CN110788855B - Cable insertion device and cable insertion method - Google Patents
Cable insertion device and cable insertion method Download PDFInfo
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- CN110788855B CN110788855B CN201910679948.7A CN201910679948A CN110788855B CN 110788855 B CN110788855 B CN 110788855B CN 201910679948 A CN201910679948 A CN 201910679948A CN 110788855 B CN110788855 B CN 110788855B
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- cable
- connector
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- holding tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Manufacturing Of Electrical Connectors (AREA)
Abstract
本发明涉及一种线缆插入装置及线缆插入方法。线缆插入装置具有作业台、移动基座、保持工具、以及转动驱动部。作业台保持设置有第一连接器的电子设备，该第一连接器具有供设置于线缆的第一端部的第一端子插入的朝向上方的插入口。移动基座以相对于作业台相对移动自如的方式设置。保持工具与移动基座一体地移动而保持线缆。转动驱动部设置于移动基座，使保持工具绕相对于铅垂方向倾斜的转动轴线转动。
The present invention relates to a cable insertion device and a cable insertion method. The cable insertion device has a workbench, a movable base, a holding tool, and a rotation drive unit. The workbench holds an electronic device provided with a first connector, wherein the first connector has an upward insertion port for inserting a first terminal provided at a first end of a cable. The movable base is provided in a manner that allows for free movement relative to the workbench. The holding tool moves integrally with the movable base to hold the cable. The rotation drive unit is provided on the movable base to rotate the holding tool around a rotation axis that is inclined relative to the vertical direction.
Description
Technical Field
The present invention relates to a cable insertion device and a cable insertion method for assembling an electronic device by inserting a terminal provided at an end of a cable for wiring into a connector provided in the electronic device.
Background
Conventionally, a cable insertion device is known that performs a wiring operation by inserting a terminal provided at an end of a cable for wiring into an insertion port of a connector provided in an electronic device. In such a cable insertion device, for example, a robot having a structure in which a holding tool for holding a cable is provided on a moving base provided so as to be movable relative to a work table for holding an electronic device is used (for example, refer to patent document 1 below). According to such a cable insertion device, all or a part of the work performed by the conventional worker through manual work can be automated. Therefore, not only the occurrence of human errors in the working process can be suppressed, but also the cost reduction of the product due to the labor saving can be realized.
Prior art literature
Patent literature
Patent document 1 Japanese patent application laid-open No. 2018-73721
Disclosure of Invention
Problems to be solved by the invention
However, as described above, in the insertion operation of the cable terminal into the connector by the cable insertion device, when the insertion port of the connector is directed upward, after the cable supplied in the horizontal posture extending in the horizontal direction is held by the holding tool, the moving base needs to be greatly inclined so that the cable is in the vertical posture extending in the vertical direction. Therefore, when the terminal is inserted into the connector, the moving base and the holding tool which protrude downward from the cable may interfere with the electronic device (or the work table).
Accordingly, an object of the present invention is to provide a cable insertion device and a cable insertion method that can insert a cable-side terminal into a connector on an electronic device side having an insertion opening facing upward without causing interference between a moving base, a holding tool, and the electronic device.
Means for solving the problems
The cable insertion device of the present invention includes a work table, a moving base, a holding tool, and a rotation driving unit. The work table holds an electronic device provided with a first connector having an upwardly facing insertion opening into which a first terminal provided at a first end portion of a cable is inserted. The movable base is provided so as to be movable relative to the work table. The holding tool moves integrally with the moving base to hold the cable. The rotation driving part is arranged on the movable base and rotates the holding tool around a rotation axis inclined relative to the vertical direction.
In the cable insertion method of the present invention, the first terminal provided at the first end portion of the cable is inserted into the first connector provided in the electronic device and having the insertion port facing upward by the cable insertion device.
The cable insertion device includes:
A work table that holds an electronic device;
A movable base provided so as to be movable relative to the work table;
A holding tool which moves integrally with the moving base to hold the cable, and
And a rotation driving unit which is provided on the moving base and rotates the holding tool about a rotation axis inclined with respect to the vertical direction.
The cable insertion method comprises the following steps:
A first cable holding step of holding a cable in a horizontal posture extending in a horizontal direction by a holding tool;
An attitude conversion step of converting the cable into a vertical attitude in which the first terminal is oriented downward and extends in the vertical direction by rotating the holding tool holding the cable in the first cable holding step about the rotation axis, and
And a first insertion step of relatively lowering the movable base with respect to the first connector so that the first terminal of the cable converted into the longitudinal posture in the posture conversion step is inserted into the first connector from above.
Effects of the invention
According to the present invention, it is possible to provide a cable insertion device and a cable insertion method that can insert a cable-side terminal into a connector on an electronic device side having an insertion opening facing upward without causing interference between a moving base, a holding tool, and the electronic device.
Drawings
Fig. 1 is a perspective view showing a cable insertion device according to an embodiment of the present invention together with an electronic apparatus to be operated.
Fig. 2 is a perspective view of an electronic device as an object of operation of the cable insertion device according to the embodiment of the present invention.
Fig. 3 is a perspective view of an electronic device to be operated as a cable insertion device according to an embodiment of the present invention.
Fig. 4 is a perspective view of a part of the parallel link robot provided in the cable insertion device according to the embodiment of the present invention.
Fig. 5 is a side cross-sectional view of a part of a parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 6 is a side view of a part of the parallel link robot provided in the cable inserting apparatus according to the embodiment of the present invention.
Fig. 7A is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 7B is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 7C is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 7D is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 8A is a diagram showing a procedure of holding a cable for wiring in a lateral posture by a holding tool provided in the cable insertion device according to the embodiment of the present invention.
Fig. 8B is a diagram showing a procedure of holding a cable for wiring in a lateral posture by a holding tool provided in the cable insertion device according to the embodiment of the present invention.
Fig. 8C is a diagram showing a procedure of holding a cable for wiring in a lateral posture by a holding tool provided in the cable insertion device according to the embodiment of the present invention.
Fig. 9 is a perspective view of a part of the parallel link robot provided in the cable insertion device according to the embodiment of the present invention.
Fig. 10 is a perspective view of a part of a parallel link robot provided in the cable insertion device according to the embodiment of the present invention.
Fig. 11A is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 11B is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 11C is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 11D is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 12A is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 12B is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 12C is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 12D is an operation explanatory view of the parallel link robot provided in the cable insertion apparatus according to the embodiment of the present invention.
Fig. 13A is an operation explanatory diagram of a parallel link robot provided in the cable insertion apparatus according to the modification of the embodiment of the present invention.
Fig. 13B is an operation explanatory diagram of a parallel link robot provided in the cable insertion apparatus according to the modification of the embodiment of the present invention.
Fig. 14A is an operation explanatory view of a parallel link robot provided in the cable insertion apparatus according to the modification of the embodiment of the present invention.
Fig. 14B is an operation explanatory diagram of a parallel link robot provided in the cable insertion apparatus according to the modification of the embodiment of the present invention.
Reference numerals illustrate:
1. Cable insertion device
2. Electronic equipment
13. Cable with improved heat dissipation
13A first terminal
13B second terminal
15. First connector
15K upward slot (upward slot)
16. Second connector
16K transverse insertion port (Chao transverse insertion port)
22. Working table
33. Movable base
35. Shooting unit (shooting part)
36. Holding tool
36J axis of rotation
37. Rotation driving part
42H adsorption surface
50. Control device (control unit)
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 shows a cable insertion device 1 according to an embodiment of the invention. In the cable insertion device 1, a predetermined operation (wiring operation) is performed on the electronic apparatus 2 shown in fig. 2, and the electronic apparatus 2 after the operation shown in fig. 3 is obtained. In the present embodiment, the left-right direction of the cable insertion device 1 viewed from the front is defined as the X axis, and the front-rear direction of the cable insertion device 1 viewed from the front is defined as the Y axis. The vertical direction (vertical direction) is referred to as the Z axis.
In fig. 2 and 3, the electronic device 2 is, for example, a display device, and includes a main board 11 and a sub-board 12 connected to the main board 11. The main board 11 and the sub-board 12 are electrically connected by two wiring cables 13. The cable insertion device 1 performs a connection operation of the main board 11 and the sub-board 12 by using the two cables 13. In fig. 2 and 3, the display unit of the electronic device 2 (display device) faces downward.
In fig. 2 and 3, the cable 13 is a ribbon-shaped cable such as a Flexible Flat Cable (FFC) or a flexible substrate (FPC), and has two flat surfaces. A first terminal 13A is provided at one end (first end) of the cable 13. The other end (second end) of the cable 13 is provided with a second terminal 13B.
In fig. 2 and 3, the main board 11 is provided with a first connector 15 having an insertion port (upward insertion port 15K) facing upward. The sub board 12 is provided with a second connector 16 having an insertion port (lateral insertion port 16K) facing the lateral direction. The first terminal 13A provided at one end of the cable 13 is inserted into the upward insertion port 15K of the first connector 15 provided in the main board 11 from above. On the other hand, the second terminal 13B provided at the other end of the cable 13 is inserted into the lateral insertion port 16K of the second connector 16 provided on the sub-board 12 from the horizontal direction (lateral direction).
In fig. 1, the cable insertion device 1 includes a base 21 and a work table 22 provided on the base 21. The work table 22 holds the electronic apparatus 2 as a work object. The base 21 is provided with a swing motor 22M. By operating the turning motor 22M, the work table 22 can turn around the Z axis with respect to the base 21.
In fig. 1, the top plate 23 is located above the base 21. The top plate 23 is supported in a horizontal posture by a plurality of support posts 24 extending upward from the base 21. A parallel link robot 25 that performs work on the electronic device 2 held on the work table 22 is provided on the lower surface side of the top plate 23.
In fig. 1, a cable container 26 is provided at a position near the electronic device 2 on the work table 22. The cable container 26 contains a plurality of cables 13 in a posture (transverse posture) extending in a horizontal direction (transverse direction) by stacking up and down (see fig. 2 and 3). A touch panel 27 as an input/output device is mounted on a side of the top plate 23.
In fig. 1, 4 and 5, the parallel link robot 25 includes a fixed base 31, six links 32, a movable base 33, an illumination unit 34, an imaging unit 35 (imaging unit), a holding tool 36, and a rotation driving unit 37. The fixed base 31 is attached to the lower surface of the top plate 23, and incorporates six servo motors, not shown. Six links 32 extend downward from the fixed base 31. The movable base 33 is located below the fixed base 31, and its peripheral portion is supported by six links 32 via universal joints 33U.
The six servo motors incorporated in the fixed base 31 correspond to the six links 32, and the six servo motors independently operate the six links 32. This allows the movable base 33 to be moved relative to the work table 22 (that is, relative to the electronic device 2 held by the work table 22), and allows the posture of the movable base 33 to be freely changed.
In fig. 4 and 5, a circular opening 33H is provided in the center of the moving base 33. The opening 33H is provided so that its center passes through a reference axis 33J provided as an axis extending in the vertical direction.
In fig. 4 and 5, a plurality of support rods 34R are provided on the lower surface of the movable base 33 so as to extend downward. These plurality of support rods 34R support the rectangular frame-shaped illumination unit 34.
The illumination unit 34 is located below the moving base 33, and includes a plurality of lamps 34L along four sides. The illumination unit 34 illuminates the area below the illumination unit 34 by causing the plurality of lamps 34L to be fully or selectively lighted.
In fig. 4 and 5, an imaging unit support member 35S is provided on the upper surface of the moving base 33 so as to extend upward. The photographing unit supporting member 35S supports the photographing unit 35.
The photographing unit 35 has a camera section 35A and a barrel section 35B therebelow with a photographing optical axis 35J directed downward. The imaging unit 35 is assembled to the imaging unit support member 35S such that the imaging optical axis 35J substantially coincides with the reference axis 33J.
The imaging unit 35 images the object from above in a state where the object located below the illumination unit 34 is illuminated by the illumination unit 34. In the present embodiment, the object to be photographed by the photographing unit 35 is the terminal 13 (the first terminal 13A and the second terminal 13B) of the cable 13, the upward insertion opening 15K of the first connector 15 and the lateral insertion opening 16K of the second connector 16 on the electronic device 2 side.
In fig. 4 and 5, a tool attachment bracket 33B is provided on the lower surface side of the movable base 33. The upper end portion of the holding tool 36 is mounted to the tool mounting bracket 33B. The holding tool 36 functions as an end effector of the parallel link robot 25.
The holding tool 36 includes an arm 41 extending obliquely downward with respect to the Z-axis direction in a lower region of the moving base 33, and a holding portion 42 located at a lower end portion of the arm 41. The arm 41 extends to the vicinity of the reference axis 33J, and the holding portion 42 is located in the shooting region of the shooting unit 35. The axis of arm 41 is inclined approximately 45 degrees with respect to the Z axis. The holding tool 36 is rotatable about the axis of the arm 41 as a rotation axis 36J.
In fig. 4, 5 and 6, the lower surface of the holding portion 42 is an adsorption surface 42H for holding the cable 13 by adsorption. The suction surface 42H is provided with a plurality of suction openings 42K (fig. 4). When air is sucked through the plurality of suction openings 42K, suction force for sucking the cable 13 is generated at the suction surface 42H.
In fig. 4, 5 and 6, the rotation driving portion 37 is attached to the tool attachment bracket 33B. The rotation driving portion 37 rotates the holding tool 36 about the rotation axis 36J (axis of the arm 41). The rotation driving unit 37 is constituted by, for example, a rotary cylinder (a cylinder that obtains a rotational force by the reciprocation of a piston rod).
In the present embodiment, the holding portion 42 is formed as a part of the arm 41. Therefore, by rotating the holding tool 36 about the rotation axis 36J, the holding portion 42 can be switched to the "reference posture" (fig. 5) and the "rotation posture" (fig. 6). Here, the "reference posture" refers to a posture in which the suction surface 42H extends in the horizontal direction (lateral direction), and the "rotation posture" refers to a posture in which the suction surface 42H extends in the vertical direction (longitudinal direction). In the present embodiment, the suction surface 42H when the holding portion 42 is in the "reference posture" is substantially orthogonal to the imaging optical axis 35J of the imaging unit 35 (fig. 5).
The operations of the respective parts of the cable insertion apparatus 1 are controlled by a control apparatus 50 (fig. 1) provided in the cable insertion apparatus 1. Specifically, the control device 50 controls the pivoting operation of the work table 22 with respect to the base 21 by the pivoting motor 22M. The control device 50 controls the relative movement operation and posture change operation of the movement base 33 with respect to the table 22 by six servo motors incorporated in the fixed base 31. The control device 50 controls the turning-on and turning-off operations of the plurality of lamps 34L included in the illumination unit 34. The control device 50 controls the photographing operation performed by the camera section 35A provided in the photographing unit 35.
The control device 50 controls the suction operation of the suction surface 42H of the holding tool 36. The control device 50 controls the rotation operation of the holding tool 36 about the rotation axis 36J by the rotation driving unit 37. The control device 50 is connected to the touch panel 27, receives an input command from the operator via the touch panel 27, and instructs, notifies, and the like the operator via the touch panel 27.
Next, the operation procedure (cable insertion method) of the cable insertion device 1 will be described. After receiving the operation start operation of the operator input from the touch panel 27, the control device 50 holds the cable 13 in the lateral posture supplied from the cable housing 26 by the holding tool 36 (first cable holding step, fig. 7A).
In this first cable holding step, the control device 50 first operates the parallel link robot 25 to move the movement base 33 and rotates the work table 22 about the Z axis, thereby positioning the suction surface 42H of the holding portion 42 in the "reference posture" above the cables 13 stacked on the uppermost layer of the cable storage 26 (fig. 8A). Subsequently, the moving base 33 is lowered, and the suction surface 42H of the holding portion 42 is brought into contact with the upper surface of the cable 13 from above (fig. 8B). When the suction surface 42H contacts the upper surface of the cable 13, suction force is generated at the suction surface 42H, and the holding portion 42 sucks the cable 13 and then lifts the holding tool 36 upward (fig. 8C).
In the first cable holding step, when the holding portion 42 of the holding tool 36 is brought into contact with the upper surface of the cable 13, the cable 13 extends in the direction along the axis of the arm 41 in a plan view, and the end portion of the holding portion 42 (the end portion on the reference axis 33J side) is located in the vicinity of the first terminal 13A (fig. 8B). As a result, in a state in which the holding tool 36 is lifted upward, the cable 13 is in a state in which the first terminal 13A protrudes toward the reference axis 33J side from the end of the holding portion 42 (fig. 9).
After the cable 13 is held by the holding tool 36, the control device 50 positions the first terminal 13A of the cable 13 protruding from the holding portion 42 of the holding tool 36 in the vicinity of the first connector 15 to be inserted into the cable 13 (fig. 7B). The operation of positioning the first terminal 13A in the vicinity of the first connector 15 is performed by operating the parallel link robot 25 to move the movement base 33 and rotating the work table 22 about the Z axis.
When the control device 50 positions the first terminal 13A of the cable 13 in the vicinity of the first connector 15, the lamp 34L of the illumination unit 34 is turned on to illuminate the first terminal 13A from above. Then, the first terminal 13A of the cable 13 held in the first cable holding process is photographed from above by the photographing unit 35, thereby recognizing the first terminal 13A (first recognition process, fig. 7C).
After the first terminal 13A is identified, the control device 50 rotates the holding tool 36 holding the cable 13 about the rotation axis in the first cable holding step, thereby converting the lateral posture of the cable 13 extending in the horizontal direction (lateral direction) from the front to the posture (longitudinal posture) of the first terminal 13A extending downward and in the vertical direction (vertical direction) (posture conversion step, fig. 7D and 10). Specifically, this posture changing step is performed by operating the rotation driving unit 37 to rotate the holding tool 36 holding the cable 13 by approximately 180 degrees about the rotation axis 36J (arrow R1 shown in fig. 7D). By rotating the holding tool 36 by approximately 180 degrees about the rotation axis 36J, the posture of the holding portion 42 is switched from the "reference posture" to the "rotation posture", and the posture of the cable 13 held by the holding tool 36 is changed from the lateral posture when taken out from the cable receiver 26 to the longitudinal posture when inserted into the first connector 15.
As described above, in the cable insertion device 1 of the present embodiment, the cable 13 in the lateral posture can be changed to the longitudinal posture only by rotating the holding tool 36 around the rotation axis 36J, and the cable 13 can be changed from the lateral posture to the longitudinal posture without greatly tilting the moving base 33.
After changing the posture of the cable 13, the control device 50 turns on the lamp 34L of the illumination unit 34 to illuminate the first connector 15 from above. Then, the first connector 15 is photographed from above by the photographing unit 35, thereby recognizing the first connector 15 (specifically, the upward insertion port 15K of the first connector 15) (second recognition step, fig. 11A).
After recognizing the first terminal 13A and the first connector 15, the control device 50 causes the parallel link robot 25 to operate to move the movement base 33 and causes the work table 22 to pivot about the Z axis, thereby aligning the first terminal 13A with the first connector 15 (first alignment step, fig. 11B). In this alignment, the first terminal 13A and the first connector 15 are opposed to each other in the vertical direction based on the relative positional relationship between the first terminal 13A identified in the first identification step and the first connector 15 identified in the second identification step.
After aligning the first terminal 13A with the first connector 15, the control device 50 operates the parallel link robot 25 to move the movement base 33 downward, thereby inserting the first terminal 13A into the first connector 15 from above (first insertion step, fig. 11C). In the first insertion step, specifically, the movable base 33 is lowered relative to the first connector 15 so that the first terminal 13A of the cable 13 that is converted into the vertical posture in the posture conversion step is inserted into the first connector 15 from above. Thereby, one end of the cable 13 is attached to the first connector 15.
As described above, in the cable insertion device 1 of the present embodiment, the control device 50 serves as a control unit that performs the following control. That is, the control device 50 performs control such that the holding tool 36 holds the cable 13 in the horizontal posture extending in the horizontal direction, and the cable 13 is converted into the vertical posture extending in the vertical direction so that the rotation driving portion 37 rotates the holding tool 36 around the rotation axis 36J and the first terminal 13A is directed downward. Then, the control device 50 controls the movable base 33 to be lowered relative to the electronic apparatus 2, and the first terminal 13A is inserted into the upward insertion port 15K of the first connector 15 from above.
After the first terminal 13A is inserted into the first connector 15, the control device 50 operates the parallel link robot 25 to move the movement base 33, thereby separating the holding tool 36 from the cable 13 (separation step, fig. 11D). In a state where the holding tool 36 is separated from the cable 13, the cable 13 is in a state of extending substantially upward in an upright manner (fig. 11D).
After the holding tool 36 is separated from the cable 13, the control device 50 returns the holding tool 36 to the "reference posture" which is the posture before the posture changing process is performed (return process, 12A). This operation is performed by rotating the holding tool 36 by approximately 180 degrees about the rotation axis 36J by the rotation driving portion 37 (arrow R2 shown in fig. 12A).
After returning the posture of the holding tool 36 to the posture before the posture changing process is performed, the control device 50 presses the cable 13 in the horizontal direction (substantially horizontal direction) with the holding tool 36 (pressing process, arrow P shown in fig. 12B). Then, after the upper portion of the cable 13 is oriented in the horizontal direction by the pressing, the vicinity of the second terminal 13B of the cable 13 oriented in the horizontal direction is held by the holding tool 36 (second cable holding step, fig. 12B).
After the cable 13 is held by the holding tool 36, the control device 50 photographs the second terminal 13B by the photographing unit 35 to identify the second terminal 13B (third identifying step), as shown in fig. 12B. The second connector 16 is photographed to identify the second connector 16 (specifically, the lateral insertion port 16K of the second connector 16) (fourth identification step).
After recognizing the second terminal 13B and the second connector 16, the control device 50 causes the parallel link robot 25 to operate to move the movement base 33 and causes the work table 22 to pivot about the Z axis, thereby aligning the second terminal 13B with the second connector 16 (second alignment step, fig. 12C). In this alignment, the second terminal 13B and the second connector 16 are horizontally opposed to each other based on the relative positional relationship between the second terminal 13B identified in the third identification step and the second connector 16 identified in the fourth identification step.
After aligning the second terminal 13B with the second connector 16, the control device 50 operates the parallel link robot 25 to move the movement base 33 in the horizontal direction, thereby inserting the second terminal 13B into the second connector 16 from the horizontal direction (second insertion step, fig. 12D). This causes the other end of the cable 13 to be attached to the second terminal 13B.
In this way, in the cable inserting device 1 of the present embodiment, the control device 50 as the control means controls the rotation driving portion 37 to rotate the holding tool 36 around the rotation axis 36J after the first terminal 13A is inserted into the first connector 15 by the holding tool 36, and returns the cable 13 to the "reference posture" before the cable 13 is changed to the vertical posture. Then, the control device 50 controls the holding tool 36 returned to the "reference posture" to press the cable 13 in the substantially horizontal direction, thereby holding the cable 13 oriented in the horizontal direction by the holding tool 36 and inserting the second terminal 13B provided at the other end portion of the cable 13 into the second connector 16 from the horizontal direction.
After the second terminal 13B is inserted into the second connector 16, the control device 50 operates the parallel link robot 25 to move the movement base 33, thereby separating the holding tool 36 from the cable 13. Thereby, the wiring operation of one cable 13 is ended. In the present embodiment, the wiring work of the cable 13 is performed for each of the two cables 13.
Here, as in the present embodiment, in the case of a configuration in which the suction surface 42H when the holding portion 42 is in the "reference posture" is substantially orthogonal to the imaging optical axis 35J of the imaging unit 35, when the cable 13 is converted into the longitudinal posture by the posture conversion step, the posture-converted cable 13 becomes a posture substantially parallel to the imaging optical axis 35J (fig. 11A). Therefore, it is difficult to identify the lower end side (first terminal 13A) of the cable 13 converted into the vertical posture by the imaging unit 35, and the identification of the first terminal 13A has to be performed at a stage earlier than the posture conversion process. Therefore, in the above example, the first recognition step is performed before the posture changing step.
Fig. 13A and 13B and fig. 14A and 14B show modifications of the present embodiment. In this modification, the suction surface 42H when the holding portion 42 is in the "reference posture" is not substantially orthogonal to the imaging optical axis 35J of the imaging unit 35, but is inclined with respect to the reference axis 33J so as to descend as approaching the imaging optical axis 35J side (fig. 13A).
In the structure of such a modification, as shown in fig. 13B, the extending direction of the cable 13 whose posture is changed to the longitudinal posture is not parallel to the photographing optical axis 35J of the photographing unit 35, and the upper end side of the cable 13 is located at a position farther from the photographing optical axis 35J than the lower end side. Therefore, the first terminal 13A, which is the lower end portion of the cable 13 in the longitudinal posture, is easily recognized by the photographing unit 35.
The recognition of the first terminal 13A is performed in a state of the posture after the posture change (i.e., immediately before the insertion of the first connector 15), that is, in the longitudinal posture, and the accuracy can be improved as compared with the recognition in a state of the posture before the posture change, that is, in the lateral posture. Therefore, according to the structure of the modification, the first terminal 13A can be inserted into the first connector 15 with more accurate accuracy. In this case, the inclination angle θ (fig. 13A) of the suction surface 42H from the surface perpendicular to the imaging optical axis 35J is preferably about 5 to 10 degrees.
As in the modification described above, the cable 13 converted into the vertical posture is in a non-parallel posture with respect to the imaging optical axis 35J of the imaging unit 35, and thus, in the case where the lower end side of the cable 13 can be imaged by the imaging unit 35, the first recognition step (fig. 13B) is performed after the first cable holding step (fig. 13A) and after the posture conversion step. Then, after the first recognition step, the first insertion step (fig. 14B) is performed on the basis that the extending direction of the cable 13 in the state of being converted into the longitudinal posture by the posture conversion step and the inserting direction (here, the vertical direction) of the first terminal 13A with respect to the first connector 15 are substantially coincident (fig. 14A). The first recognition step may be performed before the posture changing step, and the position of the first terminal 13A may be calculated based on the recognition results of the two first terminals 13A obtained by the first recognition steps twice before and after the posture changing step.
As described above, the cable insertion device 1 according to the present embodiment includes the moving base 33 provided so as to be movable relative to the work table 22 holding the electronic device 2, and the holding tool 36 and the rotation driving unit 37 are provided on the moving base 33. The holding tool 36 moves integrally with the moving base 33 to hold the cable 13 in the horizontal posture extending in the horizontal direction, and the rotation driving unit 37 rotates the holding tool 36 about a rotation axis 36J extending obliquely with respect to the vertical direction (Z-axis direction).
In such a structure, the cable 13 in the lateral posture can be converted into the longitudinal posture only by rotating the holding tool 36 around the rotation axis 36J. Therefore, the cable 13 can be changed from the transverse posture to the longitudinal posture without greatly tilting the movable base 33 as in the conventional case. Therefore, according to the cable insertion device 1 and the cable insertion method using the cable insertion device 1 of the present embodiment, the terminal (the first terminal 13A) on the cable 13 side can be inserted into the connector (the first connector 15) on the electronic device 2 side having the insertion port (the upward insertion port 15K) facing upward without causing the holding tool 36 to interfere with the electronic device 2.
The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. For example, in the above-described embodiment, the holding tool 36 is configured to hold the cable 13 by suction, but the holding tool 36 is not limited to the configuration to hold the cable 13 by suction. For example, the cable 13 may be configured to be held in a lateral posture by a pair of chuck mechanisms.
In the above-described embodiment, the parallel link robot 25 performs the relative movement operation of the movement base 33 (and thus the holding tool 36) with respect to the table 22, but the mechanism for moving the movement base 33 with respect to the table 22 is not limited to the parallel link robot 25, and may be an articulated robot having other mechanisms. The connector is also included in the terminal on the cable 13 side, and the present invention can be applied to a structure in which a male and female connector is fitted to a connector on the electronic device 2 side.
Industrial applicability
The present invention is applicable to a cable insertion device and a cable insertion method that can insert a cable-side terminal into a connector on an electronic device side having an insertion opening facing upward.
Claims (11)
1. A cable insertion device is provided with a parallel link robot, wherein,
The parallel link robot includes:
a holding tool that holds the cable;
a moving base equipped with the holding tool and the photographing part, and
A rotation driving part which is arranged on the movable base and rotates the holding tool around a rotation axis extending obliquely relative to the up-down direction,
The parallel link robot moves the holding tool by relatively moving the moving base with respect to an electronic device provided with a first connector having an upward-facing insertion port into which a first terminal provided at one end of the cable is inserted,
The parallel link robot moves the holding tool so that the first terminal of the cable held by the holding tool is located in a photographing region that can be photographed by the photographing section together with the first connector,
The holding means holds the cable in such a manner that the cable is in the direction of the rotation axis in a plan view,
The photographing section photographs the first terminal and the first connector located in the photographing region from above.
2. The cable insertion device of claim 1, wherein,
The cable insertion device further comprises a control unit,
The control unit controls in the following manner:
The cable holding the holding means in a lateral attitude,
The cable is changed to a longitudinal posture by rotating the holding tool about the rotation axis with the rotation driving section so that the first terminal is directed downward, and thereafter,
The movable base is relatively lowered with respect to the first connector, and the first terminal is inserted into the first connector from above.
3. The cable insertion device of claim 2, wherein,
The lower end side of the cable that is converted into the longitudinal posture is a posture that can be photographed by the photographing section.
4. The cable insertion device of claim 3, wherein,
The cable is not parallel to the photographing optical axis of the photographing section.
5. The cable insertion device of claim 2, wherein,
The holding tool has an adsorption surface that adsorbs the cable, and the cable in the lateral posture is adsorbed and held from above by the adsorption surface.
6. The cable insertion device according to any one of claims 2 to 5, wherein,
The electronic device comprises a second connector having an insertion opening facing in a lateral direction,
The control unit controls in the following manner:
after the first terminal is inserted into the first connector by the holding tool, the holding tool is rotated about the rotation axis by the rotation driving section, and the cable is returned to a reference posture which is a posture before being converted into the longitudinal posture,
Causing the holding tool returned to the reference posture to press the cable in a substantially horizontal direction,
Thereby, the holding tool is held by the cable in the lateral direction, and the second terminal provided at the other end portion of the cable is inserted into the second connector from the lateral direction.
7. A method of inserting a cable into a cable,
The cable insertion method inserts a first terminal arranged at one side end of a cable into a first connector arranged at an electronic device and provided with an upward insertion port through a cable insertion device,
The cable insertion device is provided with:
a work table holding the electronic device, and
A parallel type connecting rod robot, wherein the parallel type connecting rod robot comprises a plurality of parallel type connecting rod robots,
The parallel link robot includes:
a movable base provided so as to be movable relative to the work table;
a holding tool that moves integrally with the moving base to hold the cable;
an imaging part provided on the moving base, and
A rotation driving part which is arranged on the movable base and rotates the holding tool around a rotation axis extending obliquely relative to the up-down direction,
The parallel link robot moves the holding tool by moving the moving base,
The cable insertion method includes:
A first cable holding step of holding the cable in a lateral posture extending in a lateral direction by the holding tool so that the cable is in a direction along the rotation axis in a plan view;
A posture changing step of changing the cable to a vertical posture extending in the vertical direction with the first terminal facing downward by rotating the holding tool about the rotation axis, in which the holding tool holding the cable in the first cable holding step is moved by the parallel link robot so that the first terminal of the cable held by the holding tool is positioned in an imaging region that can be imaged by the imaging unit together with the first connector, and
And a first insertion step of relatively lowering the movable base with respect to the first connector so that the first terminal of the cable converted into the longitudinal posture in the posture conversion step is inserted into the first connector from above.
8. The cable insertion method of claim 7, wherein,
The cable insertion method further includes:
a first recognition step of recognizing the first terminal of the cable held in the first cable holding step by photographing the first terminal from above by a photographing section provided in the cable insertion device, and
A second recognition step of photographing the first connector from above to recognize the first connector,
The first inserting step is performed based on the relative positional relationship between the first terminal identified in the first identifying step and the first connector identified in the second identifying step.
9. The cable insertion method of claim 8, wherein,
The cable insertion device has a structure capable of photographing a lower end side of the cable converted into the longitudinal posture by the photographing part,
The first recognition step is performed after the posture changing step, and the first insertion step is performed after the first recognition step in a state in which the extending direction of the cable converted into the longitudinal posture by the posture changing step is substantially coincident with the inserting direction of the first terminal into the first connector.
10. The cable insertion method of claim 9, wherein,
The cable is not parallel to the photographing optical axis of the photographing section.
11. The cable insertion method according to any one of claims 7 to10, wherein,
The electronic device comprises a second connector having an insertion opening facing in a lateral direction,
The cable insertion method further includes:
A returning step of returning the holding tool to a reference posture, which is a posture before the posture changing step is performed, by rotating the holding tool around the rotation axis after the first terminal is inserted into the first connector in the first insertion step by the rotation driving section;
A second cable holding step of holding the cable in a lateral direction by pressing the cable in a substantially horizontal direction by the holding tool returned to the reference posture in the returning step, and
And a second insertion step of laterally inserting a second terminal provided at the other end portion of the cable held in the second cable holding step into the second connector.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-145499 | 2018-08-02 | ||
| JP2018145499A JP7253681B2 (en) | 2018-08-02 | 2018-08-02 | Cable insertion device and cable insertion method |
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| CN110788855A CN110788855A (en) | 2020-02-14 |
| CN110788855B true CN110788855B (en) | 2024-11-29 |
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| CN201910679948.7A Active CN110788855B (en) | 2018-08-02 | 2019-07-25 | Cable insertion device and cable insertion method |
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| KR102735694B1 (en) * | 2020-07-07 | 2024-11-28 | 삼성디스플레이 주식회사 | Apparatus for manufacturing display device |
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| JP7253681B2 (en) | 2023-04-07 |
| CN110788855A (en) | 2020-02-14 |
| JP2020021660A (en) | 2020-02-06 |
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