tool 23.
[0015] Moreover, the imaging device 25 is, for example, a 3D camera (stereo camera). The control device 3 can specify the position (three-dimensional coordinates) of an object in the image by performing image processing on the image data captured by the imaging device 25. However, the configuration of the imaging device 25 is not particularly limited as long as it can exert the same function.
[0016] The control device 3 controls the driving of the robot 2. The control device 3 is composed of, for example, a computer, and has a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the programs stored in the memory.
[0017] Although the robot system 1 has been briefly described above, the configuration thereof is not particularly limited. For example, the robot 2 does not have to be a six-axis vertical articulated robot, and may be a horizontal articulated robot (SCARA robot).
[0018] Next, an inspection method using the above-mentioned robot system 1 will be described. A connector insertion method using the robot system 1 will also be described together with the inspection method. In this inspection method, the cable 9 is repeatedly inserted and removed from the electronic device 8 to evaluate the durability of the first connector 92 and the second connector 81. This makes it possible to easily and accurately evaluate the strength of the first connector 92 and the second connector 81 and the strength of the part supporting the second connector 81. However, the contents of the inspection are not particularly limited, and for example, the durability of only one of the first connector 92 and the second connector 81 may be evaluated, or the other may be evaluated.
[0019] As shown in Fig. 2, cable 9 is a real cable that can actually be used, and has a flexible cable body 91 and a first connector 92 disposed at one end of cable body 91. By using real cable 9 in this way, it is possible to reproduce the actual usage state and improve the accuracy of insertion / removal inspection. However, cable 9 may be a full-scale model (mockup). Also, cable body 91 may be omitted from cable 9.
[0020] 3, the electronic device 8 has a second connector 81 on its rear surface into which the first connector 92 is inserted. The electronic device 8 is fixed by a fixing member (not shown) so as not to shift when the cable 9 is inserted or removed. The electronic device 8 is not particularly limited, and examples thereof include a projector, a printer, a personal computer, a display, and a robot controller.
[0021] In this embodiment, the first connector 92 is a male connector, and the second connector 81 is a female connector. However, without being limited thereto, the first connector 92 may be a female connector, and the second connector 81 may be a male connector. In addition, the standard of the connector is not particularly limited, and may be any standard, for example, USB type A, USB type C, USB mini, USB micro, HDMI (registered trademark), VGA, LAN, etc. In this embodiment, it is HDMI (High-Definition Multimedia Interface). HDMI is a standard that can transmit video and audio together through a single cable, and is widely used mainly in AV (Audio / Visual) electronic devices 8. Therefore, it is possible to perform an insertion / removal durability test targeting a larger number of electronic devices 8.
[0022] As shown in FIG. 4, the inspection method includes a detection step S1 for detecting the position of the second connector 81, a gripping step S2 for gripping the cable 9, an axis shifting step S3 for shifting the axis of the first connector 92, a first insertion step S4 for inserting the tip of the first connector 92 into the second connector 81, an abutment step S5 for abutting the tip of the first connector 92 against the second connector, an axial alignment step S6 for aligning the axis of the first connector 92 with the axis of the second connector 81, a second insertion step S7 for inserting the first connector 92 into the second connector 81, an extraction step S8 for extracting the first connector 92 from the second connector 81, a repeated insertion / extraction step S9 for repeatedly inserting and extracting the first connector 92 into and from the second connector 81, and an inspection step S10 for inspecting the condition of the second connector 81.
[0023] Since the first connector 92 and the second connector 81 are both HDMIs, they have a flat shape with a short axis and a long axis that are orthogonal to each other in a plan view. For ease of explanation, the axis along the long axis of the second connector 81 is referred to as the X-axis, the direction along the short axis is referred to as the Z-axis, and the axis along the central axis O2 is referred to as the Y-axis. The direction along the X-axis is also referred to as the X-axis direction, the direction along the Y-axis is also referred to as the Y-axis direction, and the direction along the Z-axis is also referred to as the Z-axis direction. The arrow side of each axis is also referred to as the plus side, and the opposite side is also referred to as the minus side.
[0024] <Detection step S1> In the detection step S1, first, as shown in Fig. 5, the control device 3 moves the robot 2 so that the second connector 81 is positioned within the field of view of the imaging device 25, and captures an image of the second connector 81 with the imaging device 25. Then, the control device 3 performs image recognition processing on the image data acquired by the imaging device 25, and detects the position of the second connector 81. Note that the position of the second connector 81 is, for example, the position of the tip, i.e., the open end, of the second connector 81. Also, the position of the second connector 81 includes the position and posture (orientation) of the second connector 81.
[0025] <Gripping step S2> In the gripping step S2, first, as shown in Fig. 6, the control device 3 moves the robot 2 so that the first connector 92 is positioned within the field of view of the imaging device 25, and captures an image of the first connector 92 with the imaging device 25. Then, the control device 3 performs image recognition processing on the image data acquired by the imaging device 25 to detect the position of the first connector 92. Note that the position of the first connector 92 is, for example, the position of the tip of the first connector 92. Also, the position of the first connector 92 includes the position and posture (orientation) of the first connector 92.
[0026] Next, the control device 3 moves the robot 2 based on the detected position, and causes the tool 23 to grip a predetermined position of the first connector 92.
[0027] <Axis shift step S3> In the axis shifting step S3, first, the control device 3 moves the robot 2 to align the orientation of the first connector 92 with the orientation of the second connector 81, as shown in Fig. 7. That is, the central axis O1 of the first connector 92 is aligned with the Y axis, the short axis is aligned with the Z axis, and the long axis is aligned with the X axis. In the illustrated example, the central axis O1 is aligned with the central axis O2, and the first connector 92 is directly opposed to the second connector 81.
[0028] Next, as shown in Fig. 8, the control device 3 moves the robot 2 to rotate the first connector 92 by a predetermined angle around the Z axis, and tilts its central axis O1 with respect to the central axis O2 of the second connector 81. As a result, of the tip portion of the first connector 92, one end portion in the longitudinal direction (the end portion located on the negative side in the X-axis direction) protrudes forward in the insertion direction of the first connector 92 (the positive side in the Y-axis direction) relative to the other end portion (the end portion located on the positive side in the X-axis direction). Note that, for convenience of explanation, hereinafter, the one end portion, i.e., the portion shown by hatching in the figure, is also referred to as the "tip portion 920".
[0029] In this embodiment, the state shown in Fig. 8 is reached via the state shown in Fig. 7, but the present invention is not limited to this and the state shown in Fig. 8 may be reached via another state or directly without passing through another state. The axis of rotation is not particularly limited, and for example, first connector 92 may be rotated a predetermined angle around the X-axis.
[0030] Also, the axis shifting step S3 may be omitted, and the central axis O1 may be inclined with respect to the central axis O2 of the second connector 81 when the first connector 92 is gripped in the gripping step S2.
[0031] <First insertion step S4> In the first insertion step S4, the control device 3 moves the robot 2 as shown in FIG. 9 to translate the first connector 92 while maintaining the inclination with respect to the second connector 81, and inserts the tip 920 of the first connector 92 into the second connector 81. Here, by rotating the first connector 92 around the Z axis in the axis shifting step S3, the width W1 (length in the X-axis direction) of the tip 920 becomes smaller than the width W2 (length in the X-axis direction) of the opening of the second connector 81. Furthermore, the tip 920 tapers toward the tip side in the insertion direction. Therefore, for example, as shown in FIG. 10, the probability of successful insertion can be increased compared to the case where the first connector 92 is inserted into the second connector 81 in an attitude in which the central axis O1 of the first connector 92 is parallel to the central axis O2 of the second connector 81, and insertion into the second connector 81 becomes easier.
[0032] In addition, there may be cases where the tip 920 of the first connector 92 hits the second connector 81 due to a detection error of the positions of the first connector 92 and the second connector 81, a shift in the gripping position, or the like, and further insertion is prevented. Therefore, the control device 3 detects the presence or absence of contact and the contact state between the first connector 92 and the second connector 81 based on the force detected by the force sensor 24, and proceeds with this step while finely adjusting the position of the first connector 92 based on the detection result. This allows the tip 920 of the first connector 92 to be inserted smoothly and more reliably into the second connector 81. Also, during this step, excessive force is less likely to be applied to the first connector 92 and the second connector 81, and damage or deformation thereof can be effectively suppressed.
[0033] Here, the inclination angle θ of the central axis O1 of the first connector 92 relative to the central axis O2 of the second connector 81 is not particularly limited, but is preferably, for example, 30° to 60°, more preferably 40° to 50°, and even more preferably about 45°. This allows the width W1 of the tip 920 to be sufficiently smaller than the width W2 of the opening of the second connector 81, further increasing the probability of successful insertion and making this step smoother and more reliable.
[0034] <Contact step S5> 11, in the abutment step S5, the control device 3 moves the robot 2 to translate the first connector 92 in the negative X-axis direction while maintaining the inclination with respect to the second connector 81, so that the tip 920 abuts against the inner wall 810 located on the negative X-axis direction side of the second connector 81. This positions the first connector 92 with respect to the second connector 81. Whether or not the first connector 92 has abutted can be determined based on the force detected by the force sensor 24.
[0035] <Axis alignment step S6> In the axis alignment step S6, the control device 3 moves the robot 2 to rotate the first connector 92 around the Z axis, as shown in Fig. 12, so that the entire area of the tip surface of the first connector 92 is inserted into the second connector 81, and the central axis O1 of the first connector 92 coincides with the central axis O2 of the second connector 81. At this time, it is preferable that the control device 3 rotates the first connector 92 while maintaining the tip portion 920 in contact with the inner wall 810, that is, around the contact point between the tip portion 920 and the inner wall 810. This allows this step to be performed smoothly.
[0036] <<Second Insertion Step S7>> 13, the control device 3 moves the robot 2 to advance the first connector 92 in the positive Y-axis direction along the central axis O1 and inserts it into the second connector 81. This completes the insertion of the first connector 92, and the first connector 92 and the second connector 81 are connected to each other.
[0037] <Pull-out step S8> In the unplugging step S8, the control device 3 moves the robot 2 to retract the first connector 92 along the central axis O1 in the negative Y-axis direction, and unplugs the first connector 92 from the second connector 81, as shown in FIG.
[0038] <Repeated insertion and removal step S9> In the repeated insertion / removal step S9, the robot 2 is moved to advance the first connector 92 along the central axis O1 in the positive direction of the Y axis to insert it into the second connector to the state shown in Fig. 13, and then the first connector 92 is moved back along the central axis O1 in the negative direction of the Y axis to pull it out from the second connector 81 to the state shown in Fig. 14. This action is counted as one insertion / removal action, and is repeated a number of times determined by the inspection. Note that this step can be performed smoothly by recording the position of the first connector 92 when the second insertion step S7 and the position of the first connector 92 when the removal step S8 are completed, and moving the first connector 92 back and forth between the two positions.
[0039] <Inspection step S10> In the inspection step S10, the condition of the second connector 81 itself and the condition of the part of the electronic device 8 that holds the second connector 81 are checked to evaluate the durability against insertion and removal of the cable 9. The evaluation may be performed, for example, by the control device 3 capturing an image of the second connector 81 with the imaging device 25 and processing the image data, or by another inspection robot. Alternatively, the evaluation may be performed visually by an operator.
[0040] The inspection method has been described above. According to such an inspection method, the first connector 92 can be smoothly inserted and removed from the second connector 81. Therefore, the time required for the inspection can be shortened.
[0041] The above describes the connector insertion method and inspection method using the robot system 1. As described above, this connector insertion method is a connector insertion method for inserting the first connector 92 into the second connector 81 using the robot 2, and includes a gripping step S2 for gripping the first connector 92 with the robot 2, a first insertion step S4 for inserting the tip 920 of the first connector 92 into the second connector 81 in a state in which the central axis O1 of the first connector 92 is shifted from the central axis O2 of the second connector 81, an axial alignment step S6 for displacing the first connector 92 to align the central axis O1 of the first connector 92 with the central axis O2 of the second connector 81, and a second insertion step S7 for moving the first connector 92 forward in a direction along the central axis O1 of the first connector 92 and inserting it into the second connector 81. According to this method, the probability of successful insertion is increased, and the first connector 92 can be inserted into the second connector 81 more reliably and smoothly.
[0042] As described above, in the first insertion step S3, the central axis O1 of the first connector 92 is inclined with respect to the central axis O2 of the second connector 81. This makes the width (length in the X-axis direction) of the tip portion 920 smaller than the width (length in the X-axis direction) of the opening of the second connector 81. This makes it easier to insert the first connector 92 into the second connector 81 in the first insertion step S4.
[0043] As described above, the connector insertion method includes an abutting step S5, which is performed between the first insertion step S4 and the axial alignment step S6, of moving the first connector 92 in a direction perpendicular to the central axis O2 of the second connector 81, specifically, toward the negative X-axis side, to abut the tip portion 920 against the second connector 81. This makes it possible to position the first connector 92 with respect to the second connector 81 prior to the axial alignment step S6.
[0044] As described above, in the axial alignment step S6, the first connector 92 is displaced while maintaining the tip portion 920 of the first connector 92 in contact with the second connector 81. As a result, upon completion of this step, the central axis O1 of the first connector 92 substantially coincides with the central axis O2 of the second connector 81. In other words, it is possible to minimize the deviation of the central axis O1 from the central axis O2 upon completion of this step.
[0045] As described above, the first connector 92 and the second connector 81 are HDMI. HDMI is a standard that allows for the combined transmission of video and audio, and is widely used primarily in AV (Audio / Visual) electronic devices 8. Therefore, it is possible to perform an insertion / removal durability test targeting a larger number of electronic devices 8.
[0046] As described above, the robot 2 has the force sensor 24 that detects the force generated when the first connector 92 comes into contact with the second connector 81. Then, in the first insertion step S4, the tip portion 920 of the first connector 92 is inserted into the second connector 81 based on the force detected by the force sensor 24. This allows the tip portion 920 of the first connector 92 to be smoothly inserted into the second connector 81. Also, excessive force is less likely to be applied to the first connector 92 and the second connector 81, and damage or deformation thereof can be effectively suppressed.
[0047] As described above, the inspection method is an inspection method for inserting the first connector 92 into the second connector 81 using the robot 2 and performing an inspection, and includes a gripping step S2 for gripping the first connector 92 with the robot 2, a first insertion step S4 for inserting the tip 920 of the first connector 92 into the second connector 81 in a state in which the central axis O1 of the first connector 92 is shifted from the central axis O2 of the second connector 81, an axial alignment step S6 for aligning the central axis O1 of the first connector with the central axis O2 of the second connector 81, a second insertion step S7 for advancing the first connector 92 in a direction along the central axis O1 of the first connector 92 and inserting it into the second connector 81, and a withdrawal step S8 for retracting the first connector 92 in a direction along the central axis O1 of the first connector 92 and withdrawing it from the second connector 81. According to this inspection method, the first connector 92 can be smoothly inserted and withdrawn into the second connector 81, and the time required for inspection can be shortened.
[0048] As described above, the inspection method inspects the durability of the first connector 92 or the second connector 81. In particular, in this embodiment, the durability of both is inspected. This makes it possible to easily and accurately evaluate the strength of the first and second connectors 92, 81 themselves and the strength of the portion of the electronic device 8 that supports the second connector 81.
[0049] As described above, the inspection method includes a repeated insertion / removal step S9, which is performed after the removal step S8, in which the first connector 92 is repeatedly inserted and removed from the second connector 81. This makes it possible to effectively inspect the durability of the first connector 92 and the second connector 81.
[0050] <Second embodiment> Fig. 15 is a perspective view showing a first connector and a second connector used in the inspection method of the second embodiment. Figs. 16 to 20 are views for explaining the inspection method.
[0051] The robot system 1 according to this embodiment is similar to the robot system 1 according to the first embodiment described above, except that the shapes (standards) of the first and second connectors 92, 81 are different. In the following description, the robot system 1 according to this embodiment will be described with a focus on the differences from the first embodiment described above, and a description of the similarities will be omitted. In each drawing of this embodiment, the same reference numerals are used for the same configurations as those in the above-described embodiment.
[0052] 15, in this embodiment, the first connector 92 has a protruding portion 923 that protrudes forward from the lower end of the tip surface 922. In such a case, a durability test of the electronic device 8 is performed as follows.
[0053] The inspection method of this embodiment omits the contact step S5 from the first embodiment, and includes a detection step S1, a gripping step S2, an axis shifting step S3, a first insertion step S4, an axis alignment step S6, a second insertion step S7, a pull-out step S8, a repeated insertion / removal step S9, and an inspection step S10. Of these, the detection step S1, the gripping step S2, the pull-out step S8, the repeated insertion / removal step S9, and the inspection step S10 are the same as those of the first embodiment, so their explanations are omitted, and the following will explain the axis shifting step S3, the first insertion step S4, the axis alignment step S6, and the second insertion step S7.
[0054] <Axis shift step S3> In the axis shifting step S3, first, as shown in Fig. 16, the control device 3 moves the robot 2 to align the orientation of the first connector 92 with the orientation of the second connector 81. Next, as shown in Fig. 17, the control device 3 moves the robot 2 to move the first connector 92 to the positive side in the Z axis direction, and shifts its central axis O1 parallel to the Z axis direction with respect to the central axis O2 of the second connector 81.
[0055] <First insertion step S4> 18, the control device 3 moves the robot 2 to move the first connector 92 along the central axis O1 toward the positive side in the Y-axis direction, inserting the protrusion 923 into the second connector 81 and bringing the tip surface 922 into contact with the open end of the second connector 81. According to this method, the insertion into the second connector 81 is easier than, for example, a case in which the first connector 92 is inserted into the second connector 81 with the central axes O1 and O2 aligned.
[0056] <Axis alignment step S6> In the axis alignment step S6, the control device 3 moves the robot 2 to move the first connector 92 to the negative side in the Z axis direction, as shown in FIG. 19, so as to align the central axis O1 of the first connector 92 with the central axis O2 of the second connector 81.
[0057] <<Second Insertion Step S7>> 20, the control device 3 moves the robot 2 to advance the first connector 92 along the central axis O1 toward the positive side in the Y-axis direction and inserts it into the second connector 81. This completes the insertion of the first connector 92, and the first connector 92 and the second connector 81 are connected to each other.
[0058] The second embodiment as described above can also achieve the same effects as the first embodiment described above.
[0059] <Third embodiment> The robot system 1 according to this embodiment is similar to the robot system 1 according to the first embodiment described above, except for the inspection method. In the following description, the robot system 1 according to this embodiment will be described focusing on the differences from the first embodiment described above, and the description of the similarities will be omitted.
[0060] The inspection method of the present embodiment inspects the insertion force for inserting the first connector 92 into the second connector 81 and the withdrawal force for withdrawing the first connector 92 from the second connector 81. This makes it possible to evaluate the ease of insertion and withdrawal of the first connector 92 into the second connector 81.
[0061] The inspection method of this embodiment includes a detection step S1, a gripping step S2, an axis shifting step S3, a first insertion step S4, a contact step S5, an axis alignment step S6, a second insertion step S7, a pull-out step S8, and an inspection step S10. That is, the repeated insertion / pulling step S9 is omitted from the first embodiment described above. Note that the detection step S1, the gripping step S2, the axis shifting step S3, the first insertion step S4, a contact step S5, the axis alignment step S6, the second insertion step S7, and the pull-out step S8 are each the same as those of the first embodiment described above. Therefore, only the inspection step S10 will be described below.
[0062] <Inspection step S10> In the inspection step S10, the control device 3 detects the force applied to the first connector 92 in the second insertion step S7 with the force sensor 24, and detects the insertion force required to insert the first connector 92 into the second connector 81 based on the detected force. Similarly, the control device 3 detects the force applied to the first connector 92 in the extraction step S8 with the force sensor 24, and detects the extraction force required to extract the first connector 92 from the second connector 81 based on the detected force. This makes it possible to evaluate the ease of insertion and extraction of the first connector 92 into and from the second connector 81.
[0063] As described above, the inspection method of the present embodiment inspects the insertion force for inserting the first connector 92 into the second connector 81, or the removal force for removing the first connector 92 from the second connector 81. This makes it possible to evaluate the ease of insertion and removal of the first connector 92 into and from the second connector 81.
[0064] The third embodiment as described above can also achieve the same effects as the first embodiment described above.
[0065] <Fourth embodiment> FIG. 21 is a configuration diagram of a robot system according to the fourth embodiment.
[0066] The robot system 1 according to this embodiment is similar to the robot system 1 according to the first embodiment, except for the arrangement of the imaging device 25. In the following description, the robot system 1 according to this embodiment will be described with a focus on the differences from the first embodiment, and a description of the similarities will be omitted. In the drawings of this embodiment, the same reference numerals are used to designate the same components as those in the above-described embodiment.
[0067] As shown in FIG. 21, in the robot system 1 of this embodiment, the imaging device 25 is not disposed on the robot 2, but is disposed, for example, directly above the working space and fixed at a predetermined position.
[0068] The fourth embodiment can also achieve the same effects as the first embodiment. In this embodiment, depending on the posture of the electronic device 8, it may not be possible to capture an image of the second connector 81 with the imaging device 25. In that case, for example, the position of the second connector 81 may be obtained in advance by another method, and the obtained position may be stored in the control device 3.
[0069] <Fifth embodiment> Fig. 22 is a perspective view showing a gripping jig used in an inspection performed by a robot system according to a fifth embodiment. Fig. 23 is an exploded perspective view of the gripping jig shown in Fig. 22. Fig. 24 is a perspective view showing a state in which the gripping jig is gripped by a tool.
[0070] The robot system 1 according to this embodiment is similar to the robot system 1 according to the first embodiment described above, except that a gripping jig 7 is attached to the first connector 92 during inspection. In the following description, the robot system 1 according to this embodiment will be described mainly with respect to differences from the first embodiment described above, and description of similar points will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.
[0071] In the inspection of this embodiment, a gripping jig 7 is attached to the first connector 92 prior to the gripping step S2. As shown in Fig. 22 and Fig. 23, the gripping jig 7 has a base 72 that holds the first connector 92, a spacer 71 that is interposed between the base 72 and the first connector 92, and a tubular locking portion 73 that is inserted into the base 72. The spacer 71 is divided into spacer pieces 711 and 712, and the base 72 is divided into base pieces 721 and 722. Each of these parts is made of, for example, a resin material.
[0072] In the holding jig 7, first, the spacer 71 is assembled by sandwiching the body of the first connector 92 between the spacer pieces 711, 712. The spacer 71 has a positioning portion 713 that positions the first connector 92. This allows the first connector 92 to be placed in a predetermined position relative to the spacer 71, and also makes it possible to prevent the first connector 92 from shifting after positioning. The configuration of the positioning portion 713 can be designed appropriately according to the body shape of the first connector 92, and in this embodiment, it has a configuration that has a convex portion that engages with a narrowing of the body.
[0073] Next, the spacer 71 is sandwiched between the base pieces 721, 722 to assemble the base 72. The base 72 has a positioning portion 723 that positions the spacer 71. This allows the spacer 71 to be placed at a predetermined position relative to the base 72, and also prevents the spacer 71 from shifting after positioning. The configuration of the positioning portion 723 can be designed appropriately according to the shape of the spacer 71. The positioning portion 723 in this embodiment is formed at the tip of the base 72, and has a recess into which the spacer 71 is fitted.
[0074] Next, the locking portion 73 is inserted into the base 72 to maintain the assembled state of the spacer 71 and the base 72. The base 72 has a positioning portion 724 for positioning the locking portion 73. This allows the locking portion 73 to be placed at a predetermined position relative to the base 72. The configuration of the positioning portion 724 can be designed appropriately according to the shape of the locking portion 73, and in this embodiment, it has a wall portion against which the locking portion 73 abuts. This completes the assembly of the gripping jig 7. With this configuration, the gripping jig 7 can be easily attached to the cable 9. Note that when the gripping jig 7 is attached, the tip of the first connector 92, specifically the entire male terminal portion (the portion inserted into the second connector 81) protrudes from the tip of the gripping jig 7.
[0075] The gripping jig 7 also has a recognition mark M1 for image recognition arranged on the upper surface of the locking portion 73. The recognition mark M1 may be formed integrally with the locking portion 73, or may be formed separately and joined with an adhesive or the like.
[0076] The recognition mark M1 is configured to be easily recognized by image recognition. Specifically, the recognition mark M1 has a color and gloss that are easily recognized by image recognition. The recognition mark M1 is made of, for example, a resin material, and has a sufficiently suppressed gloss. In addition, the recognition mark M1 is colored in a color different from the surroundings. Therefore, the recognition mark M1 and its outline appear clearly in the image data. Therefore, the position of the first connector 92 can be detected more accurately than when the position of the first connector 92 is detected based on image data obtained by directly imaging the first connector 92. In addition, the recognition mark M1 is configured to be of an appropriate size, not too small or too large, so that image recognition does not take too much time.
[0077] The recognition mark M1 has a three-dimensional shape. Furthermore, the side of the recognition mark M1 is inclined in a tapered shape, and appears in the image data captured by the imaging device 25. Therefore, the amount of information about the recognition mark M1 increases, and the recognition mark M1 can be image-recognized with higher accuracy. Therefore, the position of the first connector 92 can be detected with higher accuracy. However, the shape of the recognition mark M1 is not particularly limited, and the side does not have to be tapered, and may be a flat shape formed by, for example, a printing layer, attachment of a sticker, or the like.
[0078] The base 72 also has a gripping portion 725 that is gripped by the tool 23 of the robot 2. The gripping portion 725 has a shape narrowed by a pair of cutout portions formed on both side surfaces of the base 72. Then, as shown in Fig. 24, in the gripping step S2, the claw portions of the tool 23 are inserted into the cutout portions to clamp the gripping portion 725, whereby the gripping jig 7 can be gripped in a stable position.
[0079] Moreover, the gripping portion 725 is located on the base end side of the recognition mark M1, that is, rearward in the insertion direction. This increases the separation distance D between the tool 23 and the first connector 92 when the gripping portion 725 is gripped by the tool 23, and for example, the first connector 92 can be inserted into the second connector 81 that is located so far back that the first connector 92 cannot be inserted when the first connector 92 is directly gripped by the tool 23. This improves the workability of the inspection. However, the arrangement of the gripping portion 725 is not particularly limited.
[0080] The above has described the gripping jig 7. The relative positional relationship between the recognition mark M1 and the gripping portion 725 (offset amount from the recognition mark M1) and the relative positional relationship between the recognition mark M1 and the first connector 92 (offset amount from the recognition mark M1) in a state in which the gripping jig 7 is attached to the first connector 92 are known in advance, and these relationships are stored in the control device 3. Therefore, if the control device 3 detects the position of the recognition mark M1 from the image acquired by the imaging device 25, it can detect the positions of the gripping portion 725 and the first connector 92 from that position.
[0081] The fifth embodiment can also achieve the same effects as the first embodiment described above.
[0082] The connector insertion method and inspection method of the present invention have been described above based on the illustrated embodiment, but the present invention is not limited to this. The configuration of each part can be replaced with any configuration having a similar function. In addition, any other configuration or process may be added to the present invention. [Explanation of symbols]
[0083] 1...robot system, 2...robot, 21...base, 22...robot arm, 221...arm, 222...arm, 223...arm, 224...arm, 225...arm, 226...arm, 23...tool, 24...force sensor, 25...imaging device, 3...control device, 7...gripping jig, 71...spacer, 711...spacer piece, 712...spacer piece, 713...positioning portion, 72...base, 721...base piece, 722...base piece, 723...positioning portion, 724...positioning portion, 725...gripping portion, 73...lock portion, 8...electronic device, 81...second connector, 810...inner wall, 9 ...cable, 91...cable body, 92...first connector, 920...tip portion, 922...tip surface, 923...protrusion, D...distance, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, M1...recognition mark, O1...central axis, O2...central axis, S1...detection step, S2...gripping step, S3...axis shifting step, S4...first insertion step, S5...contact step, S6...axis alignment step, S7...second insertion step, S8...pulling out step, S9...repeated insertion / removal step, S10...inspection step, W1...width, W2...width, θ...tilt angle
Claims
1. 1. A connector insertion method for inserting a first connector into a second connector using a robot, comprising: a gripping step of gripping the first connector with the robot; a first insertion step of inserting a tip end of the first connector into the second connector in a state in which a central axis of the first connector is shifted with respect to a central axis of the second connector; an axial alignment step of displacing the first connector so that a central axis of the first connector coincides with a central axis of the second connector; a second insertion step of advancing the first connector in a direction along a central axis of the first connector and inserting it into the second connector.
2. 2. The connector inserting method according to claim 1, wherein in the first inserting step, a central axis of the first connector is inclined with respect to a central axis of the second connector.
3. between the first insertion step and the axial alignment step, 3. The connector inserting method according to claim 2, further comprising a contacting step of moving the first connector in a direction perpendicular to a central axis of the second connector to contact the tip end portion with the second connector.
4. The connector inserting method according to claim 3 , wherein in the axial alignment step, the first connector is displaced while maintaining the tip end of the first connector in contact with the second connector.
5. The connector inserting method according to claim 1 , wherein the first connector and the second connector are HDMI connectors.
6. the robot has a force sensor that detects a force generated when the first connector comes into contact with the second connector, 2. The connector inserting method according to claim 1, wherein in the first inserting step, the tip portion of the first connector is inserted into the second connector based on the force detected by the force sensor.
7. 1. An inspection method for inserting a first connector into a second connector using a robot, comprising: a gripping step of gripping the first connector with the robot; a first insertion step of inserting a tip end of the first connector into the second connector in a state in which a central axis of the first connector is shifted with respect to a central axis of the second connector; an axial alignment step of aligning a central axis of the first connector with a central axis of the second connector; a second insertion step of advancing the first connector in a direction along a central axis of the first connector and inserting the first connector into the second connector; and a withdrawal step of withdrawing the first connector in a direction along a central axis of the first connector to withdraw it from the second connector.
8. The inspection method according to claim 7 , further comprising inspecting durability of the first connector or the second connector.
9. The inspection method according to claim 7 , further comprising inspecting an insertion force for inserting the first connector into the second connector or an extraction force for extracting the first connector from the second connector.
10. which is performed after the extraction step, The inspection method according to claim 8 , further comprising a repeated insertion / removal step of repeatedly inserting and removing the first connector into and from the second connector.