Patent Publication Number: US-11038314-B2

Title: Electronic device assembling apparatus

Description:
BACKGROUND 
     1. Technical Field 
     This disclosure relates to an electronic device assembling apparatus and an electronic device assembling method for assembling an electronic device by inserting a cable into a connector. 
     2. Description of the Related Art 
     In various electronic devices including electronic devices for use in vehicles (for example, instrument panel meters, navigation devices, room mirrors, or the like), functional modules such as display devices and circuit boards are electrically connected and assembled by cables such as flexible cables. In assembling such an electronic device, in the related art, a worker manually inserts the cable into the connector. However, in recent years, automation of the work has been proposed for the purpose of improving work quality and the like. 
     For example, Japanese Patent Unexamined Publication No. 2005-11580 (PTL 1) discloses a method of assembling an electronic device in which a cable with a connector is inserted into a connector on a board side by two robots. In this assembling method, cables with connectors are transferred between two robots having a camera, and connectors are connected to each other while checking the position of the mating connector with a camera. 
     SUMMARY 
     According to this disclosure, there is provided an electronic device assembling apparatus that assembles an electronic device by inserting a cable into a connector and locking the cable with a lock member of the connector. The electronic device assembling apparatus has a cable holder and a lock member operator. 
     The cable holder holds the cable and inserts the cable into the connector. 
     After the cable is inserted into the connector by the cable holder, the lock member operator operates the lock member to lock the cable to the connector. 
     The lock member operator starts an operation with respect to the lock member in a state where the cable inserted into the connector is held by the cable holder. 
     An electronic device assembling method of this disclosure is an electronic device assembling method for assembling an electronic device by inserting a cable into a connector. 
     The electronic device assembling method includes: a cable holding step of holding a cable in a cable holder, a cable insertion step of inserting the cable into a connector, and a locking member operating step of operating a locking member by a locking member operator to lock the cable to the connector, in which an operation of the lock member by the lock member operator is started in a state where the cable inserted into the connector is held by the cable holder. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view illustrating an electronic device assembling apparatus according to an exemplary embodiment. 
         FIG. 2A  is a perspective view illustrating an electronic device as a work target of an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 2B  is a perspective view illustrating an electronic device as a work target of the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 3  is a schematic view illustrating a cable included in an electronic device as a work target of the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 4A  is a perspective view illustrating a connector included in an electronic device as a work target of the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 4B  is a perspective view illustrating a connector included in an electronic device as a work target of the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 5  is a diagram illustrating a work stage included in an electronic device assembling apparatus according to the exemplary embodiment, together with an electronic device as a work target. 
         FIG. 6  is a side view illustrating a head portion included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 7  is a perspective plan view illustrating a head portion included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 8A  is an explanatory diagram illustrating a configuration of a chuck block included in a head portion of an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 8B  is an explanatory diagram illustrating a configuration of a chuck block included in a head portion of an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 9  is a perspective view of an illumination unit included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 10  is a side view in the vicinity of an illumination unit included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 11A  is a view for explaining the principle of confirming opening and closing posture of a connector included in an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 11B  is a view for explaining the principle of confirming opening and closing posture of a connector included in an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 12  is a block diagram illustrating a control system of the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 13  is a flowchart illustrating a flow of a cable installation operation executed by the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 14  is a view illustrating a state where the air is blown toward a lock member from an air blow nozzle included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 15A  is a view illustrating a state where a cable is pressed by a pusher included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 15B  is a view illustrating a state where a cable is pressed by a pusher included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 16A  is an operation explanatory diagram of a cable holder included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 16B  is an operation explanatory diagram of a cable holder included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 17A  is a view illustrating a state of holding a cable by a cable holder of an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 17B  is a view illustrating a state of holding a cable by a cable holder of an electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 18  is a view illustrating a state where a cable held by a cable holder is imaged together with a connector by a camera included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 19  is a plan view illustrating a state where a cable and a connector are illuminated by an illumination unit included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 20  is a diagram illustrating an example of a captured image acquired by a camera included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 21A  is a view illustrating a state where a cable holder included in the electronic device assembling apparatus according to the exemplary embodiment inserts a cable into a connector. 
         FIG. 21B  is a view illustrating a state where a cable holder included in the electronic device assembling apparatus according to the exemplary embodiment inserts a cable into a connector. 
         FIG. 22A  is a view illustrating a state where a lock member is being operated by a lock member operator included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 22B  is a view illustrating a state where a lock member is being operated by a lock member operator included in the electronic device assembling apparatus according to the exemplary embodiment. 
         FIG. 22C  is a view illustrating a state where a lock member is being operated by a lock member operator included in the electronic device assembling apparatus according to the exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     In the related art example illustrated in PTL 1, two robots are required for an operation of inserting a cable into a connector. Therefore, a facility configuration becomes complicated and large, and an operating step becomes complicated. 
     Hereinafter, an exemplary embodiment of this disclosure will be described with reference to the drawings.  FIG. 1  illustrates electronic device assembling apparatus  1  according to the exemplary embodiment of this disclosure. Electronic device assembling apparatus  1  performs a predetermined work on electronic device  2  before assembly illustrated in  FIG. 2A  to obtain electronic device  2  after assembly illustrated in  FIG. 2B . In the exemplary embodiment, a left and right direction as viewed from the front of electronic device assembling apparatus  1  is defined as an X-axis, and a front and rear direction viewed from the front is defined as a Y-axis. Also, an up and down direction is defined as a Z-axis. 
     Electronic device  2  is, for example, an electronic device for use in vehicles, and mainly includes circuit board  11  and display device  12  as illustrated in  FIGS. 2A and 2B . Electronic component  13  is installed on circuit board  11 . Here, the display surface of display device  12  faces downward. 
     In  FIGS. 2A and 2B , circuit board  11  and display device  12  each have a rectangular shape. Cable  14  made of a flexible printed board or the like is attached to each of three sides (two short sides and one long side) of the four sides included in display device  12 . Cable  14  electrically connects circuit board  11  and display device  12 . One end (lower end) side of cable  14  is previously connected to display device  12 . 
     In  FIG. 2A , cable  14  before assembly extends upward from display device  12 . A plurality of cable side terminals  14 T are provided on the inner surface of tip portion (upper end portion)  14 S of cable  14  ( FIG. 3 ). Reinforcing plate  15  is provided on the outer surface of tip portion  14 S of cable  14  ( FIGS. 2A, 2B  and  FIG. 3 ). 
     In  FIG. 3 , reinforcing plate  15  is made of a thin plate member. One end side of reinforcing plate  15  is attached to tip portion  14 S of cable  14 . The other end side of reinforcing plate  15  extends to a base side (display device  12  side) of cable  14 . Gap  15 S is formed between the other end side of reinforcing plate  15  and cable  14 . 
     In  FIGS. 2A and 2B , among the four edge portions of the upper surface (installation surface) of circuit board  11 , connector  16  into which tip portion  14 S of cable  14  is inserted is provided in a portion corresponding to the three sides to which cable  14  of display device  12  is connected. As illustrated in  FIG. 4A , connector  16  has cable receiver  16   a  into which tip portion  14 S of cable  14  is inserted. On the upper surface of cable receiver  16   a , there are provided a plurality of connector side terminals  16 T which are in contact with a plurality of cable side terminals  14 T included in cable  14 . 
     In  FIGS. 2A and 2B  and  FIGS. 4A and 4B , connector  16  is provided with locking member  17 . Lock member  17  is formed of a door-like member provided so as to be swingable (open and close in up and down direction) about swing shaft  17   a  with respect to connector  16 . Locking member  17  is in an opening posture in which tip portion  14 S of cable  14  rises upward before being inserted into connector  16  ( FIGS. 2A and 4A ). Then, after tip portion  14 S of cable  14  is inserted into connector  16 , locking member is operated so as to lie down from the opening posture to a closing posture ( FIGS. 2B and 4B ). When lock member  17  is in the closing posture, tip portion  14 S of cable  14  is pinched and locked between cable receiver  16   a  of connector  16  and lock member  17 . As a result, cable  14  is prevented from falling off connector  16 . 
     Next, electronic device assembling apparatus  1  will be described. In  FIG. 1 , electronic device assembling apparatus  1  has work stage  22  on base  21 . Work stage  22  positions and holds electronic device  2  of a work target. Work stage  22  rotates about an up and down axis with respect to base  21 , thereby positioning held electronic device  2  in a predetermined rotational posture. 
     In  FIG. 5 , a plurality (three in this case) of pushers  23  and a plurality (three in this case) of air blow nozzles  24  are provided at positions surrounding electronic device  2  on work stage  22 . Pusher  23  is provided at a position opposite to the outer surface side (side on which reinforcing plate  15  is provided) of cable  14  included in electronic device  2 . Air blow nozzle  24  is held by nozzle bracket  24 B provided on work stage  22 . Air blow nozzle  24  obliquely faces an air blow port with respect to lock member  17  of connector  16  included in electronic device  2 . 
     In  FIG. 1 , a plurality of post members  25  extend upward from corners of base  21 . The plurality of post members  25  support top panel  26  in a horizontal posture above base  21 . Robot unit  27  and head portion  28  whose posture is changed by robot unit  27  are provided on the lower surface side of top panel  26 . A touch panel  29  as an input/output device is provided on the side of top panel  26 . 
     In  FIG. 1 , robot unit  27  includes fixed base  31 , six link members  32 , and moving base  33 . Fixed base  31  is attached to a lower surface of top panel  26 . Six link members  32  extend downward from fixed base  31 . Moving base  33  is made of a plate-shaped member as a whole and has circular opening portion  33 H at a center portion thereof ( FIG. 6 ). 
     The lower ends of six link members  32  are coupled via universal joint  32   a  to a position surrounding opening portion  33 H on the upper surface of moving base  33 . Each of six link members  32  is individually operated by being driven by six servo mechanisms built in fixed base  31 . By operating six link members  32  individually, it is possible to freely move moving base  33  with six degrees of freedom. In other words, in the exemplary embodiment, robot unit  27  is constituted by a parallel link robot. 
     In  FIG. 6 , head portion  28  is provided on moving base  33 . Head portion  28  includes cable holder  41 , lock member operating unit  42 , illumination unit  43 , imaging unit  44 , and lock unit opening/closing sensor  45 . Cable holder  41 , lock member operator  42 , illuminating portion  43 , and lock unit opening/closing sensor  45  are provided on the lower surface side of moving base  33 . Imaging unit  44  is provided on the upper surface side of moving base  33 . 
     In  FIGS. 6 and 7 , cable holder  41  includes guide rail  51 , slider  52 , moving block  53 , spring member  54 , chuck base  55 , blade  56 , cable holder cylinder  57 , slide unit  58  and chuck block  59 . Guide rail  51  extends in the Y-axis direction on the lower surface of moving base  33  and guides slider  52  movably in the Y-axis direction. Moving block  53  is fixed to slider  52 , and is guided by guide rail  51  and moves integrally with slider  52  in the Y-axis direction. 
     In  FIGS. 6 and 7 , screw portion  53   a  is provided extending in the Y-axis direction at an outer end portion of moving block  53  in the Y-axis direction (end portion on side away from center portion side of moving base  33 ). Screw portion  53   a  extends through a screw hole provided in downward extending portion  33   a  extending downward from moving base  33 . Nut  53   b  is threadedly engaged with screw portion  53   a  at the end portion of downward extending portion  33   a  on a side where screw portion  53   a  penetrates. 
     In  FIGS. 6 and 7 , spring member  54  is provided between moving block  53  and downward extending portion  33   a . Spring member  54  is a compression spring and urges moving block  53  toward the center of opening portion  33 H of moving base  33 . When nut  53   b  is twisted with respect to screw portion  53   a , moving block  53  moves in the Y-axis direction. 
     In  FIG. 6 , chuck base  55  is attached to moving block  53 . Chuck base  55  extends in an oblique direction in a YZ-plane passing through the center of opening portion  33 H, and the tip portion thereof faces the position right under opening portion  33 H. Blade  56  is made of a plate-shaped member and attached to the lower end of chuck base  55  in a horizontal posture. The tip portion of blade  56  is positioned below opening portion  33 H. 
     In  FIG. 6 , cable holder cylinder  57  is provided on the upper surface of chuck base  55 . Slide unit  58  is connected to a piston rod (not illustrated) of cable holder cylinder  57  and chuck block  59  is attached to the lower end of slide unit  58 . Chuck block  59  has horizontal lower surface  59   a . When cable holder cylinder  57  moves slide unit  58  along chuck base  55 , lower surface  59   a  of chuck block  59  separates from the upper surface  56   a  of blade  56  ( FIG. 8A ) or approaches ( FIG. 8B ). 
       FIG. 8B  illustrates a state where lower surface  59   a  of chuck block  59  is close to blade  56  (state where chuck block  59  is closed). In this state, the tip portion of lower surface  59   a  of chuck block  59  protrudes toward opening portion  33 H from the tip portion of blade  56  to form protruding portion  59 T having predetermined length LB. On the lower surface of chuck block  59 , a plurality of spike claws  59 S are provided ( FIG. 8A ). 
     When moving block  53  is moved in the Y-axis direction by twisting nut  53   b  with respect to screw portion  53   a , the position of blade  56  approaches or separates from the lower position of opening portion  33 H. Accordingly, the position of blade  56  below opening portion  33 H can be adjusted as necessary. 
     In  FIGS. 6 and 7 , lock member operator  42  includes cylinder bracket  61 , lock cylinder  62 , buffer portion  63 , roller support member  64 , and roller  65 . Cylinder bracket  61  is provided at a position facing cable holder  41  in the Y-axis direction across the center of opening portion  33 H on the lower surface of moving base  33 . 
     In  FIG. 6 , lock cylinder  62  is attached to the cylinder bracket  61 . Lock cylinder  62  extends obliquely in the YZ-plane passing through the center of opening portion  33 H, and the tip portion of piston rod  62 R faces downward. Buffer portion  63  is attached to a tip portion (lower end portion) of piston rod  62 R, and holds roller support member  64 . Roller  65  is rotatably supported by roller support member  64 . 
     In  FIG. 6 , illumination unit  43  is supported in a horizontal posture by a plurality of support members  43 R that protrude and extend downward from the lower surface of moving base  33 . As illustrated in  FIG. 9 , illumination unit  43  has frame  71  and a plurality of light emitting bodies  72  provided on the lower surface side of frame  71 . 
     In  FIG. 9 , frame  71  has a rectangular shape having two sides parallel to the Y-axis direction and two sides orthogonal to these two sides (that is, parallel to X-axis) in a plan view. The center (center of rectangle) of frame  71  is positioned on the up and down axis passing through the center of opening portion  33 H of moving base  33 . The plurality of light emitting bodies  72  are made of, for example, an LED with the light emitting direction directed downward, and are arranged side by side along each side of the four sides of frame  71 . 
     In  FIG. 9 , a plurality of light emitting bodies  72  includes a plurality of first light emitting bodies  72 A disposed along two sides parallel to the Y-axis of a frame  71 , and a plurality of second light emitting bodies  72 B disposed along two sides parallel to the X-axis of frame  71 . Illumination unit  43  illuminates the illumination target object positioned below illumination unit  43  by causing light emitting body  72  to emit light. Light emitting bodies  72  can independently turn on and off and adjust illuminance and the illuminance of first light emitting body  72 A and the illuminance of second light emitting body  72 B can be made different from each other. 
     In  FIG. 6 , imaging unit  44  includes optical lens unit  81  and camera  82  as an imaging means. Imaging unit bracket  44 B is provided on the upper surface of moving base  33  so as to extend upward, and optical lens unit  81  and camera  82  are attached to imaging unit bracket  44 B. Camera  82  is positioned above optical lens unit  81 , and imaging optical axis  82 J of camera  82  extends in the up and down direction through the center of opening portion  33 H. Optical axis  81 J of optical lens unit  81  also extends in the up and down direction and coincides with imaging optical axis  82 J of camera  82 . 
     Camera  82  images an imaging target through optical lens unit  81  in a state where the imaging target positioned below optical lens unit  81  is illuminated by illumination unit  43 . In the exemplary embodiment, the imaging target imaged by camera  82  is tip portion  14 S of cable  14  and connector  16  as described below. 
     In  FIG. 6 , lock unit opening/closing sensor  45  is provided at a position close to opening portion  33 H on the lower surface of moving base  33 . Lock unit opening/closing sensor  45  includes a distance measuring sensor that irradiates measurement light downward. Locking unit opening/closing sensor  45  has a light projector for projecting the measurement light downward and a light receiver for receiving the reflected measurement light (reflected light). Lock unit opening/closing sensor  45  irradiates the measurement light toward connector  16  ( FIG. 10 ) and receives the reflected light thereof, thereby detecting the opening/closing state of lock member  17  provided in connector  16 . 
     Specifically, as illustrated in  FIGS. 11A and 11B , first, height H 1  of the measurement position (first measurement position Pa) whose height does not change regardless of the opening/closing posture of lock member  17  and height H 2  of the measurement position (second measurement position Pb) whose height changes according to the opening/closing posture of lock member  17  are obtained. Then difference ΔH (=H 1 ·H 2 ) between these heights is calculated, and the calculated difference ΔH is compared with a predetermined reference value ΔH 0  to detect the opening/closing posture of lock member  17 . 
     In the exemplary embodiment, for example, first measurement position Pa is set on the upper surface of connector  16  and second measurement position Pb is set on the upper surface of lock member  17  ( FIG. 11A ) or the upper surface of cable receiver  16   a  of connector  16  ( FIG. 11B ). For example, reference value ΔH 0  is set to a value intermediate between difference ΔH obtained when lock member  17  is in the closing posture and difference ΔH obtained when lock member  17  is in the opening posture. In this case, if calculated difference ΔH is smaller than reference value ΔH 0 , it is detected that lock member  17  is in the opening posture. When calculated difference ΔH is larger than reference value ΔH 0 , it is detected that lock member  17  is in the closing posture. 
     In  FIG. 5 , pusher  23  has pusher base  23   a  provided on the upper surface of work stage  22  and movable piece  23   b  movable in the horizontal direction with respect to pusher base  23   a . An actuator (for example, a cylinder) for operating movable piece  23   b  is incorporated in pusher base  23   a . Air blow nozzle  24  blows air to lock member  17  before cable  14  is inserted into connector  16  by cable holder  41 . 
     In  FIG. 12 , controller  90  of electronic device assembling apparatus  1  controls a positioning operation of electronic device  2  by work stage  22 , a movement and a posture changing the operation of head unit  28  by robot unit  27 , an operation of cable holder cylinder  57  included in cable holder  41 . Further, controller  90  controls an operation of lock cylinder  62  included in lock member operator  42 , a light emission (illuminance adjustment) operation of light emitting body  72  included in illumination unit  43 , and an imaging operation of camera  82  of imaging unit  44 . In addition, controller  90  controls operating movable piece  23   b  of each of the plurality of pushers  23  and control to blow air from each of the plurality of air blow nozzles  24 . 
     In  FIG. 12 , analysis based on an image (captured image) obtained by imaging by camera  82  is performed by image analyzer  91  of controller  90 . Lock determination unit  92  of controller  90  performs determination of opening or closing of lock member  17  of connector  16  based on the detection information of lock unit opening/closing sensor  45 . Information input from touch panel  29  is input to controller  90 , and controller  90  outputs information to the worker through touch panel  29 . 
     Next, with reference to the flow chart illustrated in  FIG. 13 , the procedure of executing the cable installation operation including the insertion of cable  14  into connector  16  by electronic device assembling apparatus  1  in the exemplary embodiment and the lock operation will be described. Here, an example in which one cable  14  is installed on the corresponding connector  16  will be described. However, the same operation is performed when another cable  14  is installed on corresponding connector  16 . Before the cable installation work is performed, work stage  22  holds electronic device  2  as a work target in advance. At this time, lock members  17  of all connectors  16  included in electronic device  2  are brought into the opening posture. 
     In the cable installation operation, first, the position of electronic device  2  is adjusted (electronic device position adjusting step in step ST 1  illustrated in  FIG. 13 ). Specifically, work stage  22  is operated, and the outer surface (surface on which reinforcing plate  15  is installed) of cable  14  which is about to be inserted into connector  16  from now rotates around the up and down axis so as to face the tip portion of chuck block  59 . 
     After the position adjustment of electronic device  2  is performed, as illustrated in  FIG. 14 , air blow nozzle  24  provided corresponding to connector  16  as an insertion target of cable  14  blows air  24   a  toward lock member  17  of connector  16  for a predetermined time (air blow step of step ST 2 ). Accordingly, even if lock member  17  is in the half open state, lock member  17  is set in the opening posture. 
     When air is blown to locking member  17 , locking unit opening/closing sensor  45  inspects whether or not locking member  17  of connector  16 , as an insertion target of cable  14 , is in the opening posture (in opening posture inspecting step of step ST 3 ). Specifically, robot unit  27  moves head unit  28  to position locking unit opening/closing sensor  45  above connector  16  ( FIG. 10 ). Then, as described above, by irradiating the measurement light from locking unit opening/closing sensor  45  toward connector  16  and receiving the reflected light thereof, the opening/closing state of locking member  17  provided in connector  16  is detected. 
     As a result of inspecting whether or not lock member  17  is in the opening posture, in a case where lock member  17  was not in the opening posture (in closing posture), the work is temporarily stopped and then, through touch panel  29 , the fact that lock member  17  is closed is notified (notification step in step ST 4 ). A worker who received this notification manually opens lock member  17  and performs an operation to resume the work from touch panel  29 . 
     In a case where it is detected that lock member  17  is in the opening posture in the opening posture inspecting step or in a case where the operation for resuming work is performed from the touch panel  29  after it is detected that lock member  17  is in the closing posture in the opening posture inspecting step, the cable pressing step (step ST 5 ) is executed. In the cable pressing step, cable  14  is pressed by pusher  23  so that cable  14  is in a posture that is easily held by cable holder  41 . Specifically, pusher  23  positioned at a position facing connector  16  as an insertion target of cable  14  causes movable piece  23   b  to protrude toward the side of cable  14  ( FIG. 15A → FIG. 15B ). Accordingly, since the intermediate portion of cable  14  is pressed toward the side of connector  16  by movable piece  23   b  and the posture is changed so that the head of the upper end portion (tip portion) is lowered ( FIG. 15B ), cable holder  41  is likely to hold cable  14 . At this time, pusher  23  continues to press cable  14  until the cable holding step described below is completed. 
     When cable  14  is pressed by pusher  23 , robot unit  27  moves head unit  28  to hold cable  14  in cable holder  41  (cable holding step in step ST 6 ). Specifically, cable holder  41  operates to insert blade  56  into gap  15 S between cable  14  and reinforcing plate  15  and scoop up ( FIG. 16A → FIG. 16B ). Then, chuck block  59  is brought close to blade  56  ( FIG. 17A → FIG. 17B ), and reinforcing plate  15  is interposed between upper surface  56   a  of blade  56  and lower surface  59   a  of chuck block  59  to hold cable  14 . Accordingly, tip portion  14 S of cable  14  is in a state of protruding from the distal end of chuck block  59  ( FIG. 17B ). 
     Here, as described above, before cable holder  41  holds cable  14 , pusher  23  presses cable  14  so that cable  14  is in a posture that is likely to be held by cable holder  41 . 
     Therefore, the occurrence of holding mistake of cable  14  by cable holder  41  is unlikely to occur. 
     When cable holder  41  holds cable  14  in the cable holding step, a plurality of spike claws  59 S provided on lower surface  59   a  of chuck block  59  bites slightly into the surface of reinforcing plate  15 . Therefore, a slip of reinforcing plate  15  with respect to chuck block  59  is prevented, and reinforcing plate  15  is firmly held by blade  56  and chuck block  59 . Here, when cable  14  is caught between chuck block  59  and blade  56  together with reinforcing plate  15 , even in a case where cable  14  is deformed such as a warped shape and a wavy shape, the deformation thereof is corrected. 
     When cable holder  41  holds cable  14  as described above, cable  14  is provisionally positioned with respect to connector  16  (provisional positioning step in step ST 7 ). In the temporary positioning of cable  14 , robot unit  27  moves head unit  28  so that tip portion  14 S of cable  14  approaches connector  16  in a horizontal posture. Then, both tip portion  14 S of cable  14  and connector  16  are positioned within an image capturing area of camera  82  ( FIG. 18 ). 
     When cable  14  is temporarily positioned with respect to connector  16  as described above, illumination unit  43  illuminates cable  14  held by cable holder  41 , and camera  82  images connector  16  together with cable  14  under the illumination of illumination unit  43  (imaging step in step ST 8 ). When illumination unit  43  illuminates in the imaging step, first light emitting body  72 A emits light with a relatively high illuminance than second light emitting body  72 B. Therefore, the two side edges of cable  14  passing through region LR ( FIG. 19 ) parallel to the arrangement direction (Y-axis direction) of first light emitting body  72 A (side edges of cable  14  parallel to the insertion direction with respect to connector  16 ) is illuminated brighter than other areas, and the edges thereof can be accurately recognized. 
     As described above, in the exemplary embodiment, in the imaging step, illumination unit  43  illuminates the cable so that the side edge of cable  14  parallel to the insertion direction with respect to connector  16  is relatively brighter than the other portion of cable  14 . 
     Under the illumination by illumination unit  43  as described above, camera  82  images connector  16  and tip portion  14 S of cable  14 . When camera  82  images connector  16  and cable  14 , controller  90  recognizes the relative positional relationship between tip portion  14 S of cable  14  and connector  16  based on the captured image (recognition step in step ST 9 ). 
       FIG. 20  illustrates an example of an image (referred to as captured image GZ) obtained in the imaging step. In captured image GZ, together with the tip portion of chuck block  59  of cable holder  41  and tip portion  14 S of cable  14  held by chuck block  59 , connector  1   b  before cable installation in a state where lock member  17  is in the opening posture is illustrated. Since the positional relationship between camera  82  and chuck base  55  is fixed and chuck block  59  moves only in the Y-axis direction in a plan view along chuck base  55 , the orientation of chuck block  59  in captured image GZ is always constant. 
     On the other hand, the orientation of cable  14  held by cable holder  41  and the orientation of connector  16  are not constant with respect to captured image GZ. Therefore, when inserting cable  14  into connector  16 , the relative positional relationship between cable  14  and connector  16  is acquired based on obtained captured image GZ, and it is necessary to perform formal positioning (positioning of cable  14  with respect to connector  16 ) so that the position of tip portion  14 S of cable  14  with respect to connector  16  becomes a predetermined positional relationship. 
     In the example illustrated in  FIG. 20 , the positions of two locations (R 1  and R 2 ) at the corners of tip portion  14 S of cable  14  are recognized as the recognition points on a side of cable  14 . In addition, the positions of two locations (R 3  and R 4 ) on the corner portion of connector  16  facing cable  14  and the position of one location (R 5 ) on the rear corner portion of one (R 3 ) of two portions are recognized as recognition points of connector  16 . The intermediate position between two recognition points (R 1  and R 2 ) on a side of cable  14  is obtained as the position of the representative point (cable-side representative point PM 1 ) on the side of cable  14 . In addition, the intermediate position between recognition points (R 3  and R 4 ) on a side of connector  16  is obtained as the position of the representative point (connector-side representative point PM 2 ) on the side of connector  16 . Further, the orientation of connector  16  (direction around Z-axis) is obtained from the positions of two recognition points (R 3  and R 5 ) on the side of connector  16 . 
     In the imaging step in which camera  82  images cable  14  and connector  16 , as described above, first light emitting body  72 A of illumination unit  43  emits light with a relatively high illuminance than second light emitting body  72 B. Therefore, cable  14  is illuminated so that the two sides of cable  14  parallel to the insertion direction with respect to connector  16  are brighter than the other portions. As a result, it is possible to accurately recognize the positions of two recognition points (R 1  and R 2 ) at the corners of tip portion  14 S of cable  14 , which is relatively difficult to detect. In addition, in the imaging step, since connector  16  is in a state of facing tip portion  14 S of cable  14 , the positions of the three recognition points (R 3 , R 4 , and R 5 ) on the side of connector  16  can also be accurately recognized. 
     As described above, the position of the cable-side representative point PM 1 , the position of the connector-side representative point PM 2 , and the orientation of connector  16  are recognized. Thereafter, cable  14  is positioned with respect to connector  16  so that the orientation of connector  16  coincides with the Y-axis direction and the distance between cable-side representative point PM 1  and connector-side representative point PM  2  is an appropriate distance (positioning step in step ST 10 ). The positioning of cable  14  with respect to connector  16  is performed by moving head unit  28  by robot unit  27 . 
     After the positioning of cable  14  with respect to connector  16 , robot unit  27  moves head unit  28  to insert tip portion  14 S of cable  14  held by cable holder  41  into cable receiving unit  16   a  of connector  16  ( FIG. 21A . Cable insertion step of step ST 11 ). At this time, robot unit  27  inserts tip portion  14 S of cable  14  obliquely from above with respect to connector  16 , and then moves cable holder  41  so that reinforcing plate  15  becomes substantially a horizontal posture ( FIG. 21B ). When tip portion  14 S of cable  14  is inserted into connector  16  as described above, even in a case where the tip of blade  56  abuts against electronic device  2  or the like, spring member  54  which is provided between moving block  53  and downward extending portion  33   a  is compressed and releases the impact. Therefore, excessive force is prevented from acting on blade  56 . 
     When the posture of cable  14  is adjusted, lock member  17  is operated by lock member operator  42  to lock cable  14  inserted in connector  16  to connector  16  (lock member operating step in step ST 12 ). Specifically, robot unit  27  moves head unit  28 , positions roller  65  of lock member operator  42  on the rear side of lock member  17  and then advances piston rod  62 R downward. Accordingly, roller  65  abuts against lock member  17  from the rear side and presses while rolling on lock member  17  ( FIG. 22A → FIG. 22B ). Accordingly, lock member  17  lies down to the closing posture, cable-side terminal  14 T is pressed against connector-side terminal  16  T, and cable  14  is locked to connector  16 . 
     In the locking member operating step, when roller  65  abuts against the rear surface side of locking member  17  and the pressing (lying down) of locking member  17  is started, cable holder  41  maintains a state of holding cable  14  ( FIG. 22A ). Here, a state where cable  14  is held means a state where cable  14  is interposed by blade  56  and chuck block  59 . Then, only after the pressing of lock member  17  by roller  65  is started, chuck block  59  is lifted with respect to blade  56 , and the pinching (chucking state) of reinforcing plate  15  is released. In other words, lock member operator  42  starts an operation of lock member  17  in a state where cable  14  inserted into connector  16  is held by cable holder  41 . 
     As described above, in the exemplary embodiment, the operation of lock member operator  42  in the lock member operating step is started in a state where cable  14  inserted into connector  16  is held by cable holder  41 . Therefore, even in a case where some disturbance acts on cable  14  before cable  14  inserted into connector  16  by cable holder  41  is locked to connector  16  by locking member  17 , it is possible to prevent cable  14  from falling off from connector  16 . 
     In addition, buffer portion  63  is provided between roller  65  and lock cylinder  62 . In the lock member operating step, when roller  65  abuts against lock member  17  in the lock member operating step, roller  65  receives an impact from lock member  17 , but the impact applied to roller  65  by buffer portion  63  is alleviated. Therefore, the impact received by roller  65  is unlikely to be transmitted to lock cylinder  62 , and lock cylinder  62  is protected from impact. 
     After the locking member operating step is completed, it is inspected whether or not locking member  17  locked by the locking member operator  42  is in the closing posture (closing posture inspecting step of step ST 13 ). Specifically, robot unit  27  moves head unit  28  to position locking unit opening/closing sensor  45  above connector  16  ( FIG. 10 ). Then, lock unit opening/closing sensor  45  irradiates measurement light from locking unit opening/closing sensor  45  toward connector  16 , and receives the reflected light thereof. Accordingly, locking unit opening/closing sensor  45  detects the opening/closing state of locking member  17  provided on connector  16  ( FIG. 22  ( c )). 
     As a result of inspecting whether or not lock member  17  is in the closing posture, in a case where lock member  17  was not in the closing posture, controller  90  temporarily stops the work and then, through touch panel  29 , the fact that lock member  17  is not closed (opened) is notified (notification step in step ST 14 ). The worker who received this notification manually closes lock member  17  and performs an operation to resume the work from touch panel  29 . 
     In a case where it is detected that locking member  17  is in the closing posture in the closing posture inspecting step, or in a case where the operation for resuming work is performed from touch panel  29  after it is detected that lock member  17  is in the opening posture in the closing posture inspecting step, assuming that cable  14  is normally connected to connector  16 , the cable installation work per one of connectors  16  is completed. In a case where the other cable  14  is installed to corresponding connector  16 , work stage  22  is rotated, work stage  22  (that is, electronic device  2 ) is relatively moved with respect to cable holder  41 , the same step is installed. 
     As described above, in electronic device assembling apparatus  1  and the assembling method (electronic device assembling method) of electronic device  2  by electronic device assembling apparatus  1  according to the exemplary embodiment, cable holder  41  holds cable  14  and inserts cable  14  into connector  16 . Therefore, it is possible to perform the operation of inserting the cable into the connector with a simple structure without using two robots in an operation for inserting the cable into the connector as in the related art. As a result, the work quality of the assembling work of the electronic device is improved. 
     In addition, in electronic device assembling apparatus  1  and the electronic device assembling method according to the exemplary embodiment, the operation of lock member  17  for locking cable  14  inserted into connector  16  to connector  16  is started in a state which cable  14  is held by cable holder  41 . Therefore, even in a case where some disturbance acts on cable  14  after cable  14  is inserted into connector  16  by cable holder  41  and before lock member  17  lies down and cable  14  is locked to connector  16 , cable  14  is prevented from falling off connector  16 . As a result, the occurrence of an assembly mistake of electronic device  2  can be prevented. 
     Although exemplary embodiments of this disclosure have been described so far, the present invention is not limited to the above-described exemplary embodiments. For example, in the above-described exemplary embodiment, cable holder  41  included in electronic device assembling apparatus  1  is configured to hold cable  14  by interposing reinforcing plate  15  provided on cable  14 . However, both side edges of cable  14  may be interposed from the side of cable  14 . In this case, reinforcing plate  15  may or may not be attached to cable  14 . 
     According to this disclosure, it is possible to perform the operation of inserting the cable into the connector with a simple configuration, and it is possible to improve the operation quality of the assembling work of the electronic device.