JPH02500504A - XYZ positioner - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] XYZ positioner Background of the invention The present invention is suitable for XY or relates to an XYZ positioner (positioning device).

A problem associated with most prior art XYZII bridges is that such mechanisms Requires either a mechanism and associated support structure or a heavy variable arm length structure. That is. The weight and bulk of the ZN line mechanism is often placed at the end of the cantilevered arm. and its weight and awards are expanded through other parts of the system. The reason is other This is because the two axes of motion must support the heavy Z-axis mechanism. Sith Z-axis machine so that the overall weight, size and complexity of the system can be reduced. It is desirable to reduce the weight of the structure.

Additionally, many prior art XYZ systems are easily adaptable to variable geometry systems. A complete Z system can be manufactured that cannot be adjusted or changed. It is desirable that such systems allow mounting between parts by simply changing the distance. Different dimensions and shapes can be created depending on the

Furthermore, in prior art XYZ systems, the area around the target area or a large area behind the target area is occluded by the mechanism. 4 sides Only the space where all the mechanisms are placed on one side of the χY perimeter and where the m precision is relatively small It is desirable that the

Summary of the invention It is an object of the present invention to provide an improved XYZ positioner.

The XYZ positioner has two variable length arms, one fixed length arm, and Information about how long it should be or how much it should be changed to and means for changing the length of the variable length arm. Connect the arms 1. Shape the pivot such that the pivot at the end of the fixed arm is fixed. to be accomplished.

The pivot that connects the two movable arms has a probe head inside the pivot structure. have The unused length of the arm can be stored in a compact manner, e.g. on a reel be done. The stiffness of the extended arm increases the section modulus of the arm as it is extended. Obtained by adding The movement of the arm is constrained in the direction perpendicular to the rotation. A means is provided to firmly hold the extended arm at the pivot. .

XYZ positioner can be assigned as desired! It can be placed in the direction of the format.

The expression "XYZ" is used for ease of description.

Other objects, features, and advantages of the present invention will be apparent from the detailed description below with respect to the attached compartments. It becomes clear from

Brief description of the drawing FIG. 1 is a tR schematic diagram of the XYZ positioner of the present invention.

Figure 2 shows the turrets forming part of the first section; the preferred means of performing pneumatically. FIG.

3A and 3B are more detailed views of the turret of FIG. 2.

FIG. 4 is a diagram illustrating the means for carrying out the probe head assembly forming part of FIG. It is.

FIG. 5 is a schematic diagram for explaining the change in the variable length arm of the first section.

FIG. 6 is a schematic diagram of a fluid distribution device to explain the operating cycle of the present invention.

FIG. 7 is a lifting diagram used in connection with describing another operating cycle of the present invention. and a schematic diagram of a mounting device.

Detailed description of the invention As mentioned above, the present invention relates to an XY or XYZ positioner.

For convenience of explanation, the XYz positioner can be placed in any direction. “XYo” Or "XYZ" is used to simplify the explanation.

To give a general overview, an XYZ positioner has two variable length arms and one fixed arm. Fixed length arms and how long the arm should be or how long it can vary. an input means for receiving information regarding whether to change the length of the variable length arm; including steps and.

Connect the arms 1. Make sure the pivot at the end of the fixed arm is fixed. form a grid.

The pivot connecting the two movable arms includes a probe head within the pivot structure. nothing. The unused length of the arm is stored on the reel in a compact manner. pull The stiffness of the extended arm is increased by increasing the section modulus of the arm when it is extended. That's what you get.

Pivot the extended arm so that its motion is constrained perpendicular to rotation. Means for secure retention in the bot bin shall be provided.

Referring now to FIG. 1, a schematic diagram of the improved XYZ positioner of the present invention is depicted. ing. The XYZ positioner consists of two variable length arms 1 and 2 and a fixed length arm. The three arms are connected by pivots 4 and 5 and a hinge 6. There is. In the embodiment, the pivots 4.5 are spaced apart by a fixed length, may be any suitable fixed arm 3, but 1 e.g. a support for a pivot 4.5. By providing a frame or by placing the pivot 4.5 in a "fixed position" Accordingly, the present invention can be refined without a fixed arm with a pivot of 4.5. Ru. The variable length arms 1 and 2 are connected to a probe head 7, which , probe 8, probe actuation and flow tube 9, and two-motion linear actuation guide. This is an attachment for Dochu 10.

The probe head 7 serves as a guide bearing for the probe 8, and the probe 8 moves in the Z direction. do. The probe 8 is moved linearly within the linearly actuated guide tube 10). Actuated in the zH line direction by the sliding visibility probe actuator and flow tube 9. Ru. This tube is connected to a pulley connected to Z drive the rigid actuator tube 41. 44 and 45 and a Z drive motor 28 acting through belt 46 The actuating tube 41 acts as a probe actuator and is driven by the motor of the flow tube 9. connected to the end.

The end of the rigid actuation tube 41 is connected to a rigid actuation guide which is fixed to the two-drive precision body 12. guided into the tube 16.

One end of the flexible linear actuation guide tube 10 is a Z-driven rigid actuation guide tube. 16, and the other end is connected to the probe guide tube 15 of the probe head 7. It is locked to. The linear operation guide tube 10 serves as a probe operation and flow guide tube. Provides support, linear bearing surface, and accuracy for tube 9.

Fluid flow to probe 8 can be controlled by any pressure source, such as a pump or pressurized source. caused by means. Fluid is fluid source/tube assembly #, 43 to rigid Z It is supplied to the end of the actuating tube 41 of the drive, and is connected to the probe actuating and flow tube 9 and and probe 8 to reach the target in target area 30 .

Adjustable length arms 1 and 2 are made of curved spring steel similar to carpenter's tape. It is desirable to make Arm movement perpendicular to the XY plane is carried out by the arm guide bearing 33. be restrained. Stepper drive motors 19 and 20 control the length of arms 1 and 2. and obtain the XY position of the probe 8 within the target area 3o. Stepper motor 19 and and 20 are operated through rubbing drive wheels 21 and 22 and pinch rollers 23 and 24. to move arms 1 and 2 in and out.

When the length of the variable length arm changes, arms 1 and 2 are attached to the arm storage reel 17 and It can be rolled up and pulled out.

These reels are powered by a take-up spring motor or electric motor similar to carpenter's tape. and other winding means such as slip clutches.

Turrets 13 and 14 are supported at stationary turret pivot points 4 and 5. Ru. The turrets 13 and 14 have arm storage reels 17 and 18 and a stepper. Motors 19 and 20, rubbing drive wheels 21 and 22, and pinch roller 2 3 and 24, the pressure roller 34, the guide bearing roller 33, and the turret frame. The turret 13 includes the turret 14 and the turret 14. It is a mirror image.

The host computer 32 converts the desired XYz coordinates via a suitable electrical cable. Send to troller 29. The controller 29 receives the XYZ coordinates and converts these coordinates into Two arm motors 19 and 20 and Z drive motor 2 are converted into motor control information. Drive 8.

The present invention can increase the section modulus to increase the stiffness of the arm, and this This is a thin film that curves in the same way that carpenter's tape curves when it is pulled out. This is obtained by making the variable length arms 1 and 2 from thick tape. This curvature is As shown in Figure 2, it lies within a plane perpendicular to the longitudinal direction of the arm. the arm is retracted When the arm is wound up on the arm storage reels 17 and 18, the cross section of the arm is The surface becomes flat. The arm guide in the arm storage reel assembly will prevent the arm from retracting. When being untied, arms 1 and 2 are prevented from unraveling. arm length The means to change the height are rack and pinion, I:! Vibrator moving body, hydraulic or other structure any type of linkage, such as a built-in actuator.

FIG. 2 illustrates one method of implementing the turret system of the present invention, turret 14. is illustrated in FIG. 2 and in greater detail in FIGS. 3A and 3B. A bottom frame 38 is attached to a base plate 39, and a bottom frame 38 is attached to a base plate 39. realizes a fixed length arm 3 and is supported by a gusset 40.

Arm movement perpendicular to the XY plane is constrained by a guide bearing system. Possible The variable length arm 2 has a flanged arm guide bearing 33 and the arm 2 and the arm guide. A pressure roller 34 that maintains contact with a bearing 33 moves perpendicular to the XY plane. There is no such thing. The edge of the arm 2 is placed in the bearing groove 35.

A stepper drive motor commanded by a computer 32 and two controllers. The motor 20 moves the arm 2 in and out via a friction drive wheel 22. pinch low The roller 24 includes a pinch roller preload spring 36 and a pinch roller pivot. The arm 37 pushes the arm 2 onto the friction drive wheel 22. The fourth section shows one form of the detailed mechanism of the probe head 7.

-115, and the probe guide tube 15 is fixed to the inside of the hinge 6. It is fixed to the section 10 and acts as a linear protective guide for the section 8. Made by linear probe A dynamic/flow tube 9 is connected to one end of the probe 8.

The probe 8 has two linear probe guide bearings 11 and a rigid protective probe guide. It is guided into the probe head 7 by an id tube 15 . probe head 7 also controls the relative position of arms 1 and 2 as they extend and retract. It includes a hinge 6 with two hinge bearings 423 to allow angular movement. Ru. The linear probe guide bearing 11 is installed inside the hinge 6 connected to the arm 2. attached, allowing both rotational and linear movement of the probe 8 . The outside of the hinge 6 is connected to the arm 1 and has a limited arc via a hinge bearing 42. can be pivoted around the inside of the hinge 6 within a range of .

Probe head 7 may include any type of suitable hinge mechanism. plow The input of the valve actuation and flow tube 9 can be adjusted to accommodate liquid, gas, or can be connected to any source of gas, vacuum, light or pressure. tube out The force is coupled to the probe head and can be either liquid, gas, vacuum, light or pressure. Can be carried.

Z-drive prime mover with or without locating the Z-drive prime mover on the arm to the probe via a linear actuator similar to a bicycle brake cable. can be connected to a host.

The Z drive actuation means may be separate from the flow tube, near couple or other means. It is also possible to use The XYz positioner is preferably a flexible Z drive member. Contains a hollow tube.

The present invention provides that the variable length arms 1 and 2 of FIG. Arranged at an angle! It is possible to incorporate a third variable length arm.

The drive system may be either open loop control or seven-head loop control. . Stepper motors, servo motors and encoders, synchronous motors, hydraulic motors or in combination with pneumatic motors, or other rotary or linear motion devices. Can be modified to match. The arm is driven by friction rollers, may also be by soto or other means; The present invention has a tool holder and a tool that can be drilled by simply changing the tool manually or automatically. Detachable, capable of performing many different functions such as welding, soldering, rotating, moving, etc. It is possible to incorporate flexible modular tools into the probe head. 1 tool The equipment used, whether removable or fixed to the 0-block head. The tool may be electrically, hydraulically, or pneumatically powered. XY2 motion and 6. Can be incorporated into the head with one or more rotational motions to provide rotational motion. Use the motor as an encoder to make it a digitizer instead of a positioner! Exchange Good too.

Next, referring to Section 5, the variable length arm, how B can be changed to any desired A diaphragm for illustrating movement to positions Xn, Yn in the X)' direction. It is depicted.

In Figure 5, by changing the lengths of arms and arms B, It is possible to change the position of the bonding point of the membrane to a desired value iXn, Yn. Arm A and The required arm lengths of arms A and B are as follows if the fixed length between arms A and B is C'. It goes through.

An= (Yn-Yo) 2-(Xh-XO) 2Bn= (Yn-'1'O ) 2-<XC-Xn) 2 where Xn and Yn are desired positions.

Therefore, if the fixed length distance C is equal to 4.5 inches (11,43c3), The desired position XI, Yl is x, =: 2.25 inches (5,715c++a) or and Y1 = 41 = 4 (10,16 cm), then the requirements for arms A and B are The length is AH = 4.589 inches (11,66CII), Bl = 4.589 inch (11,66 cm>).

The fixed arm length C is 4.5 inches (11,43■) and the desired position is X2= 3. Finch (9,40c+n), Y2 = 3. Finch (9,401) place In this case, the variable arm length is A2 = 5.233 inches < 13.29 cm), B2 = 3.785 inches (9,61 cm).

Giving appropriate control commands for desired positions in the XY or XYZ directions The required modification of the variable length arm can be easily calculated by:

Referring now to FIG. 6, a fluid distribution system incorporating features of the present invention is depicted. An operating cycle for a fluid distribution system incorporating features of the present invention is shown in FIG. A related explanation will be given in detail.

By changing the length of the two variable length arms, the XY position of the probe can be adjusted as desired. can be changed as desired. The Z motion controller moves the printer at any X-Y position. The robe can be raised and lowered into and out of containers. fluid part The device is capable of aspirating and dispensing fluid with the probe.

A typical sequence is as follows (the system elements used for the function are (shown in parentheses).

1. Move the 10-bu to position A (X-Y).

2. Lower the probe into the fluid (Z).

3. Aspirate fluid from A into the probe (fluid distributor).

4. Raise the probe from A (Z).

5. Move the probe to position 1 (X-'l').

6. Lower the probe to just above position l (Z).

7. Distribute fluid to location 1 (fluid distributor).

8. Raise the probe <2>.

9. Move the probe to position IBX)').

10. Lower the probe into the fluid (Z).

11. Aspirate fluid from B to the probe (fluid distributor).

12. Raise the probe (Z).

13.Move to position 2 (X-'1'), 14.10-Move all parts to position 2. Move up and lower (Z).

15. Distribute fluid to location 2 (fluid distributor).

16. Raise the 10-bu (2).

By using X-Y elements, Z elements and fluid distribution elements, the movement of the officer The combinations can be combined into a sequence as described above.

In accordance with another aspect of the invention, the example of the "Lifting and Loading 1" application is shown in the seventh example. Explanation will be made in conjunction with the figure.

Figure 7 shows the case where the drug type circuit (IC> and the printed circuit F!@board are installed. Ru. Pickers such as the XYZ positioner and vacuum pickup head of the present invention By using a chipping device, the IC part can be placed at the required desired value 1 on the printed circuit board. The product can be easily installed.

A typical sequence of operating cycles of the present invention in lifting and 11M applications is: Related to District 7 are as follows (again, the system elements used for the function are (shown inside).

1. Move the head to pickup position 11 (X-Y).

2. Lower the head and bring it into contact with the IC (2).

3. Turn on the vacuum and raise the rct (vacuum source).

4. Raise the head (Z), 5. Move to position fIc1 (X-Y).

6. Lower the head and place the IC on the printed circuit board! <(Z).

7. Turn off the vacuum and release the IC (vacuum source).

8. Raise the head (Z).

9. Pick up position! Move to 2 (X-Y).

10. Lower the head and contact the IC (Z).

11. Turn on the vacuum and lift the IC (vacuum source).

12. Raise the head (Z).

13. Move to position IC2 (X-Y).

14. Lower the head and place the IC 1<(Z) on the printed circuit board.

15. Turn off the vacuum and release the IC (vacuum source).

16. Raise the head (Z).

Features of the invention have numerous applications, such as fluid distribution systems or lifting and Not limited to N1 applications, the t-invention can be used to It can be used virtually at any time for the purpose of the required appointment form. Therefore, the features of the present invention are It should only be considered in connection with the claims appended hereto.

Engraving (no changes to the content) 滲＠(No change in content) Engraving (no changes to the content) Engraving (no changes to the content) Fluid flow and operation F! G, -4 Ba) Procedural amendment (formality) Month, Heisei” Yoshi, Commissioner of the Patent Office 1) Takeshi Moon 1. Indication of incident PCT/US 88/O227:L2, Name of invention xyz positioner 3. Person who makes corrections Relationship to the case: Applicant 5. Date of amendment order: November 7, 1999 6. Subject of amendment: Article 184 of the Patent Law 5 Patent applicant column in the document pursuant to the provisions of paragraph 1 international search report

Claims (1)

[Claims] 1. first and second variable length arms; a pivot linking the first and second arms together to form a variable pivot position; pivot means for connecting said first and second arms in pivoting relationship; a control hand for changing the lengths of the first and second arms to obtain a desired XY position; step by step, An XY positioner characterized by having: 2. first and second variable length arms; A third arm of fixed or variable length and the first and second arms are connected to each other. said first, second and third arms in a pivoting relationship to form a variable pivot position; pivot means for connecting the arms; a control hand for changing the lengths of the first and second arms to obtain a desired XY position; step by step, An XY positioner characterized by having: 3. first and second variable length arms; a pivot linking the first and second arms together to form a variable pivot position; pivot means for connecting said first and second arms in pivoting relation; Each of the variable length arms is configured to provide suitable stiffness when each of said arms is extended. A stable XY position is obtained with a sufficient section modulus, and the control means for changing the length of the arm to obtain a desired XY position; An XY positioner characterized by having: 4. 4. The XY positioner according to claim 3, wherein the positioner is located at the pivot position. an XY device comprising a flexible actuator of linear type coupled to the positioner. 5. In fluid suction and dispensing devices, the XY positioner is first and second variable length arms; a pivot linking the first and second arms together to form a variable pivot position; pivot means for connecting said first and second arms in a stable relationship; To obtain the XY position, each of the variable length arms is The first and second sections have a sufficient section modulus to provide appropriate stiffness when a control means for changing the length of the two arms to obtain a desired XY position; A device further comprising: 6. first and second variable length arms; a pivot linking the first and second arms together to form a variable pivot position; pivot means for connecting said first and second arms in pivoting relationship; a control hand for changing the lengths of the first and second arms to obtain a desired XY position; and a step, the control means controlling the position of the pivot position to a desired Z position. An XYZ positioner further comprising means for positioning the XYZ positioner. 7. 7. The XYZ positioner according to claim 6, wherein the pivot position of the positioner 8. A linear type flexible actuator connected to the XYZ position according to claim 7 in the Z position, the flexible actuator adjusts the desired distribution at the Z position. An XYZ positioner comprising means for conveying fluid for performing. 9. 9. The XYZ positioner of claim 8, wherein the flexible actuator is An XYZ positioner characterized by an automatic lubrication type. 10. In a fluid aspiration and/or dispensing device, first and second variable length arcs are provided. Mu and a third fixed length arm; a pivot linking the first and second arms together to form a variable pivot position; pivot means for connecting said first and second arms in pivoting relationship; a control hand for changing the lengths of the first and second arms to obtain a desired XY position; and a step, the control means controlling the position of the probe position to a desired Z position. a flexible probe coupled to the probe location and the dispensing device; the positioner having one or more desired XY positions; further comprising means for controlling distribution of fluid through said flexible cable means, said Device characterized in that fluid is aspirated or dispensed at specific XYZ locations . 11. connecting first and second variable length arms and the first and second arms to each other; the first and second arms are coupled in a pivoting relationship to form a variable pivot position; a pivot means for connecting the control means for changing the lengths of the first and second arms to obtain a desired XY position; a position in which the control means controls the position of the pivot position to a desired Z position; An XYZ positioner further comprising actuator means. 12. connecting first and second variable length arms and the first and second arms to each other; the first and second arms are coupled in a pivoting relationship to form a variable pivot position; a pivot means for connecting the Control for changing the length of the first and second arms to obtain a desired XYZ position means and An XYZ positioner characterized by having.