JP2012030363A - Robot system and method of manufacturing workpiece - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot system and a method of manufacturing workpiece allowing automation of work of pressing a supply material against an object.SOLUTION: The robot system of attaching the supply material to the object loaded on a stage includes a first arm having a first hand mechanism with the supply material held, a second arm having a second hand mechanism, and a control device controlling the operations of the first and second arms. The control device includes a storage unit storing a position where the supply material is affixed to the object, and controls the operations of the first and second arms so as to draw out the supply material from the first hand mechanism and to press the supply material drawn out by the second hand mechanism against the affixing position on the object stored in the storage unit.

Description

  The present invention relates to a robot system that performs an operation of pressing a supply material against an object and a method for manufacturing a processed product.

Conventionally, various techniques for automating a production line by causing a robot to perform a task that has been performed by a person have been proposed (see, for example, Patent Document 1).
In addition to the technology shown in Patent Document 1, etc., by automating complex and diverse operations that have been relied on manually using a highly versatile robot instead of a dedicated machine, There is an increasing demand for efficiency. For this reason, it is required to expand work that can be automated by robots.

JP2009-000799A

  For example, an operation of attaching a supply material such as an adhesive tape or a masking tape to a preset position of an object to be processed is often performed manually by an operator or the like. In particular, there is a problem that it is not economical to introduce a dedicated machine for such work when various kinds of processing are required in a small lot.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a robot system and a method for manufacturing a processed product that can automatically perform the operation of pressing a supply material against an object. .

In order to solve the above problems, the present invention is configured as follows.
A robot system according to the present invention is a robot system for attaching a supply material to an object placed on a stage, and includes a first arm having a first hand mechanism holding a supply material, and a second hand mechanism. 2 arms and a control device for controlling the operations of the first arm and the second arm, and the control device has a storage unit for storing a position where the supply material is attached to the object. The first arm and the first hand mechanism so that the supply material is fed out from the first hand mechanism, and the supply material fed out by the second hand mechanism is pressed against the attachment position of the object stored in the storage unit. The operation of the second arm is controlled.

Further, it is preferable that the control device further pushes the supply material by operating the first arm after pressing the supplied material to the object by the second hand mechanism.
Further, the control device, after pressing the fed material that has been fed out against the object by the second hand mechanism, when moving the first arm to further feed the feeding material, It is preferable to move in the same direction as the first arm.

  In addition, a stage provided within the operating range of the first arm and the second arm, a loading device for loading the object before processing onto the stage, and the object loaded on the stage are set in advance. It is preferable to include a positioning device that fixes the processed object and a carry-out device that carries the processed object out of the stage.

  Moreover, it is preferable that the said object is a board | substrate for electronic devices before a soldering process, and the said supply material is an adhesive tape affixed on the surface of the said board | substrate.

  A method of manufacturing a processed product according to the present invention includes a first arm having a first hand mechanism, a second arm having a second hand mechanism, and a storage unit that stores a position where the supply material is attached to the object. A workpiece manufacturing method for performing a process of attaching a supply material to an object placed on a stage using a robot system including a control device, the step of feeding the supply material from the first hand mechanism; The second hand mechanism presses the fed material that has been fed out to a position where the object is stored in the storage unit.

According to the present invention, it is possible to perform the pressing operation of the supply material to the object with high accuracy without using the robot system.
In addition, there is an advantage that the present apparatus can be introduced by replacing a person with a robot without significantly changing the conventional production facility for manual work.

1 is a schematic top view showing an overall configuration of a robot system according to an embodiment of the present invention. The typical front view showing the important section of the robot system concerning one embodiment of the present invention. The typical front view showing the important section of the 1st hand mechanism and the 2nd hand mechanism concerning one embodiment of the present invention. The typical top view showing the important section of the 1st hand mechanism concerning the 1 embodiment of the present invention, and the 2nd hand mechanism. FIG. 9 is a schematic diagram illustrating a distal end portion of a second hand unit for explaining an embodiment of the present invention. Both illustrate one embodiment of the present invention, in which (A) shows a state where the winding roller mechanism is removed from the first hand unit, and (B) shows the winding roller mechanism. The schematic diagram for demonstrating operation | movement of the robot system concerning one Embodiment of this invention. The schematic diagram for demonstrating operation | movement of the robot system concerning one Embodiment of this invention. The schematic diagram for demonstrating operation | movement of the robot system concerning one Embodiment of this invention. The schematic diagram for demonstrating operation | movement of the robot system concerning one Embodiment of this invention.

[overall structure]
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, as an example of a robot system, a description is given of a process in which a masking tape T as a supply material is attached to a predetermined position of a substrate for electronic equipment (hereinafter referred to as a workpiece W) as an object. To do.
In addition, the board for electronic devices is a thing before an electronic component is mounted, and after the masking tape T is affixed to the position preset by this robot system, it is a soldering process process in a post process, Solder is applied to the unmasked part.

  As shown in FIG. 1, a robot system 100 according to the present embodiment includes a robot main body 101, a stage 102, a pre-processing work cassette 103, a post-processing work cassette 104, and a winding roller stocker 105 disposed in a partition wall 100A. have. In addition, the partition wall 100A is provided with a gate 100B, and a loading / unloading path 106 is disposed inside and outside the partition wall 100A via the gate 100B. Further, a robot controller (control device) 107 is disposed outside the partition wall 100A, and is connected to the robot body 101 so as to be able to transmit information.

[Robot body configuration]
As shown in FIG. 2, the robot body 101 has a base 1 fixed to a floor with anchor bolts (not shown), and a trunk portion 2 pivots on the base 1 with respect to the base 1 via an actuator. It is provided freely.
The body 2 is provided with a first arm 3L and a second arm 3R (in the present embodiment, the second arm also functions as a carry-in device and a carry-out device) on the left and right, respectively.
The second arm 3R is provided with a right shoulder 4R that can turn along a horizontal plane (a plane parallel to the floor). The right shoulder 4R is provided with a right upper arm A portion 5R so as to be swingable. An upper right arm B portion 6R is provided at the tip of the upper right arm A portion 5R. The upper right arm B portion 6R is given a twisting motion to turn.

Further, a right lower arm portion 7R is swingably provided at the tip of the upper right arm B portion 6R. A right wrist A portion 8R is provided at the tip of the right lower arm portion 7R, and a right wrist B portion 9R is provided at the tip.
The right wrist A part 8R is given a twisting action for turning, and the right wrist B part 9R is given a turning action for performing a bending action.
A right flange 10R is provided at the tip of the right wrist B portion 9R, and a right hand unit (second hand mechanism) 11 is attached to the right flange 10R.

The first arm 3L is symmetrical with the second arm 3R. The first arm 3L includes a left shoulder 4L, a left upper arm A portion 5L, a left upper arm B portion 6L, a left lower arm portion 7L, a left wrist A portion 8L, and a left hand. It is composed of a neck B portion 9L and a left flange 10L.
A left hand unit (first hand mechanism) 12 is attached to the left flange 10L. Each joint (rotating unit, swinging unit, hand unit) of the robot body 101 incorporates an actuator (not shown) having a servo motor, and the rotational position of each movable unit is an encoder built in the actuator. Is input to the controller 107 as a signal from.
Detailed configurations of the right hand unit 11 and the left hand unit 12 will be described later.

The stage 102 is disposed in front of the robot main body 101 and has a flat work table on which the workpiece W is placed. A positioning wall 102A is formed upright at the corner of the work table. Further, the stage 102 is driven by an actuator (not shown) in the XX direction (hereinafter also referred to as the left-right direction).
And a moving member 102B that slides in the Y-Y direction (hereinafter also referred to as the front-rear direction).

The unprocessed workpiece cassette 103 is a stack of unprocessed workpieces W and a plurality of workpieces W locked by pins.
The storage case is provided with a plurality of slots for storing.
The processed workpiece cassette 104 is a storage case provided with a plurality of slots for storing processed workpieces W.

A plurality of types of winding roller mechanisms 38 to be described later are attached to the winding roller stocker 105. Each winding roller mechanism 38 is provided with a masking tape winding roller 36 having a different width dimension, material, and the like.
The controller 107 is constituted by a computer having a storage device, an electronic calculator, and an input device (all not shown), and is connected to the robot body 101 so as to be able to communicate with each other.
In the controller 107, a processing operation mode for the workpiece W (more specifically, which type of masking tape is to be attached to which position of the workpiece W, etc.) via an input device (for example, a programming pendant) in advance. Information etc.) is taught, and the controller 107 gives an operation signal to each movable part of the robot body 101 according to the taught operation when the operation is executed.
In this embodiment, the controller 107 as a control device is expressed and described as a single unit for the sake of simplification of description. As the control device, for example, a robot controller that controls driving of the robot body 101 only, a hand A computer that controls the unit or the like may be configured separately.

[Configuration of second hand unit]
Next, a more detailed configuration of the right hand unit 11 will be described.
As shown in FIGS. 3 and 4, the right hand unit 11 includes a pressing mechanism 20, a second gripping mechanism 21, an actuator 22, a pre-processing workpiece gripping mechanism (target gripping mechanism) 23, and a post-processing workpiece gripping mechanism ( (Object gripping mechanism) 24 and a bracket 25.
The bracket 25 is fixed to the right flange 10 </ b> R, and a pressing mechanism 20, a second gripping mechanism 21, an actuator 22, a pre-processing workpiece gripping mechanism 23, and a post-processing workpiece gripping mechanism 24 are attached to the bracket 25.

The pressing mechanism 20 includes a pair of pressing claws 20A and 20B and a base portion 20C, and the base portion 20C fixed to the bracket 25 extends in substantially the same direction as the rotation axis of the right flange 10R.
At the tip of the base 20C, a pressing claw 20A is disposed in the extending direction of the base. The pressing claw 20A is formed in a triangular prism shape, and the distal end has an acute angle and the proximal end is connected to the base.
The pressing claw 20B is also formed in a triangular prism shape like the pressing claw 20A, the tip is formed at an acute angle, and the base end is connected to the base 20C. The pressing claw 20B is in a direction substantially orthogonal to the pressing claw 20A. It extends to.
The base 20C is made of metal, and the pressing claws 20A and 20B are made of a flexible material such as resin.

FIG. 5 shows the pressing mechanism 20 in a state where the right flange 10R is turned about 180 degrees from the state of FIG.
As shown in FIG. 5, driven rollers 20D are pivotally supported on the surfaces of the pressing claws 20A and 20B that are in contact with the masking tape T, and move by pressing the masking tape T against the workpiece as will be described later. In this case, the driven roller 20D is driven to rotate in accordance with the change in the relative position between the pressing claws 20A and 20B and the workpiece W (or masking tape T).

  The second gripping mechanism 21 is a forceps-like member formed with a gripping portion 21A that extends in parallel with the base of the pressing mechanism 20 from the actuator 22 fixed to the bracket 22 and is bent substantially at a right angle. By switching the gripping and gripping release by driving the actuator 22, the masking tape T can be sandwiched and gripped or the gripping can be released.

The pre-processing workpiece gripping mechanism 23 has a plurality (three in this case) of suction cup members 23A, and the suction surface of the workpiece W can be held or released by suction by the suction cup members 23A.
The post-processing workpiece gripping mechanism 24 is a member on a flat plate fixed to the bracket 25, and an engagement portion 24A that is bent is formed at the tip.
The workpiece W is provided with a hole (not shown), and the workpiece W is engaged with the engagement portion 24 of the workpiece gripping mechanism 24 by operating the second arm 3R. Can be held. Thus, the workpiece W is held without contacting the surface of the workpiece W to which the masking tape is attached, and the masking tape T or the like attached to the surface during conveyance of the processed workpiece W is prevented from being damaged.

[Configuration of the first hand unit]
Next, a more detailed configuration of the left hand unit 12 will be described.
As shown in FIGS. 3 and 4, the left hand unit 12 includes a cutting mechanism 32, a bracket 35, an attaching / detaching mechanism 37, a winding roller mechanism 38, and a cassette grip portion 39.
The cassette gripping part 39 is a member on a flat plate fixed to the bracket 35, and an engaging part 39A which is bent at the tip part is formed.
The cutting mechanism 32 has a cutter blade 32A attached to the tip, and by moving the cutting mechanism 32 up and down, the cutter blade is located downstream of the first gripping mechanism 31 described later (the delivery side of the masking tape T). The masking tape T is formed so as to be cut by causing 32A to enter the masking tape T.

As shown in FIG. 6A, the winding roller mechanism 38 can be held and released from the left hand unit 12 by the attaching / detaching mechanism 37.
As shown in FIG. 6B, the winding roller mechanism 38 includes a winding roller 36 rotatably mounted on the main body, a pair of driven rollers (guide rollers) 33 and 34, and a first gripping mechanism 31.

  The winding roller 36 is formed by winding a masking tape T around a core material. The two driven rollers 33 and 34 apply an appropriate tension to the masking tape T fed from the winding roller 36, and the masking tape T The masking tape T is guided to the first gripping mechanism 31 side of the front end portion while guiding the feeding direction. That is, the winding roller 36 and the driven rollers 33 and 34 form a masking tape T feeding mechanism.

  The first gripping mechanism 31 is a forceps-like member that extends in parallel with the masking tape T and has a gripping portion 31A formed by bending substantially at a right angle, and is gripped and gripped by driving an actuator (not shown). By switching the release, the masking tape T can be sandwiched and held or released.

The robot system 100 according to an embodiment of the present invention is configured as described above, and operates as follows according to teaching data preset in the controller 107.
At the start of the work, the pre-processing work cassette 103 and the post-processing work cassette 104 carried into the gate 100B in the transfer device (not shown) are gripped by the engaging portion 24A of the right hand unit 11 and the engaging portion 39A of the left hand unit 12. Then, it is set at the position shown in FIG.
Then, the second arm 3R is driven and the suction cup member 23A is pressed against the surface of the workpiece W loaded on the uppermost part of the workpiece cassette 103 before processing to hold one workpiece W, and the held workpiece W is held on the surface to be processed. Is placed on the stage 102 so as to face upward, and suction by the suction cup member 23A is released.
After the workpiece W is placed on the stage 102, the moving members 102B and 102C are operated to press the workpiece W against the positioning wall 102A, whereby the positioning operation of the workpiece W on the stage 102 is completed.

In parallel with the positioning operation of the workpiece W on the stage 102, the first arm 3 </ b> L is operated, and one winding roller mechanism 38 set from the winding roller stocker 105 is attached to the attachment / detachment mechanism 37.
Then, as shown in FIG. 4, the first arm 3L and the second arm 3R are operated to a preset position (hereinafter referred to as a standby position) and posture. The initial position is such that the right hand unit 11 is sufficiently forward of the left hand unit 12 so that the right hand unit 11 and the left hand unit 12 do not interfere with each other. A position that is offset to the rear side is set.
Then, with the second arm 3R operated and the second gripping mechanism 21 opened, the gripping portion 21A was entered between the first gripping mechanism 31 and the driven roller 33 from the standby position as shown in FIG. Thereafter, the second gripping mechanism 21 is closed and the masking tape T is sandwiched and gripped by the gripping portion 21A.
When the gripping operation by the gripper 21A is completed, the first gripping mechanism 31 is opened and the gripping of the masking tape T by the first gripping mechanism 31 is released.
With the first arm 3L fixed so as not to move, the second arm 3R is moved to the leading end side of the masking tape T, and the masking tape T is fed out by a preset length (length for pasting). . At this time, the gripping portion 21A of the second gripping mechanism 21 passes through the open gripping portion of the first gripping mechanism 31 without contact.

When the masking tape T is fed out, the masking tape T is gripped by the first gripping mechanism 31 and the gripping of the masking tape T by the second gripping mechanism 21 is released.
Then, as shown in FIG. 3, the first arm 3L is moved to a preset masking start position, and then, as shown in FIG. 8, the second arm 3R is operated to feed the leading end of the masking tape T fed out. The adhesive surface side of the portion is pressed against a preset position of the workpiece W with the pressing claw 20A.

In addition, since this time it is the operation which affixes the masking tape T to the left-right direction (extension direction of the pressing mechanism 20), the masking tape T is pressed against the workpiece W using the pressing claw 20A. When pasting in the front-rear direction, the masking tape T is pressed against the workpiece W using the pressing claws 20B.
Thereby, even if the affixing direction of the masking tape T is the left-right direction or the front-back direction, the affixing operation can be performed while the direction of the right hand unit 11 is substantially the same direction.
As a result, the masking tape T in the front-rear direction can be achieved by positioning only the first arm 3L forward without positioning both the first arm 3L and the second arm 3R in the front-rear direction with little space. Thus, the region where the first arm 3L and the second arm 3R interfere with each other is suppressed to be small.

  When the pressing operation of the masking tape T is completed, as shown in FIG. 9, the first arm 3L and the second arm 3R move in the left-right direction by a preset length. At this time, with the movement of the first arm 3L, the masking tape T is fed out from the winding roller 36, and the fed out masking tape T is pressed against the workpiece W by the pressing claw 20A and the driven roller 20D on the lower surface of the pressing claw 20A. Thus, the masking tape T is affixed to the workpiece W with a certain tension applied thereto, and wrinkles and the like are more effectively prevented from occurring on the masking tape T.

When the first arm 3L and the second arm 3R move by a preset length, the first gripping mechanism 31 is closed and the cutting mechanism 32 is operated, and the cutter blade 32A cuts the masking tape T. Then, the first arm 3L retracts in the left-right direction.
When the masking tape T is cut by the cutter blade 32A, as shown in FIG. 10, the second arm 3R is moved in the left-right direction by a preset length to reach the cut end of the masking tape T. Is pressed against the workpiece W. Thereafter, the second arm 3R moves to at least the start of application of the masking tape T in a state where a predetermined pressing force is applied to the masking tape T by the pressing claw 20A, and sufficiently fixes the masking tape T to the workpiece W.

When the application of the masking tape T is completed, the first arm 3L and the second arm 3R move to the standby position.
When it is necessary to replace the winding roller mechanism 38, the winding roller mechanism 38 currently mounted on the winding roller stocker 105 is placed and a preset winding roller mechanism 38 is mounted. Then, the masking tape T is pasted again at a preset position.

When the work of attaching the masking tape T to all of the predetermined positions of the workpiece W is completed, the workpiece W is held by engaging the engaging portion 24A of the workpiece gripping mechanism 24 after processing into a hole portion (not shown) of the workpiece W, After the processing, the work W on which the masking tape T is stuck is accommodated in the empty slot of the work cassette 104.
Then, a new work (work before work) W is taken out from the work cassette 103 before processing, and the masking tape T is attached.

  When the masking tape T is pasted on the workpiece W and a preset number of workpieces W are stored in the workpiece cassette 104 after processing, the workpiece cassette 104 after processing is engaged with the engaging portion 24A of the right hand unit 11 and the left hand unit. 12 is held by the engaging portion 39A and transferred to the gate 100B side.

As described above, according to the robot system according to the present embodiment, the masking tape T can be affixed to a predetermined portion of the workpiece W with high accuracy and not supported by the human hand. The pasting work in various modes can be performed by changing the contents.
Further, since the robot body 101 has a form similar to that of the upper body of a human body in which the base 1 and the body 2 are human torso and have a pair of arms (arms) at both ends of the torso, By arranging the robot body 101 in the existing work space, it is possible to divert and apply existing equipment, and to reduce equipment costs for work automation.

Although the embodiments of the present invention have been described above, the production system, robot system, and machine product manufacturing method according to the present invention are not limited to the above-described embodiments and do not depart from the spirit of the present invention. The present invention can be appropriately modified within the range.
The object according to the present invention is not limited to a substrate for electronic products, and can be applied to various objects. Further, the present invention is not limited to the adhesive tape such as the masking tape, and the present invention can be applied to any appropriate material as long as it can be fed out from the first arm, such as a string-like wire or a spacer made of fabric. .
In the embodiment, the robot main body also serves as the loading device and the unloading device. However, the loading device and the unloading device for loading / unloading the object to / from the stage may be provided independently.

1 base 2 trunk 3R second arm (first arm)
3L 1st arm (2nd arm)
4R right shoulder 4L left shoulder 5R right upper arm A part 5L left upper arm A part 6R upper right arm B part 6L left upper arm B part 7R right lower arm A part 7L left lower arm A part 8R right wrist A part 8L left wrist A part 9R right hand Neck B part 9L Left wrist B part 10R Right flange part 10L Left flange part 11 Right hand unit (second hand mechanism)
12 Left hand unit (first hand mechanism)
20 pressing mechanism 20A, 20B pressing claw 20C base 21 second gripping mechanism 22 actuator 23 gripping mechanism for workpiece before processing 24 gripping mechanism for workpiece after processing 25 bracket 31 first gripping mechanism 32 cutting mechanism 32A cutter blades 33, 34 driven roller ( Guide roller)
35 Bracket 36 Winding roller 37 Attaching / detaching mechanism 38 Winding roller mechanism (feeding mechanism)
39 Cassette gripping part 100 Robot system 100A Partition wall 100B Gate 101 Robot body 102 Stage 102A Positioning walls 102B and 102C Moving member 103 Workpiece cassette 104 before processing Workpiece cassette 105 Rolling roller stocker

Claims (6)

A robot system for attaching a supply material to an object placed on a stage,
A first arm having a first hand mechanism holding a supply material;
A second arm having a second hand mechanism;
A control device for controlling the operation of the first arm and the second arm;
The controller is
A storage unit for storing a position where the supply material is attached to the object;
The first arm and the first arm and the second arm so that the supply material is fed out from the first hand mechanism, and the supply material fed out by the second hand mechanism is pressed against an attachment position of the object stored in the storage unit. A robot system for controlling the operation of the second arm. The controller is
2. The robot system according to claim 1, wherein, after the fed supply material is pressed against the object by the second hand mechanism, the first arm is operated to further feed the supply material. The controller is
The second arm is moved in the same direction as the first arm when the first arm is moved to further feed the supply material after the fed supply material is pressed against the object by the second hand mechanism. The robot system according to claim 1, wherein the robot system is moved to a position. A stage provided within an operating range of the first arm and the second arm;
A carry-in device for carrying the object before processing into the stage;
A positioning device for fixing the object carried into the stage at a preset position;
The robot system according to any one of claims 1 to 3, further comprising a carry-out device that carries the processed object out of the stage. The object is a board for electronic equipment before soldering processing,
The robot system according to claim 4, wherein the supply material is an adhesive tape attached to a surface of the substrate. Using a robot system including a first arm having a first hand mechanism, a second arm having a second hand mechanism, and a control device having a storage unit for storing a position where the supply material is attached to the object. , A manufacturing method of a processed product for performing a process of attaching a supply material to an object placed on a stage,
Paying out the supply material from the first hand mechanism;
A step of pressing the fed-out supply material against a position where the object stored in the storage unit is pasted by the second hand mechanism.

Images