Electronic device assembling apparatus and electronic device assembling method

Abstract

To provide an electronic device assembly apparatus which can improve efficiency of assembly work of an electronic device, and to provide an electronic device assembly method.SOLUTION: An electronic device assembly apparatus (1) includes: a cable holding tool (20): a base part (8) attached with the cable holding tool (20); a robot part (5) which moves the base part (8) to move the cable holding tool (20) relative to an electronic device (4); a control unit (60) which drives the robot part (5) to attach a cable (17) held by the cable holding tool (20) to a connector (13); and suction devices (62, 64) which suction and clean the connector (13) and the cable (17). The control unit (60) controls the suction device (62) to suction and clean the connector (13) and controls the suction device (64) to suction and clean the cable (17).SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to an electronic device assembling apparatus and an electronic device assembling method.

Background Art

[0002] Conventionally, an electronic device assembling apparatus / method for assembling an electronic device by attaching a cable to a connector of the electronic device is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there are many steps in the assembly work of electronic devices that are performed manually, and it is required to improve the efficiency of the assembly work by promoting the automation of the steps.

[0005] Therefore, an object of the present invention is to solve the above problems and provide an electronic device assembling apparatus and an electronic device assembling method capable of further improving the efficiency of the assembly work of electronic devices.

Means for Solving the Problems

[0006] To achieve the above object, an electronic device assembling apparatus according to the present invention includes a cable holding tool for holding a cable to be attached to a connector of an electronic device, a base portion to which the cable holding tool is attached, a robot portion that relatively moves the cable holding tool with respect to the electronic device by moving the base portion, a control portion that drives the robot portion to attach the cable held by the cable holding tool to the connector, and a suction device that sucks and cleans the connector and the cable. The control portion controls the suction device to suck and clean the connector and controls the suction device to suck and clean the cable.

[0007] Further, an electronic device assembling method according to the present invention is an electronic device assembling method for assembling an electronic device by attaching a cable to a connector of the electronic device, and includes a holding step of moving a base portion to which a cable holding tool is attached to hold the cable by the cable holding tool, a first suction step of controlling a suction device to suck and clean the connector, a second suction step of controlling the suction device to suck and clean the cable, and an insertion step of moving the base portion to insert the cable held by the cable holding tool into the connector.

Effect of the Invention

[0008] According to the present invention, the assembling work of the electronic device can be made more efficient.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6A

Figure 6B

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Figure 11A

Figure 11B

Figure 11C

Figure 11D

Figure 11E

Figure 11F

Figure 11G

Figure 11H

Figure 11I

Figure 11J

Figure 11K

Figure 11L

Figure 11M

Embodiments for Carrying Out the Invention

[0010] According to a first aspect of the present invention, there is provided a cable holding tool for holding a cable for attachment to a connector of an electronic device, a base portion to which the cable holding tool is attached, a robot portion that relatively moves the cable holding tool with respect to the electronic device by moving the base portion, a control portion that attaches the cable held by the cable holding tool to the connector by driving the robot portion, and a suction device that sucks and cleans the connector and the cable, wherein the control portion controls the suction device to suck and clean the connector and controls the suction device to suck and clean the cable, thereby providing an electronic device assembling apparatus.

[0011] According to a second aspect of the present invention, there is provided the electronic device assembling apparatus according to the first aspect, wherein the suction device includes a first suction device and a second suction device different from the first suction device, and the control portion performs suction cleaning of the connector using the first suction device and performs suction cleaning of the cable using the second suction device.

[0012] According to a third aspect of the present invention, the first suction device is attached to the base portion, the second suction device is provided at a location different from the base portion, and the control unit moves the base portion to bring the first suction device closer to the connector and performs suction cleaning of the connector, and moves the base portion to bring the cable held by the cable holding tool closer to the second suction device and performs suction cleaning of the cable, providing the electronic device assembling apparatus according to the second aspect.

[0013] According to a fourth aspect of the present invention, the first suction device has a first suction nozzle attached to the base portion, and the first suction nozzle opens toward the mounting direction of the cable to the connector by the cable holding tool when viewed from the direction of the base portion in plan view, providing the electronic device assembling apparatus according to the second or third aspect.

[0014] According to a fifth aspect of the present invention, the first suction nozzle is attached to the front side of the mounting direction with respect to the cable holding tool when viewed from the direction of the base portion in plan view, providing the electronic device assembling apparatus according to the fourth aspect.

[0015] According to a sixth aspect of the present invention, the first suction device further includes an angle adjustment mechanism for making the angle of the first suction nozzle variable, providing the electronic device assembling apparatus according to the fourth or fifth aspect.

[0016] According to a seventh aspect of the present invention, the second suction device has a second suction nozzle fixed in position within the electronic device assembling apparatus, and the second suction nozzle opens upward, providing the electronic device assembling apparatus according to any one of the second to sixth aspects.

[0017] According to an eighth aspect of the present invention, the end portion forming the opening of the second suction nozzle is inclined obliquely according to the angle of the cable held by the cable holding tool, providing the electronic device assembling apparatus according to the seventh aspect.

[0018] According to a ninth aspect of the present invention, there is provided an electronic device assembling apparatus according to any one of the first to eighth aspects, wherein the robot unit moves the base unit by a plurality of link members to relatively move the cable holding tool with respect to the electronic device.

[0019] According to a tenth aspect of the present invention, there is provided an electronic device assembling method for assembling an electronic device by attaching a cable to a connector of the electronic device, the method including: a holding step of moving a base unit equipped with a cable holding tool and holding the cable by the cable holding tool; a first suction step of controlling a suction device to suction and clean the connector; a second suction step of controlling the suction device to suction and clean the cable; and an insertion step of moving the base unit and inserting the cable held by the cable holding tool into the connector.

[0020] According to an eleventh aspect of the present invention, there is provided an electronic device assembling method according to the tenth aspect, wherein the suction device includes a first suction device and a second suction device different from the first suction device, and in the first suction step, the connector is suctioned and cleaned using the first suction device, and in the second suction step, the cable is suctioned and cleaned using the second suction device.

[0021] According to a twelfth aspect of the present invention, there is provided an electronic device assembling method according to the eleventh aspect, wherein the first suction device is attached to the base unit, the second suction device is provided at a location different from the base unit, in the first suction step, the base unit is moved to bring the first suction device close to the connector and the connector is suctioned and cleaned, and in the second suction step, the base unit is moved to bring the cable held by the cable holding tool close to the second suction device and the cable is suctioned and cleaned.

[0022] According to a 13th aspect of the present invention, the first suction device has a first suction nozzle attached to the base portion, and the first suction nozzle opens in a direction toward the mounting direction of the cable to the connector by the cable holding tool when viewed from the direction of viewing the base portion in a plan view, and provides an electronic device assembly method according to the 11th or 12th aspect.

[0023] According to a 14th aspect of the present invention, the first suction nozzle is attached to a front side of the mounting direction rather than the cable holding tool when viewed from the direction of viewing the base portion in a plan view, and provides an electronic device assembly method according to the 13th aspect.

[0024] According to a 15th aspect of the present invention, the first suction device further includes an angle adjustment mechanism that makes the angle of the first suction nozzle variable, and provides an electronic device assembly method according to the 13th or 14th aspect.

[0025] According to a 16th aspect of the present invention, the second suction device has a second suction nozzle that is fixed in position within the electronic device assembly apparatus, and the second suction nozzle opens upward, and provides an electronic device assembly method according to any one of the 11th to 15th aspects.

[0026] According to a 17th aspect of the present invention, an end portion that forms the opening of the second suction nozzle is inclined obliquely according to the angle of the cable held by the cable holding tool, and provides an electronic device assembly method according to the 16th aspect.

[0027] According to an 18th aspect of the present invention, the holding step moves the base portion by a plurality of link members and holds the cable by the cable holding tool, and provides an electronic device assembly method according to any one of the 10th to 17th aspects.

[0028] Hereinafter, exemplary embodiments of the electronic device assembling apparatus and the electronic device assembling method according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the specific configurations of the following embodiments, and configurations based on the same technical idea are included in the present invention.

[0029] (Embodiment) First, referring to FIG. 1, an electronic device assembling apparatus according to an embodiment of the present invention will be described. The electronic device assembling apparatus 1 shown in FIG. 1 has a function of attaching a cable 17 to a connector 13 (see FIGS. 3 and 4) mounted on a functional module such as a circuit board installed in the housing of the electronic device 4, with the electronic device 4 such as an in-vehicle electronic device as the work target.

[0030] A work stage 3 is provided on the upper surface 2a of the base 2. The work stage 3 positions and holds the electronic device 4 to be worked on in a predetermined posture.

[0031] Here, referring to FIGS. 3 and 4, the electronic device 4 to be worked on will be described. FIG. 3 shows the state before the cable 17 (FIG. 4) is attached to the connector 13, and FIG. 4 shows the state after the cable 17 is attached to the connector 13. In FIG. 3, in the electronic device 4, a circuit board 11 on which electronic components 11a are mounted is installed inside a box-shaped housing 4a. A connector 13 is mounted on the edge of the circuit board 11 installed in the housing 4a. As shown in FIG. 4, a rigid reinforcing plate 16 attached to the end of the flexible cable 17 is attached to the connector 13. An opening 4c for connecting the cable 17 from the outside to the connector 13 inside the housing 4a is formed on the back surface 4b of the housing 4a.

[0032] As shown in FIG. 3, in the connector 13, a connection terminal row is formed at the terminal portion 13b on the bottom surface of the mounting portion 13a where the cable 17 is mounted. In a state where the reinforcing plate 16 of the cable 17 is inserted and attached to the connector 13, the wiring pattern formed on the cable 17 comes into contact with the terminal portion 13b.

[0033] The connector 13 is provided with a locking mechanism (not shown) for preventing the attached cable 17 from falling off. The locking mechanism of Embodiment 1 is a so-called auto-lock type locking mechanism, which automatically locks the cable 17 inserted into the mounting portion 13a as it is inserted.

[0034] In FIG. 3, the electronic device 4 to be worked on is positioned on the work stage 3 in a posture where the back surface 4b is lifted by a work angle θ with respect to the work stage 3 so that the back surface 4b faces obliquely upward. When the electronic device 4 is held horizontally on the work stage 3 (the work angle θ is zero), the connector 13 inside the housing 4a cannot be seen from above. On the other hand, by tilting by the work angle θ, at least a part of the connector 13 can be seen through the opening 4c from above. The electronic device 4 may be held on a holding table (not shown) having a slope of the work angle θ provided on the work stage 3, and may be conveyed to the work stage 3 while being held on the holding table. Also, after being conveyed to the work stage 3 in a horizontal posture, it may be tilted by the work angle θ.

[0035] The connector 13 provided inside the electronic device 4 is also arranged obliquely. The width direction K of the connector 13 is generally parallel to the X direction, while the depth direction M of the connector 13 is inclined by the work angle θ with respect to the horizontal plane including the XY direction. With respect to the connector 13 arranged obliquely in this way, the cable 17 is attached obliquely along the attachment direction (insertion direction) Q. The attachment direction Q is generally parallel to the depth direction M of the connector 13.

[0036] In FIG. 1, the work stage 3 is capable of elevating. In the operation of attaching the cable 17 with the electronic device 4 as the work target, the work stage 3 is elevated to position the electronic device 4 at a predetermined work height. Corner posts 2b are erected at the corner portions of the upper surface 2a of the base 2, and a horizontal gantry 2c is erected at the upper end portions of the corner posts 2b. An operation panel 9 equipped with a touch panel is arranged on the side surface of the gantry 2c.

[0037] Instruction input for operations and movement instructions for the robot unit 5 is executed by touch operation input via the operation panel 9. The operation panel 9 has a display function, and in the cable mounting operation by the electronic device assembly apparatus 1, notifications in case of abnormalities or malfunctions are displayed on the operation panel 9. Regarding the coordinate system of the electronic device assembly apparatus 1, the left - right direction as viewed from the front of the electronic device assembly apparatus 1 is the X - axis, the front - rear direction is the Y - axis, and the vertical direction is the Z - axis.

[0038] In FIG. 1, on the lower surface of the gantry 2c, a fixed base portion 6 incorporating a drive mechanism of the robot unit 5 described below is arranged. The fixed base portion 6 incorporates six individually operating servo drive mechanisms, and each servo drive mechanism individually drives six link members 7 extending downward from the fixed base portion 6. The lower end portions of the link members 7 are coupled to the base portion 8. In the above configuration, the fixed base portion 6 and the link members 7 constitute the robot unit 5. The robot unit 5 moves the base portion 8 and changes the posture of the base portion 8.

[0039] The robot unit 5 constitutes a six - degree - of - freedom type parallel link robot 10 having six individually operating link members 7. The lower end portions of the six link members 7 extending downward from the fixed base portion 6 are coupled to a base portion 8 which is a work unit that executes a mounting operation of mounting the cable 17 to the connector 13. As shown in FIG. 2A, the link member 7 is coupled to the base portion 8 via a universal joint 7a. With this configuration, a parallel link robot 10 that causes the base portion 8 to perform a six - degree - of - freedom movement operation using the robot unit 5 is constituted.

[0040] In FIGS. 2A and 2B, a cable holding tool 20, a projector 40 (FIG. 2B), an imaging unit 50, an illumination member 56 (FIG. 2A), and a first suction device 62 are mounted on the base portion 8 of the parallel link robot 10. The cable holding tool 20 has a function of holding a cable 17 (not shown) to be mounted to the connector 13.

[0041] The first suction device 62 shown in Fig. 2A is a device for sucking and cleaning the connector 13. In the present embodiment, at a location different from the base portion 8, as a suction device different from the first suction device 62, a second suction device 64 (Fig. 7) for sucking and cleaning the cable 17 is provided. The suction devices 62 and 64 will be described later.

[0042] When the robot unit 5 moves the base unit 8, the cable holding tool 20 can be moved relative to the electronic device 4 held on the work stage 3. In the mounting operation of mounting the cable 17 to the connector 13, the control unit 60 operates the robot unit 5, the cable holding tool 20, the imaging unit 50, and the lighting member 56.

[0043] In this way, when the robot unit 5 moves the base unit 8, the cable holding tool 20 is moved relative to the electronic device 4 provided with the connector 13.

[0044] The control unit 60 is a member that controls each component of the electronic device assembly apparatus 1. The control unit 60 is configured, for example, as a microcomputer including a processor and a memory that stores a computer program executed by the processor.

[0045] Next, the detailed configuration of the base unit 8 will be described with reference to Fig. 2A. An opening 8a is provided at the driving center indicating the central position of the plurality of universal joints 7a in the base unit 8. The imaging unit 50 is disposed on a bracket 51 erected in the vicinity of the opening 8a on the upper surface of the base unit 8.

[0046] The imaging unit 50 is configured to include an optical lens unit 52 and a camera 53, and is arranged in a downward posture with the imaging optical axis 53a aligned with the driving center. The control unit 60 operates the robot unit 5 to position the imaging unit 50 disposed on the base unit 8 above the electronic device 4 held on the work stage 3 (see Fig. 11H). In this state, by causing the imaging unit 50 to perform imaging, images of the cable 17 and the connector 13 held by the cable holding tool 20 can be acquired. The captured image by the imaging unit 50 is transmitted to the control unit 60.

[0047] Returning to Fig. 2A, on the lower surface side of the base unit 8, a support member 54 is erected downward in an arrangement surrounding the opening 8a. At the lower end of the support member 54, an illumination holding plate 55 corresponding to the outer shape of the electronic device 4 is held. On the lower surface of the illumination holding plate 55, an illumination member 56 including a light emitter such as an LED is mounted. When imaging by the imaging unit 50, the illumination member 56 is lit to illuminate the cable 17 and the connector 13 to be imaged. When imaging is performed with the slit light 58 irradiated from the projector 40 described later, the illumination member 56 is controlled not to be lit so that the slit light 58 can be easily identified.

[0048] The cable holding tool 20 is mounted on the lower surface near the side end portion spaced rightward from the opening 8a of the base unit 8 shown in Fig. 2A.

[0049] The cable holding tool 20 shown in Fig. 2A includes a mounting portion 21, a cylinder 22, a fixed block 23, a chuck base 24, an actuator 25, a slide portion 26, a chuck block 27, and a blade 28.

[0050] The mounting portion 21 is a member for fixing and mounting the cable holding tool 20 to the base unit 8.

[0051] The cylinder 22 is a member that generates a biasing force F on the cable holding tool 20. The biasing force F acts in the mounting direction Q in which the cable holding tool 20 inserts the cable 17 into the connector 13. The biasing force F is generated, for example, by the force of an air spring inside the cylinder 22.

[0052] When inserting the cable 17 into the connector 13 or when the tip of the blade 28 described later abuts against the electronic device 4 or the like, the cylinder 22 receives a reaction force B in the direction opposite to the biasing direction F. The movable part of the cylinder 22 moves in a direction away from a predetermined reference position while receiving the biasing force F from the cylinder 22 (arrow b1). In this way, the biasing force F produces a buffering effect.

[0053] A fixed block 23 is attached to the lower surface of the cylinder 22. The fixed block 23 is a member that fixes the chuck base 24 to the cylinder 22. The fixed block 23 and the components of the cable holding tool 20 attached below it, together with the movable part of the cylinder 22, constitute a "movable part 20B" that moves relative to the base part 8.

[0054] A chuck base 24 that extends obliquely downward toward the drive center side of the base part 8 is coupled to the fixed block 23. On the upper surface side of the chuck base 24, an actuator 25 having a slide part 26 that moves forward and backward (arrow c) toward the drive center side is disposed. Further, at the lower end of the chuck base 24, a blade 28, which is a thin plate member provided with a tapered part at its tip, is mounted in an inclined posture. The blade 28 is positioned such that its tip part is located below the opening 8a and is included in the angular field of view of the imaging unit 50.

[0055] A chuck block 27 is coupled to the advancing end face of the slide part 26. In a state where the actuator 25 is operated to advance the chuck block 27 obliquely downward, the chuck surface 27a (see FIGS. 6A and 6B) of the chuck block 27 abuts against the blade 28.

[0056] Next, with reference to FIGS. 5A and 5B, the details of the configuration of the cable 17 will be described. As shown in FIGS. 5A and 5B, the cable 17 includes a cable main body portion 15 and a reinforcing plate 16. The cable main body portion 15 is a strip-shaped member having a mounted portion 15b formed at one end portion 15a to be mounted on the connector 13. The reinforcing plate 16 is a member joined via a joint portion 17a to one end portion 15a side on one side 15c of the cable main body portion 15. The opposite surface (lower surface) of the one side 15c of the cable main body portion 15 to which the reinforcing plate 16 is joined is a terminal portion 15d (FIG. 5A) on which a wiring pattern is formed. In the operation of mounting the cable 17 to the connector 13, the terminal portion 15d of the mounted portion 15b is pressed against and brought into contact with a terminal portion 13b formed in the mounting portion 13a of the connector 13. Thereby, the cable 17 is electrically connected to the connector 13.

[0057] The cable main body portion 15 may use, for example, a flexible printed circuit (FPC) or a flexible flat cable (FFC). The reinforcing plate 16 is formed of a material harder than the cable main body portion 15 and is suitable for being held by the cable holding tool 20 and inserted into the connector 13. The reinforcing plate 16 and the mounted portion 15b are "mounting portions" inserted and mounted on the connector 13.

[0058] As shown in FIG. 5B, in the reinforcing plate 16, in a portion (free end portion 16a) located on the opposite side of the one end portion 15a with respect to the joint portion 17a joined to the one side 15c of the cable main body portion 15, an opening portion 17b separated from the one side 15c of the cable main body portion 15 is formed. In the present embodiment, when holding the cable 17 by the cable holding tool 20 shown in FIG. 2A, the blade 28 is inserted into the opening portion 17b so as to sandwich and hold the reinforcing plate 16 between the chuck block 27 (see FIGS. 6A and 6B).

[0059] Figures 6A and 6B show the case where the cable 17 shown in Figures 5A and 5B is to be held. As shown in Figure 6A, in the cable 17 configured such that the reinforcing plate 16 is joined to the cable body portion 15 with the mounted portion 15b protruding from one end portion 15a of the cable body portion 15, the blade 28 is inserted into the opening portion 17b between the cable body portion 15 and the reinforcing plate 16.

[0060] Even in such a case, as shown in Figure 6B, when the chuck block 27 is brought close to the blade 28 (arrow e) and the reinforcing plate 16 is sandwiched between the chuck surface 27a and the blade 28, the chuck surface 27a of the chuck block 27 projects at least onto the upper surface of the joint portion 17a that joins at least the cable body portion 15 and the reinforcing plate 16 when the reinforcing plate 16 is sandwiched.

[0061] Returning to Figure 2B, a projector 40 is attached to the base portion 8 of the parallel link robot 10. The projector 40 irradiates slit light 58 for obtaining height information toward the imaging region 57 of the imaging unit 50. The slit light 58 is irradiated onto both the cable 17 held by the cable holding tool 20 and the connector 13 in the imaging region 57 of the imaging unit 50. Thereby, the height information of the cable 17 and the connector 13 is acquired.

[0062] The projector 40 irradiates the slit light 58 in the light projection direction DR. The light projection direction DR of the present embodiment is a direction that is obliquely downward with respect to the connector 13 and the cable 17. The light projection direction DR is inclined by θ2 with respect to the XZ plane (vertical plane) and includes a component in the +Y direction. Since the light projection direction DR includes a component in the +Y direction, the slit light 58 is irradiated from a direction that includes components in the mounting direction Q of the cable 17 and the depth direction M of the connector 13. Thereby, even when the connector 13 is disposed inside the opening 4c (Figure 3) of the electronic device 4, it becomes easier to irradiate both the cable 17 and the connector 13 with the slit light 58.

[0063] Next, the layout of the electronic device assembling apparatus 1 will be described with reference to FIG. 7. FIG. 7 is a plan view schematically showing the layout of the electronic device assembling apparatus 1 of the present embodiment.

[0064] As shown in FIG. 7, the electronic device assembling apparatus 1 of the present embodiment includes a feeder 66, a tray 68, and a cable conveyance unit 70 as a configuration for supplying the cable 17 to the cable holding tool 20.

[0065] The feeder 66 is a member for supplying the cable 17 to the electronic device assembling apparatus 1. The feeder 66 has a plurality of slots 76 in which the cables 17 can be stacked in the vertical direction. In FIG. 7, the state where the cable 17 is arranged in one slot 76 is shown by a solid line, and the state where the cable 17 is not arranged in the other slots 76 is shown by a dotted line.

[0066] The tray 68 is a member for positioning and holding the cable 17 supplied from the feeder 66. The tray 68 is provided at a distance in the X direction from the feeder 66. A plurality of positioning spaces 78 are provided on the upper surface of the tray 68, and one cable 17 can be positioned in each positioning space 78. The cable 17 positioned on the tray 68 is picked up by the cable holding tool 20. The mechanism for positioning the cable 17 is not shown.

[0067] The cable conveyance unit 70 is a unit for conveying the cable 17 from the feeder 66 to the tray 68. The cable conveyance unit 70 includes a cable holding portion 80, a slide portion 82, and a rail 84.

[0068] The cable holding part 80 is a member having a function of holding the cable 17. For example, it adsorbs and holds the cable 17 mounted on the slot part 76 of the feeder 66 from above. The cable holding part 80 is attached to the slide part 82 in a state where it can move up and down in the vertical direction (Z direction). The slide part 82 is a member that can slide along a rail 84 extending in the X direction, and slides the cable holding part 80 in the X direction (see arrow X1). According to such a configuration of the cable conveyance unit 70, after adsorbing and holding the cable 17 of the feeder 66 with the cable holding part 80, the slide part 82 is slid upward above the tray 68, and the adsorption and holding of the cable 17 by the cable holding part 80 is released, so that the cable 17 can be arranged in the positioning space 78.

[0069] In addition to the first suction device 62 attached to the base part 8, the electronic device assembling apparatus 1 further includes a second suction device 64, a first flow rate sensor 72, and a second flow rate sensor 74.

[0070] The first suction device 62 is a device for sucking and cleaning the connector 13 of the electronic device 4. The first suction device 62 has a first suction nozzle 86 protruding from the base part 8. A suction opening 86A is formed at the tip of the first suction nozzle 86.

[0071] Returning to FIG. 2A, the first suction device 62 includes, in addition to the first suction nozzle 86, a mounting part 88 and an angle adjustment mechanism 90.

[0072] The mounting part 88 is a member for attaching the first suction nozzle 86 to the base part 8. The angle adjustment mechanism 90 is a mechanism for adjusting the vertical angle (see arrow S) of the first suction nozzle 86. By the angle adjustment mechanism 90, the vertical angle of the first suction nozzle 86 can be adjusted according to the orientation and position of the connector 13 to be sucked.

[0073] As shown in FIG. 7, when viewed from the direction of the base portion 8 in plan view, the first suction device 62 is provided on the front side (left side of the paper surface) in the mounting direction Q with respect to the cable holding tool 20. Thereby, when the opening 86A of the first suction nozzle 86 is brought close to the connector 13 for suction cleaning, the cable holding tool 20 can be prevented from interfering with the electronic device 4.

[0074] Further, the opening 86A of the first suction nozzle 86 opens in the mounting direction Q. Thereby, if the opening 86A of the first suction nozzle 86 is brought close to the connector 13, the connector 13 can be easily suction cleaned.

[0075] In the example shown in FIG. 7, the electronic device 4 has a plurality of connectors 13 and a plurality of openings 4c, and is provided in a plurality of rows in the X direction and Y a plurality of stages (a total of four in 2 rows × 2 stages) in the direction are exemplified.

[0076] The second suction device 64 is a device for suction cleaning the cable 17. The second suction device 64 of the present embodiment is fixed in position inside the electronic device assembling apparatus 1 and does not have a moving function. In the example shown in FIG. 7, the second suction device 64 is disposed between the feeder 66 and the rail 84 and is provided at a height position that does not interfere with the movement of the slide portion 82.

[0077] The second suction device 64 has a second suction nozzle 92. The second suction nozzle 92 opens upward and is directed in a direction facing the terminal portion 15d of the cable 17 held by the cable holding tool 20. An external view of the second suction nozzle 92 is shown in FIG. 8.

[0078] FIG. 8 is a schematic side view showing a state in which the terminal portion 15d of the cable 17 is being sucked and cleaned by the second suction nozzle 92. As shown in FIG. 8, the cable 17 held by the cable holding tool 20 is inclined obliquely (dotted line G1). The end of the second suction nozzle 92 forming the opening 92A is also formed to be inclined obliquely according to the angle at which the cable 17 is inclined (dotted line G2). According to this configuration, the terminal portion 15d of the cable 17 can be easily sucked and cleaned only by disposing the terminal portion 15d above the opening 92A of the second suction nozzle 92.

[0079] Returning to FIG. 7, the flow rate sensors 72 and 74 are sensors for measuring the flow rate of air flowing inside the suction nozzles 86 and 92, respectively. The first flow rate sensor 72 measures the flow rate of the first suction nozzle 86, and the second sensor 74 measures the flow rate of the second suction nozzle 92. The respective measured values of the flow rate sensors 72 and 74 are transmitted to the control unit 60. The control unit 60 detects clogging inside the suction nozzles 86 and 92, that is, an abnormality in which the sucked foreign matter clogs a filter (not shown) inside the nozzle, based on the measured values of the flow rate sensors 72 and 74.

[0080] Next, with reference to FIG. 9, the configuration of the control system of the electronic device assembling apparatus 1 will be described. The control unit 60 provided in the electronic device assembling apparatus 1 is connected to the robot unit 5, the work stage 3, the imaging unit 50, the lighting member 56, the projector 40, the actuator 25, the suction devices 62 and 64, the flow rate sensors 72 and 74, and the operation panel 9.

[0081] In FIG. 9, the control unit 60 includes a position detection unit 94 and a flow rate monitoring unit 96 as internal control processing functions.

[0082] The position detection unit 94 executes a position detection process for detecting the position of the cable 17 or the connector 13 or the relative positional relationship between the cable 17 and the connector 13 based on the captured image captured by the imaging unit 50. In the cable mounting operation of mounting the cable 17 to the connector 13, the control unit 60 controls the movement of the cable holding tool 20 by the robot unit 5 based on the relative position detection result between one end portion 15a of the cable 17 and the connector 13.

[0083] The flow rate monitoring unit 96 executes a process of monitoring the flow rates of the suction devices 62 and 64 based on the measured values of the flow rate sensors 72 and 74 and detecting abnormalities. When the measured value of the first flow rate sensor 72 falls below a predetermined threshold value, the flow rate monitoring unit 96 detects an abnormality related to the flow rate of the first suction device 62, and when the measured value of the second flow rate sensor 74 falls below a predetermined threshold value, the flow rate monitoring unit 96 detects an abnormality related to the flow rate of the second suction device 64.

[0084] The control unit 60 further includes a storage unit 98 as a storage device. In the storage unit 98, information necessary for the cable mounting operation, such as the position, size, and shape of the connector 13 in the electronic device 4 to be worked on, is stored.

[0085] Next, with reference to the flowcharts of FIGS. 10A and 10B and the explanatory diagrams of FIGS. 11A to 11M, an electronic device assembling method including a cable mounting operation of mounting a cable 17 on a connector 13 of an electronic device 4 by an electronic device assembling apparatus 1 will be described. Each step of the flowcharts shown in FIGS. 10A and 10B is executed, for example, by the control unit 60.

[0086] In FIG. 10A, on the left side of the drawing, the operations executed by the cable conveyance unit 70 are shown, and on the right side of the drawing, the operations executed by the parallel link robot 10 are shown.

[0087] In FIG. 10A, first, while setting the electronic device 4 (S00), the cable 17 is moved to the tray 68 (S0: cable conveyance step). Specifically, as shown in FIG. 11A, the electronic device 4 is set at a predetermined working position, and the cable holding portion 80 of the cable conveyance unit 70 is disposed above the feeder 66 (see arrow X2), and the cable 17 disposed in the slot portion 76 is sucked and held. While the cable 17 is sucked and held, as shown in FIG. 11B, the slide portion 82 is slid toward the tray 68 (see arrow X3), and the suction and holding of the cable 17 by the cable holding portion 80 is released. Thereby, the cable 17 is disposed in the positioning space 78 of the tray 68.

[0088] As shown in FIGS. 11A and 11B, the parallel link robot 10 is preliminarily moved to a position that does not interfere with the slide portion 82 (for example, a position close to the electronic device 4).

[0089] Next, the cable conveyance unit 70 is retracted (S1: retraction step). Specifically, as shown in FIG. 11C, the slide portion 82 is slid in the X direction toward the feeder 66 (see arrow X4) and retracted from the tray 68. The position where the slide portion 82 is retracted is set to a position that does not interfere with the subsequent operation of the parallel link robot 10.

[0090] Next, the control unit 60 causes the parallel link robot 10 to hold the cable 17 with the cable holding tool 20 (S2: cable holding step). Specifically, as shown in FIG. 11D, the base portion 8 of the parallel link robot 10 is moved toward the tray 68 (see arrow XY1), and the cable 17 is held by the cable holding tool 20. The method by which the cable holding tool 20 holds the cable 17 is as shown in FIGS. 6A and 6B, and the description thereof is omitted.

[0091] Next, the cable 17 is sucked and cleaned (S3: cable suction step). Specifically, as shown in FIG. 11E, the base portion 8 is moved toward the second suction device 64 (see arrow XY2), and the cable 17 held by the cable holding tool 20 is disposed above the second suction nozzle 92. The method by which the second suction nozzle 92 sucks and cleans the cable 17 is as shown in FIG. 8, and the description thereof is omitted. In the present embodiment, further, the suction cleaning is performed while reciprocally moving the base portion 8 along the X direction substantially parallel to the width direction W of the cable 17 (see arrow X5). Thereby, the entire terminal portion 15d of the cable 17 can be cleaned with higher accuracy.

[0092] Next, it is determined whether the connector 13 has been sucked (S4). Specifically, based on whether the step S5 as the suction process of the connector 13 described later has been already carried out, it is determined whether the connector 13 has been sucked. When the step S4 is first executed after starting the flow of FIG. 10A, since the step S5 has not been carried out, it is determined that the connector 13 has not been sucked (NO in S4), and the process proceeds to step S5.

[0093] Next, the connector 13 is sucked and cleaned (S5: connector suction step). Specifically, as shown in FIG. 11F, the base portion 8 is moved toward the electronic device 4 (see arrow XY3), and the opening 86A of the first suction nozzle 86 is arranged near the opening 4c corresponding to one of the plurality of connectors 13. The order of sucking and cleaning the first connector 13 to be sucked and cleaned and the plurality of connectors 13 is determined in advance. That is, the target coordinate positions for moving the base portion 8 for each connector 13 that is a suction target are stored in the storage unit 98.

[0094] A schematic cross-sectional view of the state where the first suction nozzle 86 sucks the connector 13 is shown in FIG. 11G. As shown in FIG. 11G, with the opening 86A of the first suction nozzle 86 arranged in the opening 4c of the electronic device 4, the atmosphere around the connector 13 is sucked. Thereby, foreign matter adhering to the terminal portion 13b (FIG. 3) of the connector 13 is sucked and removed. Similar to when the cable 17 is sucked and cleaned, by sucking and cleaning while reciprocating the base portion 8 in the X direction substantially parallel to the width direction K of the connector 13, the entire terminal portion 13b can be sucked and cleaned with higher accuracy.

[0095] In step S5, each of the plurality of connectors 13 is sucked and cleaned in order. The base portion 8 is moved to the target coordinate position set for each connector 13, and each connector 13 is sequentially sucked and cleaned by the first suction nozzle 86. When the suction and cleaning of all the connectors 13 (for example, a total of four) are completed, step S5 ends.

[0096] Once step S5 is executed once, when step S4 is executed for the second time and subsequent times, the connector 13 is determined to have been sucked (in S4 YES ). In this case, step S5 of sucking and cleaning the connector 13 is skipped, and the process proceeds to step S6. In this embodiment, the sucking and cleaning of each connector 13 is executed only once.

[0097] Next, the cable 17 is brought close to the connector 13 (S6: Connector Approaching Step). Specifically, as shown in FIG. 11H, the base portion 8 is moved so that one end portion 15a of the cable 17 held by the cable holding tool 20 is brought close to the connector 13. The base portion 8 is moved until the cable 17 does not interfere with the electronic device 4 and the position where the connector 13 is included in the imaging region 57 of the imaging unit 50.

[0098] Next, it is determined whether there is a connector to be attached next (S7). Specifically, based on whether there is a remaining connector 13 to which the cable 17 should be attached in addition to the connector 13 to which the cable 17 is being brought close, it is determined whether there is a connector 13 to be attached next.

[0099] If there is a remaining connector 13 to which the cable 17 should be attached, it is determined that there is a connector 13 to be attached next (YES in S7), and the control unit 60 executes steps S8 to S12 in the parallel link robot 10 and executes steps S13 and S14 in the cable conveyance unit 70. Steps S8 to S12 and steps S13 and S14 are executed in parallel.

[0100] On the other hand, if there is no remaining connector 13 to which the cable 17 should be attached (that is, when the other connectors 13 have already had the cable attached), it is determined that there is no connector 13 to be attached next (NO in S7), and the process proceeds to the flow shown in FIG. 10B. The flow of FIG. 10B will be described later.

[0101] When executing steps S8 and S13, as shown in Fig. 11I, the cable 17 is in a state approaching the connector 13, and the parallel link robot 10 is in a position where it does not interfere with the slide portion 82 of the cable transfer unit 70. Therefore, while steps S8 to S12 are being executed in the parallel link robot 10, steps S13 and S14 (the operation of sliding the slide portion 82) in the cable transfer unit 70 can be executed in parallel.

[0102] In the state shown in Fig. 11I, the control unit 60 slides the slide portion 82 (arrow X7) in the cable transfer unit 70 to move the next cable 17 to the tray 68 (S13: cable transfer process), and then retracts the cable transfer unit 70 (S14: cable transfer unit retraction process). The operations of steps S13 and S14 are the same as the operations of steps S0 and S1 described above. Fig. 11I illustrates the state where the slide portion 82 is in the middle of moving (arrow X7).

[0103] In parallel with steps S13 and S14, the control unit 60 causes the imaging unit 50 to perform imaging in the parallel link robot 10 (S8: slit light imaging process). Specifically, as shown in Fig. 11H, while irradiating slit light 58 from the projector 40 shown in Fig. 2B in a state where the cable 17 is approaching the connector 13, the imaging unit 50 is caused to image an image including both the cable 17 held by the cable holding tool 20 and the connector 13. The imaging unit 50 performs imaging from a direction obliquely inclined at an acute angle φ (the angle obtained by subtracting the working angle θ from 90 degrees) with respect to the mounting direction Q of the cable 17 along the imaging optical axis 53a. The acute angle φ may be set to a value of, for example, 35 degrees or more and 75 degrees or less. In step S8, the lighting member 56 is controlled not to operate and not to irradiate lighting light.

[0104] An example of the captured image captured in step S8 is shown in FIG. 11J. The captured image 100 shown in FIG. 11J includes the front end portion 58A which is the portion of the slit light 58 irradiated on the connector 13 and the cable 17 and which hits the connector 13 and the cable 17. The position detection unit 94 specifies, from among the front end portion 58A, the recognition point R5 corresponding to the connector 13 and the recognition point R6 corresponding to the cable 17. Based on the xy coordinates of the recognition points R5 and R6, the height information of the cable 17 and the height information of the connector 13 are obtained.

[0105] Subsequently, imaging is performed by the imaging unit 50 in a state of being illuminated by the illumination member 56 (S9: illumination imaging step). Specifically, without moving the base portion 8, at the same position as in step S8, in a state of being illuminated by the illumination member 56 shown in FIG. 2A, the imaging unit 50 is caused to image an image including both the cable 17 and the connector 13 held by the cable holding tool 20. In step S9, the projector 40 is not operated and control is performed so as not to irradiate the slit light 58.

[0106] An example of the captured image captured in step S9 is shown in FIG. 11K. The captured image 102 shown in FIG. 11K includes the surface portions of the connector 13 and the cable 17 illuminated by the illumination member 56. The position detection unit 94 specifies the xy coordinates of each of the recognition points R7 and R8 for detecting the position of the connector 13 and the recognition points R9 and R10 for detecting the position of the reinforcing plate 16 of the cable 17. The recognition points R7, R8, R9, and R10 are specified as feature points in the captured image 102.

[0107] Next, the control unit 60 performs position detection (S10: position detection step). Specifically, the position detection unit 94 performs three-dimensional position calculation based on the captured image 100 captured in step S8 and the captured image 102 captured in step S9, thereby detecting the relative positional relationship between the reinforcing plate 16 of the cable 17 and the connector 13. More specifically, the position detection unit 94 determines the xyz coordinates of the representative point PM1, which is the midpoint of the recognition points R7 and R8, based on the xy coordinates of the recognition point R5 obtained from the captured image 100 captured in step S8 and the xy coordinates of the recognition points R7 and R8 obtained from the captured image 102 captured in step S9. Similarly, the position detection unit 94 determines the xyz coordinates of the representative point PM2, which is the midpoint of the recognition points R9 and R10, based on the xy coordinates of the recognition point R6 obtained from the captured image 100 captured in step S8 and the xy coordinates of the recognition points R9 and R10 obtained from the captured image 102 captured in step S9. The specified representative points PM1 and PM2 are information indicating the relative positional relationship between the connector 13 and the reinforcing plate 16 of the cable 17.

[0108] Next, the control unit 60 inserts and mounts the cable 17 onto the connector 13 (S11: cable mounting step). Specifically, based on the relative positional relationship between the representative points PM1 and PM2 detected in step S10, the robot unit 5 is driven to align the cable holding tool 20 holding the cable 17 so that the respective representative points PM1 and PM2 have an appropriate positional relationship. Thereafter, as shown in FIG. 11L, the robot unit 5 is driven to move the cable holding tool 20 in the mounting direction Q, thereby inserting the reinforcing plate 16 of the cable 17 into the mounting portion 13a (FIG. 3) of the connector 13 of the electronic device 4 from an oblique direction.

[0109] As shown in FIG. 4, the reinforcing plate 16 of the cable 17 is inserted into the connector 13, and the auto-lock type locking mechanism built in the connector 13 operates. The cable 17 is automatically locked, preventing the cable 17 from falling off the connector 13.

[0110] The insertion amount of the cable 17 in step S11 is determined within a range where one end 15a of the cable 17 sufficiently reaches the depth of the connector 13 and does not result in excessive pushing. When the cable 17 is normally inserted and attached to the connector 13, as indicated by the arrow b3 in Fig. 11L, the movable part 20B of the cable holding tool 20 moves by an appropriate amount in the direction opposite to the attachment direction Q.

[0111] Next, the control unit 60 releases the cable 17 from the cable holding tool 20 (S12: cable release step). Specifically, the chuck block 27 shown in Fig. 2A etc. is retracted to release the gripping of the cable 17.

[0112] When steps S8 to S12 and steps S13, S14 are executed, as shown in Fig. 10A, the process returns to step S2. That is, the next cable 17 is held by the cable holding tool 20 (S2), the held cable 17 is suction - cleaned by the second suction device 64 (S3), and it is determined whether the connector 13 has been cleaned (S4). As described above, when step S4 is executed for the second time and later, since it is determined that the connector 13 has been cleaned by the execution of step S5 (YES in S4), the connector suction step of step S5 is skipped. The control unit 60 executes the connector approach step of step S6 to bring the next cable 17 closer to the next connector 13.

[0113] Thereafter, it is determined whether there is a next connector 13 (S7). If it is determined that there is a next connector 13 (YES in S7), similarly, the parallel link robot 10 is made to execute the operations of steps S8 to S12, and the cable conveyance unit 70 is made to execute the operations of steps S13, S14. Thereby, the next cable 17 is attached to the next connector 13 (S11), and further, the next cable 17 is set on the tray 68 (S13). By repeating the above operations, the operation of attaching the cable 17 to each of the plurality of connectors 13 in order and the operation of setting the next cable 17 on the tray 68 can be executed in parallel.

[0114] Also, when there are a plurality of connectors 13 to which the cable 17 is to be attached, while sucking and cleaning the connectors 13 all at once (S5), for each cable 17, every time the cable 17 is held by the cable holding tool 20, it is sucked and cleaned (S3), and the cleaned cables 17 can be sequentially attached to the cleaned connectors 13 (S11).

[0115] On the other hand, when it is determined in step S7 that there is no next connector 13 (NO in S7), as shown in FIG. 10B, the control unit 60 executes steps S8-1 to S12-1 and steps S20, S21.

[0116] Steps S8-1 to S12-1 shown in FIG. 10B perform the same operations as steps S8 to S12 in FIG. 10A. Specifically, imaging is performed by the imaging unit 50 while irradiating slit light 58 from the projector 40 (S8-1), imaging is performed by the imaging unit 50 while illuminating with the illumination member 56 (S9-1), the position detection unit 94 performs three-dimensional position calculation based on the captured images 100, 102, and detects the relative positional relationship between the reinforcing plate 16 of the cable 17 and the connector 13 (S10-1), the cable 17 is attached to the connector 13 based on the detected relative positional relationship (S11-1), and the cable 17 is released from the cable holding unit 20 (S12-1).

[0117] Next, the control unit 60 returns the cable holding tool 20 from the electronic device 4 (S20). Specifically, as shown in FIG. 11M, the cable holding tool 20 and the base portion 8 in a state where the cable 17 is released are moved in a direction away from the electronic device 4 (see arrow S).

[0118] Next, the control unit 60 collects the electronic device 4 (S21). Specifically, the electronic device 4 for which the cable attachment work has been completed is collected from the work stage 3. Thereby, the assembly of the electronic device for one electronic device 4 in which the cable 17 is attached to each of the plurality of connectors 13 is completed.

[0119] Steps S8-1 to S12-1, S20, and S21 shown in FIG. 10B are all operations performed by the parallel link robot 10. Since it is determined in step S7 that there is no next connector 13, it is not necessary to operate the cable conveyance unit 70 to set the next cable 17, and the flow of FIG. 10B ends without operating the cable conveyance unit 70.

[0120] According to the above method, the suction cleaning of the connector 13 and the suction cleaning of the cable 17 can be automated using the parallel link robot 10 respectively. Thereby, the assembly work of the electronic device 4 can be made more efficient compared to the case where an operator manually performs suction cleaning.

[0121] Also, a cable suction step (S3: first suction step) for suction cleaning the cable 17 and a connector suction step (S5: second suction step) for suction cleaning the connector 13 are respectively executed. Thereby, suction cleaning in a form suitable for each of the cable 17 and the connector 13 can be performed.

[0122] Also, a first suction device 62 for suction cleaning the connector 13 and a second suction device 64 for suction cleaning the cable 17 are provided separately. Thereby, the specifications of the respective suction devices 62 and 64 can be adjusted according to the respective orientations and positions of the connector 13 and the cable 17.

[0123] Also, the first suction device 62 for suction cleaning the connector 13 is attached to the base portion 8. When suction cleaning the connector 13, by moving the base portion 8 to bring the first suction device 62 closer to the connector 13 of the electronic device 4, the connector 13 can be easily suction cleaned. In particular, since the connector 13 and the opening 4c are arranged obliquely, the connector 13 can be easily suction cleaned just by bringing the first suction device 62 attached to the lower surface of the base portion 8 closer to the connector 13. Furthermore, the angle of the first suction nozzle 86 can be adjusted by the angle adjustment mechanism 90, and by directing the first suction nozzle 86 obliquely downward as shown in FIG. 2A, the connector 13 can be easily suction cleaned.

[0124] On the other hand, the second suction device 64 for sucking and cleaning the cable 17 is provided at a location different from that of the parallel link robot 10 including the base portion 8 (fixed in position between the feeder 66 and the rail 84 in this embodiment). In the parallel link robot 10 of this embodiment, the angle at which the base portion 8 can rotate in the horizontal plane is limited (for example, within ±30 degrees), and since the first suction device 62 and the cable holding tool 20 are attached to the base portion 8, there is a limit to the space for installing other members. Therefore, by providing the second suction device 64 at a location different from that of the parallel link robot 10 including the base portion 8, it is possible to suck and clean the cable 17 while avoiding the limitations in the operation and configuration of the parallel link robot 10. Also, by providing the second suction device 64 at a location different from that of the parallel link robot 10, it is possible to suck and clean the cable 17 held by the cable holding tool 20 of the parallel link robot 10 with the second suction device 64. As a result, it becomes easy to intensively suck and clean the terminal portion 15d of the cable 17.

[0125] Also, the second suction device 64 of this embodiment is fixed in position inside the electronic device assembly apparatus 1 and has the second suction nozzle 92 opened upward. Thereby, by simply moving the base portion 8 and arranging the cable 17 held by the cable holding tool 20 above the second suction nozzle 92, the cable 17 can be easily sucked and cleaned. Also, as shown in FIG. 8, since the end portion forming the opening 92A of the first suction nozzle 92 is also inclined obliquely according to the angle of the cable 17 held by the cable holding tool 20, the entire terminal portion 15d of the cable 17 can be accurately sucked and cleaned.

[0126] Also, if the openings 86A and 92A of the suction nozzles 86 and 92 accidentally come into contact with an object and stick thereto during the suction cleaning of the cable 17 or the connector 13, the measured values of the flow rate sensors 72 and 74 will decrease rapidly. In response to the measured values of the flow rate sensors 72 and 74 falling below a predetermined threshold value, the flow rate monitoring unit 96 detects an abnormality in the flow rate at the suction nozzles 86 and 92. Thereby, it is possible to detect that the openings 86A and 92A of the suction nozzles 86 and 92 have accidentally stuck to the cable 17 or the connector 13. When an abnormality in the flow rate of the suction nozzles 86 and 92 is detected, the control unit 60 may give an error notification using the operation panel 9 or the like and stop the electronic device assembling apparatus 1.

[0127] As described above, the electronic device assembling apparatus 1 of the present embodiment includes a cable holding tool 20 that holds a cable 17 for attaching to the connector 13 of the electronic device 4, a base portion 8 to which the cable holding tool 20 is attached, a robot portion 5 that relatively moves the cable holding tool 20 with respect to the electronic device 4 by moving the base portion 8, and a control unit 60 that attaches the cable 17 held by the cable holding tool 20 to the connector 13 by driving the robot portion 5, and suction devices 62 and 64 that suck and clean the connector 13 and the cable 17. The control unit 60 controls the first suction device 62 to suck and clean the connector 13, and controls the second suction device 64 to suck and clean the cable 17.

[0128] Also, the electronic device assembling method of the present embodiment is an electronic device assembling method for assembling the electronic device 4 by attaching the cable 17 to the connector 13 of the electronic device 4, and includes a cable holding step (S2) of moving the base portion 8 to which the cable holding tool 20 is attached and holding the cable 17 by the cable holding tool 20, a connector suction step (S5: first suction step) of controlling the first suction device 62 to suck and clean the connector 13, a cable suction step (S3: second suction step) of controlling the second suction device 64 to suck and clean the cable 17, and a mounting step (S11) of moving the base portion 8 and mounting the cable 17 held by the cable holding tool 20 to the connector 13.

[0129] According to such an electronic device assembling apparatus 1 / electronic device assembling method, by sucking and cleaning each of the connector 13 and the cable 17 using the suction devices 62 and 64, the assembling operation of the electronic device 4 can be made more efficient.

[0130] Also, in the electronic device assembling apparatus 1 / electronic device assembling method of the present embodiment, it includes a first suction device 62 and a second suction device 64 different from the first suction device 62. The control unit 60 performs suction cleaning of the connector 13 using the first suction device 62 and performs suction cleaning of the cable 17 using the second suction device 64.

[0131] According to such a configuration / method, by sucking and cleaning each of the connector 13 and the cable 17 using separate suction devices 62 and 64, the specifications of the suction devices 62 and 64 can be adjusted according to the position, orientation, etc. of the connector 13 and the cable 17. Thereby, the assembling operation of the electronic device 4 can be made more efficient.

[0132] Also, in the electronic device assembling apparatus 1 / electronic device assembling method of the present embodiment, the first suction device 62 is attached to the base portion 8, and the second suction device 64 is provided at a location different from the base portion 8. The control unit 60 moves the base portion 8 to bring the first suction device 62 close to the connector 13 and performs suction cleaning of the connector 13, and moves the base portion 8 to bring the cable 17 held by the cable holding tool 20 close to the second suction device 64 and performs suction cleaning of the cable 17.

[0133] According to such a configuration / method, by moving the base portion 8, the suction cleaning of the connector 13 and the suction cleaning of the cable 17 can be switched and executed. Also, for the cable 17, by performing suction cleaning while being held by the cable holding tool 20, it becomes easy to intensively perform suction cleaning on the terminal portion 15d of the cable 17.

[0134] Also, in the electronic device assembly apparatus 1 / electronic device assembly method of the present embodiment, the first suction device 62 has a first suction nozzle 86 attached to the base portion 8, and the first suction nozzle 86 opens toward the mounting direction Q of the cable 17 to the connector 13 when viewed from the direction of the base portion 8 in plan view.

[0135] According to such a configuration / method, the suction cleaning of the connector 13 can be easily performed only by approaching the opening 86A of the first suction nozzle 86 to the connector 13.

[0136] Also, in the electronic device assembly apparatus 1 / electronic device assembly method of the present embodiment, the first suction nozzle 86 is attached to the front side of the mounting direction Q with respect to the cable holding tool 20 when viewed from the direction of the base portion 8 in plan view.

[0137] According to such a configuration / method, when the connector 13 is suction-cleaned by the first suction nozzle 86, it is less likely that the cable holding tool 20 interferes with the electronic device 4.

[0138] Also, in the electronic device assembly apparatus 1 / electronic device assembly method of the present embodiment, the first suction device 62 further includes an angle adjustment mechanism 90 that makes the angle of the first suction nozzle 86 variable.

[0139] According to such a configuration / method, the angle of the first suction nozzle 86 can be adjusted according to the specifications of the connector 13 that is the suction target.

[0140] Also, in the electronic device assembly apparatus 1 / electronic device assembly method of the present embodiment, the second suction device 64 has a second suction nozzle 92 that is fixed in position within the electronic device assembly apparatus 1, and the second suction nozzle 92 opens upward.

[0141] According to such a configuration / method, the terminal portion 15d on the lower surface side of the cable 17 can be easily suction-cleaned only by disposing the terminal portion 15d above the second suction nozzle 92.

[0142] In addition, in the electronic device assembly apparatus 1 / electronic device assembly method of the present embodiment, the end portion forming the opening 92A of the second suction nozzle 92 is inclined obliquely according to the angle of the cable 17 held by the cable holding tool 20.

[0143] According to such a configuration / method, the terminal portion 15d of the cable 17 can be easily suction-cleaned.

[0144] As described above, the present invention has been described with reference to the above-described embodiments. However, the present invention is not limited to the above-described embodiments. For example, in the embodiment, the case where the first suction device 62 for suction-cleaning the connector 13 and the second suction device 64 for suction-cleaning the cable 17 are provided separately has been described. However, it is not limited to such a case. For example, both the connector 13 and the cable 17 may be suction-cleaned using one suction device attached to the base portion 8. That is, the first suction step of suction-cleaning the connector 13 and the second suction step of suction-cleaning the cable 17 may be executed using the same suction device.

[0145] In the embodiment, the case where the electronic device 4 has four connectors 13 has been described. However, it is not limited to such a case, and the number of connectors 13 may be any number.

[0146] In the embodiment, the case where the step S5 of suction-cleaning a plurality of connectors 13 is executed only once has been described. However, it is not limited to such a case. The connector suction process for suction-cleaning one connector 13 may be repeatedly executed at the same cycle as the cable suction process (S3) for repeatedly suction-cleaning one cable 17, thereby suction-cleaning a plurality of connectors 13.

[0147] In the embodiment, the case where the second suction device 64 for cable suction is provided between the feeder 66 and the rail 84 has been described. However, it is not limited to such a case. The suction device for cable suction may be provided at any position as long as it does not interfere with the operation of the parallel link robot 10 or the operation of other members.

[0148] Also, in the embodiment, the case where the cable 17 is inserted obliquely with respect to the obliquely arranged connector 13 has been described, but it is not limited to such a case. Depending on the specifications of the connector 13 and the cable 17, the working angle θ of the connector 13 and the mounting direction Q of the cable 17 may be at any angle or direction, such as arranging the connector 13 at a working angle θ = 0 degrees and inserting the cable 17 in the horizontal direction.

[0149] Also, in the embodiment, the case where the cable holding tool 20 that holds the cable 17 holds the reinforcing plate 16 of the cable 17 by sandwiching it vertically has been described, but it is not limited to such a case. For example, any cable holding tool may be used as long as it can hold the cable 17, such as adsorbing and holding the upper surface of the reinforcing plate 16.

[0150] Also, in the embodiment, the case where the reinforcing plate 16 harder than the cable body portion 15 of the cable 17 is used as the mounting portion for mounting the cable 17 to the connector 13 has been described, but it is not limited to such a case. The cable body portion 15 of the cable 17 may be directly mounted to the connector 13 without providing the reinforcing plate 16.

[0151] This disclosure has been fully described in relation to the preferred embodiments with reference to the accompanying drawings, but various modifications and variations will be apparent to those skilled in the art. Such modifications and variations should be understood to be included therein as long as they do not depart from the scope of this disclosure as defined by the appended claims. Also, changes in the combination and order of elements in each embodiment can be realized without departing from the scope and spirit of this disclosure.

[0152] Note that, among the various modifications of the above embodiments, by appropriately combining any of the modifications, the effects possessed by each can be achieved.

Industrial Applicability

[0153] The present invention is applicable to an electronic device assembling apparatus and an electronic device assembling method for assembling an electronic device by attaching a cable to a connector of the electronic device.

Explanation of Reference Numerals

[0154] 1 Electronic device assembling apparatus 2 Base 3 Work stage 4 Electronic device 5 Robot section 6 Fixed base section 7 Link member 8 Base section 9 Operation panel 10 Parallel link robot 13 Connector 15 Cable main body section 16 Reinforcing plate 17 Cable 20 Cable holding tool 20B Movable section 21 Mounting section 22 Cylinder 23 Fixed block 24 Chuck base 25 Actuator 26 Slide section 27 Chuck block 28 Blade 50 Imaging section 51 Bracket 52 Optical lens section 53 Camera 54 Support member 55 Lighting holding plate 56 Lighting member 58 Slit light 58A Front end section 60 Control section 62 First suction device 64 Second suction device 66 Feeder 68 Tray 70 Cable conveyance unit 72 First flow rate sensor 74 Second flow rate sensor 76 Slot part 78 Positioning space 80 Cable holding part 82 Slide part 84 Rail 86 First suction nozzle 86A Opening 88 Mounting part 90 Angle adjustment mechanism 92 Second suction nozzle 92A Opening 94 Position detection part 96 Flow rate monitoring part 98 Memory part 100 Captured image 102 Captured image B Reaction force F Biasing force K Width direction M Depth direction Q Mounting direction S Retraction direction

Claims

1. A cable holding tool for holding a cable to be attached to a connector of an electronic device, a base portion to which the cable holding tool is attached, a robot portion that relatively moves the cable holding tool with respect to the electronic device by moving the base portion, a control portion that attaches the cable held by the cable holding tool to the connector by driving the robot portion, and a suction device that sucks and cleans the connector and the cable, wherein the suction device includes a first suction device and a second suction device different from the first suction device, the control portion controls the first suction device to suck and clean the connector, and controls the second suction device to suck and clean the cable, the first suction device is attached to the base portion, and the second suction device is provided at a location different from the base portion, and the control portion performs suction cleaning of the connector with the first suction device brought close to the connector by moving the base portion, and performs suction cleaning of the cable with the cable held by the cable holding tool brought close to the second suction device by moving the base portion. An electronic device assembling apparatus.

2. A cable holding tool for holding a cable to be attached to a connector of an electronic device, a base portion to which the cable holding tool is attached, a robot portion that relatively moves the cable holding tool with respect to the electronic device by moving the base portion, a control portion that attaches the cable held by the cable holding tool to the connector by driving the robot portion, and a suction device that sucks and cleans the connector and the cable, wherein the suction device includes a first suction device and a second suction device different from the first suction device, the control portion controls the first suction device to suck and clean the connector, and controls the second suction device to suck and clean the cable, the first suction device has a first suction nozzle attached to the base portion, and the first suction nozzle opens in a direction toward the mounting direction of the cable to the connector by the cable holding tool when viewed from the direction of the base portion in a plan view. An electronic device assembling apparatus.

3. The electronic device assembling apparatus according to claim 2, wherein the first suction nozzle is attached on the front side in the mounting direction with respect to the cable holding tool when viewed from the direction of viewing the base portion in a plan view.

4. The electronic device assembling apparatus according to claim 2 or 3, wherein the first suction device further includes an angle adjustment mechanism for making the angle of the first suction nozzle variable.

5. The electronic device assembling apparatus according to any one of claims 1 to 4, wherein the second suction device has a second suction nozzle fixed in position within the electronic device assembling apparatus, and the second suction nozzle opens upward.

6. The electronic device assembling apparatus according to claim 5, wherein an end portion forming the opening of the second suction nozzle is inclined obliquely according to the angle of the cable held by the cable holding tool.

7. The electronic device assembling apparatus according to any one of claims 1 to 6, wherein the robot unit relatively moves the cable holding tool with respect to the electronic device by moving the base portion by a plurality of link members.

8. An electronic device assembling method for assembling an electronic device by attaching a cable to a connector of the electronic device, a holding step of moving a base portion equipped with a cable holding tool and holding the cable by the cable holding tool; a first suction step of controlling a first suction device to suction and clean the connector; a second suction step of controlling a second suction device different from the first suction device to suction and clean the cable; and a mounting step of moving the base portion and mounting the cable held by the cable holding tool to the connector, wherein the first suction device is attached to the base portion, the second suction device is provided at a location different from the base portion, in the first suction step, the base portion is moved to perform suction cleaning of the connector with the first suction device brought close to the connector, and in the second suction step, the base portion is moved to perform suction cleaning of the cable with the cable held by the cable holding tool brought close to the second suction device.

9. An electronic device assembling method for assembling an electronic device by attaching a cable to a connector of the electronic device, a holding step of moving a base portion equipped with a cable holding tool and holding the cable by the cable holding tool; Controlling a first suction device to perform a first suction step of sucking and cleaning the connector; Controlling a second suction device different from the first suction device to perform a second suction step of sucking and cleaning the cable; Including a mounting step of moving the base portion to mount the cable held by the cable holding tool to the connector, The first suction device has a first suction nozzle attached to the base portion, The first suction nozzle opens toward the mounting direction of the cable to the connector by the cable holding tool when viewed from the direction of the base portion in plan view. An electronic device assembly method.

10. The first suction nozzle is attached to the front side of the mounting direction with respect to the cable holding tool when viewed from the direction of the base portion in plan view. The electronic device assembly method according to claim 9.

11. The first suction device further includes an angle adjustment mechanism that makes the angle of the first suction nozzle variable. The electronic device assembly method according to claim 9 or 10.

12. The second suction device has a second suction nozzle fixed in position within the electronic device assembly apparatus, and the second suction nozzle opens upward. The electronic device assembly method according to any one of claims 8 to 11.

13. The end portion forming the opening of the second suction nozzle is inclined obliquely according to the angle of the cable held by the cable holding tool. The electronic device assembly method according to claim 12.

14. The holding step is to move the base portion by a plurality of link members and hold the cable by the cable holding tool. The electronic device assembly method according to any one of claims 8 to 13.

Images