CN102825594A - Multi-robot system and electronic component assembling machine - Google Patents
Multi-robot system and electronic component assembling machine Download PDFInfo
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- CN102825594A CN102825594A CN2012102021569A CN201210202156A CN102825594A CN 102825594 A CN102825594 A CN 102825594A CN 2012102021569 A CN2012102021569 A CN 2012102021569A CN 201210202156 A CN201210202156 A CN 201210202156A CN 102825594 A CN102825594 A CN 102825594A
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- robot
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
Abstract
The present invention aims to provide a multi-robot system and an electronic component assembling machine which restrain interferences among a plurality of robot units according to the varieties of replacement parts. The multi-robot system is provided with a control apparatus (61) and a plurality of robot units (9f, 9r) driven by the control apparatus (61) and provided with the removable replacement part (70), wherein at least a part of tracks of the robot units (9f, 9r) are overlapped with each other, and the control apparatus (61) can recognize positions of the robot units (9f, 9r), and monitor the interferences among the robot units (9f, 9r) based on relative distances (Lx, Ly) among the robot units (9f, 9r) and braking distances (Sx1, Sx2, Sy1, Sy2) of the robot units (9f, 9r), wherein the braking distances differ based on the varieties of the replacement part (70).
Description
Technical field
The electronic part mounting that the present invention relates to possess a plurality of robot cells' multi-robot system and possess this multi-robot system.
Background technology
In multi-robot system, a plurality of robot cells' track is overlapping sometimes.In this case, according to a plurality of robot cells' action, a plurality of robot cells may disturb each other.Therefore, a kind of disturbance restraining method that suppresses a plurality of robot cell's interferences is disclosed in patent documentation 1,2.
Patent documentation
[patent documentation 1] TOHKEMY 2011-14592 communique
[patent documentation 2] TOHKEMY 2006-68857 communique
Yet, in the robot cell, dispose the replacing parts sometimes.For example, on the robot cell's of electronic part mounting installation head, dispose removable suction nozzle.Changing under the situation about varying in weight of parts according to the kind of changing parts, when changing changing parts, robot cell's braking distance changes.In patent documentation 1,2 and unexposed with this replacing parts the corresponding disturbance restraining method of kind.
Summary of the invention
Multi-robot system of the present invention and electronic part mounting are accomplished in view of above-mentioned problem.The object of the invention is to provide a kind of multi-robot system and electronic part mounting that suppresses a plurality of robot cell's interferences corresponding to the kind of changing parts.
(1) in order to solve above-mentioned problem, multi-robot system of the present invention possesses: control device; Reach a plurality of robot cells that drive and have removable replacing parts by said control device; Said multi-robot system is characterised in that; At least a portion of a plurality of said robot cells' track overlaps each other; Said control device can be discerned a plurality of said robot cells' position, and based on the relative distance between a plurality of said robot cells and according to the kind of said replacing parts and different said robot cells' braking distance is monitored a plurality of said robot cell's interferences.
According to multi-robot system of the present invention, monitor a plurality of robot cell's interferences based on relative distance between a plurality of robot cells and robot cell's braking distance.Therefore, even under the situation that robot cell's braking distance changes, also can suppress a plurality of robot cell's interferences being accompanied by the replacing of changing parts.
(2) preferably, in the structure of above-mentioned (1), as X axle, Y axle, said multi-robot system possesses the base that has along the shared guide portion of Y axle of said Y direction extension with cross one another axle; A plurality of said robot cells comprise: first robot cell; Have: Y axle first robot has by the guiding of the shared guide portion of said Y axle the robot body that moves along said Y direction and X axle first guide portion that is configured in that said robot body goes up and extends along said X-direction; X axle first robot has the robot body who is moved along said X-direction by said X axle first guide portion guiding; And said replacing parts, be disposed at removable mode on the said robot body of said X axle first robot; And second robot cell, have: Y axle second robot has by the guiding of the shared guide portion of said Y axle the robot body that moves along said Y direction and X axle second guide portion that is configured in that said robot body goes up and extends along said X-direction; X axle second robot has the robot body who is moved along said X-direction by said X axle second guide portion guiding; And said replacing parts, be disposed at removable mode on the said robot body of said X axle second robot; It is Y axle monitoring distance that said control device is axially looked non-overlapped the monitoring distance of switching between the state on the said Y direction at the axial apparent weight overlapping state of Y and Y; Wherein, The axial apparent weight overlapping state of said Y is the state that at least a portion of said first robot cell's when said Y direction is observed said replacing parts and said second robot cell's said replacing parts overlaps each other, and said Y axially looks non-overlapped said replacing parts that state is said first robot cell during from said Y direction observation and said second robot cell's the nonoverlapping state of said replacing parts.
The multi-robot system of this structure possesses base, first robot cell, second robot cell.Base possesses the shared guide portion of Y axle.First robot cell possesses Y axle first robot, X axle first robot, changes parts.Y axle first robot possesses robot body, X axle first guide portion.The robot body of Y axle first robot is moved along Y direction by the shared guide portion guiding of Y axle.X axle first robot possesses the robot body.The robot body of X axle first robot is moved along X-direction by the guiding of X axle first guide portion.Changing parts can change with respect to the robot body.Second robot cell has the structure same with first robot cell.
The robot body of the robot body of Y axle first robot and Y axle second robot moves along Y direction by the shared guide portion guiding of Y axle.Therefore, first robot cell and second robot cell possibly disturb from Y direction.
Here; First robot cell and second robot cell away from situation under (particularly; When X-direction is observed; The situation that first robot cell's replacing parts and the nonoverlapping X axle of second robot cell's replacing parts are observed non-overlapped state), be categorized into two following states from observed first robot cell's of Y direction replacing parts and second robot cell's replacing position component relation.One is the axial apparent weight overlapping state of Y that at least a portion of replacing parts of first robot cell's replacing parts and second robot cell overlaps each other.Another is that first robot cell's replacing parts and second robot cell's the nonoverlapping Y of replacing parts axially look non-overlapped state.
Under the axial apparent weight overlapping state of Y, first robot cell and second robot cell from Y direction near the time disturb be mutual replacing parts each other.With respect to this, axially look non-overlapped under the state at Y, first robot cell and second robot cell from Y direction near the time, change parts and advance each other differently.Therefore, see that mutual replacing parts do not disturb each other from Y direction.According to this structure, axially look non-overlapped switching Y axle monitoring distance between the state at axial apparent weight overlapping state of Y and Y.Therefore, can suppress first robot cell and second robot cell's interference more accurately.
(3) preferably, in the structure of above-mentioned (2), said control device is that Y axle relative distance is switched said Y axle monitoring distance according to said first robot cell and the relative distance of said second robot cell on said Y direction.According to this structure, first robot cell and second robot cell along Y direction near the time and away from the time, can switch Y axle monitoring distance.
(4) preferably, in each structure in above-mentioned (1) to (3), said control device is the slave control device that is connected and drives said robot cell with host control device.
According to this structure,, can monitor a plurality of robot cell's interferences through slave control device.That is, need not wait for indication, just can monitor a plurality of robot cell's interferences from host control device.And, under the situation that takes place to disturb when driving a plurality of robot cell, can ignore from the indication of host control device a plurality of robot cells are stopped from the driving of host control device indication.
(5) in addition, in order to solve above-mentioned problem, electronic part mounting of the present invention is characterised in that to possess the multi-robot system of each structure in above-mentioned (2) to (4), and said replacing parts are the installation head with the suction nozzle that is used for stick electronic components.
According to electronic part mounting of the present invention, on one side can monitor a plurality of robot cells' interference, Yi Bian use a plurality of installation head that electronic component is installed on substrate.And, even under the situation that robot cell's braking distance changes, also can suppress a plurality of robot cell's interferences in the replacing that is accompanied by installation head.
The invention effect
According to the present invention, a kind of multi-robot system and electronic part mounting that suppresses a plurality of robot cell's interferences corresponding to the kind of changing parts can be provided.
Description of drawings
Fig. 1 is the vertical view of the electronic part mounting of an embodiment of the present invention.
Fig. 2 is the block diagram of this electronic part mounting.
Fig. 3 is the diagrammatic top view of relative distance that is used to explain first robot cell and second robot cell of this electronic part mounting.
Fig. 4 is the diagrammatic top view of X rays close critical distance that is used to explain first robot cell and second robot cell of this electronic part mounting.
Among Fig. 5; (a) being the diagrammatic top view of Y axle first interference distance that is used to explain first robot cell and second robot cell of this electronic part mounting, (b) is the diagrammatic top view of Y axle second interference distance that is used to explain first robot cell and second robot cell of this electronic part mounting.
Fig. 6 has been to use the flow chart (its 1) of the interference method for supervising of this electronic part mounting.
Fig. 7 is the flow chart (its 2) of this interference method for supervising.
Among Fig. 8; (a) being that first robot cell and second robot cell's of this electronic part mounting step 1 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 1 is the diagrammatic top view of situation not.
Among Fig. 9; (a) being that first robot cell and second robot cell's of this electronic part mounting step 2 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 2 is the diagrammatic top view of situation not.
Among Figure 10; (a) being that first robot cell and second robot cell's of this electronic part mounting step 8 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 8 is the diagrammatic top view of situation not.
Among Figure 11; (a) being that first robot cell and second robot cell's of this electronic part mounting step 14 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 14 is the diagrammatic top view of situation not.
Among Figure 12; (a) being that first robot cell and second robot cell's of this electronic part mounting step 17 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 17 is the diagrammatic top view of situation not.
Among Figure 13; (a) being that first robot cell and second robot cell's of this electronic part mounting step 8 is the diagrammatic top view of the situation that is, (b) is that first robot cell and second robot cell's of this electronic part mounting step 8 is the diagrammatic top view of situation not.
Label declaration
1: electronic part mounting, 2: substrate transfer apparatus, 3f: component supplying apparatus, 3r: component supplying apparatus; 4f:X axle first robot, 4r:X axle second robot, 5f:Y axle first robot, 5r:Y axle second robot; 6: composite control apparatus, 7f: installation head, 7r: installation head; 8: base, 9f: first robot cell, 9r: second robot cell;
20: conveyer, 21: carrying motor, 30f: tape feeder, 30r: tape feeder, 40f:X axle motor; 43f: robot body, 43r: robot body, 50f:Y axle motor, 52f:X axle first guide rail (X axle first guide portion), 52r:X axle second guide rail (X axle second guide portion); 53f: robot body, 53r: robot body, 60: host control device, 61: control device of electric motor (slave control device); 70: suction nozzle, 71f:Z axle motor, 72f: θ axle motor, 73f: head main body; 73r: head main body, 74f: storage part, 80:Y axis rail (the shared guide portion of Y axle), 80L: bridge portion; 80R: bridge portion, 81: base body, 90f: element camera, 90r: element camera;
600: input/output interface, 601: operational part, 602: storage part;
B: substrate, Lx:X axle relative distance, Ly:Y axle relative distance; Rx:X rays close critical distance, Ry1:Y axle first interference distance (Y axle monitoring distance), Ry2:Y axle second interference distance (Y axle monitoring distance); Sx1:X axle first braking distance; Sx2:X axle second braking distance, Sy1:Y axle first braking distance, Sy2:Y axle second braking distance.
The specific embodiment
Below, the embodiment of electronic part mounting of the present invention is described.
< structure of electronic part mounting >
The structure of the electronic part mounting of this embodiment at first, is described.In following figure, left and right directions is corresponding to " X axle " of the present invention, and fore-and-aft direction is corresponding to " Y axle " of the present invention.Fig. 1 representes the vertical view of the electronic part mounting of this embodiment.Fig. 2 representes the block diagram of this electronic part mounting.Like Fig. 1, shown in Figure 2, electronic part mounting 1 possesses substrate transfer apparatus 2, component supplying apparatus 3f, 3r, the first robot cell 9f, the second robot cell 9r, composite control apparatus 6, base 8, element camera 90f, 90r.
[base 8]
[substrate transfer apparatus 2, component supplying apparatus 3f, 3r]
Component supplying apparatus 3f is configured in the leading edge of base body 81.Component supplying apparatus 3f possesses a plurality of tape feeder 30f.Dispose a plurality of electronic components at tape feeder 30f.Component supplying apparatus 3r and component supplying apparatus 3f likewise are configured in the trailing edge of base body 81.
[element camera 90f, 90r]
Element camera 90f is configured in the place ahead of the upper surface and the substrate transfer apparatus 2 of base body 81.Element camera 90r and element camera 90f likewise are configured in the rear of the upper surface and the substrate transfer apparatus 2 of base body 81.Element camera 90f, 90r can from the below take by after the electronic component of suction nozzle 70 absorption stated.
[the first robot cell 9f]
The first robot cell 9f possesses X axle first 4f of robot, Y axle first 5f of robot, installation head 7f.Y axle first 5f of robot possesses Y axle motor 50f, a pair of X axle first guide rail 52f, robot body 53f up and down.The X axle first guide rail 52f is included in the notion of " X axle first guide portion " of the present invention.Robot body 53f is configured to and can slides along fore-and-aft direction with respect to pair of right and left Y axis rail 80.The a pair of up and down X axle first guide rail 52f is configured in the back surface of robot body 53f.The X axle first guide rail 52f extends along left and right directions.Y axle motor 50f is along fore-and-aft direction drive machines human agent 53f.Y axle motor 50f is a servomotor, and possesses encoder (not shown).After the control device of electric motor stated 61 control Y axle motor 50f.
X axle first 4f of robot possesses X axle motor 40f, robot body 43f.Robot body 43f is configured to and can slides along left and right directions with respect to a pair of X axle first guide rail 52f up and down.X axle motor 40f is along left and right directions drive machines human agent 43f.X axle motor 40f is a servomotor, and possesses encoder (not shown).After the control device of electric motor stated 61 control X axle motor 40f.
The head main body 73f of installation head 7f can freely move along left and right directions by X axle first 4f of robot, and can freely move along fore-and-aft direction by Y axle first 5f of robot.And suction nozzle 70 can move downwards with respect to head main body 73f.
[the second robot cell 9r]
The second robot cell 9r possesses X axle second 4r of robot, Y axle second 5r of robot, installation head 7r.Y axle second 5r of robot is configured in the rear of Y axle first 5f of robot.The structure of Y axle second 5r of robot is identical with the structure of Y axle first 5f of robot.And, symmetry before and after being configured to of the configuration of Y axle second 5r of robot and Y axle first 5f of robot.That is, Y axle second 5r of robot possesses Y axle motor (not shown), a pair of X axle second guide rail 52r, robot body 53r up and down.The X axle second guide rail 52r is included in the notion of " X axle second guide portion " of the present invention.
X axle second 4r of robot is configured in the rear of X axle first 4f of robot.The structure of X axle second 4r of robot is identical with the structure of X axle first 4f of robot.And, symmetry before and after being configured to of the configuration of X axle second 4r of robot and X axle first 4f of robot.That is, X axle second 4r of robot possesses X axle motor (not shown) and robot body 43r.
Installation head 7r is configured in the rear of installation head 7f.The structure of installation head 7r is identical with the structure of installation head 7f.And, symmetry before and after being configured to of the configuration of installation head 7r and installation head 7f.That is, installation head 7r possesses Z axle motor (not shown), θ axle motor (not shown), head main body 73r, storage part (not shown), suction nozzle 70.
[composite control apparatus 6]
Control device of electric motor 61 in the same coordinate system, drives a pair of X axle motor 40f, a pair of Y axle motor 50f according to the indication from host control device 60.Therefore, control device of electric motor 61 can be discerned the position of the first robot cell 9f, the second robot cell 9r.
Storage part (not shown) at control device of electric motor 61 stores the data relevant with weight, the size of the installation head 7f that changes usefulness, 7r according to each head type.And, the Y axle first interference distance Ry1 that after storage portion stores has, states, the Y axle second interference distance Ry2, X rays close critical distance Rx.The Y axle first interference distance Ry1, the Y axle second interference distance Ry2, X rays close critical distance Rx store a plurality of according to the head type of each installation head 7f, 7r.Its reason is according to the difference of head type and the weight of installation head 7f, 7r, size are different.
< electronic component mounting method >
Next, the electronic component mounting method of the electronic part mounting of this embodiment has been used in simple declaration.At first, composite control apparatus 6 drives carrying motor 21, and substrate B is configured in the position of regulation.Next; Composite control apparatus 6 suitably drives X axle motor 40f, Y axle motor 50f, Z axle motor 71f, θ axle motor 72f; Promptly; Suitably drive X axle first 4f of robot, Y axle first 5f of robot, installation head 7f,, take out electronic component from tape feeder 30f through suction nozzle 70.Next, composite control apparatus 6 suitably drives X axle first 4f of robot, Y axle first 5f of robot, installation head 7f, electronic component is installed in the installation site of the regulation of substrate B.
And composite control apparatus 6 suitably drives X axle second 4r of robot, Y axle second 5r of robot, installation head 7r, through suction nozzle 70, takes out electronic component from tape feeder 30r.Next, composite control apparatus 6 suitably drives X axle second 4r of robot, Y axle second 5r of robot, installation head 7r, electronic component is installed in the installation site of the regulation of substrate B.
The operator promptly when changing the product adjustment, changes installation head 7f for X axle first 4f of robot when switching the substrate B of conduct production object, for X axle second 4r of robot replacing installation head 7r.The installation head 7f that installs through replacing, the data that the head type with self that 7r will be stored in storage part 74f is relevant are sent to control device of electric motor 61 via host control device 60.Control device of electric motor 61 is differentiated the installation head 7f of installation, the head type of 7r based on the data of sending.And, according to head type, the Y axle first interference distance Ry1 that uses in the interference method for supervising of stating after switching in, the Y axle second interference distance Ry2, X rays close critical distance Rx.
So, in electronic component mounting method, the first robot cell 9f and the second robot cell 9r walk abreast simultaneously and are driven independently respectively.Therefore, need the interference of the monitoring first robot cell 9f and the second robot cell 9r.
< Y axle relative distance Ly, X axle relative distance Lx, X rays close critical distance Rx, the Y axle first interference distance Ry1, the Y axle second interference distance Ry2, the Y axle first braking distance Sy1, the Y axle second braking distance Sy2, the X axle first braking distance Sx1, the X axle second braking distance Sx2 >
The definition of necessary above-mentioned each distance when next, the interference of monitoring the first robot cell 9f and the second robot cell 9r being described.In following explanation, " the inner " is meant along the inboard end of directions opposed a pair of parts of direction arbitrarily, opposed.For example, under the situation of opposed Y axle first 5f of robot (the place ahead), Y axle second 5r of robot (rear) along fore-and-aft direction, the front end of the rear end of Y axle first 5f of robot, Y axle second 5r of robot is equivalent to the inner.Under the situation of opposed installation head 7f (the place ahead), 7r (rear) along fore-and-aft direction, the rear end of installation head 7f, the front end of installation head 7r are equivalent to the inner.Under the situation of opposed installation head 7f (left), 7r (right-hand) along left and right directions, the right-hand member of installation head 7f, the left end of installation head 7r are equivalent to the inner.Under the situation of opposed installation head 7f (right-hand), 7r (left) along left and right directions, the left end of installation head 7f, the right-hand member of installation head 7r are equivalent to the inner.
[Y axle relative distance Ly]
Fig. 3 representes first robot cell and second robot cell's the diagrammatic top view of relative distance explanation usefulness of the electronic part mounting of this embodiment.As shown in Figure 3, Y axle relative distance Ly is the fore-and-aft direction distance between the inner of the inner and Y axle second 5r of robot of Y axle first 5f of robot.Control device of electric motor 61 sends position command to the Y axle motor 50f of Y axle first 5f of robot and the Y axle motor of Y axle second 5r of robot.Be the basis with this position command, the operational part of control device of electric motor 61 (not shown) is computing Y axle relative distance Ly in real time.
[X axle relative distance Lx]
X axle relative distance Lx is the left and right directions distance between the inner of installation head 7f, 7r.Control device of electric motor 61 sends position command to the X axle motor 40f of X axle first 4f of robot and the X axle motor of X axle second 4r of robot.Based on this position command, the operational part of control device of electric motor 61 is computing X axle relative distance Lx in real time.
[X rays close critical distance Rx]
Fig. 4 representes first robot cell and second robot cell's the diagrammatic top view of X rays close critical distance explanation usefulness of the electronic part mounting of this embodiment.As shown in Figure 4, X rays close critical distance Rx be installation head 7f, 7r from left and right directions further near the time left and right directions distance between the inner under installation head 7f, the 7r possibility that takes place the to disturb big state, installation head 7f, 7r.The storage portion stores X rays close critical distance Rx of control device of electric motor 61 shown in Figure 2.
[the Y axle first interference distance Ry1]
Fig. 5 (a) representes first robot cell and second robot cell's the diagrammatic top view of Y axle first interference distance explanation usefulness of the electronic part mounting of this embodiment.Fig. 5 (b) representes first robot cell and second robot cell's the diagrammatic top view of Y axle second interference distance explanation usefulness of the electronic part mounting of this embodiment.
Shown in Fig. 5 (a); From the place ahead or the rear observe; Under the state (the axial apparent weight overlapping state of Y) that at least a portion of installation head 7f, 7r overlaps each other, the first robot cell 9f and the second robot cell 9r relatively from fore-and-aft direction near the time at first disturb be installation head 7f, 7r the inner each other.The Y axle first interference distance Ry1 be installation head 7f, 7r further from fore-and-aft direction near the time the inner under installation head 7f, the 7r possibility the disturbed big state, Y axle first 5f of robot and Y axle second 5r of robot the inner between the fore-and-aft direction distance.In the notion that the Y axle first interference distance Ry1 is included in " Y axle monitoring distance " of the present invention.The Y axle first interference distance Ry1 is Y axle first 5f of robot during each other from the fore-and-aft direction butt and the fore-and-aft direction distance between Y axle second 5r of robot greater than installation head 7f, 7r.The storage portion stores Y axle first interference distance Ry1 of control device of electric motor 61 shown in Figure 2.
[the Y axle second interference distance Ry2]
Shown in Fig. 5 (b); From the place ahead or the rear observe; Under the underlapped each other state of installation head 7f, 7r (Y axially looks non-overlapped state); The first robot cell 9f and the second robot cell 9r relatively from fore-and-aft direction near the time at first disturb be " the inner of the inner of installation head 7f and Y axle second 5r of robot " reach " the inner of the inner of installation head 7r and Y axle first 5f of robot " (below, abbreviate " the inner of the inner of installation head and Y axle robot " as.）。The Y axle second interference distance Ry2 is the fore-and-aft direction distance between the inner of the inner under the big state of installation head 7f, the 7r possibility that further the inner of the inner of installation head and Y axle robot takes place to disturb when fore-and-aft direction advances, Y axle first 5f of robot and Y axle second 5r of robot.In the notion that the Y axle second interference distance Ry2 is included in " Y axle monitoring distance " of the present invention.The Y axle second interference distance Ry2 be installation head 7f, 7r during each other from the fore-and-aft direction butt Y axle first 5f of robot and below the distance of the fore-and-aft direction between Y axle second 5r of robot.That is, the Y axle second interference distance Ry2 is less than the Y axle first interference distance Ry1.The storage portion stores Y axle second interference distance Ry2 of control device of electric motor 61 shown in Figure 2.
[the Y axle first braking distance Sy1]
The Y axle first braking distance Sy1 is Y axle first 5f of robot from the beginning braking maneuver to the fore-and-aft direction distance that stops till the braking maneuver.If when the speed value to Y axle motor 50f of control device of electric motor shown in Figure 2 61 was Vy, rating speed reduction degree value (maximum deceleration value that Y axle first 5f of robot can stop safely) for ay (when speed reduces on the occasion of), the Y axle first braking distance Sy1 derived from following formula (1).
Sy1=Vy
2/ 2ay ... Formula (1)
Changing when producing adjustment, if the operator changes installation head 7f, under the situation about then stopping from identical speed, to compare with the situation that installation head 7f is light, the braking distance of Y axle first 5f of robot under the heavy situation of installation head 7f is longer.
[the Y axle second braking distance Sy2]
The Y axle second braking distance Sy2 is Y axle second 5r of robot from the beginning braking maneuver to the fore-and-aft direction distance that stops till the braking maneuver.With the Y axle first braking distance Sy1 likewise, the Y axle second braking distance Sy2 derives from above-mentioned formula (1).
Changing when producing adjustment, if the operator changes installation head 7r, under the situation about then stopping from identical speed, to compare with the situation that installation head 7r is light, the braking distance of Y axle second 5r of robot under the heavy situation of installation head 7r is longer.
[the X axle first braking distance Sx1]
The X axle first braking distance Sx1 is X axle first 4f of robot from the beginning braking maneuver to the left and right directions distance that stops till the braking maneuver.If when the speed value to X axle motor 40f of control device of electric motor shown in Figure 2 61 was Vx, rating speed reduction degree value (maximum deceleration value that X axle first 4f of robot can stop safely) for ax (when speed reduces on the occasion of), the X axle first braking distance Sx1 derived from following formula (2).
Sx1=Vx
2/ 2ax ... Formula (2)
Changing when producing adjustment, if the operator changes installation head 7f, under the situation about then stopping from identical speed, to compare with the situation that installation head 7f is light, the braking distance of X axle first 4f of robot under the heavy situation of installation head 7f is longer.
[the X axle second braking distance Sx2]
The X axle second braking distance Sx2 is X axle second 4r of robot from the beginning braking maneuver to the left and right directions distance that stops till the braking maneuver.With the X axle first braking distance Sx1 likewise, the X axle second braking distance Sx2 derives from above-mentioned formula (2).
Changing when producing adjustment, if the operator changes installation head 7r, under the situation about then stopping from identical speed, to compare with the situation that installation head 7r is light, the braking distance of X axle second 4r of robot under the heavy situation of installation head 7r is longer.
< interference method for supervising >
Next, the interference method for supervising of the electronic part mounting that has used this embodiment is described.Fig. 6 representes to have used the flow chart (its 1) of interference method for supervising of the electronic part mounting of this embodiment.Fig. 7 representes the flow chart (its 2) of this interference method for supervising.Need to prove, below shown in the interference method for supervising carry out through control device of electric motor 61.
[step 1 (S1)]
Fig. 8 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 1=of the electronic part mounting of this embodiment is.Fig. 8 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 1=denys.
In this step, use following formula (3), relatively the Y axle relative distance Ly (with reference to Fig. 3) of current time and the Y axle first interference distance Ry1 (with reference to Fig. 5 (a)).
Ry1 >=Ly ... Formula (3)
Shown in Fig. 8 (a), at current time, under the situation that formula (3) is set up, from left or right-hand observation, the state (the X axle is observed overlap condition) that overlaps each other at least a portion of installation head 7f, 7r.In this case, the first robot cell 9f and the second robot cell 9r are more approaching on fore-and-aft direction.Therefore, advance to step 2.
On the other hand, shown in Fig. 8 (b), at current time, under the invalid situation of formula (3), from left or right-hand observation, the state (the X axle is observed non-overlapped state) that does not overlap each other for installation head 7f, 7r.In this case, the first robot cell 9f and the second robot cell 9r distant leaving on fore-and-aft direction.Therefore, advance to step 14.
[step 2 (S2)]
In step 1, under the situation that formula (3) is set up, advance to step 2.Fig. 9 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 2=of the electronic part mounting of this embodiment is.Fig. 9 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 2=denys.
In this step, use following formula (4), relatively the X axle relative distance Lx (with reference to Fig. 3) of current time and X rays close critical distance Rx (with reference to Fig. 4).
Rx >=Lx ... Formula (4)
And; Use following formula (5), relatively " the X axle first braking distance Sx1 (with reference to formula (2)) and the X axle second braking distance Sx2 (with reference to formula (the 2)) sum, and the residual quantity of X axle relative distance Lx " of current time and X rays close critical distance Rx (with reference to Fig. 4).That is the deceleration of the left and right directions of the installation head 7f of consideration current time, 7r.
Rx >=Lx-Sx1-Sx2 ... Formula (5)
Shown in Fig. 9 (a), at current time, under the situation that formula (4) and formula (5) are set up simultaneously, installation head 7f, 7r are big from the possibility that the left and right directions generation is disturbed each other.In this case, advance to step 3.
On the other hand, shown in Fig. 9 (b), at current time; Under the situation that formula (4) and formula (5) are not set up simultaneously; Or under the situation that only formula (4) is set up, or under the situation that only formula (5) is set up, installation head 7f, 7r are little from the possibility that left and right directions disturbs each other.In this case, advance to the step 6 of Fig. 7.
[step 3 (S3), step 4 (S4), step 5 (S5)]
In step 3, head disturbs monitoring to be masked as ON (connection).In step 4, accept to disturb to the end the ON of monitoring sign, the non-Interference Control starting of X axle.In step 5, control device of electric motor 61 shown in Figure 2 stops a pair of X axle motor 40f.And control device of electric motor 61 stops a pair of Y axle motor 50f.That is, the action of whole robots is stopped.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 is to display (not shown) demonstration that makes mistakes.
[step 6 (S6), step 7 (S7)]
In step 2, under the situation except " situation that formula (4) and formula (5) are set up simultaneously ", advance to step 6 shown in Figure 7.In step 6, installation head 7f, 7r are little from the possibility that left and right directions disturbs each other.Therefore, head disturbs monitoring to be masked as OFF (shutoff).
On the other hand, the first robot cell 9f and the second robot cell 9r are more approaching along fore-and-aft direction shown in Fig. 9 (b).Therefore, in step 7, the interference distance as the benchmark of the ON-OFF of the non-Interference Control sign of Y axle stated after the decision adopts the Y axle second interference distance Ry2 (with reference to Fig. 5 (b)).
[step 8 (S8)]
Figure 10 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 8=of the electronic part mounting of this embodiment is.Figure 10 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 8=denys.
In this step; Use following formula (6), relatively " the Y axle first braking distance Sy1 (with reference to formula (1)) and the Y axle second braking distance Sy2 (with reference to formula (the 1)) sum, and the residual quantity of Y axle relative distance Ly (with reference to Fig. 3) " of current time and the Y axle second interference distance Ry2.That is the deceleration of the fore-and-aft direction of the installation head 7f of consideration current time, 7r.
Ry2 >=Ly-Sy1-Sy2 ... Formula (6)
Shown in Figure 10 (a), at current time, under the situation that formula (6) is set up, the inner of the inner of installation head and Y axle robot is big from the possibility that interference takes place fore-and-aft direction.In this case, advance to step 9.On the other hand, at current time, under the invalid situation of formula (6), the inner of the inner of installation head and Y axle robot is little from the possibility that interference takes place fore-and-aft direction.In this case, advance to step 12.
[step 9 (S9), step 10 (S10), step 11 (S11)]
In step 8, under the situation that formula (6) is set up, advance to step 9.In step 9, the non-Interference Control sign of Y axle becomes ON.In step 10, accept the ON of the non-Interference Control sign of Y axle, the non-Interference Control starting of Y axle.In step 11, control device of electric motor 61 shown in Figure 2 stops a pair of X axle motor 40f.And control device of electric motor 61 stops a pair of Y axle motor 50f.That is, the action of whole robots is stopped.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 is to display (not shown) demonstration that makes mistakes.
[step 12 (S12), step 13 (S13)]
In step 8, under the invalid situation of formula (6), advance to step 12.In step 12, the inner of the inner of installation head and Y axle robot is little from the possibility that interference takes place fore-and-aft direction.Therefore, the non-Interference Control sign of Y axle becomes OFF.
In step 13, X axle first 4f of robot shown in Figure 2, X axle second 4r of robot, Y axle first 5f of robot, Y axle second 5r of robot continue action respectively.
[step 14 (S14)]
Return Fig. 6, in step 1, under the invalid situation of formula (3), advance to step 14.Figure 11 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 14=of the electronic part mounting of this embodiment is.Figure 11 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 14=denys.
In this step, use the formula (4) of front, relatively the X axle relative distance Lx (with reference to Fig. 3) of current time and X rays close critical distance Rx (with reference to Fig. 4).
And; Use the formula (5) of front, relatively " the X axle first braking distance Sx1 (with reference to formula (2)) and the X axle second braking distance Sx2 (with reference to formula (the 2)) sum, and the residual quantity of X axle relative distance Lx " of current time and X rays close critical distance Rx (with reference to Fig. 4).That is the deceleration of the left and right directions of the installation head 7f of consideration current time, 7r.
Shown in Figure 11 (a), at current time, under the situation that formula (4) and formula (5) are set up simultaneously, next constantly Y axle first 5f of robot and Y axle second 5r of robot from fore-and-aft direction near the time, the possibility that installation head 7f, 7r disturb each other is big.In this case, advance to step 15.
On the other hand; Shown in Figure 11 (b), at current time, under the situation that formula (4) and formula (5) are not set up simultaneously; Or under the situation that only formula (4) is set up; Or under the situation that only formula (5) is set up, next constantly Y axle first 5f of robot and Y axle second 5r of robot from fore-and-aft direction near the time, the possibility that installation head 7f, 7r disturb each other is little.In this case, the step 6 of execution graph 7 ~ 13.
[step 15 (S15), step 16 (S16)]
In step 15, head disturbs the monitoring sign to become ON.Shown in Figure 11 (a), installation head 7f, 7r are more approaching one another along left and right directions.Therefore, in step 16, the interference distance as the benchmark of the ON-OFF of the non-Interference Control sign of Y axle stated after the decision adopts the Y axle first interference distance Ry1 (with reference to Fig. 5 (a)).
[step 17 (S17)]
Figure 12 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 17=of the electronic part mounting of this embodiment is.Figure 12 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 17=denys.
In this step; Use following formula (7), relatively " the Y axle first braking distance Sy1 (with reference to formula (1)) and the Y axle second braking distance Sy2 (with reference to formula (the 1)) sum, and the residual quantity of Y axle relative distance Ly (with reference to Fig. 3) " of current time and the Y axle first interference distance Ry1.That is the deceleration of the fore-and-aft direction of the installation head 7f of consideration current time, 7r.
Ry1 >=Ly-Sy1-Sy2 ... Formula (7)
Shown in Figure 12 (a), at current time, under the situation that formula (7) is set up, the possibility that installation head 7f, 7r disturb each other is big.In this case, advance to step 18.On the other hand, at current time, under the invalid situation of formula (7), the possibility that installation head 7f, 7r disturb each other is little.In this case, advance to step 21.
[step 18 (S18), step 19 (S19), step 20 (S20)]
In step 17, under the situation that formula (7) is set up, advance to step 18.In step 18, the non-Interference Control sign of Y axle becomes ON.In step 19, accept the ON of the non-Interference Control sign of Y axle, and the non-Interference Control starting of Y axle.In step 20, control device of electric motor 61 shown in Figure 2 stops a pair of X axle motor 40f.And control device of electric motor 61 stops a pair of Y axle motor 50f.That is, the action of whole robots is stopped.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 is to display (not shown) demonstration that makes mistakes.
[step 21 (S21), step 22 (S22)]
In step 17, under the invalid situation of formula (7), advance to step 21.In step 21, the possibility that installation head 7f, 7r disturb each other is little.Therefore, the non-Interference Control sign of Y axle becomes OFF.
In step 22, X axle first 4f of robot shown in Figure 2, X axle second 4r of robot, Y axle first 5f of robot, Y axle second 5r of robot continue action respectively.
[step 6 ~ 13]
In step 14, under the situation except " situation that formula (4) and formula (5) are set up simultaneously ", advance to step 6 shown in Figure 7.The manner of execution of step 6 ~ 13 is as above-mentioned.
Figure 13 (a) representes the diagrammatic top view of the situation that first robot cell and second robot cell's the step 8=of the electronic part mounting of this embodiment is.Figure 13 (b) representes the diagrammatic top view of the situation that first robot cell and second robot cell's of this electronic part mounting step 8=denys.As Figure 13 (a) relatively, Figure 13 (b), and when Figure 10 (a), Figure 10 (b), progress path is that the Y axle relative distance Ly under the situation of step 5 → 6 → 7 → 8 is bigger than the Y axle relative distance Ly under the situation of step 2 → 6 → 7 → 8.
< action effect >
Next, the action effect of the electronic part mounting of this embodiment is described.Electronic part mounting 1 according to this embodiment; For example shown in the formula of Fig. 6, Fig. 7 (5), formula (6), the formula (7), monitor the interference of the first robot cell 9f and the second robot cell 9r based on Y axle relative distance Ly, X axle relative distance Lx, the Y axle first braking distance Sy1, the Y axle second braking distance Sy2, the X axle first braking distance Sx1, the X axle second braking distance Sx2.Therefore, the weight that reflects installation head 7f, 7r to the Y axle first braking distance Sy1, the Y axle second braking distance Sy2, the X axle first braking distance Sx1, the X axle second braking distance Sx2.Therefore, even under the situation that the braking distance of the first robot cell 9f, the second robot cell 9r changes, also can suppress the interference of the first robot cell 9f and the second robot cell 9r in the replacing of following installation head 7f, 7r.
In addition; According to the electronic part mounting 1 of this embodiment, axially look non-overlapped switching Y axle monitoring distance (the Y axle first interference distance Ry1, the Y axle second interference distance Ry2) between the state at the Y shown in the axial apparent weight overlapping state of Y shown in Fig. 5 (a) and Fig. 5 (b).Promptly; Shown in the step 14 of Fig. 6; Be at current time under the situation of the axial apparent weight overlapping state of Y; Or be in constantly under the situation of the axial apparent weight overlapping state of Y at next, control device of electric motor 61 shown in Figure 2 shown in the step 17 of Fig. 6, the monitoring of using the Y axle first interference distance Ry1 to disturb.
On the other hand; Shown in the step 14 of Fig. 6; Be not at current time under the situation of the axial apparent weight overlapping state of Y; Or constantly be not under the situation of the axial apparent weight overlapping state of Y at next, control device of electric motor 61 shown in Figure 2 shown in the step 8 of Fig. 7, the monitoring of using the Y axle second interference distance Ry2 littler to disturb than the Y axle first interference distance Ry1.According to the electronic part mounting 1 of this embodiment, can suppress the interference of the first robot cell 9f and the second robot cell 9r more accurately.
In addition, according to the electronic part mounting 1 of this embodiment,, switch Y axle monitoring distance (the Y axle first interference distance Ry1, the Y axle second interference distance Ry2) corresponding to Y axle relative distance Ly shown in Figure 3.Promptly; Shown in the step 1 of Fig. 6; At current time; Y axle relative distance Ly is under the situation below the Y axle first interference distance Ry1, control device of electric motor 61 shown in Figure 2 shown in the step 8 of Fig. 7, the monitoring of using the Y axle second interference distance Ry2 littler to disturb than the Y axle first interference distance Ry1.
On the other hand; Shown in the step 1 of Fig. 6, at current time, Y axle relative distance Ly surpasses under the situation of the Y axle first interference distance Ry1; Control device of electric motor 61 shown in Figure 2 shown in the step 17 of Fig. 6, the monitoring of using the Y axle first interference distance Ry1 to disturb.According to the electronic part mounting 1 of this embodiment, can suppress the interference of the first robot cell 9f and the second robot cell 9r more accurately.
In addition, the electronic part mounting 1 according to this embodiment utilizes control device of electric motor shown in Figure 2 61, can suppress the interference of the first robot cell 9f and the second robot cell 9r.That is, need not wait for indication from host control device 60, and can monitor interference.And; According to indicating from the driving of host control device 60 under the situation that takes place when driving the first robot cell 9f and the second robot cell 9r to disturb, can ignore from the indication of host control device 60 the first robot cell 9f and the second robot cell 9r are stopped.
In addition, according to the electronic part mounting 1 of this embodiment, on one side can monitor the interference of the first robot cell 9f and the second robot cell 9r, Yi Bian use two installation head 7f, 7r electronic component to be installed to substrate B.
< other >
More than, the embodiment of multi-robot system of the present invention and electronic part mounting has been described.Yet embodiment is not defined as aforesaid way especially.The mode of the various distortion that also can those skilled in the art can carry out, the mode of improvement are implemented.
In the electronic part mounting 1 of above-mentioned embodiment, as shown in Figure 2, for four motor (a pair of X axle motor 40f, a pair of Y axle motor 50f), disposed single control device of electric motor 61.Yet, as long as can discern the position of robot (X axle first 4f of robot, Y axle first 5f of robot, X axle second 4r of robot, Y axle second 5r of robot) each other as driven object, just also can be to each motor configurations control device of electric motor 61.And, also can utilize host control device 60 to suppress to disturb.In this case, composite control apparatus 6 is included in the notion of " control device " of the present invention.
In addition, in the electronic part mounting 1 of above-mentioned embodiment, based on the position command of making to Y axle motor 50f from control device of electric motor shown in Figure 2 61, the Y axle relative distance Ly that computing is shown in Figure 3.Yet, also can be based on the signal from the encoder of Y axle motor 50f shown in Figure 2, the Y axle relative distance Ly that computing is shown in Figure 3.
Likewise, in the electronic part mounting 1 of above-mentioned embodiment, based on the position command of making to X axle motor 40f from control device of electric motor shown in Figure 2 61, the X axle relative distance Lx that computing is shown in Figure 3.Yet, also can come computing X axle relative distance Lx shown in Figure 3 based on signal from the encoder of X axle motor 40f shown in Figure 2.
In addition; In the electronic part mounting 1 of above-mentioned embodiment; Shown in (1),, come the computing Y axle first braking distance Sy1, the Y axle second braking distance Sy2 based on the speed value Vy that makes to Y axle motor 50f from control device of electric motor shown in Figure 2 61, rating speed reduction degree value ay.Yet, also can come arithmetic speed, deceleration based on signal from the encoder of Y axle motor 50f shown in Figure 2, with this speed, deceleration substitution formula (1), come the computing Y axle first braking distance Sy1, the Y axle second braking distance Sy2 thus.
Likewise; In the electronic part mounting 1 of above-mentioned embodiment; Shown in (2); Based on the speed value Vx that makes to X axle motor 40f from control device of electric motor shown in Figure 2 61, rating speed reduction degree value ax, come the computing X axle first braking distance Sx1, the X axle second braking distance Sx2.Yet, also can come arithmetic speed, deceleration based on signal from the encoder of X axle motor 40f shown in Figure 2, with this speed, deceleration substitution formula (2), come the computing X axle first braking distance Sx1, the X axle second braking distance Sx2 thus.And Fig. 6, the Y axle first interference distance Ry1, the Y axle second interference distance Ry2, X rays close critical distance Rx shown in Figure 7 also can come suitably to switch according to the size of installation head 7f, 7r.
In addition, in the electronic part mounting 1 of above-mentioned embodiment, shown in the step 11 of the step 5 of Fig. 6, step 20, Fig. 7, when non-Interference Control starting, whole robots are stopped.Yet, also can only make stopping that non-Interference Control started along axially movable robot.
For example, also can be shown in the step 4 of Fig. 6, under the situation that the non-Interference Control of X axle has been started, X axle first 4f of robot and X axle second 4r of robot are stopped.And, X axle first 4f of robot or X axle second 4r of robot are stopped.Likewise, also can be shown in the step 19 of Fig. 6, under the situation that the non-Interference Control of Y axle has been started, Y axle first 5f of robot and Y axle second 5r of robot are stopped.And, Y axle first 5f of robot or Y axle second 5r of robot are stopped.
In addition, robot cell's number of the electronic part mounting 1 of this embodiment does not limit especially.Also can be more than three.And; Also can be through the electronic part mounting 1 of this embodiment; Monitor the interference of independent robot cell and barrier (for example, the length direction two ends stopper (coming off of X axle second 4r of robot suppresses parts) of the length direction two ends stopper (coming off of X axle first 4f of robot suppresses parts) of the length direction two ends stopper of element camera 90f shown in Figure 1,90r, Y axis rail 80 (coming off of Y axle first 5f of robot, Y axle second 5r of robot suppresses parts), the X axle first guide rail 52f, the X axle second guide rail 52r).In this case, as long as consider the first robot cell 9f or the second robot cell 9r are stopped.
Claims (5)
1. a multi-robot system possesses: control device; Reach a plurality of robot cells that drive and have removable replacing parts by said control device;
Said multi-robot system is characterised in that,
At least a portion of a plurality of said robot cells' track overlaps each other,
Said control device can be discerned a plurality of said robot cells' position, and based on the relative distance between a plurality of said robot cells and according to the kind of said replacing parts and different said robot cells' braking distance is monitored a plurality of said robot cell's interferences.
2. multi-robot system according to claim 1, wherein,
With cross one another axle as X axle, Y axle,
Said multi-robot system possesses the base that has along the shared guide portion of Y axle of said Y direction extension;
A plurality of said robot cells comprise:
First robot cell has: Y axle first robot has by the guiding of the shared guide portion of said Y axle the robot body that moves along said Y direction and X axle first guide portion that is configured in that said robot body goes up and extends along said X-direction; X axle first robot has the robot body who is moved along said X-direction by said X axle first guide portion guiding; And said replacing parts, be disposed at removable mode on the said robot body of said X axle first robot; And
Second robot cell has: Y axle second robot has by the guiding of the shared guide portion of said Y axle the robot body that moves along said Y direction and X axle second guide portion that is configured in that said robot body goes up and extends along said X-direction; X axle second robot has the robot body who is moved along said X-direction by said X axle second guide portion guiding; And said replacing parts, be disposed at removable mode on the said robot body of said X axle second robot;
It is Y axle monitoring distance that said control device is axially looked non-overlapped the monitoring distance of switching between the state on the said Y direction at the axial apparent weight overlapping state of Y and Y; Wherein, The axial apparent weight overlapping state of said Y is the state that at least a portion of said first robot cell's when said Y direction is observed said replacing parts and said second robot cell's said replacing parts overlaps each other, and said Y axially looks non-overlapped said replacing parts that state is said first robot cell during from said Y direction observation and said second robot cell's the nonoverlapping state of said replacing parts.
3. multi-robot system according to claim 2, wherein,
Said control device is that Y axle relative distance is switched said Y axle monitoring distance according to said first robot cell and the relative distance of said second robot cell on said Y direction.
4. according to each described multi-robot system in the claim 1 ~ 3, wherein,
Said control device is the slave control device that is connected and drives said robot cell with host control device.
5. electronic part mounting, wherein,
Possess each described multi-robot system in the claim 2 ~ 4,
Said replacing parts are the installation head with the suction nozzle that is used for stick electronic components.
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Cited By (3)
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| CN104044148A (en) * | 2013-03-15 | 2014-09-17 | 株式会社安川电机 | Robot system, method for controlling robot, and method for producing to-be-processed material |
| CN107896478A (en) * | 2017-10-11 | 2018-04-10 | 广州煌牌自动设备有限公司 | One kind can modular multiaxis chip mounter |
| CN110480624A (en) * | 2018-05-15 | 2019-11-22 | 欧姆龙株式会社 | The determining interference device of articulated robot, method of determining interference, recording medium |
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| KR101994289B1 (en) * | 2014-03-11 | 2019-06-28 | 한화정밀기계 주식회사 | A mounter |
| WO2023100223A1 (en) * | 2021-11-30 | 2023-06-08 | 株式会社Fuji | Device control system and component mounting machine |
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Also Published As
| Publication number | Publication date |
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| JP2013004638A (en) | 2013-01-07 |
| JP5751945B2 (en) | 2015-07-22 |
| CN105108731B (en) | 2018-02-23 |
| CN105108731A (en) | 2015-12-02 |
| CN102825594B (en) | 2016-02-17 |
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