JP2010120123A5 - - Google Patents
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- JP2010120123A5 JP2010120123A5 JP2008296539A JP2008296539A JP2010120123A5 JP 2010120123 A5 JP2010120123 A5 JP 2010120123A5 JP 2008296539 A JP2008296539 A JP 2008296539A JP 2008296539 A JP2008296539 A JP 2008296539A JP 2010120123 A5 JP2010120123 A5 JP 2010120123A5
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- axis
- driving means
- driving
- orthogonal
- drive
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Claims (4)
前記第１の軸線の方向と交差する第２の軸線の方向に延び、前記２本の第１の駆動手段に架設され、前記２本の第１の駆動手段の駆動によって前記第１の軸線に沿って移動する第２の駆動手段と、
部品を保持するための複数のツールが前記第２の軸線の方向に平行な列をなすように備えられ、前記第２の駆動手段の駆動によって前記第２の軸線に沿って移動するヘッドユニットと、
前記各駆動手段を制御する制御手段とを有し、
該制御手段は、前記第２の軸線が前記主軸の第１の軸線と直交する方向からずれている場合にそのずれた角度である誤差角を検出し、その誤差角と所定の式とに基づいて、前記２本の第１の駆動手段を同期させて駆動するためのパラメータのずらし量を演算し、前記パラメータを前記ずらし量だけずらすことにより前記第２の軸線と前記主軸の第１の軸線とを直交させるようにしつつ、前記２本の第１の駆動手段を駆動するように構成されている直交ロボット。 First driving means having two driving shafts, a main shaft and a sub shaft, extending in the direction of a predetermined first axis and spaced apart from each other;
It extends in the direction of a second axis that intersects the direction of the first axis, is installed on the two first driving means, and is driven by the two first driving means to the first axis. Second driving means moving along,
A head unit provided with a plurality of tools for holding a part so as to form a row parallel to the direction of the second axis, and moving along the second axis by driving of the second driving means; ,
Control means for controlling each driving means,
When the second axis is deviated from a direction orthogonal to the first axis of the main axis, the control means detects an error angle that is the angle shifted , and based on the error angle and a predetermined formula Te, wherein synchronizing the first driving means 2 calculates the shift amount of parameters for driving, the shifting amount of said parameter only shifted to the second axis by Succoth first of said spindle An orthogonal robot configured to drive the two first driving means while making the axis orthogonal.
該基台上の所定の位置に基板を搬入する基板搬送手段と、
前記基台上に設置され、所定の第１の軸線の方向に延び、かつ、互いに間隔を空けて設けられた主軸、副軸の２本の駆動軸を有する第１の駆動手段と、
前記第１の軸線の方向と交差する第２の軸線の方向に延び、前記２本の第１の駆動手段に架設され、前記２本の第１の駆動手段の駆動によって前記第１の軸線に沿って移動する第２の駆動手段と、
部品を保持するための複数の吸着ヘッドが前記第２の軸線の方向に平行な列をなすように備えられ、前記第２の駆動手段の駆動によって前記第２の軸線に沿って移動するヘッドユニットと、
部品の供給位置が前記基板の搬送方向に平行になるように備えられた部品供給部と、
前記各駆動手段を制御する制御手段とを有し、
該制御手段は、前記第２の軸線が前記主軸の第１の軸線と直交する方向からずれている場合にそのずれた角度である誤差角を検出し、その誤差角と所定の式とに基づいて、前記２本の第１の駆動手段を同期させて駆動するためのパラメータのずらし量を演算し、前記パラメータを前記ずらし量だけずらすことにより前記第２の軸線と前記主軸の第１の軸線とを直交させるようにしつつ、前記２本の第１の駆動手段を駆動するように構成されている部品実装装置。 The base,
Substrate transport means for transporting the substrate to a predetermined position on the base;
A first drive means installed on the base, extending in the direction of a predetermined first axis, and having two drive shafts, a main shaft and a sub shaft, spaced apart from each other;
It extends in the direction of a second axis that intersects the direction of the first axis, is installed on the two first driving means, and is driven by the two first driving means to the first axis. Second driving means moving along,
A head unit provided with a plurality of suction heads for holding components so as to form a row parallel to the direction of the second axis, and moving along the second axis by driving of the second driving means When,
A component supply unit provided so that the supply position of the component is parallel to the transport direction of the substrate;
Control means for controlling each driving means,
When the second axis is deviated from a direction orthogonal to the first axis of the main axis, the control means detects an error angle that is the angle shifted , and based on the error angle and a predetermined formula Te, wherein synchronizing the first driving means 2 calculates the shift amount of parameters for driving, the shifting amount of said parameter only shifted to the second axis by Succoth first of said spindle A component mounting apparatus configured to drive the two first driving means while orthogonally crossing an axis .
前記第１の駆動手段の前記主軸の第１の軸線と前記第２の駆動手段の第２の軸線との直交度を測定する直交度測定ステップと、
前記第２の軸線が前記主軸の第１の軸線と直交する方向からずれている場合にそのずれた角度である誤差角を検出し、その誤差角と所定の式とに基づいて、前記２本の第１の駆動手段を同期させて駆動するためのパラメータのずらし量を算出するずらし量算出ステップと、
前記パラメータを前記ずらし量だけずらすことにより前記第２の軸線と前記主軸の第１の軸線とを直交させるようにしつつ、前記２本の第１の駆動手段を駆動するように制御する直交度調整ステップとを含むことを特徴とする直交ロボットの制御方法。
First drive means having two drive shafts, a main shaft and a sub shaft, extending in the direction of a predetermined first axis and spaced apart from each other, intersects the direction of the first axis. Second driving means extending in the direction of the second axis, installed on the two first driving means, and moved along the first axis by driving of the two first driving means; An orthogonal robot having a plurality of tools arranged in a row parallel to the direction of the second axis, and a head unit that moves along the second axis by driving of the second driving means. A control method,
An orthogonality measuring step for measuring an orthogonality between a first axis of the main axis of the first driving means and a second axis of the second driving means;
Said second axis to detect the error angle is an angle which case the shift is offset from a direction perpendicular to the first axis of the main spindle, on the basis of its error angle with a predetermined formula, the two A shift amount calculating step for calculating a shift amount of a parameter for driving the first driving means synchronously ;
While the previous Kipa parameter so as to orthogonal to the first axis of the main spindle and the second axis by only shifting Succoth shift amount the controls to drive the first driving means of the two An orthogonal robot control method comprising: an orthogonality adjustment step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008296539A JP2010120123A (en) | 2008-11-20 | 2008-11-20 | Orthogonal robot, component mounting device equipped with the orthogonal robot, and method of controlling the orthogonal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008296539A JP2010120123A (en) | 2008-11-20 | 2008-11-20 | Orthogonal robot, component mounting device equipped with the orthogonal robot, and method of controlling the orthogonal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2010120123A JP2010120123A (en) | 2010-06-03 |
| JP2010120123A5 true JP2010120123A5 (en) | 2010-11-25 |
Family
ID=42321910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2008296539A Pending JP2010120123A (en) | 2008-11-20 | 2008-11-20 | Orthogonal robot, component mounting device equipped with the orthogonal robot, and method of controlling the orthogonal robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2010120123A (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07104692B2 (en) * | 1986-10-02 | 1995-11-13 | トヨタ自動車株式会社 | Preview tracking control type robot |
| JP2569297B2 (en) * | 1989-03-10 | 1997-01-08 | 川崎重工業株式会社 | Drive unit for the robot running unit |
| JPH02284885A (en) * | 1989-04-27 | 1990-11-22 | Nissan Motor Co Ltd | Position teaching method for workpiece positioning device |
| JPH0824437B2 (en) * | 1990-02-20 | 1996-03-06 | 松下電工株式会社 | Positioning device |
| JPH0596479A (en) * | 1991-10-02 | 1993-04-20 | Matsushita Electric Ind Co Ltd | Rectangular coordinate type robot |
| JP3414503B2 (en) * | 1994-07-14 | 2003-06-09 | 日和田電子株式会社 | Arm angle correction device |
| KR0176662B1 (en) * | 1995-12-28 | 1999-04-01 | 김광호 | Chip Mounting Position Control Method and Positioning Device of Orthogonal Robot for Chip Mounter |
| JP2002028880A (en) * | 2000-07-13 | 2002-01-29 | Juki Corp | Biaxial parallel drive type moving device |
| JP2002157017A (en) * | 2000-11-21 | 2002-05-31 | Yokogawa Electric Corp | Positioning device |
| JP3961280B2 (en) * | 2000-12-26 | 2007-08-22 | 松下電器産業株式会社 | POSITIONING CONTROL DEVICE, POSITIONING CONTROL METHOD, AND COMPONENT MOUNTING DEVICE |
| JP4096837B2 (en) * | 2003-08-20 | 2008-06-04 | 松下電器産業株式会社 | Linear motion mechanism of electronic component mounting equipment |
-
2008
- 2008-11-20 JP JP2008296539A patent/JP2010120123A/en active Pending
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