Assembly system for assembling flexible cables and connectors by using collaborative robots and method for assembling flexible cables and connectors by using collaborative robots

Abstract

The present invention relates to an assembly system for assembling flexible cables and connectors by using collaborative robots and a method for assembling flexible cables and connectors by using collaborative robots, wherein a connector and a flexible cable having one of a flexible printed circuit (FPC) cable and a flat flexible cable (FFC) are automatically assembled. The assembly system for assembling flexible cables and connectors by using collaborative robots according to the present invention comprises: a jig device on which a connector and a flexible cable having one of an FPC cable and an FFC are disposed, and which supports assembly of the connector and the flexible cable; a first collaborative robot for holding the flexible cable disposed on the jig device, transferring the flexible cable to the connector, and assembling the flexible cable and the connector; and a second collaborative robot configured to move above the area of assembly of the flexible cable and the connector such that, when the flexible cable and the connector are assembled by operations of the first collaborative robot, the alignment position regarding assembly of the flexible cable and the connector is visually recognized.

Description

An assembly system for assembling flexible cables and connectors using a collaborative robot and an assembly method for assembling flexible cables and connectors using a collaborative robot

[0001] The present invention relates to an assembly system for assembling a flexible cable and connector using a collaborative robot and an assembly method for assembling a flexible cable and connector using a collaborative robot, and more particularly, to an assembly system for assembling a flexible cable and connector using a collaborative robot that automatically assembles a flexible cable and connector having either an FPC (Flexible Printed Circuit) cable or an FFC (Flat Flexible Cable), and an assembly method for assembling a flexible cable and connector using a collaborative robot.

[0002] Flexible cables include FPC (Flexible Printed Circuit) cables and FFC (Flat Flexible Cable). Flexible cables are primarily used to provide electrical signals, such as power, data, and control signals, to small electronic devices and thin display devices such as liquid crystal displays (LCDs) and OLEDs.

[0003] For example, display devices such as liquid crystal displays and OLEDs require a module process for connecting driving means such as driving integrated circuits to a display panel, wherein the driving means may have the form of a printed circuit board or chip-on-film (COF) equipped with a plurality of electrical elements. Such driving means such as printed circuit boards and chip-on-film can be connected to an external system via a flexible cable such as the above-described FPC cable or FFC.

[0004] To give a specific example, a connector is typically placed on the driving means of a display device, and the connector is assembled by inserting a flexible cable. After the connector placed on the driving means and the flexible cable are assembled, the driving means can receive multiple signals and power from an external system through the flexible cable, and can also generate data such as multiple control signals and multiple image signals and output them to the display panel.

[0005] However, conventional connector and flexible cable assembly methods primarily involve manual labor during the production process. This manual assembly process can lead to alignment errors and variations in the degree of insertion between the flexible cable and connector. This increases the assembly time and manufacturing costs of the flexible cable and connector.

[0006] An object of the present invention is to provide an assembly system for assembling a flexible cable and connector using a collaborative robot, which can perform an assembly process of a flexible cable and connector, such as an FPC cable or an FFC cable, using a collaborative robot.

[0007] The solution to the above problem is achieved by an assembly system for assembling a flexible cable and a connector using a collaborative robot, characterized in that it includes a jig device that supports the assembly of the flexible cable and the connector, wherein a flexible cable and a connector having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) cable are arranged according to the present invention, a first collaborative robot that holds the flexible cable arranged in the jig device and transfers the flexible cable to the connector to assemble the flexible cable and the connector, and a second collaborative robot that moves to the upper part of the assembly area of ​​the flexible cable and the connector and vision-recognizes an alignment position for the assembly of the flexible cable and the connector when assembling the flexible cable and the connector according to the operation of the first collaborative robot.

[0008] Here, a control device may further be included that outputs a control signal for controlling the first collaborative robot based on a vision recognition signal provided from the second collaborative robot when assembling the flexible cable and the connector.

[0009] The first collaborative robot may include an end effector that vacuum-absorbs the flexible cable from the jig device, and a detection unit that is disposed on the rotational axis of the end effector and detects force-torque generated at the end effector when assembling the flexible cable vacuum-absorbed to the end effector and the connector.

[0010] The control device can output a control signal for controlling the operation of the end effector to adjust the assembly position and / or direction of the flexible cable with respect to the connector based on a detection signal provided from the detection unit.

[0011] The control device can output a control signal to determine whether the flexible cable and the connector are normally assembled based on a detection signal provided from the detection unit.

[0012] The above jig device may include a first jig device on which the connector is placed and which supports the assembly of the flexible cable and the connector according to the operation of the first collaborative robot, and a second jig device on which the flexible cable, which is vacuum-absorbed by the first collaborative robot and moved to the first jig device, is loaded.

[0013] The above second jig device can restrict the detachment of the flexible cable by vacuum-absorbing the flexible cable from the lower portion of the loaded flexible cable.

[0014] In addition, the assembly system for assembling a flexible cable and connector using the collaborative robot further includes a plurality of stations in which a plurality of end effectors corresponding to a plurality of the flexible cables of different sizes are respectively arranged, and the first collaborative robot can selectively replace the end effector corresponding to the size of the flexible cable arranged in the jig device from the plurality of stations based on the size of the flexible cable arranged in the jig device.

[0015] Meanwhile, the solution to the above problem is also achieved by a method for assembling a flexible cable and connector using a collaborative robot, characterized in that it comprises the steps of (a) vacuum-absorbing a flexible cable having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) cable using a collaborative robot, (b) transporting the flexible cable to a position where the collaborative robot assembles the flexible cable with a connector, (c) vision-recognizing an alignment position of the flexible cable and the connector when assembling the flexible cable and the connector according to the operation of the collaborative robot, and (d) detecting a force-torque of the collaborative robot according to the assembly of the flexible cable and the connector when assembling the flexible cable and the connector according to the operation of the collaborative robot, and assembling the flexible cable and the connector.

[0016] Here, in the step (a), the collaborative robot can vacuum-absorb the flexible cable by replacing any one of the plurality of end effectors corresponding to the plurality of flexible cables, each having a different size.

[0017] The above step (d) can adjust the assembly position and / or direction of the flexible cable for the connector based on the force-torque detection signal of the collaborative robot.

[0018] In addition, (e) a step of determining whether the flexible cable and the connector are normally assembled based on the force-torque detection signal of the collaborative robot may be further included.

[0019] Specific details of other embodiments are included in the detailed description and drawings.

[0020] An assembly system for assembling a flexible cable and connector using a collaborative robot according to the present invention and an assembly method for assembling a flexible cable and connector using a collaborative robot can automatically assemble a flexible cable and connector having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) using a collaborative robot, thereby preventing assembly defects and reducing the process time.

[0021] Figure 1 is a perspective view of an assembly system for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention.

[0022] Figure 2 is an enlarged perspective view of area A shown in Figure 1;

[0023] Figure 3 is an enlarged perspective view of area B shown in Figure 1;

[0024] FIG. 4 is a front view of an assembly system for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention illustrated in FIG. 1.

[0025] Figure 5 is an enlarged view of the C area shown in Figure 4;

[0026] FIG. 6 is a right side view of an assembly system for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention illustrated in FIG. 1.

[0027] Figure 7 is an enlarged view of area D shown in Figure 6;

[0028] FIG. 8 is a plan view of an assembly system for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention illustrated in FIG. 1.

[0029] Figure 9 is an enlarged view of the E area shown in Figure 8;

[0030] Figure 10 is an operation diagram for assembling a flexible cable and connector using a collaborative robot.

[0031] Figure 11 is a plan view of a normally assembled flexible cable and connector using the collaborative robot illustrated in Figure 10.

[0032] Figure 12 is an enlarged view of the F area shown in Figure 11;

[0033] Figure 13 is a first flowchart of a method for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention.

[0034] FIG. 14 is a second flowchart of a method for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention.

[0035] Hereinafter, an assembly system for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention and an assembly method for assembling a flexible cable and connector using a collaborative robot are described in detail with reference to the attached drawings.

[0036] Before explaining, it should be noted that although the configurations of the first collaborative robot and the second collaborative robot are described with separate drawing symbols, the designation of the collaborative robot is not described with a separate drawing symbol.

[0037] FIG. 1 is a perspective view of an assembly system for assembling a flexible cable and a connector using a collaborative robot according to an embodiment of the present invention, FIG. 2 is an enlarged perspective view of area A shown in FIG. 1, FIG. 3 is an enlarged perspective view of area B shown in FIG. 1, FIG. 4 is a front view of an assembly system for assembling a flexible cable and a connector using a collaborative robot according to an embodiment of the present invention, FIG. 5 is an enlarged view of area C shown in FIG. 4, FIG. 6 is a right side view of an assembly system for assembling a flexible cable and a connector using a collaborative robot according to an embodiment of the present invention, FIG. 7 is an enlarged view of area D shown in FIG. 6, FIG. 8 is a plan view of an assembly system for assembling a flexible cable and a connector using a collaborative robot according to an embodiment of the present invention, FIG. 1, and FIG. 9 is an enlarged view of area E shown in FIG. 8.

[0038] As illustrated in FIGS. 1 to 9, an assembly system (10) for assembling a flexible cable (1) and a connector (5) using a collaborative robot according to an embodiment of the present invention includes a jig device (100), a first collaborative robot (300), and a second collaborative robot (500). In addition, the assembly system (10) for assembling a flexible cable (1) and a connector (5) using a collaborative robot according to an embodiment of the present invention further includes a control device (700) and a station (900).

[0039] A jig device (100) has a flexible cable (1) having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) cable and a connector (5) arranged thereon, and supports the assembly of the flexible cable (1) and the connector (5). An FPC cable or an FFC, and a connector (5) are arranged on the jig device (100) according to an assembly process of the above-described flexible cable (1). The flexible cable (1) arranged on the jig device (100) is loaded by a first collaborative robot (300), transferred to an assembly area with the connector (5), and then assembled with the connector (5) based on the operation of the first collaborative robot (300). As an embodiment of the present invention, the jig device (100) includes a first jig device (110) and a second jig device (130).

[0040] The first jig device (110) supports the connector (5) and supports the assembly of the flexible cable (1) and the connector (5) according to the operation of the first collaborative robot (300). The connector (5) to be assembled with the flexible cable (1) transferred from the first collaborative robot (300) is placed on the first jig device (110). Here, the area where the connector (5) of the first jig device (110) is placed varies depending on the size of the connector (5) and supports the connector (5). The first jig device (110) supports the connector (5) to limit the movement of the connector (5) when the flexible cable (1) is inserted and assembled into the connector by the first collaborative robot (300). In addition, a lighting means (not shown) is placed on the area where the connector (5) of the first jig device (110) is supported, and the lighting means irradiates light onto the assembly area for vision recognition of the assembly area.

[0041] The second jig device (130) loads a flexible cable (1) that is vacuum-absorbed by the first collaborative robot (300) and transferred to the first jig device (110). The flexible cable (1) loaded on the second jig device (130) is vacuum-absorbed by the first collaborative robot (300) and transferred to the first jig device (110) so that it can be assembled with the connector (5) placed on the first jig device (110). The second jig device (130) vacuum-absorbs the flexible cable (1) from the bottom of the loaded flexible cable (1) to prevent the flexible cable (1) from coming off. The second jig device (130) can release the vacuum suction force on the loaded flexible cable (1) so that the flexible cable (1) is vacuum-absorbed by the first collaborative robot (300), or can provide a vacuum suction force that is relatively lower than the vacuum suction force of the first collaborative robot (300).

[0042] The first collaborative robot (300) grasps the flexible cable (1) placed on the jig device (100) and transfers the flexible cable (1) to the connector (5) to assemble the flexible cable (1) and the connector (5). In practice, the first collaborative robot (300) vacuum-absorbs the flexible cable (1) loaded on the second jig device (130) and then transfers it to the assembly area with the connector (5) placed on the first jig device (110). Then, the first collaborative robot (300) assembles the vacuum-absorbed flexible cable (1) and the connector (5). Here, the assembly of the flexible cable (1) and the connector (5) may be transferred as a finished product by the first collaborative robot (300), or may be transferred by another collaborative robot or transfer means not shown based on a design change.

[0043] The first collaborative robot (300) is an embodiment of the present invention and includes an assembly robot arm (310), an end effector (330), and a sensing unit (350). The assembly robot arm (310) applies multi-axis technology such as 6-axis or 4-axis to move the end effector (330) disposed at a free end in various directions. The end effector (330) vacuum-absorbs a flexible cable (1) from a jig device (100). The sensing unit (350) is disposed on the rotational axis of the end effector (330) and detects the force-torque generated in the end effector (330) when assembling the flexible cable (1) and connector (5) vacuum-absorbed to the end effector (330). The detailed operation of the first collaborative robot (300) including the above-described configurations will be described together with the operation process described below with reference to FIGS. 10 to 12.

[0044] The second collaborative robot (500) moves to the upper part of the assembly area of ​​the flexible cable (1) and the connector (5) and, when assembling the flexible cable (1) and the connector (5) according to the operation of the first collaborative robot (300), performs vision recognition of the alignment position for the assembly of the flexible cable (1) and the connector (5). The second collaborative robot (500) includes a vision-dedicated robot arm (510) and a vision imaging unit (530).

[0045] The vision-dedicated robot arm (510) applies multi-axis technology such as 6-axis or 4-axis, similar to the assembly robot arm (310) of the first collaborative robot (300), to move the vision imaging unit (530) positioned at the free end in various directions.

[0046] The vision imaging unit (530) is arranged at the free end of the vision-only robot arm (510) and moves according to the position of the vision-only robot arm (510) and then performs vision recognition. The vision imaging unit (530) can move in the XY plane and in the Z-axis direction by the driving of the vision-only robot arm (510). The vision imaging unit (530) performs vision recognition on the upper part of the assembly area of ​​the flexible cable (1) and the connector (5), that is, as shown in the drawing, whether the flexible cable (1) and the connector (5) are assembled and aligned with respect to the X-axis and the Y-axis on the XY plane. Based on the vision recognition signal recognized by the vision imaging unit (530), the control device (700) outputs a control signal for the operation of the first collaborative robot (300) on the XY plane.

[0047] The control device (700) outputs a control signal for controlling the first collaborative robot (300) based on the vision recognition signal provided from the second collaborative robot (500) when assembling the flexible cable (1) and the connector (5). That is, the control device (700) outputs a control signal for controlling the first collaborative robot (300) so that the flexible cable (1) and the connector (5) are assembled and aligned on the XY plane based on the vision recognition signal provided from the second collaborative robot (500) as described above. In addition, the control device (700) also outputs a control signal for controlling the operation of the end effector (330) to adjust the assembly position and / or direction of the flexible cable (1) with respect to the connector (5) based on the detection signal provided from the detection unit (350). The output of a control signal for controlling the operation of the end effector (330) from the control device (700) will be described in detail when explaining the assembly operation of the flexible cable (1) and the connector (5) with reference to FIGS. 10 to 12.

[0048] The stations (900) are arranged in multiple numbers so that multiple end effectors (330) corresponding to multiple flexible cables (1) of different sizes are respectively arranged. For example, the stations (900) are arranged with end effectors (330) for vacuum-absorbing the corresponding flexible cables (1) when assembling any one of the flexible cables (1) of 100 mm, 200 mm, and 400 mm with the connector (5). The first collaborative robot (300) replaces the end effector (330) arranged at any one of the multiple stations (900) corresponding to the size of the flexible cable (1), and then performs the assembly process of the flexible cable (1) and the connector (5).

[0049] Next, Fig. 10 is an operational diagram for assembling a flexible cable and connector using a collaborative robot, Fig. 11 is a plan view of a flexible cable and connector normally assembled using the collaborative robot shown in Fig. 10, and Fig. 12 is an enlarged view of area F shown in Fig. 11.

[0050] Referring to FIGS. 10 to 12, the assembly process of an assembly system (10) for assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention is as follows.

[0051] As illustrated in Fig. 10, the first collaborative robot (300) vacuum-absorbs the flexible cable (1) from the second jig device (130) using the end effector (330), and then transfers the flexible cable (1) along the longitudinal direction of the flexible cable (1) to the assembly area with the connector (5) of the first jig device (110). At this time, the second collaborative robot (500) uses the vision imaging unit (530) positioned above the assembly area of ​​the flexible cable (1) and the connector (5) to vision-recognize the alignment position of the flexible cable (1) and the connector (5) on the XY plane.

[0052] The first collaborative robot (300) assembles the flexible cable (1) and the connector (5) as shown in Fig. 11 based on the vision recognition signal provided from the second collaborative robot (500). At this time, the detection unit (350) of the first collaborative robot (300) provides a detection signal that detects the force-torque provided from the end effector (330). Then, the control device (700) outputs a control signal so that the first collaborative robot (300) provides a normal force-torque based on the detection signal so that the flexible cable (1) and the connector (5) are normally assembled as shown in Fig. 12. Then, the second collaborative robot (500) performs vision recognition on the XY plane to determine whether the first collaborative robot (300) has normally assembled the flexible cable (1) and the connector (5).

[0053] Lastly, FIG. 13 is a first flowchart for a method of assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention, and FIG. 14 is a second flowchart for a method of assembling a flexible cable and connector using a collaborative robot according to an embodiment of the present invention.

[0054] As illustrated in Fig. 13, a flexible cable (1) having either an FPC cable or an FFC cable is vacuum-absorbed by a collaborative robot (S10). In step S10, the flexible cable (1) loaded on the second jig device (130) is vacuum-absorbed using the end effector (330) of the first collaborative robot (300).

[0055] The collaborative robot moves the flexible cable (1) to a position where it is assembled with the connector (5) (S30). In step S30, the first collaborative robot (300) moves the vacuum-absorbed flexible cable (1) to the first jig device (110) where the connector (5) is placed. When assembling the flexible cable (1) and the connector (5) according to the operation of the collaborative robot, the alignment positions of the flexible cable (1) and the connector (5) are recognized by vision (S50). Specifically, step S50 uses the second collaborative robot (500) to recognize the alignment positions of the flexible cable (1) and the connector (5) in the X-axis and Y-axis directions on the XY plane by vision.

[0056] If it is determined that the flexible cable (1) and the connector (5) are normally aligned by vision recognition at step S50, the collaborative robot is operated to detect the force-torque generated when assembling the flexible cable (1) and the connector (5) and proceed with the assembly (S70). At step S70, since the assembly force in the transverse direction of the assembly direction must be uniform when assembling the flexible cable (1) and the connector (5), the force-torque provided to the end effector (330) of the first collaborative robot (300) that inserts the flexible cable (1) into the connector (5) is detected and the assembly of the flexible cable (1) and the connector (5) is proceeded with. In this way, the operation of the first collaborative robot (300) can be controlled by detecting the force-torque provided to the end effector (330) of the first collaborative robot (300) until the assembly of the flexible cable (1) and the connector (5) is completed, so that the flexible cable (1) and the connector (5) can have a uniform assembly force.

[0057] Meanwhile, as in FIG. 13, FIG. 14 vacuum-absorbs a flexible cable (1) having either an FPC cable or an FFC cable using a collaborative robot (S110). The collaborative robot transports the flexible cable (1) to a position for assembling the connector (5) with the flexible cable (1) (S130). When assembling the flexible cable (1) and the connector (5) according to the operation of the collaborative robot, the alignment positions of the flexible cable (1) and the connector (5) are recognized by vision (S150). If it is determined by the vision recognition at step S150 that the flexible cable (1) and the connector (5) are normally aligned, the collaborative robot is operated to detect the force-torque generated when assembling the flexible cable (1) and the connector (5) and proceed with the assembly (S170).

[0058] And, after step S170, it is determined whether the flexible cable (1) and the connector (5) are normally assembled (S190). In step S190, the determination of whether the flexible cable (1) and the connector (5) are normally assembled can be made based on at least one of the detection signal provided from the detection unit (350) of the first collaborative robot (300) and the vision recognition signal provided from the vision imaging unit of the second collaborative robot (500).

[0059] Accordingly, by using a collaborative robot, it is possible to automatically assemble a flexible cable and connector having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable), thereby preventing assembly defects and reducing process time.

[0060] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

[0061] [Project ID] 1415187255, [Project Number] 20023257, [Ministry] Ministry of Trade, Industry and Energy, [Research Management Agency] Korea Institute of Industrial Technology Evaluation and Planning, [Research Project Name] Robot Industry Core Technology Development Project, [Research Project Name] Development of Robot-Used Grabbing Handling and High-Speed, High-Precision Assembly Technology for Multi-Type Connector Assemblies, [Contribution Ratio] 1 / 1, [Organization] Korea Institute of Machinery and Materials, [Research Period] 2023-04-01 ~ 2026-12-31. (45 months)

Claims

1. A flexible cable and connector having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) are arranged, and a jig device that supports assembly of the flexible cable and the connector; A first collaborative robot that grasps the flexible cable placed on the jig device and transfers the flexible cable to the connector, thereby assembling the flexible cable and the connector; An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that it includes a second collaborative robot that vision-recognizes an alignment position for assembling the flexible cable and the connector when assembling the flexible cable and the connector according to the operation of the first collaborative robot by moving to an upper portion of an assembly area of ​​the flexible cable and the connector.

2. In paragraph 1, An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that it further includes a control device that outputs a control signal for controlling the first collaborative robot based on a vision recognition signal provided from the second collaborative robot during assembling the flexible cable and the connector.

3. In paragraph 2, The above first collaborative robot is, An end effector for vacuum-absorbing the flexible cable from the jig device; An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that it includes a detection unit that is arranged on the rotational axis of the end effector and detects force-torque generated in the end effector when assembling the flexible cable and the connector that are vacuum-absorbed to the end effector.

4. In paragraph 3, An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that the control device outputs a control signal for controlling the operation of the end effector to adjust the assembly position and / or direction of the flexible cable with respect to the connector based on a detection signal provided from the detection unit.

5. In paragraph 3, An assembly system for assembling a flexible cable and a connector using a collaborative robot, characterized in that the control device outputs a control signal to determine whether the flexible cable and the connector are normally assembled based on a detection signal provided from the detection unit.

6. In paragraph 4, An assembly system for assembling a flexible cable and a connector using a collaborative robot, characterized in that the control device outputs a control signal to determine whether the flexible cable and the connector are normally assembled based on a detection signal provided from the detection unit.

7. In paragraph 1, The above jig device, A first jig device on which the above connector is placed and which supports the assembly of the flexible cable and the connector according to the operation of the first collaborative robot; An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that it includes a second jig device on which the flexible cable, which is vacuum-absorbed by the first collaborative robot and moved to the first jig device, is loaded.

8. In paragraph 7, An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that the second jig device vacuum-absorbs the flexible cable from the lower portion of the loaded flexible cable to limit detachment of the flexible cable.

9. In paragraph 3, The assembly system for assembling flexible cables and connectors using the above collaborative robot further includes a plurality of stations in which a plurality of end effectors corresponding to a plurality of flexible cables of different sizes are respectively arranged. An assembly system for assembling a flexible cable and connector using a collaborative robot, characterized in that the first collaborative robot selectively replaces the end effector corresponding to the size of the flexible cable arranged on the jig device from a plurality of the stations based on the size of the flexible cable arranged on the jig device. 10.(a) A step of vacuum-absorbing a flexible cable having either an FPC (Flexible Printed circuit) cable or an FFC (Flat Flexible Cable) cable using a collaborative robot; (b) a step of moving the collaborative robot to a position where the flexible cable is assembled with the connector; (c) a step of recognizing the alignment position of the flexible cable and the connector by vision when assembling the flexible cable and the connector according to the operation of the collaborative robot; (d) A method for assembling a flexible cable and connector using a collaborative robot, characterized in that it includes a step of detecting force-torque of the collaborative robot according to assembly of the flexible cable and the connector when assembling the flexible cable and the connector according to the operation of the collaborative robot, and assembling the flexible cable and the connector.

11. In paragraph 10, A method for assembling a flexible cable and connector using a collaborative robot, characterized in that in the step (a) above, the collaborative robot vacuum-absorbs the flexible cable by replacing any one of a plurality of end effectors corresponding to a plurality of flexible cables, each of which has a different size.

12. In paragraph 10, A method for assembling a flexible cable and connector using a collaborative robot, characterized in that the step (d) above adjusts the assembly position and / or direction of the flexible cable with respect to the connector based on a force-torque detection signal of the collaborative robot.

13. In paragraph 10, (e) A method for assembling a flexible cable and connector using a collaborative robot, characterized in that it further includes a step of determining whether the flexible cable and the connector are normally assembled based on the force-torque detection signal of the collaborative robot.

14. In paragraph 12, (e) A method for assembling a flexible cable and connector using a collaborative robot, characterized in that it further includes a step of determining whether the flexible cable and the connector are normally assembled based on the force-torque detection signal of the collaborative robot.

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