Method and device for connecting connector component

Abstract

To reduce costs in association with scale-down of a production facility and improved space efficiency, and to eliminate the problem that a production facility is oversized, improve production efficiency and further enhance productivity and mass production performance.SOLUTION: A connection component W is imaged by a camera 4 so as to detect a position and an angle thereof. The connector component W is held by a chuck function part 2 on the basis of data on the detected position and angle. The connector component W is moved while being held and then brought into contact with a first stationary wall 5, so that first positioning and angle determination thereof in a predetermined direction Ka is performed. Also, the connector component W is moved while being held and then the connector component W is brought into contact with a second stationary wall 6, so that second positioning thereof is performed in a direction Kb that is orthogonal to the predetermined direction Ka. Thereafter, the connector component W positioned by the first positioning and the second positioning is connected to a part J to be connected.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method and device for connecting a connector part to a board by gripping the connector part set in a setting part with a chuck function part. [Background technology]

[0002] Conventionally, a connector gripping device described in Patent Document 1 is known as a connector component connecting device that connects a connector component (connector) set in a setting section to a substrate (mating connector) by gripping the connector component with a chuck function section.

[0003] This connector gripping device aims to automate the inspection and connection work of connectorized cables. Specifically, a first robot is operated, and the pair of rolls of the first hand clamps a midpoint of the connectorized cable. The first robot then moves the first hand toward the connector to secure the connector. An image of the connector is acquired with a first camera to determine the connector's position and orientation, and a second robot is moved to a corrected gripping position based on the position and orientation data, and the second hand grips the outer periphery of the connector. Furthermore, the first camera acquires an image of the connector and inspects it, and the second camera is used to acquire data on the position and orientation of the mating connector, correcting the position and orientation of the second hand before connecting the connector to the mating connector. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-11580 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional connector component connecting device (connector gripping device) has the following problems.

[0006] In other words, two robots, a first robot and a second robot, are required, which not only increases the cost of the production equipment, but also reduces space efficiency by requiring a large space for the two robots, and the production equipment tends to become large-scale. Moreover, since each process is carried out by two robots with different functions, the takt time tends to be long. As a result, there is a drawback in that it is difficult to improve productivity and mass production, such as a decrease in production efficiency and production capacity.

[0007] SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for connecting connector parts that solves the problems present in the background art. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the method for connecting a connector part W according to the present invention is characterized in that, when the connector part W set in the setting part M is grasped by the chuck function part 2 and the connector part W is connected to the connection part J of the fixed substrate 3, the position and angle are detected by imaging the connector part W with the camera 4, the connector part W is grasped by the chuck function part 2 based on this detected data, the connector part W is moved in the grasped state and abutted against the first fixed wall 5 to perform a first positioning and angle determination with respect to the predetermined direction Ka, the connector part W is moved in the grasped state and abutted against the second fixed wall 6 to perform a second positioning which is perpendicular to the predetermined direction Ka, and then the connector part W positioned by the first positioning and second positioning is connected to the connection part J.

[0009] In addition, in order to solve the above-mentioned problems, the connecting device 1 of the connector parts W according to the present invention is characterized in that, when configuring a connecting device that holds a connector part W set in a setting part M with a chuck function part 2 and connects the connector part W to a connection part J of a fixed substrate 3, it comprises: connector part state detection means Fm that detects the position and angle by imaging the connector part W with a camera 4; connector part holding means Fh that holds the connector part W with the chuck function part 2 based on the detected data; first positioning means Fc that moves the connector part W held by the connector part holding means Fh to abut against a first fixed wall 5 and perform a first positioning and angle setting with respect to a predetermined direction Ka; second positioning means Fs that moves the connector part W held by the connector part holding means Fh to abut against a second fixed wall 6 and perform a second positioning which is perpendicular to the predetermined direction Ka; and connector part connecting means Fj that connects the connector part W positioned by the first positioning means Fc and the second positioning means Fs to the connection part J.

[0010] On the other hand, in a preferred embodiment of the present invention, the camera 4 can capture images from two directions Ex and Ey that are perpendicular to the connector part W. Also, the chuck function part 2 can be provided with first shape parts 11p and 11q corresponding to the first positioning and angle setting, and second shape parts 12p and 12q corresponding to the second positioning. Furthermore, the chucking force by the chuck function part 2 can be controlled to a low pressure during the first positioning and angle setting, and can be controlled to a low pressure during the second positioning. [Effects of the Invention]

[0011] The connector component connecting method and device 1 according to the present invention provides the following significant effects.

[0012] (1) The position and angle of the connector part W are detected by capturing an image of the connector part W with the camera 4, and based on this detected data, the connector part W is gripped by the chuck function unit 2, and the connector part W is moved while being gripped, and abutted against the first fixed wall 5 to perform a first positioning (including angle setting) in the predetermined direction Ka, and the connector part W is moved while being gripped, and abutted against the second fixed wall 6 to perform a second positioning in a direction Kb perpendicular to the predetermined direction Ka, and then the connector part W positioned by the first positioning and second positioning is connected to the connection part J. This allows for only one robot to be used, resulting in cost reduction due to a reduction in production equipment, and the space required to install the robot can be halved, improving space efficiency. This eliminates the problem of large-scale production equipment, and allows all processes to be carried out with a single robot, thereby shortening the takt time, improving production efficiency and production efficiency, and increasing productivity and mass production.

[0013] (2) In a preferred embodiment, when taking an image using the camera 4, images are taken from two directions Ex and Ey that are perpendicular to the connector part W. This allows the posture of the connector part W to be identified based on its position and angle, and the chuck function unit 2 can chuck the connector part W accurately and reliably.

[0014] (3) In a preferred embodiment, the chuck function portion 2 is provided with first shape portions 11p, 11q corresponding to the first positioning and angle setting. By forming the first shape portions 11p, 11q, for example, in a planar shape, the connector part W held by the connector part holding means Fh can be clamped at two positions, the first fixed wall 5 and the abutment shape portions 11p, 11q, thereby reliably performing the first positioning including angle setting.

[0015] (4) In a preferred embodiment, if the chuck function portion 2 is provided with second shape portions 12p, 12q corresponding to the second positioning, the second shape portions 12p, 12q can be formed, for example, into a fitting shape, thereby reliably performing the second positioning in the perpendicular direction Kb for the connector part W gripped by the connector part gripping means Fh.

[0016] (5) In a preferred embodiment, when the first positioning and angle setting are performed, the chucking force of the chuck function portion 2 is controlled to a low pressure, so that the connector part W can be smoothly slid without being damaged. Therefore, the first positioning, including the angle setting in the predetermined direction Ka relative to the connector part W, can be performed smoothly.

[0017] (6) In a preferred embodiment, by controlling the chucking force of the chuck function portion 2 to a low pressure during the second positioning, the connector part W can be smoothly slid without being damaged, and therefore the second positioning in the perpendicular direction Kb relative to the connector part W can be smoothly performed. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a flowchart showing the steps of a method for connecting connector parts according to a preferred embodiment of the present invention; [Figure 2] FIG. 2 is an overall configuration diagram of the connecting device for the connector parts; [Figure 3] FIG. 2 is a front view of a setting unit for setting connector components of the connection device; [Figure 4] 1 is a side view of a setting unit for setting connector components of the connection device; [Figure 5] FIG. 2 is a perspective view of a connector part connected by the connecting device; [Figure 6] FIG. 2 is a front view showing the tip shape of the chuck function part in the connecting device; [Figure 7] 10 is a side view showing the shape of a tip of the chuck function part in the connecting device; [Figure 8] FIG. 2 is a front view showing a state in which the connecting device is chucked; [Figure 9] FIG. 2 is a side view showing a state in which the connecting device is in a first positioning state; [Figure 10] FIG. 10 is a front view showing a state in which the connecting device is in a second positioning state; [Figure 11] FIG. 2 is a front view showing a state in which the connecting device is connected to a connected portion; DETAILED DESCRIPTION OF THE INVENTION

[0019] Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0020] First, the overall configuration of a connecting device 1 of connector parts according to this embodiment will be described with reference to FIGS.

[0021] The connector part connecting device 1 includes a six-axis robot 21 fixed on a table 20 shown in Fig. 2, and includes, at the tip of the six-axis robot 21, a chuck function unit 2 constituting connector part gripping means Fh capable of gripping a connector part W, and a camera 4 constituting connector part state detecting means Fm. Also, the device includes a setting unit M arranged near the six-axis robot 21 for setting the connector part W.

[0022] 3 and 4, the setting section M includes a substrate 3 fixed to a base 31 fixed to the upper surface of the table 20, and a connector component support plate 32 standing upward from the base 31. The connector component support plate 32 serves as a first fixed wall 5, and one end of the connector component support plate 32 is bent 90 degrees to form a reinforcing surface 32s. The connector component support plate 32 supports a connector component W, and the connector component W can be fixed or detached by inserting an attachment / detachment portion (screw portion) 33 into a hole Wh provided in the substrate portion of the connector component W.

[0023] 5 shows an overall view of the connector part W to be connected. The illustrated connector part W includes a substrate part Ws with a hole Wh near the center, a flexible cable line Lc protruding to one side from the substrate part Ws, and a connecting connector C provided at the tip of the cable line Lc. The connecting connector C is integrally configured with a block-shaped base part Cb made of a metal material, a connection pin part Cp protruding from the center of the base part Cb, and a cylindrical connection barrier part Cr that surrounds the connection pin part Cp.

[0024] On the other hand, the 6-axis robot 21 is an industrial robot having a total of 6 movable axes, and is equipped at its tip with a chuck function unit 2 that can move freely under control, and this chuck function unit 2 constitutes a connector part gripping means Fh that can grip a connector part W.

[0025] In addition, a fixed camera 4 is provided near the tip of the chuck function unit 2, and this camera 4 constitutes connector part state detection means Fm. That is, the camera 4 can detect the position and angle by capturing an image of the connector part W. Specifically, the camera 4 can capture images from two directions Ex and Ey that are perpendicular to the connector part W. This allows the posture of the connector part W to be identified by capturing images from the two directions Ex and Ey that are perpendicular to the connector part W, so that the chuck function unit 2 can chuck the connector part W accurately and reliably.

[0026] Although an example has been shown in which a single camera 4 is used and the angle is changed to enable capturing images from two directions Ex and Ey, it is also possible to use two cameras, one for position detection and the other for angle detection.

[0027] The chuck function portion 2 is shown in Figures 6 and 7. The chuck function portion 2 has one chuck portion 2p and the other chuck portion 2q that are displaced symmetrically in the approaching or separating direction. When the chuck portions 2p and 2q approach each other, the connector C of the connector part W can be gripped between them.

[0028] 7, the chuck portions 2p and 2q are provided on their rear sides with first shaped portions 11p, 11q that correspond to the first positioning including angle setting when the connector C of the connector part W abuts against them, i.e., the first shaped portions 11p, 11q whose wall surfaces are flat due to the steps. As a result, when the connector part W held by the connector part holding means Fh moves, it is sandwiched between the first fixed wall 5 and the abutment shaped portions 11p, 11q, thereby reliably performing the first positioning and angle setting.

[0029] The above configuration constitutes a first positioning means Fc that moves the connector part W held by the connector part holding means Fh to abut it against the first fixed wall 5, thereby performing first positioning and angle setting with respect to the predetermined direction Ka.

[0030] The chuck function portion 2 is also provided with second shaped portions 12p, 12q that constitute the second fixed wall 6 corresponding to the second positioning where the connection barrier portion Cr of the connector part W abuts. As shown in Fig. 7, the second shaped portions 12p, 12q are shaped to fit in a position that allows the base portion Cb of the connector part W to pass through. That is, as shown in Fig. 6, the second shaped portions 12p, 12q are formed with arc-shaped portions that abut (fit) against the circumferential surface of the connection barrier portion Cr. This allows the second positioning in the perpendicular direction Kb to be reliably performed by moving the connector part W gripped by the connector part gripping means Fh.

[0031] The above configuration constitutes a second positioning means Fs that moves the connector part W held by the connector part holding means Fh, thereby abutting the connector part W against the second fixed wall 6 and performing a second positioning in a direction Kb perpendicular to the predetermined direction Ka.

[0032] Next, the operation of the connector component connecting device 1 according to this embodiment, that is, the method of connecting the connector components, will be described according to the flowchart shown in FIG. 1 with reference to FIGS. 8 to 11 and the respective figures.

[0033] First, as shown in Fig. 3, the connector part W is set on the connector part support plate 32 of the setting section M. In this case, the connector part W can be fixed by inserting the detachable part (screw part) 33 into the hole Wh provided in the base part Ws of the connector part W (step S1).

[0034] Next, the camera 4 provided at the tip of the six-axis robot 21 is moved to capture an image of the connecting connector C of the connector part W from directly above (the Ex direction) of the connecting connector C, and detect the position of the connecting connector C, i.e., the position in the left-right and front-rear directions (step S2). In addition, the connecting connector C of the connector part W is captured from the tip side (the Ey direction) of the connecting connector C, and the angle and the position in the up-down direction of the connecting connector C are detected (step S3). As a result, the Ex direction and the Ey direction are perpendicular to the connector part W, and by identifying the posture of the connector part W, the connector part W can be chucked accurately and reliably by the chuck function unit 2.

[0035] Next, since the state of the connecting connector C has been identified, the chuck function portion 2 is moved, and one chuck portion 2p and the other chuck portion 2q are moved in the approaching direction to grip the connecting connector C of the connector part W (steps S4 and S5). This state is shown in Figure 8. The directions of arrows F1 and F2 indicate the displacement directions of the chuck portions 2p and 2q.

[0036] After this, the air (pressurizing medium) in the chuck function portion 2 is vented, and the chucking force by the chuck function portion 2 is controlled to a low pressure. Specifically, the pressure is reduced to approximately 1 / 4 to 1 / 10 of the normal pressure (step S6). Then, the chuck function portion 2 is moved, and as shown in FIG. 9, the tip of the connection barrier portion Cr of the connector C is brought into contact with the connector component support plate 32, i.e., the first fixed wall 5 (step S7). The direction of arrow F3 indicates the movement direction of the chuck portions 2p and 2q. As a result, the base portion Cb of the connector C is sandwiched between the connector component support plate 32 and the first shape portions 11p and 11q, and the first positioning and angle setting are directly performed by the first shape portions 11p and 11q (step S8). Note that, for this reason, a gap Lm exists between the tip of the chuck function portion 2 and the connector component support plate 32. Then, once the first positioning, including angle setting, is completed, the air in the chuck function portion 2 is released.

[0037] In this way, by controlling the chucking force by the chuck function part 2 to a low pressure during the first positioning, the connector part W can be smoothly slid without being damaged, and therefore the first positioning, including determining the angle in the specified direction Ka relative to the connector part W, can be performed smoothly.

[0038] Next, the air (pressure medium) in the chuck function portion 2 is vented, and the chucking force of the chuck function portion 2 is controlled to a low pressure. Specifically, the pressure is reduced to approximately 1 / 4 to 1 / 10 of the normal pressure (step S9). Then, the chuck portions 2p and 2q are moved in the direction of arrow F4, as shown in FIG. 10. This causes relative displacement of the connection connector C, and the peripheral surface of the connection barrier portion Cr abuts against the second shape portions 12p and 12q (step S10). At this time, the abutment pressure is monitored by a pressure sensor to confirm abutment (step S11). As a result, the second positioning of the connection connector C is performed by the second shape portions 12p and 12q (step S12).

[0039] In this way, by controlling the chucking force by the chuck function part 2 to a low pressure during the second positioning, the connector part W can be slid smoothly without being damaged, thereby making it possible to smoothly perform the second positioning in the perpendicular direction Kb relative to the connector part W.

[0040] Therefore, since the first positioning and the second positioning including angle setting have been performed, a chucking process is performed to return the air to its normal state, i.e., its original state (step S13). After this, the chucking function part 2 is moved (step S14), and the connector C is connected to the connection part J in a state accurately positioned by the first positioning and the second positioning including angle setting (step S15), as shown in Fig. 11. At this time, the connection pressure is monitored by a pressure sensor to confirm that the connection has been completed (step S16).

[0041] Once the connection is complete, the chuck portions 2p and 2q are moved in the directions of arrows F6 and F7, and the chuck portions 2p and 2q are detached from the connector C. Thereafter, it is confirmed whether the connection is secure, and if the connection is normal, the connection process is terminated (step S17).

[0042] As described above, the connector part connecting method (apparatus) according to this embodiment is basically configured to detect the position and angle of the connector part W by capturing an image of the connector part W with the camera 4, grip the connector part W with the chuck function unit 2 based on the detected data, move the connector part W while gripped, and abut against the first fixed wall 5 to perform a first positioning and angle setting relative to the predetermined direction Ka, and then move the connector part W while gripped, and abut against the second fixed wall 6 to perform a second positioning in a direction Kb perpendicular to the predetermined direction Ka, and then connect the connector part W positioned by the first positioning and second positioning, including angle setting, to the connection part J. This requires only one robot, reduces costs by downsizing the production equipment, and halves the space required to install the robot, improving space efficiency. This eliminates the need for large-scale production equipment and allows all processes to be performed with a single robot, shortening takt time and improving production efficiency and productivity, as well as increasing productivity and mass production.

[0043] Although the preferred embodiment has been described in detail above, the present invention is not limited to such an embodiment, and the detailed configuration, shape, material, quantity, numerical value, method, etc. can be changed, added, or deleted as desired within the scope that does not deviate from the gist of the present invention.

[0044] For example, the connector part W is shown as being integrally configured with a block-shaped base Cb made of a resin, a connection pin Cp protruding from the center of the base Cb, and a cylindrical connection barrier Cr surrounding the connection pin Cp. However, the present invention can be applied to various connector parts W having similar shapes. Furthermore, the chuck function part 2 can be provided with first shaped parts 11p and 11q corresponding to the first positioning including angle setting, and second shaped parts 12p and 12q corresponding to the second positioning. However, various shapes and configurations can be used. Furthermore, it is desirable, but not essential, to control the chucking force of the chuck function part 2 to a low pressure during the first positioning including angle setting, and to control the chucking force of the chuck function part 2 to a low pressure during the second positioning. [Industrial Applicability]

[0045] The method and device for connecting connector parts according to the present invention can be used when connecting various connector parts to a substrate by gripping them with a chuck function portion. [Explanation of symbols]

[0046] 1: Connector part connecting device, 2: Chuck function part, 3: Board, 4: Camera, 5: First fixed wall, 6: Second fixed wall, 11p: First shaped part, 11q: First shaped part, 12p: Second shaped part, 12q: Second shaped part, J: Connected part, W: Connector part, M: Setting part, Ka: Predetermined direction, Kb: Right angle direction, Fm: Connector part state detecting means, Fh: Connector part gripping means, Fc: First positioning means, Fs: Second positioning means, Fj: Connector part connecting means, Ex: Two directions, Ey: Two directions

Claims

1. A method for connecting connector parts, in which a connector part set in a setting section is gripped by a chuck function section and the connector part is connected to a connection part of a fixed board, the method comprising: detecting a position and angle of the connector part set in the setting section by capturing an image of the connector part with a camera; gripping the connector part with the chuck function section based on the detected data; moving the connector part while gripped; abutting the connector part against the first fixed wall to perform a first positioning and angle setting in a predetermined direction; moving the connector part while gripped; abutting the connector part against a second fixed wall to perform a second positioning that is perpendicular to the predetermined direction; and then connecting the connector part positioned by the first positioning and second positioning to the connection part.

2. 2. The method for connecting connector parts according to claim 1, wherein said camera takes images of said connector parts from two directions perpendicular to each other.

3. 2. The method for connecting connector parts according to claim 1, wherein the chuck function portion has a first shape portion corresponding to the first positioning.

4. 2. The method for connecting connector parts according to claim 1, wherein the chuck function portion has a second shape portion corresponding to the second positioning.

5. 2. The method for connecting connector parts according to claim 1, wherein the chucking force exerted by the chucking function portion is controlled to a low pressure during the first positioning.

6. 2. The method for connecting connector parts according to claim 1, wherein the chucking force exerted by the chucking function portion is controlled to a low pressure during the second positioning.

7. a second positioning means for moving the connector part held by the connector part holding means to abut against the second fixed wall to perform a first positioning and angle determination in a predetermined direction; a third positioning means for moving the connector part held by the connector part holding means to abut against the second fixed wall to perform a second positioning in a direction perpendicular to the predetermined direction; and a connector part connecting means for connecting the connector part positioned by the first positioning means and the second positioning means to the

8. 8. The connector component connecting device according to claim 7, wherein the chuck function portion has a first shape portion corresponding to the first positioning.

9. 8. The connector component connecting device according to claim 7, wherein the chuck function portion has a second shape portion corresponding to the second positioning.

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