CN102825594B - Multi-robot system and electronic part mounting - Google Patents
Multi-robot system and electronic part mounting Download PDFInfo
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- CN102825594B CN102825594B CN201210202156.9A CN201210202156A CN102825594B CN 102825594 B CN102825594 B CN 102825594B CN 201210202156 A CN201210202156 A CN 201210202156A CN 102825594 B CN102825594 B CN 102825594B
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- 238000012544 monitoring process Methods 0.000 claims description 22
- 239000000758 substrate Substances 0.000 description 16
- 238000000034 method Methods 0.000 description 13
- 239000002131 composite material Substances 0.000 description 10
- 230000009471 action Effects 0.000 description 8
- 238000009434 installation Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Manipulator (AREA)
Abstract
Multi-robot system and electronic part mounting that problem of the present invention is to provide a kind of kind corresponding to replacing parts and suppresses multiple robot cell's interference.Multi-robot system possesses: control device (61); Driven by control device (61) and there are multiple robot cells (9f, 9r) of removable replacing parts (70).Overlapping each other at least partially of the track of multiple robot cell (9f, 9r).Control device (61) can identify the position of multiple robot cell (9f, 9r), based on the relative distance (Lx, Ly) between multiple robot cell (9f, 9r) and the braking distance (Sx1, Sx2, Sy1, Sy2) according to the kind and different robot cell (9f, 9r) of changing parts (70), monitor multiple robot cell (9f, 9r) interference.
Description
Technical field
The present invention relates to the multi-robot system possessing multiple robot cell and the electronic part mounting possessing this multi-robot system.
Background technology
In multi-robot system, the track of multiple robot cell is overlapping sometimes.In this case, according to the action of multiple robot cell, multiple robot cell may disturb each other.Therefore, in patent document 1,2, a kind of disturbance restraining method suppressing multiple robot cell's interference is disclosed.
Patent document
[patent document 1] Japanese Unexamined Patent Publication 2011-14592 publication
[patent document 2] Japanese Unexamined Patent Publication 2006-68857 publication
But, in robot cell, be sometimes configured with replacing parts.Such as, the mounting head of the robot cell of electronic part mounting is configured with removable suction nozzle.When changing the varying in weight of parts according to the kind changing parts, when changing replacing parts, the braking distance of robot cell changes.In patent document 1,2 and the unexposed disturbance restraining method corresponding with the kind of these replacing parts.
Summary of the invention
Multi-robot system of the present invention and electronic part mounting complete in view of above-mentioned problem.Multi-robot system and electronic part mounting that the object of the invention is to provide a kind of kind corresponding to replacing parts and suppresses multiple robot cell's interference.
(1) in order to solve above-mentioned problem, multi-robot system of the present invention possesses: control device; And to be driven by described control device and there are multiple robot cells of removable replacing parts; The feature of described multi-robot system is, overlapping each other at least partially of the track of multiple described robot cell, described control device can identify the position of multiple described robot cell, and based on the relative distance between multiple described robot cell and the braking distance of different described robot cells monitors multiple described robot cell's interference according to the described kind of replacing parts.
According to multi-robot system of the present invention, the braking distance based on the relative distance between multiple robot cell and robot cell monitors multiple robot cell's interference.Therefore, even if when the braking distance along with the replacing and robot cell of changing parts changes, multiple robot cell's interference also can be suppressed.
(2) preferably, in the structure of above-mentioned (1), using cross one another axle as X-axis, Y-axis, described multi-robot system possesses and has the base that the Y-axis extended along described Y direction shares guide portion, multiple described robot cell comprises: the first robot cell, have: Y-axis first robot, have by described Y-axis share guide portion guide and along described Y direction movement robot body and be configured in upper and X-axis first guide portion extended along described X-direction of described robot body, X-axis first robot, has the robot body along described X-direction movement by described X-axis first guide portion guiding, and described replacing parts, be configured on the described robot body of described X-axis first robot in removable mode, and second robot cell, have: Y-axis second robot, have by described Y-axis share guide portion guide and along described Y direction movement robot body and be configured in upper and X-axis second guide portion extended along described X-direction of described robot body, X-axis second robot, has the robot body along described X-direction movement by described X-axis second guide portion guiding, and described replacing parts, be configured on the described robot body of described X-axis second robot in removable mode, described control device switches monitoring distance in described Y direction and Y-axis monitoring distance between Y-axis apparent weight overlapping state and Y-axis are depending on non-overlapped state, wherein, described Y-axis apparent weight overlapping state is the state overlapped each other at least partially of the described replacing parts of the first robot cell and the described replacing parts of described second robot cell described in when observing from described Y direction, described Y-axis depending on non-overlapped state be observe from described Y direction time described in the described replacing parts of the first robot cell and the nonoverlapping state of described replacing parts of described second robot cell.
The multi-robot system of this structure possesses base, the first robot cell, the second robot cell.Base possesses Y-axis and shares guide portion.First robot cell possesses Y-axis first robot, X-axis first robot, changes parts.Y-axis first robot robot body, X-axis first guide portion.The robot body of Y-axis first robot shares guide portion guiding by Y-axis and moves along Y direction.X-axis first robot robot body.The robot body of X-axis first robot is guided by X-axis first guide portion and moves along X-direction.Change parts to change relative to robot body.Second robot cell has the structure same with the first robot cell.
The robot body of Y-axis first robot and the robot body of Y-axis second robot move along Y direction by Y-axis shares guide portion guiding.Therefore, the first robot cell and the second robot cell may disturb from Y direction.
Here, when the first robot cell and the second robot cell away from (specifically, when observing from X-direction, the replacing parts of the first robot cell and the nonoverlapping X-axis of replacing parts of the second robot cell observe the situation of non-overlapped state), the replacing parts of the first robot cell observed from Y direction and the position relationship of the replacing parts of the second robot cell are categorized into two following states.One is the Y-axis apparent weight overlapping state overlapped each other at least partially of the replacing parts of the first robot cell and the replacing parts of the second robot cell.Another is that the replacing parts of the first robot cell and the nonoverlapping Y-axis of replacing parts of the second robot cell look non-overlapped state.
Under Y-axis apparent weight overlapping state, the first robot cell and the second robot cell from Y direction close to time disturb be mutual replacing parts each other.In contrast, under Y-axis looks non-overlapped state, the first robot cell and the second robot cell from Y direction close to time, change parts and mutually advance unequally.Therefore, from Y direction, mutual replacing parts do not disturb each other.According to this structure, between Y-axis apparent weight overlapping state and Y-axis are depending on non-overlapped state, switch Y-axis monitoring distance.Therefore, it is possible to suppress the interference of the first robot cell and the second robot cell more accurately.
(3) preferably, in the structure of above-mentioned (2), described control device switches described Y-axis according to relative distance in described Y direction of described first robot cell and described second robot cell and Y-axis relative distance and monitors distance.According to this structure, the first robot cell and the second robot cell along Y direction close to time and away from time, Y-axis monitoring distance can be switched.
(4) preferably, in above-mentioned (1) in any one structure in (3), described control device is connected with host control device and drives the slave control device of described robot cell.
According to this structure, by slave control device, multiple robot cell's interference can be monitored.That is, the instruction from host control device need not be waited for, just can monitor multiple robot cell's interference.And, when there is interference when indicating drive multiple robot cell according to the driving from host control device, the instruction from host control device can be ignored and multiple robot cell is stopped.
(5) in addition, in order to solve above-mentioned problem, the feature of electronic part mounting of the present invention is, possesses the multi-robot system of the structure any one of above-mentioned (2) to (4), and described replacing parts are the mounting heads of the suction nozzle had for stick electronic components.
According to electronic part mounting of the present invention, the interference of multiple robot cell can be monitored, while use multiple mounting head installing electronic elements on substrate.And, even if the braking distance of robot cell changes in the replacing along with mounting head, multiple robot cell's interference also can be suppressed.
Invention effect
According to the present invention, can provide a kind of and correspond to the kind of changing parts and suppress multi-robot system and the electronic part mounting of multiple robot cell's interference.
Accompanying drawing explanation
Fig. 1 is the top view of the electronic part mounting of one embodiment of the present invention.
Fig. 2 is the block diagram of this electronic part mounting.
Fig. 3 is the diagrammatic top view for illustration of the first robot cell of this electronic part mounting and the relative distance of the second robot cell.
Fig. 4 is for illustration of the first robot cell of this electronic part mounting and the X-axis of the second robot cell diagrammatic top view close to critical distance.
In Fig. 5, a () is the diagrammatic top view for illustration of the first robot cell of this electronic part mounting and Y-axis first interference distance of the second robot cell, (b) is the diagrammatic top view for illustration of the first robot cell of this electronic part mounting and Y-axis second interference distance of the second robot cell.
Fig. 6 is the use of 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.
In Fig. 8, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 1 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 1 of the second robot cell are no.
In Fig. 9, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 2 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 2 of the second robot cell are no.
In Figure 10, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 8 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 8 of the second robot cell are no.
In Figure 11, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 14 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 14 of the second robot cell are no.
In Figure 12, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 17 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 17 of the second robot cell are no.
In Figure 13, a () is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 8 of the second robot cell are yes, (b) is the diagrammatic top view of the situation that the first robot cell of this electronic part mounting and the step 8 of the second robot cell are no.
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: mounting head, 7r: mounting head, 8: base, the 9f: the first robot cell, the 9r: the 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-axis first guide portion), 52r:X axle second guide rail (X-axis 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 (Y-axis shares guide portion), 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 is coupling near limit distance, Ry1:Y axle first interference distance (Y-axis monitoring distance), Ry2:Y axle second interference distance (Y-axis 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.
Detailed description of the invention
Below, the embodiment of electronic part mounting of the present invention is described.
The structure > of < electronic part mounting
First, the structure of the electronic part mounting of present embodiment is described.In following figure, left and right directions corresponds to " X-axis " of the present invention, and fore-and-aft direction corresponds to " Y-axis " of the present invention.Fig. 1 represents the top view of the electronic part mounting of present embodiment.Fig. 2 represents the block diagram of this electronic part mounting.As shown in Figure 1 and 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]
Base 8 possesses pair of right and left bridge portion 80L, 80R, pair of right and left Y-axis guide rail 80, base body 81.Y-axis guide rail 80 is included in the concept of " Y-axis shares guide portion " of the present invention.Base body 81 is configured on the ground of factory.Bridge portion 80L is configured in the upper surface left border of base body 81.Bridge portion 80L extends along fore-and-aft direction.Bridge portion 80L strides across substrate transfer apparatus 2 described later from top.Bridge portion 80R, in the same manner as bridge portion 80L, is configured in the upper surface right border of base body 81.Pair of right and left Y-axis guide rail 80 is configured in the upper surface of pair of right and left bridge portion 80L, 80R.Pair of right and left Y-axis guide rail 80 extends along fore-and-aft direction.
[substrate transfer apparatus 2, component supplying apparatus 3f, 3r]
Substrate transfer apparatus 2 is configured in the fore-and-aft direction central authorities of the upper surface of base body 81.Substrate transfer apparatus 2 possesses conveyer 20 and carrying motor 21.Conveyer 20 possesses a pair, front and back conveyer belt.Conveyer belt extends along left and right directions.Between a pair conveyer belt, erection has substrate B.Carrying motor 21 drives conveyer belt to rotate.
Component supplying apparatus 3f is configured in the leading edge of base body 81.Component supplying apparatus 3f possesses multiple tape feeder 30f.Multiple electronic component is configured with at tape feeder 30f.Component supplying apparatus 3r, in the same manner as component supplying apparatus 3f, is configured in the trailing edge of base body 81.
[element camera 90f, 90r]
Element camera 90f is configured in the upper surface of base body 81 and the front of substrate transfer apparatus 2.Element camera 90r is configured in the upper surface of base body 81 and the rear of substrate transfer apparatus 2 in the same manner as element camera 90f.Element camera 90f, 90r can take the electronic component adsorbed by suction nozzle 70 described later from below.
[the first robot cell 9f]
First robot cell 9f possesses X-axis first robot 4f, Y-axis first robot 5f, mounting head 7f.Y-axis first robot 5f possesses Y-axis motor 50f, upper and lower a pair X-axis first guide rail 52f, robot body 53f.X-axis first guide rail 52f is included in the concept of " X-axis first guide portion " of the present invention.Robot body 53f is configured to slide along fore-and-aft direction relative to pair of right and left Y-axis guide rail 80.Upper and lower a pair X-axis first guide rail 52f is configured in the rear surface of robot body 53f.X-axis first guide rail 52f extends along left and right directions.Y-axis motor 50f is along fore-and-aft direction driven machine human agent 53f.Y-axis motor 50f is servomotor, and possesses encoder (not shown).Control device of electric motor 61 described later controls Y-axis motor 50f.
X-axis first robot 4f possesses X-axis motor 40f, robot body 43f.Robot body 43f is configured to slide along left and right directions relative to upper and lower a pair X-axis first guide rail 52f.X-axis motor 40f is along left and right directions driven machine human agent 43f.X-axis motor 40f is servomotor, and possesses encoder (not shown).Control device of electric motor 61 described later controls X-axis motor 40f.
Mounting head 7f possesses Z axis motor 71f, θ axle motor 72f, head main body 73f, storage part 74f, suction nozzle 70.Head main body 73f is configured in the rear surface of robot body 43f.Suction nozzle 70 is configured in the lower surface of head main body 73f.Suction nozzle 70 can adsorb, discharge electronic component.Z axis motor 71f drives suction nozzle 70 downwards relative to head main body 73f.θ axle motor 72f drives suction nozzle 70 along the direction of rotation in horizontal plane.The data relevant to the head type of mounting head 7f are stored at storage part 74f.
The head main body 73f of mounting head 7f freely can move along left and right directions by X-axis first robot 4f, and freely can move along fore-and-aft direction by Y-axis first robot 5f.And suction nozzle 70 can move downwards relative to head main body 73f.
[the second robot cell 9r]
Second robot cell 9r possesses X-axis second robot 4r, Y-axis second robot 5r, mounting head 7r.Y-axis second robot 5r is configured in the rear of Y-axis first robot 5f.The structure of Y-axis second robot 5r is identical with the structure of Y-axis first robot 5f.And, symmetrical before and after being configured to of the configuration of Y-axis second robot 5r and Y-axis first robot 5f.That is, Y-axis second robot 5r possesses Y-axis motor (not shown), upper and lower a pair X-axis second guide rail 52r, robot body 53r.X-axis second guide rail 52r is included in the concept of " X-axis second guide portion " of the present invention.
X-axis second robot 4r is configured in the rear of X-axis first robot 4f.The structure of X-axis second robot 4r is identical with the structure of X-axis first robot 4f.And, symmetrical before and after being configured to of the configuration of X-axis second robot 4r and X-axis first robot 4f.That is, X-axis second robot 4r possesses X-axis motor (not shown) and robot body 43r.
Mounting head 7r is configured in the rear of mounting head 7f.The structure of mounting head 7r is identical with the structure of mounting head 7f.And, symmetrical before and after being configured to of the Configuration and Installation head 7f of mounting head 7r.That is, mounting head 7r possesses Z axis motor (not shown), θ axle motor (not shown), head main body 73r, storage part (not shown), suction nozzle 70.
[composite control apparatus 6]
Composite control apparatus 6 possesses host control device 60, control device of electric motor 61, multiple drive circuit (servo amplifier).Control device of electric motor 61 is included in the concept of " slave control device " of the present invention.Host control device 60 possesses input/output interface 600, operational part 601, storage part 602.Input/output interface 600 via control device of electric motor 61 and drive circuit, and is electrically connected with carrying motor 21, a pair X-axis motor 40f, a pair Y-axis motor 50f, a pair Z axis motor 71f, a pair θ axle motor 72f.
Control device of electric motor 61, according to the instruction from host control device 60, in the same coordinate system, drives a pair X-axis motor 40f, a pair Y-axis motor 50f.Therefore, control device of electric motor 61 can identify the position of the first robot cell 9f, the second robot cell 9r.
Store and the weight of the mounting head 7f changed, 7r, data that size is relevant according to each head type at the storage part (not shown) of control device of electric motor 61.And, store Y-axis first interference distance Ry1 described later, Y-axis second interference distance Ry2, X-axis close to critical distance Rx at storage part.Y-axis first interference distance Ry1, Y-axis second interference distance Ry2, X-axis store multiple close to critical distance Rx according to the head type of each mounting head 7f, 7r.Its reason is that the weight of difference according to head type and mounting head 7f, 7r, size are different.
< electronic component mounting method >
Next, simple declaration employs the electronic component mounting method of the electronic part mounting of present embodiment.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-axis motor 40f, Y-axis motor 50f, Z axis motor 71f, θ axle motor 72f, namely, suitably drive X-axis first robot 4f, Y-axis first robot 5f, mounting head 7f, by suction nozzle 70, take out electronic component from tape feeder 30f.Next, composite control apparatus 6 suitably drives X-axis first robot 4f, Y-axis first robot 5f, mounting head 7f, electronic component is arranged on the installation site of the regulation of substrate B.
Further, composite control apparatus 6 suitably drives X-axis second robot 4r, Y-axis second robot 5r, mounting head 7r, by suction nozzle 70, takes out electronic component from tape feeder 30r.Next, composite control apparatus 6 suitably drives X-axis second robot 4r, Y-axis second robot 5r, mounting head 7r, electronic component is arranged on the installation site of the regulation of substrate B.
Operator, when switching the substrate B as production object, namely when changing product adjustment, changing mounting head 7f for X-axis first robot 4f, changing mounting head 7r for X-axis second robot 4r.The data relevant to the head type of self being stored in storage part 74f send to control device of electric motor 61 via host control device 60 by the mounting head 7f installed by changing, 7r.Control device of electric motor 61 differentiates the mounting head 7f of installation, the head type of 7r based on the data sent.Further, according to head type, switch in use in interference method for supervising described later Y-axis first interference distance Ry1, Y-axis second interference distance Ry2, X-axis is close to critical distance Rx.
So, in electronic component mounting method, the first robot cell 9f and the second robot cell 9r walks abreast simultaneously and is separately driven.Therefore, the interference of monitoring first robot cell 9f and the second robot cell 9r is needed.
<Y axle relative distance Ly, X-axis relative distance Lx, X-axis are close to critical distance Rx, Y-axis first interference distance Ry1, Y-axis second interference distance Ry2, Y-axis first braking distance Sy1, Y-axis second braking distance Sy2, X-axis first braking distance Sx1, X-axis second braking distance Sx2>
Next, the definition of above-mentioned each distance of necessity during the interference of monitoring first robot cell 9f and the second robot cell 9r is described.In the following description, " the inner " refer to along a pair opposed parts of arbitrary direction, end inside opposed direction.Such as, when along the opposed Y-axis first robot 5f(front of fore-and-aft direction), Y-axis second robot 5r(rear), the rear end of Y-axis first robot 5f, the front end of Y-axis second robot 5r are equivalent to the inner.When along the opposed mounting head 7f(front of fore-and-aft direction), 7r(rear), the rear end of mounting head 7f, the front end of mounting head 7r are equivalent to the inner.When along the opposed mounting head 7f(left of left and right directions), 7r(right), the right-hand member of mounting head 7f, the left end of mounting head 7r are equivalent to the inner.When along the opposed mounting head 7f (right) of left and right directions, 7r(left), the left end of mounting head 7f, the right-hand member of mounting head 7r are equivalent to the inner.
[Y-axis relative distance Ly]
Fig. 3 represents the diagrammatic top view that the first robot cell of the electronic part mounting of present embodiment and the relative distance of the second robot cell illustrate.As shown in Figure 3, Y-axis relative distance Ly is the fore-and-aft direction distance between the inner of Y-axis first robot 5f and the inner of Y-axis second robot 5r.Control device of electric motor 61 sends position command to the Y-axis motor 50f of Y-axis first robot 5f and the Y-axis motor of Y-axis second robot 5r.Based on this position command, operational part (not shown) the computing Y-axis in real time relative distance Ly of control device of electric motor 61.
[X-axis relative distance Lx]
X-axis relative distance Lx is the left and right directions distance between the inner of mounting head 7f, 7r.Control device of electric motor 61 sends position command to the X-axis motor 40f of X-axis first robot 4f and the X-axis motor of X-axis second robot 4r.Based on this position command, the operational part computing X-axis in real time relative distance Lx of control device of electric motor 61.
[X-axis is close to critical distance Rx]
Fig. 4 represents the diagrammatic top view that the first robot cell of the electronic part mounting of present embodiment and the X-axis of the second robot cell illustrate close to critical distance.As shown in Figure 4, X-axis close to critical distance Rx be mounting head 7f, 7r from left and right directions further close to time mounting head 7f, 7r there is between the large state of the possibility of interference, mounting head 7f, 7r the inner left and right directions distance.The storage part storing X of the control device of electric motor 61 shown in Fig. 2 is coupling near limit distance Rx.
[Y-axis first interference distance Ry1]
Fig. 5 (a) represents the diagrammatic top view that the first robot cell of the electronic part mounting of present embodiment and Y-axis first interference distance of the second robot cell illustrate.Fig. 5 (b) represents the diagrammatic top view that the first robot cell of the electronic part mounting of present embodiment and Y-axis second interference distance of the second robot cell illustrate.
As shown in Fig. 5 (a), observe from front or rear, under the state (Y-axis apparent weight overlapping state) overlapped each other at least partially of mounting head 7f, 7r, the first robot cell 9f and the second robot cell 9r relatively from fore-and-aft direction close to time first disturb be mounting head 7f, 7r the inner each other.Y-axis first interference distance Ry1 be mounting head 7f, 7r further from fore-and-aft direction close to time mounting head 7f, 7r interference the large state of possibility, fore-and-aft direction distance between the inner of Y-axis first robot 5f and the inner of Y-axis second robot 5r.Y-axis first interference distance Ry1 is included in the concept of " Y-axis monitoring distance " of the present invention.Y-axis first interference distance Ry1 is greater than the fore-and-aft direction distance between Y-axis first robot 5f when mounting head 7f, 7r abut from fore-and-aft direction each other and Y-axis second robot 5r.The storage part of the control device of electric motor 61 shown in Fig. 2 stores Y-axis first interference distance Ry1.
[Y-axis second interference distance Ry2]
As shown in Fig. 5 (b), observe from front or rear, under the state (Y-axis looks non-overlapped state) that mounting head 7f, 7r are underlapped each other, first robot cell 9f and the second robot cell 9r relatively from fore-and-aft direction close to time what first disturb is that " the inner of mounting head 7f and the inner of Y-axis second robot 5r " and " the inner of mounting head 7r and the inner of Y-axis first robot 5f " is (hreinafter referred to as " the inner of mounting head and the inner of Y-axis robot ".）。Y-axis second interference distance Ry2 be mounting head 7f, 7r when advancing along the longitudinal direction further under the inner of mounting head and the large state of the inner of Y-axis robot possibility of occurring to disturb, fore-and-aft direction distance between the inner of Y-axis first robot 5f and the inner of Y-axis second robot 5r.Y-axis second interference distance Ry2 is included in the concept of " Y-axis monitoring distance " of the present invention.Y-axis second interference distance Ry2 is that fore-and-aft direction between Y-axis first robot 5f when abutting from fore-and-aft direction each other of mounting head 7f, 7r and Y-axis second robot 5r is apart from following.That is, Y-axis second interference distance Ry2 is less than Y-axis first interference distance Ry1.The storage part of the control device of electric motor 61 shown in Fig. 2 stores Y-axis second interference distance Ry2.
[Y-axis first braking distance Sy1]
Y-axis first braking distance Sy1 be Y-axis first robot 5f from braking maneuver to the fore-and-aft direction distance stopped braking maneuver.If the control device of electric motor shown in Fig. 2 61 to the speed value of Y-axis motor 50f be Vy, the rating speed reduction angle value maximum deceleration value of safety stop (the Y-axis first robot 5f can) for when ay(speed reduces on the occasion of) time, Y-axis first braking distance Sy1 derives from following formula (1).
Sy1=Vy
2/ 2ay ... formula (1)
When changing product adjustment, if operator changes mounting head 7f, then stopping from identical speed, compared with the situation that mounting head 7f is light, the braking distance of Y-axis first robot 5f when mounting head 7f is heavy is longer.
[Y-axis second braking distance Sy2]
Y-axis second braking distance Sy2 be Y-axis second robot 5r from braking maneuver to the fore-and-aft direction distance stopped braking maneuver.In the same manner as Y-axis first braking distance Sy1, Y-axis second braking distance Sy2 derives from above-mentioned formula (1).
When changing product adjustment, if operator changes mounting head 7r, then stopping from identical speed, compared with the situation that mounting head 7r is light, the braking distance of Y-axis second robot 5r when mounting head 7r is heavy is longer.
[X-axis first braking distance Sx1]
X-axis first braking distance Sx1 be X-axis first robot 4f from braking maneuver to the left and right directions distance stopped braking maneuver.If the control device of electric motor shown in Fig. 2 61 to the speed value of X-axis motor 40f be Vx, the rating speed reduction angle value maximum deceleration value of safety stop (the X-axis first robot 4f can) for when ax(speed reduces on the occasion of) time, X-axis first braking distance Sx1 derives from following formula (2).
Sx1=Vx
2/ 2ax ... formula (2)
When changing product adjustment, if operator changes mounting head 7f, then stopping from identical speed, compared with the situation that mounting head 7f is light, the braking distance of X-axis first robot 4f when mounting head 7f is heavy is longer.
[X-axis second braking distance Sx2]
X-axis second braking distance Sx2 be X-axis second robot 4r from braking maneuver to the left and right directions distance stopped braking maneuver.In the same manner as X-axis first braking distance Sx1, X-axis second braking distance Sx2 derives from above-mentioned formula (2).
When changing product adjustment, if operator changes mounting head 7r, then stopping from identical speed, compared with the situation that mounting head 7r is light, the braking distance of X-axis second robot 4r when mounting head 7r is heavy is longer.
< disturbs method for supervising >
Next, the interference method for supervising of the electronic part mounting employing present embodiment is described.Fig. 6 represents the flow chart (its 1) of the interference method for supervising of the electronic part mounting employing present embodiment.Fig. 7 represents the flow chart (its 2) of this interference method for supervising.It should be noted that, interference method for supervising shown below is performed by control device of electric motor 61.
[step 1(S1)]
Fig. 8 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 1=of the second robot cell are.Fig. 8 (b) represents the diagrammatic top view of the situation that the step 1=of the first robot cell of this electronic part mounting and the second robot cell is no.
In this step, use following formula (3), compare the Y-axis relative distance Ly(of current time with reference to Fig. 3) and Y-axis first interference distance Ry1(reference Fig. 5 (a)).
Ry1 >=Ly ... formula (3)
As shown in Figure 8 (a), at current time, when formula (3) is set up, observing from left or right, is the state (X-axis observation overlap condition) overlapped each other at least partially of mounting head 7f, 7r.In this case, the first robot cell 9f and the second robot cell 9r in the longitudinal direction relatively.Therefore, advance to step 2.
On the other hand, as shown in Figure 8 (b) shows, at current time, in formula (3) invalid situation, observing from left or right, is the state (X-axis observes non-overlapped state) that mounting head 7f, 7r do not overlap each other.In this case, the first robot cell 9f and the second robot cell 9r in the longitudinal direction distant from.Therefore, advance to step 14.
[step 2(S2)]
In step 1, when formula (3) is set up, advance to step 2.Fig. 9 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 2=of the second robot cell are.Fig. 9 (b) represents the diagrammatic top view of the situation that the step 2=of the first robot cell of this electronic part mounting and the second robot cell is no.
In this step, use following formula (4), the X-axis relative distance Lx(comparing current time is with reference to Fig. 3) with X-axis close to critical distance Rx(with reference to Fig. 4).
Rx >=Lx ... formula (4)
And, use following formula (5), compare current time " X-axis first braking distance Sx1(is with reference to formula (2)) and X-axis second braking distance Sx2(with reference to formula (2)) sum, with the residual quantity of X-axis relative distance Lx " and X-axis close to critical distance Rx(reference Fig. 4).That is, the deceleration of the mounting head 7f of current time, the left and right directions of 7r is considered.
Rx >=Lx-Sx1-Sx2 ... formula (5)
As shown in Fig. 9 (a), at current time, when formula (4) and formula (5) are set up simultaneously, the possibility that mounting head 7f, 7r from left and right directions, interference occur each other is large.In this case, advance to step 3.
On the other hand, as shown in Figure 9 (b), at current time, when setting up when formula (4) and formula (5) difference, or when only formula (4) is set up, or when only formula (5) is set up, mounting head 7f, 7r are little from the possibility of left and right directions interference each other.In this case, the step 6 to Fig. 7 is advanced.
[step 3(S3), step 4(S4), step 5(S5)]
In step 3, head interference monitoring is masked as ON(connection).In step 4, accept the ON of interference monitoring mark to the end, X-axis non-interference controls to start.In steps of 5, the control device of electric motor 61 shown in Fig. 2 makes a pair X-axis motor 40f stop.Further, control device of electric motor 61 makes a pair Y-axis motor 50f stop.That is, the action of whole robot is made to stop.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 to be made mistakes display to display (not shown).
[step 6(S6), step 7(S7)]
In step 2, when except " situation that formula (4) and formula (5) are set up simultaneously ", advance to the step 6 shown in Fig. 7.In step 6, mounting head 7f, 7r are little from the possibility of left and right directions interference each other.Therefore, head interference monitoring is masked as OFF(shutoff).
On the other hand, the first robot cell 9f and the second robot cell 9r as shown in Figure 9 (b) along fore-and-aft direction relatively.Therefore, in step 7, as determining that Y-axis non-interference described later controls the interference distance of the benchmark of the ON-OFF of mark, Y-axis second interference distance Ry2(is adopted with reference to Fig. 5 (b)).
[step 8(S8)]
Figure 10 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 8=of the second robot cell are.Figure 10 (b) represents the diagrammatic top view of the situation that the step 8=of the first robot cell of this electronic part mounting and the second robot cell is no.
In this step, use following formula (6), compare current time " Y-axis first braking distance Sy1(is with reference to formula (1)) and Y-axis second braking distance Sy2(with reference to formula (1)) sum, with Y-axis relative distance Ly(reference Fig. 3) residual quantity " and Y-axis second interference distance Ry2.That is, the deceleration of the mounting head 7f of current time, the fore-and-aft direction of 7r is considered.
Ry2 >=Ly-Sy1-Sy2 ... formula (6)
As shown in Figure 10 (a) shows, at current time, when formula (6) is set up, the possibility that the inner of mounting head and the inner of Y-axis robot occur to disturb from fore-and-aft direction is large.In this case, advance to step 9.On the other hand, at current time, in formula (6) invalid situation, the possibility that the inner of mounting head and the inner of Y-axis robot occur to disturb from fore-and-aft direction is little.In this case, advance to step 12.
[step 9(S9), step 10(S10), step 11(S11)]
In step 8, when formula (6) is set up, advance to step 9.In step 9, Y-axis non-interference controls mark becomes ON.In step 10, accept the ON that Y-axis non-interference controls mark, Y-axis non-interference controls to start.In a step 11, the control device of electric motor 61 shown in Fig. 2 makes a pair X-axis motor 40f stop.Further, control device of electric motor 61 makes a pair Y-axis motor 50f stop.That is, the action of whole robot is made to stop.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 to be made mistakes display to display (not shown).
[step 12(S12), step 13(S13)]
In step 8, in formula (6) invalid situation, advance to step 12.In step 12, the inner of mounting head and the inner of Y-axis robot possibility of occurring to disturb from fore-and-aft direction is little.Therefore, Y-axis non-interference controls mark becomes OFF.
In step 13, the X-axis first robot 4f shown in Fig. 2, X-axis second robot 4r, Y-axis first robot 5f, Y-axis second robot 5r continue action respectively.
[step 14(S14)]
Return Fig. 6, in step 1, when in formula (3) invalid situation, advance to step 14.Figure 11 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 14=of the second robot cell are.Figure 11 (b) represents the diagrammatic top view of the situation that the step 14=of the first robot cell of this electronic part mounting and the second robot cell is no.
In this step, use formula (4) above, compare the X-axis relative distance Lx(of current time with reference to Fig. 3) with X-axis close to critical distance Rx(with reference to Fig. 4).
And, the formula (5) above of use, compare current time " X-axis first braking distance Sx1(is with reference to formula (2)) and X-axis second braking distance Sx2(with reference to formula (2)) sum, residual quantity with X-axis relative distance Lx " and X-axis close to critical distance Rx(reference Fig. 4).That is, the deceleration of the mounting head 7f of current time, the left and right directions of 7r is considered.
As shown in Figure 11 (a) shows, at current time, when formula (4) and formula (5) are set up simultaneously, subsequent time Y-axis first robot 5f and Y-axis second robot 5r from fore-and-aft direction close to time, mounting head 7f, 7r occur each other disturb possibility large.In this case, advance to step 15.
On the other hand, as shown in Figure 11 (b), at current time, when setting up when formula (4) and formula (5) difference, or when only formula (4) is set up, or when only formula (5) is set up, subsequent time Y-axis first robot 5f and Y-axis second robot 5r from fore-and-aft direction close to time, mounting head 7f, 7r occur each other disturb possibility little.In this case, step 6 ~ 13 of Fig. 7 are performed.
[step 15(S15), step 16(S16)]
In step 15, head interference monitoring mark becomes ON.As shown in Figure 11 (a) shows, mounting head 7f, 7r are one another along left and right directions relatively.Therefore, in step 16, as determining that Y-axis non-interference described later controls the interference distance of the benchmark of the ON-OFF of mark, Y-axis first interference distance Ry1(is adopted with reference to Fig. 5 (a)).
[step 17(S17)]
Figure 12 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 17=of the second robot cell are.Figure 12 (b) represents the diagrammatic top view of the situation that the step 17=of the first robot cell of this electronic part mounting and the second robot cell is no.
In this step, use following formula (7), compare current time " Y-axis first braking distance Sy1(is with reference to formula (1)) and Y-axis second braking distance Sy2(with reference to formula (1)) sum, with Y-axis relative distance Ly(reference Fig. 3) residual quantity " and Y-axis first interference distance Ry1.That is, the deceleration of the mounting head 7f of current time, the fore-and-aft direction of 7r is considered.
Ry1 >=Ly-Sy1-Sy2 ... formula (7)
As shown in Figure 12 (a), at current time, when formula (7) is set up, the possibility that mounting head 7f, 7r occur to disturb each other is large.In this case, advance to step 18.On the other hand, at current time, in formula (7) invalid situation, the possibility that mounting head 7f, 7r occur to disturb each other is little.In this case, advance to step 21.
[step 18(S18), step 19(S19), step 20(S20)]
In step 17, when formula (7) is set up, advance to step 18.In step 18, Y-axis non-interference controls mark becomes ON.In step 19, accept the ON that Y-axis non-interference controls mark, and Y-axis non-interference controls to start.In step 20, the control device of electric motor 61 shown in Fig. 2 makes a pair X-axis motor 40f stop.Further, control device of electric motor 61 makes a pair Y-axis motor 50f stop.That is, the action of whole robot is made to stop.Control device of electric motor 61 sends error report to host control device 60.Host control device 60 to be made mistakes display to display (not shown).
[step 21(S21), step 22(S22)]
In step 17, in formula (7) invalid situation, advance to step 21.In step 21, the possibility that mounting head 7f, 7r occur to disturb each other is little.Therefore, Y-axis non-interference controls mark becomes OFF.
In step 22, the X-axis first robot 4f shown in Fig. 2, X-axis second robot 4r, Y-axis first robot 5f, Y-axis second robot 5r continue action respectively.
[step 6 ~ 13]
At step 14, when except " situation that formula (4) and formula (5) are set up simultaneously ", advance to the step 6 shown in Fig. 7.The manner of execution of step 6 ~ 13 as described above.
Figure 13 (a) represents the diagrammatic top view of the situation that the first robot cell of the electronic part mounting of present embodiment and the step 8=of the second robot cell are.Figure 13 (b) represents the diagrammatic top view of the situation that the step 8=of the first robot cell of this electronic part mounting and the second robot cell is no.As comparison diagram 13(a), Figure 13 (b) and Figure 10 (a), Figure 10 (b) time, Y-axis relative distance Ly when progress path is step 5 → 6 → 7 → 8 is larger than Y-axis relative distance Ly when step 2 → 6 → 7 → 8.
< action effect >
Next, the action effect of the electronic part mounting of present embodiment is described.Electronic part mounting 1 according to the present embodiment, such as, shown in the formula (5) of Fig. 6, Fig. 7, formula (6), formula (7), monitor the interference of the first robot cell 9f and the second robot cell 9r based on Y-axis relative distance Ly, X-axis relative distance Lx, Y-axis first braking distance Sy1, Y-axis second braking distance Sy2, X-axis first braking distance Sx1, X-axis second braking distance Sx2.Therefore, to the weight of Y-axis first braking distance Sy1, Y-axis second braking distance Sy2, X-axis first braking distance Sx1, X-axis second braking distance Sx2 reflection mounting head 7f, 7r.Therefore, even if the braking distance of the first robot cell 9f, the second robot cell 9r changes in the replacing with mounting head 7f, 7r, the interference of the first robot cell 9f and the second robot cell 9r also can be suppressed.
In addition, electronic part mounting 1 according to the present embodiment, switches Y-axis monitoring distance (Y-axis first interference distance Ry1, Y-axis second interference distance Ry2) between the Y-axis shown in the Y-axis apparent weight overlapping state shown in Fig. 5 (a) and Fig. 5 (b) is depending on non-overlapped state.Namely, as shown in the step 14 of Fig. 6, when current time is in Y-axis apparent weight overlapping state, or when subsequent time is in Y-axis apparent weight overlapping state, control device of electric motor 61 shown in Fig. 2, as shown in the step 17 of Fig. 6, uses Y-axis first interference distance Ry1 to carry out the monitoring disturbed.
On the other hand, as shown in the step 14 of Fig. 6, when current time is not in Y-axis apparent weight overlapping state, or when subsequent time is not in Y-axis apparent weight overlapping state, control device of electric motor 61 shown in Fig. 2, as shown in the step 8 of Fig. 7, uses the Y-axis second interference distance Ry2 less than Y-axis first interference distance Ry1 to carry out the monitoring disturbed.Electronic part mounting 1 according to the present embodiment, can suppress the interference of the first robot cell 9f and the second robot cell 9r more accurately.
In addition, electronic part mounting 1 according to the present embodiment, corresponding to the Y-axis relative distance Ly shown in Fig. 3, switches Y-axis monitoring distance (Y-axis first interference distance Ry1, Y-axis second interference distance Ry2).Namely, as shown in the step 1 of Fig. 6, at current time, when Y-axis relative distance Ly is Y-axis first below interference distance Ry1, control device of electric motor 61 shown in Fig. 2, as shown in the step 8 of Fig. 7, uses the Y-axis second interference distance Ry2 less than Y-axis first interference distance Ry1 to carry out the monitoring disturbed.
On the other hand, as shown in the step 1 of Fig. 6, at current time, when Y-axis relative distance Ly exceedes Y-axis first interference distance Ry1, control device of electric motor 61 shown in Fig. 2, as shown in the step 17 of Fig. 6, uses Y-axis first interference distance Ry1 to carry out the monitoring disturbed.Electronic part mounting 1 according to the present embodiment, can suppress the interference of the first robot cell 9f and the second robot cell 9r more accurately.
In addition, electronic part mounting 1 according to the present embodiment, utilizes the control device of electric motor 61 shown in Fig. 2, can suppress the interference of the first robot cell 9f and the second robot cell 9r.That is, the instruction from host control device 60 need not be waited for, and can monitor interference.And, when driving the first robot cell 9f and the second robot cell 9r according to the driving instruction from host control device 60 when generation interference, the instruction from host control device 60 can be ignored and the first robot cell 9f and the second robot cell 9r is stopped.
In addition, electronic part mounting 1 according to the present embodiment, can monitor the interference of the first robot cell 9f and the second robot cell 9r, while use two mounting head 7f, 7r to substrate B installing electronic elements.
Other > of <
Above, the embodiment of multi-robot system of the present invention and electronic part mounting is described.But embodiment is not particularly defined to aforesaid way.Also can those skilled in the art mode of various distortion, the mode of improvement that can carry out implement.
In the electronic part mounting 1 of above-mentioned embodiment, as shown in Figure 2, for four motor (a pair X-axis motor 40f, a pair Y-axis motor 50f), single control device of electric motor 61 is configured with.But, as long as the position of the robot (X-axis first robot 4f, Y-axis first robot 5f, X-axis second robot 4r, Y-axis second robot 5r) as driven object mutually can be identified, just also can to each motor configuration control device of electric motor 61.And, host control device 60 also can be utilized to suppress interference.In this case, composite control apparatus 6 is included in the concept 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-axis motor 50f from the control device of electric motor 61 shown in Fig. 2, the Y-axis relative distance Ly shown in arithmograph 3.But, also can based on the signal of the encoder from the Y-axis motor 50f shown in Fig. 2, the Y-axis relative distance Ly shown in arithmograph 3.
Similarly, in the electronic part mounting 1 of above-mentioned embodiment, based on the position command of making to X-axis motor 40f from the control device of electric motor 61 shown in Fig. 2, the X-axis relative distance Lx shown in arithmograph 3.But, also based on the signal of the encoder from the X-axis motor 40f shown in Fig. 2, the X-axis relative distance Lx shown in arithmograph 3 can be carried out.
In addition, in the electronic part mounting 1 of above-mentioned embodiment, as the formula (1), based on the speed value Vy made to Y-axis motor 50f from the control device of electric motor 61 shown in Fig. 2, rating speed reduction angle value ay, come computing Y-axis first braking distance Sy1, Y-axis second braking distance Sy2.But, also can come arithmetic speed, deceleration based on the signal of the encoder from the Y-axis motor 50f shown in Fig. 2, this speed, deceleration be substituted into formula (1), comes computing Y-axis first braking distance Sy1, Y-axis second braking distance Sy2 thus.
Similarly, in the electronic part mounting 1 of above-mentioned embodiment, as the formula (2), based on the speed value Vx made to X-axis motor 40f from the control device of electric motor 61 shown in Fig. 2, rating speed reduction angle value ax, come computing X-axis first braking distance Sx1, X-axis second braking distance Sx2.But, also can come arithmetic speed, deceleration based on the signal of the encoder from the X-axis motor 40f shown in Fig. 2, this speed, deceleration be substituted into formula (2), comes computing X-axis first braking distance Sx1, X-axis second braking distance Sx2 thus.And the Y-axis first interference distance Ry1 shown in Fig. 6, Fig. 7, Y-axis second interference distance Ry2, X-axis also suitably can switch according to the size of mounting head 7f, 7r close to critical distance Rx.
In addition, in the electronic part mounting 1 of above-mentioned embodiment, as shown in the step 11 of the step 5 of Fig. 6, step 20, Fig. 7, control when starting, whole robot to be stopped in non-interference.But the robot moved in the axial direction that also can only make non-interference control to have started stops.
Such as, also can, as shown in the step 4 of Fig. 6, when X-axis non-interference controls to have started, X-axis first robot 4f and X-axis second robot 4r be stopped.And, X-axis first robot 4f or X-axis second robot 4r can also be made to stop.Similarly, also can, as shown in the step 19 of Fig. 6, when Y-axis non-interference controls to have started, Y-axis first robot 5f and Y-axis second robot 5r be stopped.And, Y-axis first robot 5f or Y-axis second robot 5r can also be made to stop.
In addition, the electronic part mounting 1 of present embodiment robot cell's number and be not particularly limited.Also can be more than three.And, also can by the electronic part mounting 1 of present embodiment, monitor the interference of independent robot cell and barrier (the length direction two ends stopper (suppression component that comes off of Y-axis first robot 5f, Y-axis second robot 5r) of element camera 90f, 90r such as, shown in Fig. 1, Y-axis guide rail 80, the length direction two ends stopper (suppression component that comes off of X-axis first robot 4f) of X-axis first guide rail 52f, the length direction two ends stopper (suppression component that comes off of X-axis second robot 4r) of X-axis second guide rail 52r).In this case, as long as consider to make the first robot cell 9f or the second robot cell 9r stop.
Claims (4)
1. a multi-robot system, possesses: control device; And to be driven by described control device and there are multiple robot cells of removable replacing parts;
The feature of described multi-robot system is,
Overlapping each other at least partially of the track of multiple described robot cell,
Described control device can identify the position of multiple described robot cell, and based on the relative distance between multiple described robot cell and the braking distance of different described robot cells monitors multiple described robot cell's interference according to the described kind of replacing parts
Using cross one another axle as X-axis, Y-axis,
Described multi-robot system possesses and has the base that the Y-axis extended along described Y direction shares guide portion;
Multiple described robot cell comprises:
First robot cell, has: Y-axis first robot, have by described Y-axis share guide portion guide and along described Y direction movement robot body and be configured in upper and X-axis first guide portion extended along described X-direction of described robot body; X-axis first robot, has the robot body along described X-direction movement by described X-axis first guide portion guiding; And described replacing parts, be configured on the described robot body of described X-axis first robot in removable mode; And
Second robot cell, has: Y-axis second robot, have by described Y-axis share guide portion guide and along described Y direction movement robot body and be configured in upper and X-axis second guide portion extended along described X-direction of described robot body; X-axis second robot, has the robot body along described X-direction movement by described X-axis second guide portion guiding; And described replacing parts, be configured on the described robot body of described X-axis second robot in removable mode;
Described control device switches monitoring distance in described Y direction and Y-axis monitoring distance between Y-axis apparent weight overlapping state and Y-axis are depending on non-overlapped state, wherein, described Y-axis apparent weight overlapping state is the state overlapped each other at least partially of the described replacing parts of the first robot cell and the described replacing parts of described second robot cell described in when observing from described Y direction, described Y-axis depending on non-overlapped state be observe from described Y direction time described in the described replacing parts of the first robot cell and the nonoverlapping state of described replacing parts of described second robot cell.
2. multi-robot system according to claim 1, wherein,
Described control device switches described Y-axis according to relative distance in described Y direction of described first robot cell and described second robot cell and Y-axis relative distance and monitors distance.
3. multi-robot system according to claim 1 and 2, wherein,
Described control device is connected with host control device and drives the slave control device of described robot cell.
4. an electronic part mounting, wherein,
Possess the multi-robot system according to any one of claims 1 to 3,
Described replacing parts are the mounting heads of the suction nozzle had for stick electronic components.
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| JP5768829B2 (en) * | 2013-03-15 | 2015-08-26 | 株式会社安川電機 | Robot system, robot control method, and workpiece manufacturing method |
| KR101994289B1 (en) * | 2014-03-11 | 2019-06-28 | 한화정밀기계 주식회사 | A mounter |
| 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 |
| JP7119556B2 (en) * | 2018-05-15 | 2022-08-17 | オムロン株式会社 | Interference determination device for multi-joint robot, interference determination method for multi-joint robot, interference determination program for multi-joint robot, and path plan generation device |
| WO2023100223A1 (en) * | 2021-11-30 | 2023-06-08 | 株式会社Fuji | Device control system and component mounting machine |
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2012
- 2012-06-15 CN CN201210202156.9A patent/CN102825594B/en active Active
- 2012-06-15 CN CN201510514413.6A patent/CN105108731B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1184331A (en) * | 1996-12-02 | 1998-06-10 | 三菱电机株式会社 | Integrated circuit assembling and disassembling device and its assembling and disassembling head |
| CN1438835A (en) * | 2002-01-21 | 2003-08-27 | 松下电器产业株式会社 | Electronic element fitting device and fitting-head unit of electronic element |
| CN101547594A (en) * | 2008-03-25 | 2009-09-30 | 株式会社日立高新技术仪器 | Mounting apparatus for electronic components |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013004638A (en) | 2013-01-07 |
| CN105108731A (en) | 2015-12-02 |
| CN102825594A (en) | 2012-12-19 |
| JP5751945B2 (en) | 2015-07-22 |
| CN105108731B (en) | 2018-02-23 |
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