Connector insertion / removal device, test device, and manufacturing method for industrial equipment

Abstract

The present invention enables simultaneous insertion of inspection connectors, even into a plurality of connectors installed at narrow intervals, with the central axes of the connectors aligned with those of the inspection connectors.　This connector insertion / removal device comprises: a component fixing base (100) for fixing a component (20) in which connectors (30) are arranged side by side in a direction orthogonal to a connector insertion / removal direction; and an inspection connector insertion / removal unit (200) comprising inspection connectors (40) corresponding to the connectors (30) and compliant mechanisms (222) for moving the inspection connectors (40) in the direction orthogonal to the connector insertion / removal direction. The compliant mechanisms (222) are disposed in a zigzag manner with respect to the direction in which the inspection connectors (40) are arranged. Adjacent compliant mechanisms (222) are disposed so as to overlap when viewed in a direction orthogonal to the direction in which the inspection connectors (40) are arranged and the inspection connector insertion / removal direction.

Description

Connector insertion / removal device

[0001] The present disclosure relates to a connector insertion / extraction device.

[0002] Components mounted on industrial equipment are equipped with multiple connectors, for example, for communication with external devices or for power supply. The manufacturing process of industrial equipment includes a testing process in which an inspection connector is connected to the connector of the component to check communication with the external device or perform a voltage resistance test. As industrial equipment becomes more sophisticated, the increase in testing time due to the addition of test items has become a problem, and there is a demand for shortening the testing process time. To shorten the testing process time, a connector insertion / extraction device that inserts and removes multiple connectors at once has been proposed (see, for example, Patent Document 1).

[0003] JP 2014-146434 A

[0004] In the connector insertion / extraction device disclosed in Patent Document 1, the central axes of the connector and the connector for inspection are aligned by inserting a guide shaft fixed to a connector support base into a hole formed in an inspection connector support. Therefore, it is necessary to accommodate the connector in the connector support base, which poses a problem in that it is necessary to widen the spacing when installing connectors side by side on a component.

[0005] The present disclosure discloses a technology for solving the above-mentioned problems, and aims to provide a connector insertion / removal device that can align the central axes of multiple connectors and inspection connectors and insert inspection connectors all at once, even for multiple connectors installed closely spaced apart on a component.

[0006] The connector insertion / removal device of the present disclosure comprises: a component fixing base that fixes a component in which two or more connectors are arranged side by side in a direction perpendicular to the connector insertion / removal direction; an inspection connector insertion / removal device having an inspection connector insertion / removal device base plate and two or more inspection connector supporters; and a movable device that moves the inspection connector insertion / removal device in the connector insertion / removal direction, wherein the inspection connector supporter comprises an inspection connector corresponding to the connector, an inspection connector arm connected to the inspection connector, and a compliant mechanism connected to the inspection connector arm and moving the inspection connector via the inspection connector arm in a direction perpendicular to the inspection connector insertion / removal direction, wherein the inspection connectors are arranged side by side in a direction perpendicular to the inspection connector insertion / removal direction, and the compliant mechanisms are installed in a zigzag pattern with respect to the direction in which the inspection connectors are arranged on the inspection connector insertion / removal device base plate, and when the compliant mechanisms are viewed in a direction perpendicular to the direction in which the inspection connectors are arranged and the inspection connector insertion / removal direction, adjacent compliant mechanisms are arranged so as to overlap.

[0007] The connector insertion / extraction device of the present disclosure includes a component fixing base that fixes a component in which two or more connectors are arranged side by side in a direction perpendicular to the connector insertion / extraction direction, an inspection connector insertion / extraction device that includes an inspection connector insertion / extraction device base plate and two or more inspection connector supporters, and a movable device that moves the inspection connector insertion / extraction device in the connector insertion / extraction direction, wherein the inspection connector supporter includes an inspection connector corresponding to the connector, an inspection connector arm connected to the inspection connector, and a movable device that is connected to the inspection connector arm and moves the inspection connector via the inspection connector arm in the direction perpendicular to the inspection connector insertion / extraction direction. The inspection connectors are arranged in a row in a direction perpendicular to the direction in which the inspection connectors are inserted and removed, and the compliant mechanisms are installed in a zigzag pattern with respect to the direction in which the inspection connectors are lined up on the inspection connector inserter / removal device base plate, and when the compliant mechanisms are viewed in a direction perpendicular to the direction in which the inspection connectors are lined up and the direction in which the inspection connectors are inserted and removed, adjacent compliant mechanisms are arranged to overlap, so that even for multiple connectors arranged in a row with close spacing on a component, the central axes of the connectors and the inspection connectors can be aligned and the inspection connectors can be inserted all at once.

[0008] 1 is a front view showing a state before an inspection connector is inserted into a connector in the connector inserting / extracting device according to embodiment 1. FIG. 2 is a side view showing a state before an inspection connector is inserted into a connector in the connector inserting / extracting device according to embodiment 1. FIG. 3 is a plan view of the connector inserting / extracting device according to embodiment 1. FIG. 4 is a front view showing a state after the inspection connector has been inserted into the connector in the connector inserting / extracting device according to embodiment 1. FIG. 5 is a side view showing a state after the inspection connector has been inserted into the connector in the connector inserting / extracting device according to embodiment 1. FIG. 6 is a plan view showing an example of when the component fixing base and the inspection connector inserter / extractor are replaced in the connector inserting / extracting device according to embodiment 1. FIG. 7 is a diagram illustrating a process of inserting the inspection connector into a connector in the connector inserting / extracting device according to embodiment 1. FIG. 8 is a plan view showing a positional relationship between a connector and an inspection connector in a connector inserting / extracting device according to a comparative example. FIG. 9 is a plan view showing an example of a positional relationship between a connector and an inspection connector in the connector inserting / extracting device according to embodiment 1. FIG. 10 is a plan view showing another example of the inspection connector inserter / extractor according to embodiment 1. FIG. 11 is a front view showing a configuration of a connector inserting / extracting device according to embodiment 2. 1 is a front view showing an example of a state when a tool exchange mechanism is connected to an inspection connector inserter / removal device in a connector inserting / removing device according to a second embodiment. FIG. 2 is a front view showing an example of a state when an inspection connector inserter / removal device is moved to a position where the position of the inspection connector in the xy plane coincides with the position of the connector in the xy plane in a connector inserting / removing device according to a second embodiment. FIG. 3 is a front view showing an example of a state when an inspection connector is inserted into a corresponding connector in a connector inserting / removing device according to a second embodiment. FIG. 4 is a front view showing another example of a state when a tool exchange mechanism is connected to an inspection connector inserter / removal device in a connector inserting / removing device according to a second embodiment. FIG. 5 is a front view showing an example of a state when an inspection connector is inserted into a corresponding connector in a connector inserting / removing device according to a second embodiment.1 is a plan view showing an example of when the component fixing base and the inspection connector inserter / extractor are replaced in the connector inserting / extracting device according to embodiment 2. FIG. 2 is a front view showing a state before a component is fixed to the component fixing base in the connector inserting / extracting device according to embodiment 3. FIG. 3 is a side view showing a state before a component is fixed to the component fixing base in the connector inserting / extracting device according to embodiment 3. FIG. 4 is a front view showing a state after an other-end inspection connector has been inserted into an other-end connector in the connector inserting / extracting device according to embodiment 3. FIG. 5 is a front view showing a state after an inspection connector has been inserted into a connector in the connector inserting / extracting device according to embodiment 3. FIG. 6 is a front view showing a state before an inspection connector and a standard inspection connector are inserted into a connector in the connector inserting / extracting device according to embodiment 4. FIG. 7 is a front view showing a state after only the inspection connector has been inserted into the connector in the connector inserting / extracting device according to embodiment 4.

[0009] A connector inserting / extracting device according to an embodiment will be described in detail below with reference to the drawings. In the drawings, the same reference numerals indicate the same or corresponding parts.

[0010] Embodiment 1. <Overall Configuration> Figures 1 and 2 are diagrams showing a state before an inspection connector is inserted into a connector in a connector insertion / extraction device according to embodiment 1, with Figure 1 being a front view and Figure 2 being a side view. Figure 3 is a plan view of the connector insertion / extraction device according to embodiment 1. Figures 4 and 5 are diagrams showing a state after an inspection connector is inserted into a connector in the connector insertion / extraction device according to embodiment 1, with Figure 4 being a front view and Figure 5 being a side view. In Figures 1 and 4, the x-axis is an axis with a positive direction toward the right, the z-axis is an axis with a positive direction toward the top, and the y-axis is an axis with a positive direction toward the depth, and the x-axis, y-axis, and z-axis are orthogonal to one another. Figures 1 to 5 show three connectors 30 arranged in the x-axis direction at the end of a component 20 in the positive direction of the z-axis. In addition, when the connector insertion / removal direction, which is the direction in which the inspection connector 40 is inserted into the connector 30 and the direction in which the inspection connector 40 is removed, is the z-axis direction, the connectors 30 and the inspection connectors 40 are arranged in the x-axis direction, which is perpendicular to the connector insertion / removal direction, so that multiple corresponding inspection connectors 40 can be inserted into multiple connectors 30 at once.

[0011] The connector inserting / extracting device 10 includes a base plate 50, a component fixing base 100 for fixing a component 20 having two or more connectors 30, an inspection connector inserter / extractor 200 having two or more inspection connectors 40 corresponding to each connector 30, a movable unit 300 for moving the inspection connector inserter / extractor 200 in the z-axis direction, which is the inspection connector insertion / extraction direction, to bring the inspection connector 40 close to the connector 30, and a weight compensation mechanism 400 for preventing the movable unit 300 and the inspection connector inserter / extractor 200 from moving under their own weight. Here, the inspection connector insertion / extraction direction refers to the direction in which the inspection connector 40 is inserted into the connector 30 and the direction in which it is removed from the connector 30. The component fixing base 100 and the movable unit 300 are connected to the base plate 50. The inspection connector inserter / extractor 200 includes, for example, the same number of inspection connectors 40 as the number of connectors 30 provided on the component 20. Each inspection connector 40 corresponds to a connector 30 provided on a component 20, and is arranged side by side in the x-axis direction, which is a direction perpendicular to the inspection connector insertion / removal direction. The component 20 is fixed to the component fixing base 100, and the inspection connector inserter / removal device 200 is connected to the movable device 300. The weight compensation mechanism 400 is connected to the movable device 300 and the base plate 50.

[0012] <Component Fixing Base> The component fixing base 100 includes a component fixing base base base plate 110, a fixing plate 120 that supports the component 20, a height adjustment support 130 that fixes the fixing plate 120 to the component fixing base base plate 110, a front clamping mechanism 140 that fixes the position of the component 20 in the front direction, a side clamping mechanism 150 that fixes the position of the component 20 in the lateral direction, a front direction reference plate 160 that positions the component 20 in the front direction, and a side direction reference plate 170 that positions the component 20 in the lateral direction. The component fixing base base plate 110 is provided with the height adjustment support 130, and the fixing plate 120 is connected to the height adjustment support 130. The fixing plate 120 is connected to the front clamping mechanism 140, the side clamping mechanism 150, the front direction reference plate 160, and the lateral direction reference plate 170. The upper surface of the fixed plate 120, the surface of the front reference plate 160 that contacts the component 20, and the surface of the side reference plate 170 that contacts the component 20 are perpendicular to each other.

[0013] The front clamp mechanism 140 includes a front clamp 141, a front clamp linear motion mechanism 142 for moving the front clamp 141, a front tension spring 143, and a clamp operation handle 144. The front clamp linear motion mechanism 142 and the front tension spring 143 are connected to the fixed plate 120, and the front clamp linear motion mechanism 142 and the front tension spring 143 are connected to the front clamp 141. The clamp operation handle 144 is connected to the front clamp 141. A force pressing the component 20 toward the front direction reference plate 160 is constantly acting on the front clamp 141 due to the return force of the front tension spring 143.

[0014] The side clamp mechanism 150 includes a side clamp 151, a side clamp linear motion mechanism 152 for moving the side clamp 151, and a side tension spring 153. The side clamp linear motion mechanism 152 and the side tension spring 153 are connected to the fixed plate 120, and the side clamp linear motion mechanism 152 and the side tension spring 153 are connected to the side clamp 151. A force pressing the component 20 toward the side direction reference plate 170 is always acting on the side clamp 151 due to the return force of the side tension spring 153.

[0015] 1 to 3 , the front clamp 141 moves along the front clamp linear motion mechanism 142, creating a space between the front clamp 141 and the front reference plate 160 for accommodating the component 20. After placing the component 20 between the front clamp 141 and the front reference plate 160 so that the component 20 is in contact with the fixed plate 120, releasing the clamp operation handle 144 causes the component 20 to be pressed against the front reference plate 160 by the restoring force of the front tension spring 143, thereby positioning the component 20 in the front direction. The front clamp mechanism 140 may be provided with an actuator such as a cylinder or a motor instead of the front tension spring 143 to automate the opening and closing operation of the front clamp 141. The front clamp 141 is provided with a retaining claw 145 to prevent the component 20 from moving in the positive direction of the z axis, which is the connector removal direction. By providing the retaining claw 145, when the inspection connector 40 is pulled out from the connector 30, the component 20 can be prevented from lifting up in the positive direction of the z-axis, which is the connector pulling direction.

[0016] The side clamps 151 have side clamp slopes 154 for guiding the component 20, and when the component 20 is placed on the fixing plate 120, the component 20 comes into contact with the side clamp slopes 154, causing the side clamps 151 to move in the positive direction of the x-axis, which is opposite to the direction in which the side of the component 20 is pressed, by the side clamp linear motion mechanism 152, so that the component 20 can be placed along the side clamps 151. When the component 20 is released after being placed, the restoring force of the side tension springs 153 presses the side clamps 151 against the component 20, and the component 20 is pressed against the side direction reference plate 170. The side clamp mechanism 150 may be provided with an actuator such as a cylinder or a motor instead of the side tension springs 153, so that the opening and closing operation of the side clamps 151 can be automated.

[0017] The position of the component 20 is determined by pressing the component 20 against the front reference plate 160 and the side reference plate 170 using the front clamping mechanism 140 and the side clamping mechanism 150. The component 20 may be positioned by fitting a positioning pin into a positioning hole, instead of pressing the component 20 against a reference surface.

[0018] The component fixture base 100 may be detachable from the base plate 50 and may be configured to be replaceable with a different component fixture base. The inspection connector inserter / extractor 200 may be detachable from the movable member 300 and may be configured to be replaceable with a different inspection connector inserter / extractor. Figure 6 is a plan view showing an example of the connector inserter / extractor device 10 shown in Figure 1 , in which the component fixture base 100 has been replaced with another component fixture base 100a and the inspection connector inserter / extractor 200 has been replaced with another inspection connector inserter / extractor 200a. In Figure 6 , a component 20a having two connectors 30a aligned in the positive direction of the z-axis is fixed to the component fixture base 100a. The inspection connector support 220a of the inspection connector inserter / extractor 200a is provided with the inspection connector 40a at a position corresponding to the position of the connector 30a, and the compliant mechanism 222 is disposed on the inspection connector inserter / extractor base plate 210a. In the connector inserter / extractor 10, the component fixture base 100 and the inspection connector inserter / extractor are configured to be interchangeable. Therefore, when a component 20a having a different shape from the component 20 is to be fixed, the component fixture base 100 can be changed to a component fixture base 100a that matches the shape of the component 20a. The component fixture base 100 may be replaced with another component fixture base 100a using a conveyor, cylinder, electric cylinder, or robot. With this configuration, after the inspection connector has been extracted, the component 20 fixed on the component fixture base 100 can be replaced with a different component 20a fixed on a component fixture base 100a at a different position, thereby shortening the time required to replace the component.

[0019] The mover 300 includes a mover base plate 310, a linear motion mechanism 320 including a sliding shaft 321 and a bushing 322, and a mover operation handle 330 for operating the mover 300. The bushing 322 and the mover operation handle 330 are connected to the mover base plate 310, and the sliding shaft 321 connected to the base plate 50 is inserted into the bushing 322. When an operator moves the mover operation handle 330 in the negative direction of the z-axis, which is the connector insertion direction, or in the positive direction of the z-axis, which is the connector extraction direction, the bushing 322 moves in the vertical direction along the sliding shaft 321 in the z-axis direction, thereby moving the mover base plate 310 and the inspection connector inserter / extractor 200 connected to the mover base plate 310 in the connector insertion direction or connector extraction direction. The linear motion mechanism 320 may be configured using a guide rail or a link mechanism such as a jack. The movable device operation handle 330 may be connected to the inspection connector inserter / extractor 200. The movable device 300 may be provided with an actuator such as a motor or a cylinder instead of the movable device operation handle 330. By providing the movable device 300 with an actuator, the movable device base plate 310 and the inspection connector inserter / extractor 200 can be moved by driving the actuator instead of being moved by an operator, and the movement of the movable device base plate 310 and the inspection connector inserter / extractor 200 can be automated.

[0020] <Inspection Connector Inserter / Remover> The inspection connector inserter / remover 200 includes an inspection connector inserter / remover base plate 210 and two or more inspection connector supporters 220. The inspection connector insertion / removal direction of the inspection connector inserter / remover 200 corresponds to the connector insertion / removal direction of the component 20. In the example shown in FIG. 1 , the inspection connector insertion direction is the negative direction of the z-axis, the same as the connector insertion direction, and the inspection connector removal direction is the positive direction of the z-axis. The inspection connector supporter 220 includes an inspection connector 40 that is inserted into the connector 30, an inspection connector arm 221 that is connected to and supports the inspection connector 40, and a compliant mechanism 222 that is connected to the inspection connector arm 221 and moves the position of the inspection connector 40 via the inspection connector arm 221 in a direction perpendicular to the inspection connector insertion / removal direction, i.e., in a direction perpendicular to the z-axis.

[0021] The inspection connector support 220 may include a buffer mechanism that retracts the position of the inspection connector 40 in the inspection connector extraction direction. The buffer mechanism may be a compression spring or an air spring using compressed air. The compliant mechanism 222 may, for example, automatically adjust its position by following an external force using a spring or the like, or may adjust its position by controlling an actuator such as a motor or cylinder. The compliant mechanisms 222 are arranged on the inspection connector inserter / extractor base plate 210 in a staggered pattern with respect to the x-axis direction, which is the direction in which the inspection connectors 40 are arranged. In other words, the compliant mechanisms 222 are arranged on the inspection connector inserter / extractor base plate 210 in a zigzag pattern with respect to the x-axis direction, which is the direction in which the inspection connectors 40 are arranged. The two compliant mechanisms 222 closest to each other in the x-axis direction are positioned at different positions in the y-axis direction. 3 , the shape of the compliant mechanism 222 in the xy plane is a rectangular parallelepiped having sides along the x-axis and the y-axis, and when the size of the compliant mechanism 222 in the y-axis direction is Cy, the difference in position in the y-axis direction between two compliant mechanisms 222 that are closest in the x-axis direction is equal to or greater than Cy. Because the compliant mechanism 222 is connected to the inspection connector arm 221, and the inspection connector arm 221 is connected to the inspection connector 40, the compliant mechanism 222 can move the inspection connector 40 supported by the inspection connector arm 221 in the direction perpendicular to the inspection connector insertion / removal direction, i.e., in the direction perpendicular to the z-axis direction, by moving the inspection connector arm 221 in the direction perpendicular to the inspection connector insertion / removal direction, i.e., in the direction perpendicular to the z-axis direction, thereby moving the inspection connector 40 on the xy plane.

[0022] FIG. 7 is a diagram illustrating the process of inserting the inspection connector 40 into the connector 30 in the connector insertion / extraction device 10 according to the first embodiment. The connector 30 includes a connector slope 34, and the inspection connector 40 includes an inspection connector slope 44. When the inspection connector 40 is inserted into the connector 30 by moving it in the negative z-axis direction (the connector insertion direction) while the inspection connector insertion direction of the inspection connector 40 and the connector insertion direction of the connector 30 are aligned with the negative z-axis direction, as shown in the left diagram of FIG. 7 , if the central axes of the inspection connector 40 and the connector 30 are misaligned in the y-axis direction (the front direction) or the x-axis direction (the side direction), as shown in the left diagram of FIG. 7 , the connector slope 34 and the inspection connector slope 44 come into contact, as shown in the middle diagram of FIG. In this state, by further moving the inspection connector 40 in the connector insertion direction, the force acting in the connector insertion direction is dispersed by the inclination of the connector slope 34 and the inspection connector slope 44, generating a force acting in a direction perpendicular to the connector insertion direction. The generated force acting in the direction perpendicular to the connector insertion direction is transmitted to the inspection connector 40. The inspection connector 40 is connected to the compliant mechanism 222 of the inspection connector support 220. The compliant mechanism 222 moves in a direction perpendicular to the direction of insertion / removal of the inspection connector, i.e., in a direction perpendicular to the connector insertion / removal direction. This causes the inspection connector 40 to move along the connector slope 34, correcting the central axis of the inspection connector 40 to the position of the central axis of the connector 30, and the inspection connector 40 is inserted into the connector 30 as shown in the right diagram of Figure 7. Because each inspection connector support 220 is individually equipped with a compliant mechanism 222, even if the direction and amount of misalignment of the central axis of the connector 30 differs from connector to connector, the insertion position of each inspection connector 40 is individually corrected, allowing the inspection connector 40 to be inserted without being affected by the misalignment of the insertion positions of other connectors 30. Furthermore, because there is no need to insert a guide shaft into a hole, the insertion position of the inspection connector 40 can be corrected even when the periphery of the connector 30 is covered with a product cover or when the connectors 30 are densely packed.

[0023] Fig. 8 is a plan view showing the positional relationship between the connector 30 and the inspection connector 40 of a connector insertion / extraction device according to a comparative example, and Fig. 9 is a plan view showing an example of the positional relationship between the connector 30 and the inspection connector 40 of the connector insertion / extraction device 10 according to embodiment 1. In the connector insertion / extraction device according to the comparative example shown in Fig. 8, in an inspection connector insertion / extraction device 200b, compliant mechanisms 222 are arranged in a row on an inspection connector insertion / extraction device base plate 210b in the x-axis direction, which is the direction in which the inspection connectors 40 are lined up. Therefore, when the size of compliant mechanism 222 in the x-axis direction is Cx, the difference in the position of connector 30 in the x-axis direction needs to be Cx or more. For example, in component 20b, the left ends of connectors 30 need to be spaced apart from each other by Cx or more in the x-axis direction. In the connector insertion / extraction device 10 according to the first embodiment shown in FIG. 9 , the compliant mechanisms 222 are arranged in a staggered pattern with respect to the x-axis direction, which is the direction in which the inspection connectors 40 are lined up. That is, they are arranged in a zigzag pattern with respect to the x-axis direction, which is the direction in which the inspection connectors 40 are lined up. When the compliant mechanisms 222 are viewed in the y-axis direction, which is perpendicular to the x-axis direction in which the inspection connectors 40 are lined up and the z-axis direction, which is the direction in which the inspection connectors are inserted and removed, adjacent compliant mechanisms 222 are arranged so as to overlap. For example, when the size of a compliant mechanism 222 in the x-axis direction is Cx and the size of a compliant mechanism 222 in the y-axis direction is Cy, the difference in the positions of the two compliant mechanisms 222 closest to each other in the x-axis direction is equal to or greater than Cy. Therefore, it is possible to install adjacent connectors 30 in the component 20 so that the difference in the positions of their left ends is closer than Cx in the x-axis direction. This allows multiple connectors 30 to be arranged densely even when the size of the connectors 30 in the x-axis direction is smaller than the size of the compliant mechanisms 222 in the x-axis direction. 10 and 11 are plan views showing another example of the inspection connector inserter / extractor 200 according to the first embodiment.

[0024] The inspection connector inserter / removal tool 200 may be detachable from the movable device 300 and replaceable with another inspection connector inserter / removal tool. This structure allows inspection connectors to be inserted or removed from components with different connector types, numbers, or connector positions by replacing them with dedicated inspection connector inserters for each component. Furthermore, since multiple inspection connectors can be replaced at once, the time required to handle different components can be reduced, improving the efficiency of maintenance work involving removal. The inspection connector arm 221 may also include a buffer mechanism that retracts the inspection connector 40 in the positive direction of the z-axis, which is the connector extraction direction. With this structure, if the central axes of the inspection connector 40 and the connector 30 are misaligned beyond the travel allowance of the compliant mechanism 222, the buffer mechanism retracts the inspection connector 40 in the positive direction of the z-axis, reducing the load on the connector 30 and preventing damage.

[0025] <Weight Compensation Mechanism> The weight compensation mechanism 400 includes a first connection block 410, a second connection block 420, a first link 430, a second link 440, and a torsion spring 450. The first link 430 is rotatably connected to the first connection block 410, the second link 440 is rotatably connected to the first link 430, and the second link 440 is rotatably connected to the second connection block 420. The first connection block 410 is connected to the base plate 50, and the second connection block 420 is connected to the mover base plate 310. The torsion spring 450 is attached at a position where the first link 430 is connected to the first connection block 410. The spring reaction force of the torsion spring 450 generates a counterclockwise moment in the first link 430 in FIG. 2 , with the connection point between the first link 430 and the first connection block 410 as a fulcrum. A force in the negative direction of the z-axis, which is the connector insertion direction, generated by the weight of the movable device 300 and the inspection connector inserter / extractor 200 is transmitted through the second link 440 and the first link 430, and generates a clockwise moment in the first link 430 in FIG. 2 , with the fulcrum being the connection between the first link 430 and the first connection block 410. By balancing the moment generated by the torsion spring 450 with the moment generated by the weight of the movable device 300 and the inspection connector inserter / extractor 200, even if the operator releases the movable device operation handle 330, the movable device 300 does not move in the negative direction of the z-axis, which is the connector insertion direction, due to its own weight, and therefore it is possible to avoid the inspection connector inserter / extractor 200 colliding with the component 20.

[0026] The weight compensation mechanism 400 may be configured to use a constant-force spring to pull the movable member 300 in the positive direction of the z-axis, which is the connector extraction direction, or may be configured to balance the weight of the movable member 300 with a weight having the same weight as the movable member 300 via a pulley. Instead of the weight compensation mechanism 400, a locking mechanism using a plunger or a magnet may be attached to the end of the sliding shaft 321 in the connector extraction direction, i.e., the positive direction of the z-axis. By attaching the locking mechanism to the sliding shaft 321, the movable member 300 is fixed when moved to the end of the sliding shaft 321 in the positive direction of the z-axis. For example, if the connector insertion direction is not the direction of gravity and the inspection connector inserter / extractor 200 does not move due to its own weight, the weight compensation mechanism 400 may not be provided.

[0027] <Measures against Connector Tilt> The component 20 is fixed to the component fixture base 100 so that the insertion surface of the connector 30 is parallel to the upper surface of the fixture plate 120, and the component fixture base 100 is connected so that the upper surface of the fixture plate 120 is parallel to the upper surface of the base plate 50. The inspection connector inserter / extractor 200 is connected to the movable unit 300 so that the insertion surface of the inspection connector 40 is parallel to the upper surface of the movable unit base plate 310, and the movable unit 300 is connected to the base plate 50 so that the upper surface of the movable unit base plate 310 is parallel to the upper surface of the base plate 50. This makes the insertion surface of the connector 30 parallel to the insertion surface of the inspection connector 40. If the connector insertion / extraction direction is perpendicular to the insertion surface of the connector 30 and the inspection connector insertion / extraction direction is perpendicular to the insertion surface of the inspection connector 40, the connector insertion / extraction direction will match the inspection connector insertion / extraction direction. For example, in the connector insertion / removal device 10 shown in Figures 1 to 3, the upper surface of the base plate 50 is parallel to the xy plane, so the insertion surface of the connector 30, the upper surface of the fixed plate 120, the upper surface of the base plate 50, the insertion surface of the inspection connector 40, and the upper surface of the movable base plate 310 are all planes parallel to the xy plane.

[0028] The component 20 is pressed against the front direction reference plate 160 by the front clamp 141, thereby determining the angle of the front face of the connector 30 relative to the front face of the front direction reference plate 160. The component fixing base 100 is connected to the base plate 50 so that the front face of the front direction reference plate 160, i.e., the surface in the negative direction of the y-axis in FIGS. 1 to 3, is perpendicular to the upper surface of the base plate 50. The inspection connector inserter / removal tool 200 is connected to the movable tool 300 so that the front face of the inspection connector inserter / removal tool base plate 210 is parallel to the front face of the movable tool base plate 310, and the movable tool 300 is connected to the base plate 50 so that the front face of the movable tool base plate 310 is parallel to the front face of the base plate 50. The inspection connector 40 is attached to the inspection connector inserter / removal tool 200 so that the front face angle of the connector 30 relative to the front face of the front direction reference plate 160 is the same as the front face angle of the inspection connector 40 relative to the front face of the inspection connector inserter / removal tool base plate 210. As a result, the front surface of connector 30 is parallel to the front surface of inspection connector 40. Because the insertion surface of connector 30 is parallel to the insertion surface of inspection connector 40 and the front surface of connector 30 is parallel to the front surface of inspection connector 40, misalignment of the central axes of connector 30 and inspection connector 40 due to tilt is suppressed, making it possible to insert inspection connector 40.

[0029] <Connector Insertion Method> First, the operator operates the movable device operation handle 330 in the positive direction of the z-axis, which is the connector extraction direction, to move the movable device 300 and the inspection connector inserter / remover 200 to the end of the movable device 300 in the positive direction of the z-axis. The clamp operation handle 144 is operated in the negative direction of the y-axis, which is the direction away from the front reference plate 160, to fix the component 20 to the component fixing base 100 and position the component 20. The operator operates the movable device operation handle 330 in the negative direction of the z-axis, which is the connector insertion direction, to bring the movable device 300 and the inspection connector inserter / remover 200 closer to the component 20, thereby allowing the inspection connector 40 provided on the inspection connector inserter / remover 200 to be inserted into the connector 30 provided on the component 20. If the central axes of the inspection connector 40 and the connector 30 are misaligned in the y-axis direction, which is the front direction, or in the x-axis direction, which is the side direction, the inspection connector slope 44 at the tip of the inspection connector 40, the connector slope 34 at the tip of the connector 30, and the compliant mechanism 222 correct the central axis of the inspection connector 40 to a position where it can be inserted into the connector 30.

[0030] <Connector Extraction Method> First, the worker operates the movable device operation handle 330 in the positive direction of the z-axis, which is the connector extraction direction, and moves the movable device 300 and the inspection connector inserter / extractor 200 in the connector extraction direction to extract the inspection connector 40 from the connector 30. After confirming that the inspection connector 40 has been extracted from the connector 30, the worker moves the movable device 300 and the inspection connector inserter / extractor 200 to the end of the movable device 300 in the positive direction of the z-axis. The worker operates the clamp operation handle 144 in the negative direction of the y-axis, which is the direction away from the front reference plate 160, and removes the component 20 from the component fixing base 100.

[0031] In addition, when inserting the inspection connector 40 into the connector 30 or when removing the inspection connector 40 from the connector 30, in order to confirm whether the positional relationship between the inspection connector 40 and the connector 30 is normal, it is possible to measure the insertion force or removal force using a force sensor, detect the relative positions of the inspection connector 40 and the connector 30 using a photoelectric sensor, or measure the heights of the inspection connector 40 and the connector 30 using a laser sensor or ultrasonic sensor.

[0032] As described above, the connector inserting / extracting device 10 according to the first embodiment comprises the component fixing base 100 for fixing the component 20 in which two or more connectors 30 are arranged side by side in a direction perpendicular to the connector inserting / extracting direction, the inspection connector inserting / extracting device 200 having the inspection connector inserting / extracting device base plate 210 and two or more inspection connector supporters 220, and the movable device 300 for moving the inspection connector inserting / extracting device 200 in the connector inserting / extracting direction. The inspection connector supporter 220 has the inspection connector 40 corresponding to the connector 30, the inspection connector arm 221 connected to the inspection connector 40, and the inspection connector arm 221 connected to the inspection connector arm 221 and moving the inspection connector 40 to the inspection connector 30 via the inspection connector arm 221. The inspection connectors 40 are arranged in a row in a direction perpendicular to the direction of insertion and removal of the inspection connectors, and the compliant mechanisms 222 are installed in a zigzag pattern in the direction in which the inspection connectors 40 are lined up on the inspection connector inserter / remover base plate 210, and when the compliant mechanisms 222 are viewed in a direction perpendicular to the direction in which the inspection connectors 40 are lined up and the direction of insertion and removal of the inspection connectors, adjacent compliant mechanisms 222 are arranged to overlap, so that even for multiple connectors arranged in a row at close intervals on a component, the central axes of the connectors and the inspection connectors can be aligned and the inspection connectors can be inserted all at once.

[0033] Embodiment 2. When a component has connectors on two or more different end faces, this can be accommodated by providing an inspection connector inserter / extractor and a movable device for each end face that has a connector. However, since it is necessary to prepare pairs of inspection connector inserter / extractor and movable device for each end face that has a connector, it becomes difficult to arrange the inspection connector inserter / extractor and movable device. Furthermore, if pairs of inspection connector inserter / extractor and movable device for each end face that has a connector are prepared, the structure of the device becomes complicated and maintenance becomes difficult. Below, we will describe a connector inserter / extractor that can simultaneously insert inspection connectors with the same connector insertion direction without complicating the structure, even when a component has connectors on two or more end faces that are oriented in different directions.

[0034] <Overall Configuration> Figure 12 is a front view showing the configuration of a connector insertion / extraction device 10c according to a second embodiment. The connector insertion / extraction device 10c according to the second embodiment corresponds to a component 20c having connectors on two or more different end faces. The first connector arrangement end face of the component 20c is the top face, i.e., the end face facing the positive z-axis, and is provided with three first connectors 31 on the first connector arrangement end face. Furthermore, the second connector arrangement end face of the component 20c is the right face, i.e., the end face facing the positive x-axis, and is provided with two second connectors 32 on the second connector arrangement end face. The first connectors 31 are aligned in the z-axis direction, which is the connector insertion / extraction direction, and are arranged in the x-axis direction, which is perpendicular to the z-axis direction. The second connectors 32 are aligned in the x-axis direction, which is the connector insertion / extraction direction, and are arranged in the z-axis direction, which is perpendicular to the z-axis direction. In the connector insertion / extraction device 10c, a robot arm 600 is a movable device that moves the inspection connector insertion / extraction device in the connector insertion / extraction direction.

[0035] The connector inserter / extractor 10c includes a base plate 50c, a component fixing table 100, a tool setting table 500 on which an inspection connector inserter / extractor is placed, a robot arm 600 equipped with a tool exchange mechanism 610 connected to the inspection connector inserter / extractor, a control device 700 that controls the robot arm 600 including the tool exchange mechanism 610, and an inspection connector inserter / extractor equipped with a connection block 223 connected to the tool exchange mechanism 610. The connector inserter / extractor 10c according to the second embodiment includes two or more inspection connector inserters / extractors. In the example shown in FIG. 12 , two inspection connector inserters / extractors, a first inspection connector inserter / extractor 201 and a second inspection connector inserter / extractor 202, are placed on the tool setting table 500. When the first inspection connector inserter / extractor 201 and the second inspection connector inserter / extractor 202 are placed on the tool setting table 500, the inspection connector insertion / extraction direction of the first inspection connector inserter / extractor 201 and the second inspection connector inserter / extractor 202 is the z-axis direction. Each inspection connector inserter / removal device in the second embodiment includes an inspection connector corresponding to a connector arranged on one of the connector arrangement end faces. In the example shown in Figure 12, the first inspection connector inserter / removal device 201 includes a first inspection connector 41 corresponding to the first connector 31 arranged on the first connector arrangement end face, and the second inspection connector inserter / removal device 202 includes a second inspection connector 42 corresponding to the second connector 32 arranged on the second connector arrangement end face. The first inspection connector inserter / removal device 201 includes a compliant mechanism 222 that moves the first inspection connector 41 in a direction perpendicular to the inspection connector insertion / removal direction. The compliant mechanisms 222 are arranged in a staggered or zigzag pattern with respect to the direction in which the first inspection connectors 41 are arranged, and adjacent compliant mechanisms 222 overlap when viewed in a direction perpendicular to both the direction in which the first inspection connectors 41 are arranged and the inspection connector insertion / removal direction of the first inspection connector 41. The second inspection connector inserter / removal device 202 is equipped with a compliant mechanism 222 that moves the second inspection connector 42 in a direction perpendicular to the inspection connector insertion direction, and the arrangement of the compliant mechanism 222 is the same as that of the first inspection connector inserter / removal device 201.

[0036] The component fixing table 100, the tool setting table 500, and the robot arm 600 are connected to a base plate 50c. A component 20c is fixed to the component fixing table 100, and a control device 700 is connected to the robot arm 600, which controls the robot arm 600 and a tool changing mechanism 610. The robot arm 600 is connected to the first inspection connector inserter / extractor 201 or the second inspection connector inserter / extractor 202 via the tool changing mechanism 610. In other words, the tool changing mechanism 610 connects the robot arm 600 and the inspection connector inserter / extractor.

[0037] <Tool Setting Stand> The tool setting stand 500 is a stand on which two or more inspection connector inserters / unpluggers are placed. In the example shown in Fig. 12, the tool setting stand 500 has two tool setting stands, a first tool setting stand 501 and a second tool setting stand 502, with the first inspection connector inserter / unplugger 201 placed on the first tool setting stand 501 and the second inspection connector inserter / unplugger 202 placed on the second tool setting stand 502. The tool setting stand 500 includes a tool setting plate 510 on which the inspection connector inserters / unpluggers are placed, a rough guide 520 for determining the position of the inspection connector inserter / unplugger to be placed, and a tool setting stand support 530 for connecting the tool setting plate 510 to the base plate 50c. The rough guide 520 is connected to the tool setting plate 510, and the inspection connector inserter / unplugger has a fitting hole for inserting the rough guide 520. For example, when the first inspection connector inserter / extractor 201 connected to the tool exchange mechanism 610 is placed on the tool setting table 500, the rough guide 520 is inserted into the fitting hole of the first inspection connector inserter / extractor 201, thereby correcting the position of the first inspection connector inserter / extractor 201 and placing the first inspection connector inserter / extractor 201 at a predetermined position. As a result, when the robot arm 600 is subsequently moved to connect the tool exchange mechanism 610 to the first inspection connector inserter / extractor 201 placed on the tool setting table 500, the first inspection connector inserter / extractor 201 is placed at the predetermined position, so that the tool exchange mechanism 610 and the first inspection connector inserter / extractor 201 can be connected without performing position correction by control. The connector inserter / extractor 10c according to the second embodiment may include a plurality of tool setting tables 500.

[0038] <Connector Insertion Method> Next, a method for inserting a connector into a component 20c having connectors on two different end faces will be described. In an initial state, the first inspection connector inserter / removal device 201 is placed on the first tool setting table 501, the second inspection connector inserter / removal device 202 is placed on the second tool setting table 502, the robot arm 600 is not connected to either the first inspection connector inserter / removal device 201 or the second inspection connector inserter / removal device 202, and the component 20c is fixed to the component fixing table 100. Next, the tool exchange mechanism 610 of the robot arm 600 is moved above the first inspection connector inserter / removal device 201 placed on the first tool setting table 501. The tool exchange mechanism 610 is moved close to the connection block 223 of the first inspection connector inserter / removal device 201 and connected to the connection block 223 of the first inspection connector inserter / removal device 201, thereby connecting the tool exchange mechanism 610 to the first inspection connector inserter / removal device 201. Figure 13 is a front view showing an example of the state when the tool exchange mechanism 610 is connected to the inspection connector inserter / extractor in the connector inserter / extractor device 10c according to embodiment 2, and is a front view showing the state when the tool exchange mechanism 610 is connected to the first inspection connector inserter / extractor 201.

[0039] 13 , the robot arm 600 is moved to remove the first inspection connector inserter / removal tool 201 in the positive direction of the z-axis, thereby removing the first inspection connector inserter / removal tool 201 from the first tool setting table 501. The robot arm 600 is further moved to move the first inspection connector inserter / removal tool 201 to a position where the positions of the three first inspection connectors 41 in the xy plane coincide with the positions of the corresponding first connectors 31 in the xy plane. This causes the inspection connector insertion / removal direction of the first inspection connector 41 to coincide with the connector insertion / removal direction of the first connector 31, and the first inspection connector 41 can be inserted into the first connector 31 simply by moving the first inspection connector inserter / removal tool 201 in the negative direction of the z-axis, which is the connector insertion direction of the first connector 31. Figure 14 is a front view showing an example of the state when the first inspection connector inserter / extractor 201 is moved to a position where the positions of the three first inspection connectors 41 in the xy plane coincide with the positions of the three first connectors 31 in the xy plane in the connector inserter / extractor device 10c according to embodiment 2.

[0040] 14, the robot arm 600 is operated to move the first inspection connector inserter / extractor 201 in the negative direction of the z-axis, which is the connector insertion direction of the first connectors 31, and the three corresponding first inspection connectors 41 are inserted simultaneously into the three corresponding first connectors 31. Fig. 15 is a front view showing an example of a state in which the three first inspection connectors 41 are inserted into the three corresponding first connectors 31 in the connector inserting / extracting device 10c according to the second embodiment.

[0041] 15 , the connection between the first inspection connector inserter / extractor 201 and the tool exchange mechanism 610 is released, and the tool exchange mechanism 610 of the robot arm 600 is moved onto the second inspection connector inserter / extractor 202 placed on the second tool setting table 502. The tool exchange mechanism 610 is brought close to the connection block 223 of the second inspection connector inserter / extractor 202, and the tool exchange mechanism 610 is connected to the connection block 223 of the second inspection connector inserter / extractor 202, thereby connecting the tool exchange mechanism 610 to the second inspection connector inserter / extractor 202. Figure 16 is a front view showing another example of a state when the tool exchange mechanism 610 is connected to the inspection connector inserter / extractor 202 in the connector inserter / extractor device 10c according to the second embodiment, and is a front view showing a state when the tool exchange mechanism 610 is connected to the second inspection connector inserter / extractor 202.

[0042] 16 , the robot arm 600 is moved to remove the second inspection connector inserter / removal device 202 in the positive direction of the z-axis, thereby removing the second inspection connector inserter / removal device 202 from the second tool setting table 502. The robot arm 600 is further moved to move the second inspection connector inserter / removal device 202 to a position where the positions of the two second inspection connectors 42 in the yz plane coincide with the positions of the corresponding second connectors 32 in the yz plane. This causes the inspection connector insertion / removal direction of the second inspection connector 42 to coincide with the connector insertion / removal direction of the second connector 32, and the second inspection connector 42 can be inserted into the second connector 32 simply by moving the second inspection connector inserter / removal device 202 in the negative direction of the x-axis, which is the connector insertion direction of the second connector 32. Figure 17 is a front view showing an example of the state when the second inspection connector inserter / extractor 202 is moved to a position where the positions of the two second inspection connectors 42 in the yz plane coincide with the positions of the two second connectors 32 in the yz plane in the connector inserter / extractor device 10c according to embodiment 2.

[0043] 17 , the robot arm 600 is moved to move the second inspection connector inserter / extractor 202 in the negative direction of the x-axis, which is the connector insertion direction of the second connector 32, and two corresponding second inspection connectors 42 are inserted into two corresponding second connectors 32 at once. Fig. 18 is a front view showing an example of a state in which two second inspection connectors 42 are inserted into two corresponding second connectors 32 in the connector inserting / extracting device 10c according to embodiment 2. After the insertion of the second inspection connectors 42 into the second connectors 32 is completed, the second inspection connector inserter / extractor 202 may be disconnected from the tool exchange mechanism 610, and the robot arm 600 may perform a different task, or the robot arm 600 may wait until the extraction task of the second connector 32 is performed without disconnecting the second inspection connector inserter / extractor 202 from the tool exchange mechanism 610.

[0044] <Connector Extraction Method> Next, a connector extraction method for component 20c having connectors on two different end faces will be described. In an initial state, the first inspection connector inserter / extractor 201 is connected to the first connector 31 of component 20c, and the second inspection connector inserter / extractor 202 is connected to the second connector 32 of component 20c. The robot arm 600 is not connected to either the first inspection connector inserter / extractor 201 or the second inspection connector inserter / extractor 202, and component 20c is fixed to the component fixture base 100. First, the tool exchange mechanism 610 of the robot arm 600 is moved close to the second inspection connector inserter / extractor 202. The robot arm 600 is further moved, and the tool exchange mechanism 610 is brought close to the connection block 223 of the second inspection connector inserter / extractor 202, thereby connecting the second inspection connector inserter / extractor 202 and the tool exchange mechanism 610. FIG. 18 shows the state in which the second inspection connector inserter / extractor 202 and the tool exchange mechanism 610 are connected. After the connection between the second inspection connector inserter / extractor 202 and the tool changing mechanism 610 is completed, the robot arm 600 is operated to move the second inspection connector inserter / extractor 202 in the positive direction of the x-axis, which is the connector extraction direction of the second connector 32, to extract the second inspection connector 42 from the second connector 32. Figure 17 shows a state in which the second inspection connector 42 has been extracted from the second connector 32. After extraction of the second connector 32 is completed, the robot arm 600 is operated to move the second inspection connector inserter / extractor 202 to the second tool setting stand 502. With the rough guides 520 of the second tool setting stand 502 inserted into the fitting holes of the second inspection connector inserter / extractor 202, the second inspection connector inserter / extractor 202 is moved in the negative direction of the z-axis until the inspection connector inserter / extractor base plate 210 of the second inspection connector inserter / extractor 202 comes into contact with the tool setting plate 510 of the second tool setting stand 502. FIG. 16 shows a state in which the inspection connector inserter / extractor base plate 210 of the second inspection connector inserter / extractor 202 comes into contact with the tool setting plate 510 of the second tool setting table 502 .Finally, the second inspection connector inserter / extractor 202 is disconnected from the tool exchange mechanism 610, thereby completing the installation of the second inspection connector inserter / extractor 202 on the second tool installation table 502.

[0045] After the installation of the second inspection connector inserter / extractor 202 on the second tool setting stand 502 is completed, the tool exchange mechanism 610 of the robot arm 600 is moved close to the first inspection connector inserter / extractor 201. The robot arm 600 is further moved, and the tool exchange mechanism 610 is brought close to the connection block 223 of the first inspection connector inserter / extractor 201, thereby connecting the first inspection connector inserter / extractor 201 and the tool exchange mechanism 610. FIG. 15 shows a state in which the first inspection connector inserter / extractor 201 and the tool exchange mechanism 610 are connected. After the connection between the first inspection connector inserter / extractor 201 and the tool exchange mechanism 610 is completed, the robot arm 600 is moved to move the first inspection connector inserter / extractor 201 in the positive direction of the z-axis, which is the connector extraction direction of the first connector 31, thereby extracting the first inspection connector 41 from the first connector 31. FIG. 14 shows a state in which the first inspection connector 41 has been extracted from the first connector 31. After the extraction of the first connector 31 is completed, the robot arm 600 is operated to move the first inspection connector inserter / removal tool 201 to the first tool setting stand 501. With the rough guides 520 of the first tool setting stand 501 inserted into the mating holes of the first inspection connector inserter / removal tool 201, the first inspection connector inserter / removal tool 201 is moved in the negative direction of the z-axis until the inspection connector inserter / removal tool base plate 210 of the first inspection connector inserter / removal tool 201 comes into contact with the tool setting plate 510 of the first tool setting stand 501. Figure 13 shows a state in which the inspection connector inserter / removal tool base plate 210 of the first inspection connector inserter / removal tool 201 comes into contact with the tool setting plate 510 of the first tool setting stand 501. Finally, the first inspection connector inserter / removal tool 201 is disconnected from the tool changing mechanism 610, thereby completing the installation of the first inspection connector inserter / removal tool 201 on the first tool setting stand 501. After the first connector 31 has been completely removed, the first inspection connector inserter / extractor 201 may be left connected to the tool exchange mechanism 610 and wait without being placed on the first tool setting table 501.

[0046] The connector inserting / extracting device 10c according to the second embodiment, like the connector inserting / extracting device 10 according to the first embodiment, may have a structure in which the component fixture base 100 is detachable from the base plate 50c and replaceable with a different component fixture base. Fig. 19 is a plan view showing an example in which the component fixture base 100 in the connector inserting / extracting device 10c shown in Fig. 12 has been replaced with another component fixture base 100d and the first inspection connector inserter / extractor 201 has been replaced with another third inspection connector inserter / extractor 203. In Fig. 19, the component 20d has two third connectors 33 on its top surface, which is the first connector arrangement end face, i.e., the end face in the positive direction of the z-axis, and two second connectors 32 on its right surface, which is the second connector arrangement end face, i.e., the end face in the positive direction of the x-axis. The component 20d is fixed to the component fixture base 100d. A third inspection connector inserter / extractor 203 equipped with a third inspection connector 43 corresponding to the third connector 33 is installed on a first tool installation stand 501. In the connector inserter / extractor 10c, the component fixing stand and the inspection connector inserter / extractor are configured to be interchangeable, so that when fixing a component 20d having a shape different from that of component 20c, the component fixing stand 100 can be changed to a component fixing stand 100d that matches the shape of component 20d.

[0047] Embodiment 3. Hereinafter, a connector insertion / removal device will be described that, when a component has a further connector on a second connector arrangement end face, which is the end face opposite to the first connector arrangement end face on which the connectors are arranged side by side, allows the component to be placed on a component fixing table only once, and allows an inspection connector to be inserted into both the connector on the first connector arrangement end face and the connector on the second connector arrangement end face.

[0048] 20 and 21 are diagrams showing a state before a component 20e is fixed to a component fixing base 100e in a connector inserting / extracting device 10e according to embodiment 3, with FIG. 20 being a front view and FIG. 21 being a side view. FIG. 22 is a front view showing a state in which a component 20e is fixed to a component fixing base 100e in a connector inserting / extracting device 10e according to embodiment 3. FIG. 23 is a front view showing a state after an other-end inspection connector 45 has been inserted into an other-end connector 35 in a connector inserting / extracting device 10e according to embodiment 3. FIG. 24 is a front view showing a state after an inspection connector 40 has been inserted into a connector 30 in a connector inserting / extracting device 10e according to embodiment 3. In the front views shown in FIG. 20 and FIGS. 22 to 24, the x-axis is an axis with a positive direction toward the right, the z-axis is an axis with a positive direction toward the top, and the y-axis is an axis with a positive direction toward the depth, and the x-axis, y-axis, and z-axis are orthogonal to one another, as in embodiment 1.

[0049] In the third embodiment, the first connector arrangement end face of the component 20e is the top face, i.e., the end face in the positive direction of the z-axis, and is provided with three connectors 30. Furthermore, the second connector arrangement end face of the component 20e is the end face opposite to the first connector arrangement end face, i.e., the bottom face, i.e., the end face in the negative direction of the z-axis, and is provided with three other-end connectors 35.

[0050] Comparing connector inserting / extracting device 10e according to embodiment 3 with connector inserting / extracting device 10 according to embodiment 1, component fixing base 100 has been replaced with component fixing base 100e, and an other-end inspection connector inserter / extractor 230 and a weight compensation mechanism 400e have been added. Other configurations of connector inserting / extracting device 10e according to embodiment 3 are the same as those of connector inserting / extracting device 10 according to embodiment 1.

[0051] In the connector 30 of the component 20e, the connector insertion / removal direction, which is the direction in which the inspection connector 40 is inserted and removed, is the z-axis direction, just like the component 20 of embodiment 1. In the other-end connector 35 of the component 20e, the other-end connector insertion / removal direction, which is the direction in which the other-end inspection connector 45 is inserted and removed, is the same as the connector insertion / removal direction of the connector 30, which is the z-axis direction. In order to insert multiple other-end inspection connectors 45 corresponding to multiple other-end connectors 35 at once, the other-end connectors 35 and the other-end inspection connectors 45 are aligned in the x-axis direction, which is perpendicular to the connector insertion / removal direction. The other-end inspection connector 45 will be described later.

[0052] 20 shows a connector insertion / extraction device 10e according to the third embodiment. The component fixing base 100e includes a fixing plate 120e that supports the component 20e, a front clamping mechanism 140e that fixes the position of the component 20e in the front direction, a side clamping mechanism 150e that fixes the position of the component 20e in the side direction, a front reference plate 160e that positions the component 20e in the front direction, a side reference plate 170e that positions the component 20e in the side direction, and a bushing 322e. The fixing plate 120e has a hole through which the other-end connector 35 of the component 20e passes downward in the z-axis direction. Furthermore, a bushing 322e is connected to the fixing plate 120e, and a sliding shaft 321 connected to the base plate 50 is inserted into the bushing 322e. When the component 20e is fixed to the component fixing base 100e, the operator can move the fixing plate 120e in the negative direction of the z-axis or the positive direction of the z-axis, causing the bush 322 to move in the z-axis direction, which is the vertical direction, along the sliding shaft 321, and the component 20e fixed to the component fixing base 100e can be moved in the insertion / removal direction of the other-end connector 35.

[0053] A front clamp mechanism 140e, a side clamp mechanism 150e, a front direction reference plate 160e, and a side direction reference plate 170e are connected to a fixing plate 120e, as in the component fixing base 100 of embodiment 1. The front clamp mechanism 140e includes a front clamp 141e, a front clamp linear motion mechanism 142e, a front tension spring 143e, and a clamp operation handle 144e, and the front clamp 141e includes a retaining claw 145e, as in the front clamp mechanism 140 of embodiment 1. In the front clamp mechanism 140e shown in FIG. 21, the front clamp 141e and the front tension spring 143e have different shapes and positions from the front clamp 141 and the front tension spring 143 of the front clamp mechanism 140 shown in FIG. 2, but any shape and position may be used as long as they do not come into contact with the other-end connector 35 when fixing the component 20e to the component fixing base 100e.

[0054] The side clamping mechanism 150e is the same as the front clamping mechanism 140 of embodiment 1 in that it includes a side clamp 151e, a side clamp linear motion mechanism (not shown), and a side tension spring 153e, and that the side clamp 151e has a side clamp slope 154e for guiding the component 20e. In the side clamping mechanism 150e shown in Fig. 20, the side clamp 151e and the side tension spring 153e have different shapes and arrangements from the side clamp 151 and the side tension spring 153 of the side clamping mechanism 150 shown in Fig. 1, but any shape and arrangement may be used as long as they do not come into contact with the other-end connector 35 when the component 20e is fixed to the component fixing base 100e.

[0055] Like the weight compensation mechanism 400, the weight compensation mechanism 400e includes a first connection block 410e, a second connection block 420e, a first link 430e, a second link 440e, and a torsion spring 450e. The weight compensation mechanism 400e is connected to the base plate and the fixing plate 120e of the component fixture base 100e, and counteracts the weight of the component fixture base 100e to prevent the component fixture base 100e from falling. In the above configuration, the component fixture base 100e moves in the z-axis direction, which is the connector insertion / removal direction. Note that a lower limit sliding stopper 350 and an upper limit sliding stopper 360 are provided on the sliding shaft 321 to limit the range of vertical movement of the component fixture base 100e.

[0056] <Other-End Inspection Connector Inserter / Remover> The other-end inspection connector inserter / remover 230 includes other-end inspection connectors 45, which are inspection connectors, for example, the same number as the other-end connectors 35 included in the component 20e. Each other-end inspection connector 45 corresponds to the other-end connector 35 included in the component 20e, and are arranged side by side in the x-axis direction, which is perpendicular to the other-end inspection connector insertion / removal direction. The other-end inspection connector inserter / remover 230 includes an other-end inspection connector inserter / remover base plate 240, which is an inspection connector inserter / remover base plate, and further includes two or more other-end inspection connector supports 250, which are inspection connector supports, in the same way as the inspection connector inserter / remover 200, which includes an inspection connector inserter / remover base plate 210 and two or more inspection connector supports 220. The other-end inspection connector inserter / remover 230 operates in the same way as the inspection connector inserter / remover 200.

[0057] The other-end inspection connector inserter / extractor 230 is fixed to the underside of the other-end base plate 340, which is fixed so as to straddle the two sliding shafts 321, and is arranged so that the other-end inspection connector 45 faces upward. That is, the other-end inspection connector inserter / extractor 230 is fixed to the base plate 50 via the other-end base plate 340 and the sliding shafts 321. The other-end inspection connector inserter / extractor direction of the other-end inspection connector inserter / extractor 230 corresponds to the other-end connector inserter / extractor direction of the component 20e. In the example shown in FIG. 20 , the other-end inspection connector inserting direction is the positive direction of the z-axis, the same as the other-end connector inserting direction, and the other-end inspection connector extracting direction is the negative direction of the z-axis. Therefore, the other-end connector inserting / extracting direction and the other-end inspection connector inserting / extracting direction are in the z-axis direction, which is the same as the connector inserting / extracting direction and the inspection connector inserting / extracting direction.

[0058] The other-end inspection connector support 250 comprises an other-end inspection connector 45 corresponding to the other-end connector 35, an other-end inspection connector arm 251 which is an inspection connector arm connected to the other-end inspection connector 45, and an other-end compliant mechanism 252 which is a compliant mechanism connected to the other-end inspection connector arm 251 and moves the other-end inspection connector 45 via the other-end inspection connector arm 251 in a direction perpendicular to the insertion / removal direction of the other-end inspection connector, just as the inspection connector support 220 comprises an inspection connector 40, an inspection connector arm 221, and a compliant mechanism 222, and the other-end inspection connector support 250 operates in the same way as the inspection connector support 220. The other-end compliant mechanisms 252 are arranged in a zigzag pattern relative to the direction in which the other-end inspection connectors 45 are lined up on the other-end inspection connector inserter / removal base plate 240, and when the other-end compliant mechanisms 252 are viewed in a direction perpendicular to the direction in which the other-end inspection connectors 45 are lined up and the direction in which the other-end inspection connector is inserted / removed, adjacent other-end compliant mechanisms 252 are arranged overlapping each other, which is the same as when the compliant mechanisms 222 are arranged in a zigzag pattern relative to the direction in which the inspection connectors 40 are lined up on the inspection connector inserter / removal base plate 210, and when the compliant mechanisms 222 are viewed in a direction perpendicular to the direction in which the inspection connectors 40 are lined up and the direction in which the inspection connector is inserted / removed, adjacent compliant mechanisms 222 are arranged overlapping each other.

[0059] <Connector Insertion Method> Next, a method for inserting a connector into a component 20e having connectors on two end faces, a first connector placement end face and a second connector placement end face opposite the first connector placement end face, will be described. As shown in Fig. 20 , an operator places the component 20e between the inspection connector inserter / extractor 200 and the component fixing base 100e. Next, as shown in Fig. 22 , the operator operates the clamp operation handle 144e in the negative y-axis direction, i.e., the direction away from the front reference plate 160e, while pressing the left side of the component 20e against the side reference plate 170e, and lowers the component 20e until the bottom of the component 20e abuts the fixing plate 120e, and then returns the clamp operation handle 144e. Next, as shown in Figure 23, the worker holds the component 20e and pushes the component 20e downward together with the component fixing stand 100e until the bush 322e hits the lower limit sliding stopper 350, thereby allowing the other end inspection connector 45 provided on the other end inspection connector inserter / removal device 230 to be inserted into the other end connector 35 provided on the component 20e.

[0060] If the central axes of the other-end inspection connector 45 and the other-end connector 35 are misaligned in the y-axis direction, which is the front direction, or in the x-axis direction, which is the side direction, the inspection connector slope 44 at the tip of the other-end inspection connector 45, the connector slope 34 at the tip of the other-end connector 35, and the other-end compliant mechanism 252 correct the central axis of the other-end inspection connector 45 to a position where it can be inserted into the other-end connector 35. Thereafter, as shown in Figure 24, the operator operates the movable device operating handle 330 to insert the inspection connector 40 of the inspection connector inserter / removal tool 200 into the connector 30 of the component 20e, in the same way as in the insertion method of the inspection connector inserter / removal tool 200 shown in embodiment 1.

[0061] 24 , the operator operates the movable device operation handle 330 in the positive direction of the z-axis, which is the connector extraction direction, and moves the movable device 300 and the inspection connector inserter / removal device 200 in the connector extraction direction to extract the inspection connector 40 from the connector 30. After confirming that the inspection connector 40 has been extracted from the connector 30, the operator moves the movable device 300 and the inspection connector inserter / removal device 200 to the end of the movable device 300 in the positive direction of the z-axis. Next, the operator grasps the component 20e and lifts it together with the component fixture base 100e to a height where the bush 322e contacts the upper limit slide stopper 360, thereby extracting the other-end inspection connector 45 from the other-end connector 35. Thereafter, the operator operates the clamp operation handle 144e in the negative direction of the axis, which is the direction away from the front reference plate 160e, to remove the component 20e from the component fixture base 100e.

[0062] The connector inserting / extracting device 10e according to the third embodiment may have a structure in which the component fixing base 100e is detachable from the fixing plate 120e and can be replaced with a different component fixing base, allowing different components to be installed, as with the connector inserting / extracting device 10 according to the first embodiment. Also, the inspection connector inserting / extracting device 200 may be detachable from the movable device 300, and the other-end inspection connector inserting / extracting device 230 may be detachable from the other-end base plate 340, allowing them to be replaced with different inspection connector inserting / extracting devices.

[0063] As described above, the connector insertion / removal device 10e according to the third embodiment includes an other-end inspection connector insertion / removal device 230 including an other-end inspection connector insertion / removal device base plate 240 and two or more other-end inspection connector supporters 250, and the component 20e has two or more other-end connectors 35, the insertion / removal direction of which is the connector insertion / removal direction, arranged side by side in a direction perpendicular to the connector insertion / removal direction on the second connector arrangement end face, which is the end face opposite to the first connector arrangement end face on which the connectors 30 are arranged side by side, and the other-end inspection connector supporter 250 includes an other-end inspection connector 45 corresponding to the other-end connector 35, an other-end inspection connector arm 251 connected to the other-end inspection connector 45, and an other-end compliant mechanism 252 connected to the other-end inspection connector arm 251 and moving the other-end inspection connector 45 via the other-end inspection connector arm 251 in a direction perpendicular to the other-end inspection connector insertion / removal direction, The other-end compliant mechanisms 252 are arranged in a direction perpendicular to the other-end inspection connector insertion / removal direction, and the other-end inspection connectors 45 are installed in a zigzag pattern in the direction in which the other-end inspection connectors 45 are arranged on the other-end inspection connector insertion / removal device base plate 240. When the other-end compliant mechanisms 252 are viewed in a direction perpendicular to the direction in which the other-end inspection connectors 45 are arranged and the other-end inspection connector insertion / removal direction, adjacent other-end compliant mechanisms 252 are arranged overlapping each other. The other-end inspection connector insertion / removal direction is the same as the inspection connector insertion / removal direction. Since the component fixing base 100e moves in the connector insertion / removal direction, the inspection connector 40 and the other-end inspection connector 45 can be inserted together into a component 20e that further has an other-end connector 35 on its second connector arrangement end face, which is the end face opposite to the first connector arrangement end face on which the connectors 30 are arranged side by side, resulting in a space-saving configuration.

[0064] Embodiment 4. Hereinafter, a connector insertion / removal device having a space-saving configuration will be described, in which, when there is a large amount of misalignment in the assembly position within a component, connectors 30 are mounted on a connector mounting board (not shown in the component), by absorbing the amount of misalignment of the connector mounting board, inspection connectors 40 can be inserted all at once.

[0065] Figure 25 is a front view showing a state before the inspection connector 40 and the inspection reference connector 46 are inserted into the connector 30 in the connector inserting / extracting device 10f according to embodiment 4. Figure 26 is a front view showing a state after only the inspection reference connector 46 has been inserted into the connector 30 in the connector inserting / extracting device 10f according to embodiment 4. Figure 27 is a front view showing a state after the inspection connector 40 and the inspection reference connector 46 have been inserted into the connector 30 in the connector inserting / extracting device 10f according to embodiment 4. In the front views shown in Figures 25 to 27, the x-axis is an axis with a positive direction toward the right, the z-axis is an axis with a positive direction toward the top, and the y-axis is an axis with a positive direction toward the depth, and the x-axis, y-axis, and z-axis are orthogonal to one another, as in embodiment 1.

[0066] The connector arrangement end face of the component 20 is the top face, i.e., the end face in the positive direction of the z-axis, and is provided with three connectors 30. The positions of the inspection connectors 40 and the inspection reference connector 46 of the inspection connector inserter / removal tool 200f are determined based on positional information in the x and y directions at which the connectors 30 of the component 20 are attached. However, because the amount of positional deviation in the x and y directions of the connector mounting board (not shown) relative to the component 20 is large, in Figure 25, even if the inspection connector inserter / removal tool 200f is simply lowered downward, the inspection connectors 40 and the inspection reference connector 46 will ride up on the connectors 30.

[0067] Comparing connector inserting / extracting device 10f according to the fourth embodiment with connector inserting / extracting device 10 according to the first embodiment, inspection connector inserting / extracting device 200f has been replaced with inspection connector inserting / extracting device 200f, which additionally includes reference compliant mechanism 263. Other configurations of connector inserting / extracting device 10f according to the fourth embodiment are the same as those of connector inserting / extracting device 10 according to the first embodiment.

[0068] The connector insertion / removal device 10f according to the fourth embodiment comprises a component fixing base 100 for fixing a component 20 having two or more connectors 30 arranged in a direction perpendicular to the connector insertion / removal direction, an inspection connector insertion / removal device 200f having an inspection connector insertion / removal device base plate 210, an inspection connector insertion / removal device operating handle 266 attached to the inspection connector insertion / removal device base plate 210, one inspection reference connector support 260, and one or more inspection connector supporters 220, a movable device 300 having a movable device base plate 310 for moving the inspection connector insertion / removal device 200f in the connector insertion / removal direction, and a reference compliant mechanism 263 installed between the inspection connector insertion / removal device base plate 210 and the movable device base plate 310 for moving the inspection connector insertion / removal device base plate 210 in a direction perpendicular to the inspection connector insertion / removal direction. The inspection connector support 220 is the same as the connector insertion / removal device 10 according to embodiment 1 in that it comprises an inspection connector 40 corresponding to the connector 30, an inspection connector arm 221 connected to the inspection connector 40, and a compliant mechanism 222 connected to the inspection connector arm 221 and moving the inspection connector 40 via the inspection connector arm 221 in a direction perpendicular to the inspection connector insertion / removal direction.

[0069] When the connector insertion / removal device 10f has two or more inspection connector supports 220 arranged adjacent to each other in the direction in which the inspection connectors 40 are lined up, as in the connector insertion / removal device 10 of embodiment 1, as shown in Figure 9, the compliant mechanisms 222 are installed in a zigzag pattern with respect to the x-axis direction, which is the direction in which the inspection connectors 40 are lined up, on the inspection connector insertion / removal device base plate 210, and when the compliant mechanisms 222 are viewed in the y-axis direction, which is perpendicular to the x-axis direction, which is the direction in which the inspection connectors 40 are lined up, and the z-axis direction, which is the direction in which the inspection connectors are inserted and removed, adjacent compliant mechanisms 222 are arranged to overlap each other.

[0070] The inspection reference connector support 260 includes an inspection reference connector 46 corresponding to the connector 30, an inspection reference connector arm 261 connected to the inspection reference connector 46 and sliding the inspection reference connector 46 in the connector insertion / removal direction, a compression spring 262, a buffer stopper 264, and a buffer shaft 265. The buffer shaft 265 connected to the inspection reference connector 46 passes through the inspection reference connector arm 261 fixed to the inspection connector inserter / removal base plate 210, and the buffer shaft 265 connected to the inspection reference connector 46 can slide relative to the inspection reference connector arm 261 in the up-down z direction, which is the inspection connector insertion / removal direction.

[0071] 25 , before the inspection reference connector 46 is inserted into the connector 30, the inspection reference connector 46 is pressed by a compression spring 262 attached to the buffer shaft 265, so that the inspection reference connector 46 is closer to the connector 30 than the inspection connector 40 and protrudes further in the negative direction of the z-axis, which is the direction of insertion of the inspection connector, than the inspection connector 40. When the inspection reference connector 46 receives a force equal to or greater than a predetermined force in the positive direction of the z-axis, which is the upward direction, the compression spring 262 contracts, and the position of the inspection reference connector 46 in the z-axis direction moves to the same position as the inspection connector 40 in the z-axis direction. The buffer shaft 265 is stopped by a buffer stopper 264 to prevent it from slipping off the inspection reference connector arm 261.

[0072] A reference compliant mechanism 263 is provided between the inspection connector inserter / removal device base plate and the mover base plate. An operator can move the inspection connector inserter / removal device 200f in the x and y directions by holding an inspection connector inserter / removal device operation handle 266 attached to the inspection connector inserter / removal device base plate 210.

[0073] <Connector Insertion Method> First, the worker operates the movable device operation handle 330 or the inspection connector inserter / removal device operation handle 266 in the positive direction of the z-axis, which is the inspection connector extraction direction, to move the movable device 300 and the inspection connector inserter / removal device 200f to the end of the movable device 300 in the positive direction of the z-axis. The clamp operation handle 144 is operated in the negative direction of the y-axis, which is the direction away from the front reference plate 160, to fix the component 20 to the component fixing base 100 and position the component 20. The worker operates the movable device operation handle 330 in the negative direction of the z-axis, which is the connector insertion direction, to bring the movable device 300 and the inspection connector inserter / removal device 200f closer to the component 20. At this time, while checking the position of the connector 30 corresponding to the inspection reference connector 46, the operator moves the inspection connector inserter / unplugger operation handle 266 in the x and y directions, and then in the negative direction of the z axis, thereby aligning the insertion center and inserting the inspection reference connector 46 into the corresponding connector 30. Figure 26 shows the state in which the inspection reference connector 46 has been inserted into the connector 30. After confirming that the position of the inspection reference connector 46 in the x and y directions has been determined, the operator further moves the movable device operation handle 330 or the inspection connector inserter / unplugger operation handle 266 in the negative direction of the z axis, thereby correcting and inserting the remaining inspection connectors 40 into their corresponding connectors 30 so that they can be inserted therein. Figure 27 shows the state after both the inspection reference connector 46 and the inspection connectors 40 have been inserted into the connectors.

[0074] 27 , the operator operates the movable device operation handle 330 or the inspection connector inserter / removal device operation handle 266 in the positive direction of the z-axis, which is the connector removal direction, to move the movable device 300 and the inspection connector inserter / removal device 200f in the connector removal direction, thereby removing the inspection reference connector 46 and the inspection connector 40 from the connector 30. After confirming that the inspection reference connector 46 and the inspection connector 40 have been removed from the connector 30, the operator moves the movable device 300 and the inspection connector inserter / removal device 200 to the end of the movable device 300 in the positive direction of the z-axis. The operator operates the clamp operation handle 144 in the negative direction of the y-axis, which is the direction away from the front reference plate 160, to remove the component 20 from the component fixture base 100.

[0075] In the connector inserting / extracting device 10f according to the fourth embodiment, similar to the connector inserting / extracting device 10 according to the first embodiment, the inspection connector inserting / extracting device 200f may be configured so that it can be detached from the reference compliant mechanism 263 and replaced with a different inspection connector inserting / extracting device equipped with the inspection reference connector support 260. Furthermore, since the height of the movable member 300 when the positions of the inspection reference connector 46 in the x-axis direction and the y-axis direction are determined is known in advance by design, the z-axis position of the movable member 300 may be detected by a touch sensor or a laser displacement sensor, etc., and the movement of the reference compliant mechanism 263 may be fixed when the movable member 300 becomes lower than the predetermined height, thereby preventing the reference compliant mechanism 263 from being inadvertently moved during the insertion operation of the inspection connector 40, which would result in damage to the previously inserted inspection reference connector 46 and the inspection connector 40.

[0076] As described above, the connector inserting / extracting device 10f according to the fourth embodiment includes the component fixing base 100 for fixing the component 20 having two or more connectors 30 arranged in a direction perpendicular to the connector inserting / extracting direction, the inspection connector inserting / extracting device 200f having the inspection connector inserting / extracting device base plate 210, one inspection reference connector support 260, and one or more inspection connector supporters 220, and the movable device 300 which has the movable device base plate 310 and moves the inspection connector inserting / extracting device 200f in the connector inserting / extracting direction. and a reference compliant mechanism 263 that is installed between the inspection connector inserter / removal device base plate 210 and the movable device base plate 310 and moves the inspection connector inserter / removal device base plate 210 in a direction perpendicular to the inspection connector insertion / removal direction. The inspection connector support 220 includes an inspection connector 40 corresponding to the connector 30, an inspection connector arm 221 connected to the inspection connector 40, and a test connector arm 221 connected to the inspection connector arm 221 and configured to move the inspection connector 40 to the inspection connector 30 via the inspection connector arm 221. and a compliant mechanism 222 that moves the inspection reference connector support 260 in a direction perpendicular to the connector insertion / removal direction. The inspection reference connector support 260 includes an inspection reference connector 46 corresponding to the connector 30, an inspection reference connector arm 261 fixed to the inspection connector inserter / removal base plate 210, and a buffer shaft 265 that is connected to the inspection reference connector 46, passes through the inspection reference connector arm 261, and slides relative to the inspection reference connector arm 261 in the inspection connector insertion / removal direction. The inspection connector 40 and the inspection reference connector 46 are arranged side by side in a direction perpendicular to the inspection connector insertion / removal direction. When the inspection reference connector 46 is not inserted into the connector 30, the inspection reference connector 46 protrudes further than the inspection connector 40 in the inspection connector insertion direction. Therefore, when a connector mounting board (not shown) in the component has a large amount of misalignment in the assembly position within the component, the amount of misalignment of the connector mounting board can be absorbed, allowing the inspection connectors 40 to be inserted all at once, resulting in a space-saving configuration.

[0077] Although various exemplary embodiments are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0078] 10, 10c, 10e, 10f Connector insertion / extraction device, 20, 20a, 20b, 20c, 20d, 20e Component, 30, 30a Connector, 31 First connector, 32 Second connector, 33 Third connector, 34 Connector gradient, 35 Other end connector, 40, 40a Inspection connector, 41 First inspection connector, 42 Second inspection connector, 43 Third inspection connector, 44 Inspection connector gradient, 45 Other end inspection connector, 46 Inspection reference connector, 50, 50c Base plate, 100, 100a, 100d, 100e Component fixing base, 110 Component fixing base base plate, 120, 120e Fixing plate, 130 Height adjustment support, 140, 140e Front clamp mechanism, 141, 141e Front clamp, 142, 142e Front clamp linear motion mechanism, 143, 143e Front tension spring, 144, 144e Clamp operation handle, 145, 145e Retaining claw, 150, 150e Side clamp mechanism, 151, 151e Side clamp, 152 Side clamp linear motion mechanism, 153, 153e Side tension spring, 154, 154e Side clamp gradient, 160, 160e Front direction reference plate, 170, 170e Side direction reference plate, 200, 200a, 200b, 200f Inspection connector inserter / extractor, 201 First inspection connector inserter / extractor, 202 Second inspection connector inserter / extractor, 203 Third inspection connector inserter / extractor, 210, 210a, 210b Inspection connector inserter / extractor base plate, 220, 220a Inspection connector support, 221 Inspection connector arm, 222 compliant mechanism, 223 connection block, 230 other end inspection connector inserter / extractor, 240 other end inspection connector inserter / extractor base plate, 250 other end inspection connector support, 251 other end inspection connector arm, 252 other end compliant mechanism, 260 inspection reference connector support, 261 inspection reference connector arm, 262 compression spring, 263 reference compliant mechanism, 264 buffer stopper, 265 buffer shaft, 266 inspection connector inserter / extractor operation handle, 300 movable member, 310 movable member base plate, 320 linear motion mechanism, 321 sliding shaft, 322, 322e bushing, 330 movable member operation handle, 340 other end base plate, 350 lower limit sliding stopper360 Upper limit sliding stopper, 400, 400e Self-weight compensation mechanism, 410, 410e First connection block, 420, 420e Second connection block, 430, 430e First link, 440, 440e Second link, 450, 450e Torsion spring, 500 Tool installation table, 501 First tool installation table, 502 Second tool installation table, 510 Tool installation plate, 520 Rough guide, 530 Tool installation table support, 600 Robot arm, 610 Tool exchange mechanism, 700 Control device.

Claims

1. a component fixing base for fixing a component having two or more connectors arranged in a direction perpendicular to the connector insertion / removal direction; an inspection connector inserter / extractor having two or more inspection connector supports; a movable device that moves the inspection connector inserter / extractor in the connector inserting / extracting direction, the inspection connector support includes an inspection connector corresponding to the connector, an inspection connector arm connected to the inspection connector, and a compliant mechanism connected to the inspection connector arm and configured to move the inspection connector via the inspection connector arm in a direction perpendicular to the insertion / removal direction of the inspection connector; The inspection connectors are arranged in a direction perpendicular to the insertion / removal direction of the inspection connectors, The connector insertion / removal device is characterized in that the compliant mechanisms are arranged so that adjacent compliant mechanisms overlap when viewed from a direction perpendicular to the direction in which the inspection connectors are lined up and perpendicular to the insertion / removal direction of the inspection connectors.

2. The component fixing base is replaceable with another component fixing base; 2. The connector inserting / extracting device according to claim 1, wherein the inspection connector inserting / extracting device is replaceable with another inspection connector inserting / extracting device.

3. a control device for controlling the robot arm, which is the movable device; a tool setting table on which two or more of the inspection connector inserters and extractors are placed, the component fixing base fixes the component in which two or more connectors are arranged side by side, the connector insertion / removal directions of which are the same on each of two or more different connector arrangement end faces, the robot arm includes a tool exchange mechanism connected to the inspection connector inserter / extractor, the inspection connector inserter / extractor includes a connection block connected to the tool exchange mechanism, 2. The connector inserting / extracting device according to claim 1, wherein each of the inspection connector inserting / extracting devices is provided with the inspection connector corresponding to the connector arranged on any one of the connector arrangement end faces.

4. The component fixing base is replaceable with another component fixing base; 4. The connector inserting / extracting device according to claim 3, wherein the inspection connector inserting / extracting device placed on the tool setting table is exchangeable with another inspection connector inserting / extracting device.

5. A connector inserter / extractor for other end inspection having two or more connector supports for other end inspection, The component has a second connector arrangement end face, which is an end face opposite to the first connector arrangement end face on which the connectors are arranged side by side, and two or more other-end connectors, the insertion / removal direction of which is the connector insertion / removal direction, arranged side by side in a direction perpendicular to the connector insertion / removal direction, the other-end inspection connector supporter comprises an other-end inspection connector corresponding to the other-end connector, an other-end inspection connector arm connected to the other-end inspection connector, and an other-end compliant mechanism connected to the other-end inspection connector arm and configured to move the other-end inspection connector via the other-end inspection connector arm in a direction perpendicular to the other-end inspection connector insertion / removal direction, the other-end inspection connectors are arranged in a direction perpendicular to the insertion / removal direction of the other-end inspection connectors, the other-end compliant mechanisms are arranged so that adjacent one of the other-end compliant mechanisms overlaps with another when viewed from a direction perpendicular to the direction in which the other-end inspection connectors are lined up and perpendicular to the insertion / removal direction of the other-end inspection connectors, The insertion and removal direction of the other-end inspection connector is the same as the insertion and removal direction of the inspection connector, 2. The connector inserting / extracting device according to claim 1, wherein the component fixing base moves in the connector inserting / extracting direction.

6. a component fixing base for fixing a component having two or more connectors arranged in a direction perpendicular to the connector insertion / removal direction; an inspection connector inserter / extractor having one inspection reference connector support and one or more inspection connector supports; a movable device that moves the inspection connector inserter / extractor in the connector inserting / extracting direction; a reference compliant mechanism that moves the inspection connector insertion / extraction device in a direction perpendicular to the direction of insertion / extraction of the inspection connector, the inspection connector support includes an inspection connector corresponding to the connector, an inspection connector arm connected to the inspection connector, and a compliant mechanism connected to the inspection connector arm and configured to move the inspection connector via the inspection connector arm in a direction perpendicular to the insertion / removal direction of the inspection connector; the inspection reference connector support includes an inspection reference connector corresponding to the connector, an inspection reference connector arm, and a buffer mechanism connected to the inspection reference connector and sliding in the insertion / removal direction of the inspection connector; the inspection connector and the inspection reference connector are arranged side by side in a direction perpendicular to the insertion / removal direction of the inspection connector, a connector inserting / removing device for inserting and removing said connector, wherein said reference connector for inspection protrudes beyond said inspection connector in the direction of insertion of said inspection connector when said reference connector for inspection is not inserted into said connector;

7. two or more of the inspection connector supports arranged adjacent to each other in a direction in which the inspection connectors are arranged, 7. The connector insertion / extraction device according to claim 6, wherein the compliant mechanisms are arranged so that adjacent compliant mechanisms overlap when viewed from a direction perpendicular to the direction in which the inspection connectors are lined up and perpendicular to the insertion / extraction direction of the inspection connectors.

8. A test device that performs testing by connecting the inspection connector to the connector of the component using a connector insertion / extraction device described in any one of claims 1 to 7.

9. A method for manufacturing industrial equipment, the manufacturing process including a testing process in which the inspection connector is connected to the connector of the component using a connector insertion / extraction device described in any one of claims 1 to 7 to perform testing.