# US 10,766,142 B2 · Electronic device manufacturing apparatus and electronic device manufacturing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,142 B2 - Document ID: US10766142B2 - Status: Granted - Kind: B2 - Application number: 15/887,283 - Filed: 2018-02-02 - Published: 2018-08-30 - Granted: 2020-09-08 - Earliest claimed: 2017-02-24 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Ken Takano; Minoru Yamamoto - Web page: https://patentgrep.com/patent/US10766142B2 ## CPC - B25J 9/1687: {Assembly, peg and hole, palletising, straight line, weaving pattern movement} - B25J 9/0018: {Bases fixed on ceiling, i.e. upside down manipulators} - B25J 9/0096: {co-operating with a working support, e.g. work-table} - B25J 9/1697: {Vision controlled systems} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 15/0019: {End effectors other than grippers} - B25J 15/0061: {mounted on a modular gripping structure} - B25J 15/0066: {with different types of end effectors, e.g. gripper and welding gun (B25J15/0057 and B25J15/0061 take precedence)} - B25J 15/0616: {with vacuum} - B25J 19/023: {including video camera means} - G05B 2219/40564: Recognize shape, contour of object, extract position and orientation - H01R 43/00: Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors (of trolley lines B60M1/28) - H01R 43/26: for engaging or disengaging the two parts of a coupling device (structural association with two-part coupling device H01R13/629) - Y10S 901/09: Closed loop, sensor feedback controls arm movement - Y10S 901/41: Tool - Y10S 901/47: Optical - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - H01R: ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract The electronic device manufacturing apparatus includes a cable holding tool, a work stage, a robot section, a first position detector, a second position detector, and a controller. The first position detector detects positions in a two-dimensional plane direction of the cable held by the cable holding tool and the connector of the electronic device held by the work stage. The second position detector detects positions in a height direction of the cable held by the cable holding tool and the connector of the electronic device held by the work stage. The controller controls the robot section based on the detection result of the first position detector and the second position detector. ## Claims ### Claim 1 An electronic device manufacturing apparatus for installing a cable on a connector that configures a part of an electronic circuit, comprising: a cable holding tool which holds the cable; a robot section which relatively moves the cable holding tool with respect to the electronic device including the connector; a base section which moves together with the cable holding tool by the robot section; a first position detector which detects positions in a two-dimensional plane direction of the cable held by the cable holding tool and of the connector of the electronic device; a second position detector which detects positions in a height direction of the cable held by the cable holding tool and of the connector of the electronic device; a single imager configured to provide images for the first and second position detectors; a controller which controls the robot section based on one or more images taken by the imager and on the detection result of each of the first position detector and the second position detector; and a projector which projects light for height measurement to the cable held by the cable holding tool and the connector of the electronic device, wherein the imager and the projector are attached to the base section, and wherein the imager is configured to take a first image of the cable and the connector positioned in an imaging field of the first position detector and a second image of the cable and the connector positioned in an imaging field of the second position detector. ### Claim 2 (depends on 1) The electronic device manufacturing apparatus of claim 1, wherein the first position detector includes: the imager which takes the first image of the cable held by the cable holding tool and of the connector of the electronic device; and an image recognizer which recognizes the positions of the cable and the connector by the first image taken by the imager. ### Claim 3 (depends on 2) The electronic device manufacturing apparatus of claim 2, wherein the second position detector includes the imager, and a height recognizer which recognizes heights of the cable and the connector by the second image of the cable and the connector, which are irradiated with the light for height measurement, taken by the imager. ### Claim 4 (depends on 3) The electronic device manufacturing apparatus of claim 3, wherein the light for height measurement which is projected from the projector is only a single slit-shaped slit light. ### Claim 5 (depends on 4) The electronic device manufacturing apparatus of claim 4, wherein the slit light reflected by surfaces of the cable and the connector is included in the second image, and the height recognizer narrows down a detection location of the slit light included in the second image based on positions of characteristic points of the cable and the connector which is obtained by the image recognizer. ### Claim 6 (depends on 4) The electronic device manufacturing apparatus of claim 4, wherein the slit light reflected by surfaces of the cable and the connector is included in the second image, and the height recognizer recognizes the heights by detecting the slit light at least at a plurality of locations of the surface of the cable. ### Claim 7 (depends on 4) The electronic device manufacturing apparatus of claim 4, wherein the second position detector further includes one or more additional projectors each for emitting a single slit-shaped slit light. ### Claim 8 (depends on 3) The electronic device manufacturing apparatus of claim 3, wherein the projector is one of a plurality of projectors, each for emitting a single slit-shaped slit light. ### Claim 9 (depends on 3) The electronic device manufacturing apparatus of claim 3, further comprising: a base section which moves together with the cable holding tool by the robot section, wherein the imager and the projector are attached to the base section. ### Claim 10 (depends on 1) The electronic device manufacturing apparatus of claim 1, wherein the imager is a camera. ### Claim 11 (depends on 1) The electronic device manufacturing apparatus of claim 1, further including a work stage that holds the electronic device, wherein the cable holding tool can be advanced towards the work stage relative to the base section. ### Claim 12 (depends on 1) The electronic device manufacturing apparatus of claim 1, further including a work stage that holds the electronic device, wherein the cable holding tool can be advanced towards the work stage relative to the imager. ### Claim 13 An electronic device manufacturing method for installing a cable on a connector that configures a part of an electronic circuit, the method comprising: a cable holding step of holding the cable by a cable holding tool; a temporary positioning step of temporarily positioning the cable held by the cable holding tool with respect to the connector by moving a base section which moves together with the cable holding tool; a first position detecting step of detecting positions in a two-dimensional plane direction of the connector and the temporarily positioned cable; a second position detecting step of detecting positions in a height direction of the connector and of the temporarily positioned cable; a connector installing step of installing the cable on the connector by moving the cable holding tool based on the detection result of the first position detecting step and the second position detecting step; and wherein the first and second position detecting steps include imaging the connector and the cable using a single imager, wherein the imager takes a first image of the cable and the connector position in an imaging field of the first position detector and a second image of the cable and the connector position in an imaging field of the second position detector. ### Claim 14 (depends on 13) The electronic device manufacturing method of claim 13, wherein the first position detecting step includes a first imaging step of taking a first image of the cable held by the cable holding tool and of the connector of the electronic device, and a first image recognizing step of recognizing the positions of the cable and the connector by the first image taken in the first imaging step. ### Claim 15 (depends on 13) The electronic device manufacturing method of claim 13, wherein the second position detecting step further includes a second imaging step of taking an image of the cable and the connector which are irradiated with the light for height measurement, and a second image recognizing step of recognizing heights of the cable and the connector by a second image taken in the second imaging step. ### Claim 16 (depends on 15) The electronic device manufacturing method of claim 15, wherein the light for height measurement in the measurement light irradiating step is only a single slit-shaped slit light, and wherein the slit light reflected by surfaces of the cable and the connector is included in the second image, and in the second image recognizing step, a detection location of the slit light included in the second image is narrowed down based on positions of characteristic points of the cable and the connector which is obtained in the first image recognizing step. ### Claim 17 (depends on 15) The electronic device manufacturing method of claim 15, wherein the light for height measurement in the measurement light irradiating step is only a single slit-shaped slit light, and wherein the slit light reflected by surfaces of the cable and the connector is included in the second image, and in the second image recognizing step, the slit light is detected at least at a plurality of locations of the surface of the cable, and the height is recognized. ### Claim 18 (depends on 13) The electronic device manufacturing method of claim 13, wherein the light projected at the measurement light irradiating step also is projected from one or more additional projectors, and wherein the light from each of the projector and the one or more additional projectors is a single slit-shaped slit light, thus providing a plurality of rays of slit light emitted. ### Claim 19 (depends on 13) The electronic device manufacturing method of claim 13, wherein the imager is a camera. ### Claim 20 (depends on 13) The electronic device manufacturing method of claim 13, wherein the temporary positioning step includes moving together a base section, the cable holding tool, the imager, and the projector, wherein the cable holding tool, the imager, and the projector are attached on the base section, and further including advancing the cable holding tool towards a work stage that holds the electronic device relative to the imager.