JP2001121354A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To miniaturize a robot device by reducing dead space. SOLUTION: This robot device to apply a designated process on a circuit board 32, is provided with a base 1, a Y table 4 provided movably along the base 1 in a designated direction and mounting the work, a frame 6 straddling over the base 1 and the Y table 4, an X table 9 provided on the frame 6 movable along the direction crossing the movement direction of the Y table 4, and a Z table 13 provided on the X table 9 movably along the direction crossing the movement directions of the Y and the tables.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus for performing a predetermined processing on a workpiece.

[0002]

2. Description of the Related Art For example, when assembling and assembling electronic components on a wiring board as an object to be processed, a robot apparatus is used to automate the work. In some cases, a robot device used for such assembling processing is required to be small and capable of performing high-precision processing.

Conventionally, this type of robot apparatus has a base, and an X table is provided on the base so as to be movable in the X direction. A Y table is movable on the X table in the Y direction. It is provided in. The wiring board is placed on the Y table.

[0004] Above the X and Y tables, a Z table is provided so as to be movable in the vertical direction. The Z table has a processing for incorporating electronic components into a wiring board mounted on the Y table. The head is mounted.

[0005] Thereby, a predetermined electronic component can be incorporated at a predetermined position in the wiring substrate by the processing head.

[0006]

According to a structure in which an X table and a Y table are provided on a base so as to be movable in the X and Y directions, respectively, and a Z table is provided above these tables, Must secure a space in which the X table and the Y table can be moved in the X direction and the Y direction, respectively.

Therefore, even if the base is large enough to allow the Y table to move in both the X direction and the Y direction,
In the space on the base, which is the moving range of the table, it is not possible to install other devices such as a control device for controlling the driving of each table.

As a result, a space for installing the control device and the like must be secured by increasing the size of the portion other than the upper surface of the base and the base, thereby increasing the size of the device. It may be.

In other words, if the Y table moves in the X direction and the Y direction on the base, a dead space is created in which the space on the base cannot be used for other purposes, resulting in an increase in the size of the apparatus. There was a cause.

An object of the present invention is to provide a robot device capable of expanding a space on a base which can be effectively used.

[0011]

According to a first aspect of the present invention, there is provided a base, a first table provided to be movable in a predetermined direction of the base and capable of moving a workpiece, A stand provided to intersect with the direction of movement of the table,
A second table provided on the gantry so as to be movable in a direction intersecting the moving direction of the first table;
And a third table movably provided in a direction intersecting the moving directions of the first and second tables.

According to a second aspect of the present invention, in the robot apparatus according to the first aspect, the first, second, and third tables are driven by a ball screw.

According to a third aspect of the present invention, the first, second, and third tables are each driven by a servo motor having an encoder as a drive source, and each of the servo tables is driven based on an output of the encoder. 3. The robot device according to claim 1, further comprising a control device for controlling the motor.

According to a fourth aspect of the present invention, in the robot apparatus according to the first aspect, a processing head for performing a predetermined processing on the processing target is detachably provided on the third table. It is in.

The invention according to claim 5 is characterized in that the base is provided with protection means for preventing entry of an obstacle from a direction intersecting with the moving direction of the first table. 1 is a robot apparatus.

According to the first aspect of the present invention, the base has the first
Is merely provided so as to be movable in one direction, so that the space that can be effectively used on the base can be expanded.

According to the second aspect of the present invention, since the three tables are each driven by the ball screw, it is possible to improve the driving accuracy and increase the load capacity.

According to the third aspect of the present invention, the driving source for driving each table is a servomotor, and these servomotors are controlled in a closed loop, so that the driving accuracy can be improved.

According to the fourth aspect of the present invention, the processing head is detachably attached to the third table.
It is possible to perform various types of processing on a processing target using a plurality of processing heads having different functions.

According to the invention of claim 5, the base has the first
By providing a protection means for preventing entry of an obstacle from a direction intersecting with the moving direction of the first table, not only obstacles of moving the first table can be eliminated, but also a handle for transporting the robot device depending on the form. Also available as

Since the handle is provided on both sides of the base, not only can the base be carried by the handle, but also the handle can be used as a safety fence for the first table.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

The robot apparatus of the present invention shown in FIG. 1 has a base 1 in the form of a rectangular plate that is long in the front-rear direction. At the center in the width direction of the base 1, an elongated box-shaped Y-axis guide 2 having an open upper surface is provided along the front-rear direction.

A feed screw 3 is rotatably provided on the Y-axis guide 2, and a Y table 4 as a first table is screwed to the feed screw 3. The feed screw 3 is connected to a Y-axis servo motor 5 provided at one end of the Y-axis guide 2.
Is driven to rotate. Thereby, the Y table 4 is driven in the Y direction along the Y axis guide 2.

The one end of the base 1 in the front-rear direction is provided with the Y
A gate-shaped gantry 6 is erected on the Y table 4 so as to cross the moving direction of the table 4. This stand 6
Box-shaped X-axis guide 7 with an open top surface
Are provided along a direction orthogonal to the Y-axis guide 2. A feed screw 8 is rotatably provided on the X-axis guide 7, and an X table 9 serving as a second table is screwed to the feed screw 8.

The feed screw 8 is driven to rotate by an X-axis servo motor 10 provided at one end of the X-axis guide 7. Thereby, the X table 9 is driven in the X direction along the X axis guide 7.

The X table 9 is provided with an elongated box-shaped Z-axis guide 11 having an open side surface. A feed screw 12 is rotatably provided on the Z-axis guide 11. A Z table 13 as a third table is screwed to the feed screw 12.

At the upper end of the Z-axis guide 11, a Z servo motor 14 is provided. The Z servo motor 14 drives the feed screw 12 to rotate. Thereby, the Z table 13 is driven in the Z direction along the Z guide 11.

That is, the Z table 13 is driven in the Z direction, which is a direction orthogonal to the movement of the Y table 4 in the Y direction and the movement of the X table 9 in the X direction.

A mounting plate 15 is mounted on the Z table 13. A plurality of screw holes 16 are formed in the mounting plate 15, and the processing head is detachably mounted using the screw holes 16. The processing head includes the chuck unit 17 shown in FIG. 2A and the dispenser 18 shown in FIG. 2B.

The chuck head 17 is formed with a through hole 21a through which a screw (not shown) is passed, and the screw passed through the through hole 21a is screwed into a screw hole 16 of the mounting plate 15, whereby the mounting plate 15 Has a block 21 which is attached and fixed. The block 21 is provided with a cylinder 22 and fingers 23 driven to open and close by the cylinder 22. Therefore, an electronic component (not shown) can be held between the fingers 23.

The dispenser 18 has a holding plate 24. The holding plate 24 has a through hole 24a.
A screw (not shown) is passed through the through-hole, and the screw is screwed into the screw hole 16 of the mounting plate 15, whereby the holding plate 24 is mounted and fixed to the mounting plate 15.

The holding plate 15 is provided with a container 25 containing a liquid adhesive. A nozzle 26 is provided at the tip of the container 25, and a supply pipe 27 for supplying a compressed gas into the container is provided at the upper end. Therefore, by supplying the compressed gas in the container 25, a predetermined amount of the adhesive can be discharged from the nozzle 26.

As shown in FIG. 5, a mounting plate 31 is detachably mounted on the upper surface of the Y table 4. For example, a wiring substrate 32 is supplied and mounted on the mounting plate 31 as an object to be processed.

When the chuck head 17 is mounted on the mounting plate 15, for example, the electronic component 33 can be assembled at a predetermined position of the wiring board 32 by the chuck head 17.

The base 1 is provided with inverted U-shaped handles 34 as protection means on both sides in a direction orthogonal to the moving direction of the Y table 4. The handle 34 serves as a safety fence so that various obstacles (for example, a worker's hand) can be prevented from entering from a direction intersecting with the moving direction of the Y table 4 during work.
Furthermore, the base 1 can be carried by hanging the handle 34.

A ball screw 35 shown in FIG. 4 is used to screw the feed screws 3, 8, 12 and the tables 4, 9, 13 together. The ball screw 35 is connected to each feed screw 3, 8,
12 has a nut body 36 that is screwed into the nut body 36.
The steel balls 37 are inserted into the opposite thread grooves of the feed screws 3, 8 and 12.
Is accommodated. Therefore, each of the tables 4, 9, and 13 can be driven with a light force by the ball screw 35.
The load capacity of these tables can be increased.

As shown in FIG. 5, each of the tables 4, 9, 1
Servo motors 5, 10 as drive sources for driving
14 is driven by a drive signal from a control device 41. A setting signal is input to the control device 41 from the external command unit 42, and each servo motor 5,
10 and 14 are driven.

The movements of the servo motors 5, 10, and 14 are controlled by a Y-axis encoder 43, an X-axis encoder 44, and a Z-axis encoder 44, respectively.
Output to the shaft encoder 45. Each encoder 43, 4
The movements of the servo motors 5, 10, and 14 are input to the control device 41 from the control units 4 and 45, and the input of the control device 41 is compared with the input from the external command unit 42.
The movement of 0, 14 is corrected.

That is, since the servo motors 5, 10, and 14 are controlled in a closed loop, each of the tables 4, 9, and
13 can be positioned with high accuracy.

According to the robot apparatus thus configured, the Y table 4 and the X table 9 are separated, the Y table 4 is provided on the base 1, the X table 9 is provided on the gantry 6, and the X table By providing the Z table 13 at 9, the positioning of the processing heads 17, 18 attached to the Z table 13 in the X, Y, and Z directions can be controlled relative to the wiring board 32 mounted on the Y table 4. I did it.

Therefore, since the Y table 4 is driven only in the Y direction, the space on both sides of the Y axis guide 2 on the base 1 can be used. That is, since the space on both sides of the Y-axis guide 2 does not become a dead space, for example, a space for installing the control device 41 or installing a tray (not shown) of the electronic component 33 incorporated in the wiring board 32 in that space. And the size of the robot device can be reduced.

A ball screw 35 is used as a drive mechanism of the Y table 4, the X table 9 and the Z table 13. Therefore, the power required to drive each of the tables 4, 9, and 13 is reduced, so that the load capacity of each table can be increased accordingly.

Each of the servo motors 5, 10, and 14 for driving each of the tables 4, 9, and 13 inputs an output signal from an encoder 43, 44, or 45 provided to each servo motor to the control device 41. In closed loop control.

Therefore, the positioning of each of the tables 4, 9, and 13 can be controlled with high accuracy based on the setting signal from the external command section 42. For example, the tables 4, 9, and 13 are mounted on the Y table 4 via the mounting plate 31. The electronic component 33 can be accurately incorporated into the wiring board 32 thus completed.

Mounting plate 1 provided on Z table 13
5, different types of processing heads such as a chuck unit 17 and a dispenser 18 can be detachably attached. Therefore, since various types of processing can be performed on the processing target placed on the Y table 4, the value of the robot device can be increased.

The base 1 is provided with handles 34 on both sides of the Y-axis guide 2. For this reason, the handles 34 provided on both sides of the Y-axis guide 2 serve as safety fences, and various obstacles such as an operator's hand and an object can enter from a direction intersecting the moving direction of the operating Y table 4. Can be prevented. Moreover, the small robot device is convenient because the operator can carry the handle 34 while holding it.

[0048]

As described above, according to the present invention, the first table and the second table are separated, the first table is provided on the base, and the second table is provided on the gantry. The third table is provided on the second table.

Therefore, it is possible to reduce the dead space generated on the base, so that the size of the robot device can be reduced accordingly.

[Brief description of the drawings]

FIG. 1 is a perspective view of a robot device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the processing head.

FIG. 3 is a perspective view of a multi-state in which a wiring board is similarly provided on a Y table.

FIG. 4 is an explanatory view of a ball screw.

FIG. 5 is a block diagram showing control of each servo motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Base 4 ... Y table (1st table) 5 ... X-axis servo motor 6 ... Stand 9 ... X table (2nd table) 10 ... Y-axis servo motor 13 ... Z table (3rd table) 14 ... Z-axis servo motor 17 ... Chuck head (working head) 18 ... Dispenser (working head) 32 ... Wiring board (workpiece) 34 ... Handle 35 ... Ball screw 41 ... Control device

Claims (5)

[Claims] 1. A base, a first table movably provided in a predetermined direction of the base, the first table being capable of moving an object to be processed, and a first table being provided to intersect with a moving direction of the first table. A gantry; a second table provided on the gantry so as to be movable in a direction intersecting with the moving direction of the first table; and a traverse direction of the second table intersecting with the moving directions of the first and second tables. A third table movably provided in a direction in which the robot moves. 2. The first, second and third tables are:
The robot device according to claim 1, wherein the robot device is driven by a ball screw. 3. The first, second and third tables are:
3. The control device according to claim 1, further comprising a control device that is driven using a servomotor including an encoder as a drive source, and controls each of the servomotors based on an output of each of the encoders. 4. Robot equipment. 4. The robot apparatus according to claim 1, wherein a processing head for performing predetermined processing on the processing target is detachably provided on the third table. 5. The robot apparatus according to claim 1, wherein said base is provided with a protection means for preventing an obstacle from entering from a direction intersecting a moving direction of said first table. .