JP5525071B2 - Multi-axis positioning device - Google Patents

Description

The present invention relates to a positioning device that uses a multi-axis drive mechanism, and in particular, performs high-precision positioning using a multi-axis drive mechanism in order to produce foods, chemicals, and the like that require frequent cleaning of the device. It relates to a positioning device to be achieved.
Also, a configuration has been proposed in which the X-axis member is located at the lower part and the Y-axis member is located at the upper part.

  Conventionally, a multi-axis positioning device for positioning a processing object has been used in various applications.

  Specifically, as shown in FIG. 2, the Y-axis member 102 is supported by an X-axis member 101 that is reciprocated in the X-axis direction and is reciprocated in the Y-axis direction (a direction orthogonal to the X-axis). A θ-axis member 103 that is rotationally driven is provided on the upper surface, and this θ-axis member 103 supports a support table 105 that supports a processing object 104 that is a positioning target, and further above the θ-axis member 103. A processing member 107 is provided that is supported by a Z-axis member 106 that is reciprocally driven in the Z-axis direction (directions orthogonal to the X-axis direction and the Y-axis direction) and that performs a predetermined process on the processing object 104. The positioning of the processing object 104 is achieved by controlling the X-axis member 101, the Y-axis member 102, and the θ-axis member 103. (See Patent Document 1).

JP 2001-308597 A

When a multi-axis positioning device as described in Patent Document 1 is applied to a manufacturing apparatus for foods, medicines, etc., there is a possibility that the support table 105 or foods, medicines, etc. may adhere due to safety and health problems Such cleaning is an essential requirement. For cleaning, mainly “tap water”, “tap water with detergent” as required, “anhydrous alcohol” aimed at sterilization, and the like are used.
However, when the support table 105 or the like is cleaned, for example, in the configuration shown in FIG. 2, the drive mechanism portions of the X-axis member 101 and the Y-axis member 102 are positioned below the support table 105, so Liquid droplets adhere to the contact parts of different types of members such as the drive unit and sliding guide unit, causing corrosion and the like on the metal surface, resulting in increased friction and causing failure of these drive mechanisms. There is an inconvenience.

To prevent such inconvenience, in extreme cases, for example, the support table and the multi-axis drive mechanism are removed, and the parts other than the multi-axis drive mechanism are cleaned, and after the cleaning, the support table and the multi-axis drive are again performed. It is conceivable to install a mechanism.
However, in this case, it takes time for cleaning itself, and high-precision positioning is required, so much labor and time are required for re-installation. In addition, during re-installation, particles (for example, metal powder such as peeling or moving or floating mainly due to metal friction, floating fibers or inorganics in the air depending on the installation environment of the device, or Sufficient cleaning effect cannot be achieved because of floating dust such as metal. Furthermore, there is a disadvantage that the particles generated at that time are mixed into the product during the production of foods, pharmaceuticals and the like.
Therefore, a multi-axis positioning device as described in Patent Document 1 cannot be applied to uses in which cleaning is essential, such as a manufacturing apparatus for foods and pharmaceuticals.

  The present invention has been made in view of the above-described problems, and can achieve cleaning of a table or the like that supports a processing object to be positioned without affecting the multi-axis positioning mechanism by the cleaning liquid. In addition, an object of the present invention is to provide a multi-axis positioning device capable of preventing adhesion of particles generated at the drive sliding portion to food or medicine.

The multi-axis positioning apparatus of the present invention includes a multi-axis drive mechanism that moves a support table that supports a processing object and a processing mechanism that performs a predetermined process on the processing object relative to each other. And
The multi-axis drive mechanism has at least one linear movement mechanism, and a movement range of the linear movement mechanism and a movement range of the support table are separated by a partition, and each of the linear movement mechanisms is separated from the linear movement mechanism. At least while the predetermined processing is performed by operating the linear motion mechanism and the support table, it is disposed above the openings (28) and (29) provided in the partition corresponding to the mechanism. Among the areas separated by the partition walls, the pressure on the side having the movement range of the linear motion mechanism is negative with respect to the pressure on the side having the movement range of the support table. is there.

  If this multi-axis positioning device, the movement range of the linear motion mechanism and the movement range of the support table are separated by a partition wall, so when cleaning liquid is supplied from above in the movement range of the support table, It is possible to prevent the inconvenience that the cleaning liquid enters the linear motion mechanism, and to clean the support table that holds the object to be processed. Further, the moving range of the support table, that is, the inner wall of the space accommodating the support table can be cleaned.

Further, at least during the predetermined processing by operating the linear motion mechanism and the support table, the atmospheric pressure on the side having the movement range of the linear motion mechanism in the region separated by the partition wall is limited to the movement range of the support table. Since the pressure is negative with respect to the air pressure on the side having the same, it is possible to prevent particles generated by sliding at the drive sliding portion of the linear motion mechanism from adhering to the object to be processed.
Here, at least one of the linear motion mechanisms is preferably disposed above the support table, so that the linear motion mechanism can be easily and compactly disposed.

  The multi-axis drive mechanism preferably includes at least one rotating shaft mechanism, and the upper portion of the rotating shaft mechanism is preferably covered with the support table, and a dedicated cover member is provided for the rotating shaft mechanism. There is no need, and the configuration can be simplified.

  Furthermore, the processing mechanism has a cover mainly composed of a flat surface with little unevenness, and is detachably mounted as a block (integrated with the cover) on a moving member that is moved by the linear motion mechanism. Preferably, when cleaning the moving range of the support table and the inner wall of the space accommodating the support table, the remaining portion can be easily cleaned while the processing mechanism is not affected by the cleaning liquid. Further, since it is detachably mounted as a block, the time required for the process switching can be shortened by replacing the processing mechanism part prepared in advance at the time of the process switching. Further, when it is necessary to clean the processing mechanism unit itself, the processing mechanism can be removed as a block and easily cleaned in another cleaning environment.

  The multi-axis positioning device of the present invention prevents the inconvenience that the cleaning liquid enters the linear motion mechanism when the cleaning liquid is supplied from above, and cleans the support table that holds the object to be processed. There is a unique effect of being able to.

It is a schematic perspective view which shows one Embodiment of the multi-axis positioning apparatus of this invention. It is a figure which shows the conventional multi-axis positioning apparatus. It is the schematic which shows an example of the cover of the opening part which accept | permits a movement. It is the schematic which shows the attachment and removal mechanism of a unit. It is a schematic perspective view which shows other embodiment of the multi-axis positioning apparatus of this invention. It is a schematic perspective view which shows other embodiment of the multi-axis positioning apparatus of this invention. It is a schematic perspective view which shows other embodiment of the multi-axis positioning apparatus of this invention.

Embodiments of a multi-axis positioning apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.
Embodiment 1
FIG. 1 is a schematic perspective view showing an embodiment of the multi-axis positioning apparatus of the present invention.

  This multi-axis positioning device includes an X-axis linear motion mechanism 2 extending in the X-axis direction (left-right direction in the figure) at the back of the base 1, and a Y-axis direction (above the left and right edge portions of the base 1) ( A pair of Y-axis linear motion mechanisms 3 extending in the horizontal direction perpendicular to the X-axis), a cantilevered X-axis support member 21 moved in the X-axis direction by the X-axis linear motion mechanism 2, and the X-axis A rotary shaft mechanism 4 provided at the upper end of the support member 21, a support table 5 provided at the upper portion so as to cover the rotary shaft mechanism 4, and the pair of Y-axis linear motion mechanisms 3 provide a Y-axis. A Y-axis support member 31 moved in the direction, an alignment unit 32 provided at a predetermined position on one side surface of the Y-axis support member 31, an inspection unit 33, and three coating units 34, 35, 36, Except for the region for allowing the movement of the X-axis support member 21, the X Except for the X-axis cover member 8 that covers the top and sides of the linear motion mechanism 2 and the region for allowing the movement of the Y-axis support member 31, the top and sides of each Y-axis linear motion mechanism 3 are covered. A Y-axis cover member 9 and an area cover member 6 that covers a movable area of the X-axis support member 21 and the Y-axis support member 31 are provided. Each of the alignment unit 32, the inspection unit 33, and the coating units 34, 35, and 36 preferably has a cover mainly composed of a flat surface with little unevenness. Thereby, cleaning and wiping are further facilitated.

  Partitions 22 and 23 that separate and isolate the movement range of the linear motion mechanisms 2 and 3 and the movement range of the support table 5 are provided corresponding to the X axis and the Y axis, respectively. Are connected to each other.

  It is preferable that the partition wall 22.23 is mainly composed of a flat surface with less unevenness. This facilitates cleaning and wiping.

  An X-axis partition wall 22 that separates and isolates the movement range of the X-axis linear motion mechanism 2 and the movement range of the support table 5 is a side surface portion of the X-axis cover member 8. An X-axis opening 28 for allowing movement of the support member 21 is provided.

  Similarly, the Y-axis partition wall 23 that separates and isolates the movement range of the Y-axis linear motion mechanism 3 and the movement range of the support table 5 is a side surface portion of the Y-axis cover member 9 that faces each other. Is provided with a Y-axis opening 29 for allowing movement of the Y-axis support member 31.

The area cover member 6 preferably has an upper door and a front door.
The alignment unit 32 has a camera (not shown) for achieving alignment of the processing object supported by the support table 5. Of course, a first image processing device (not shown) is provided that receives an image signal from the camera and performs predetermined image processing for alignment.

The inspection unit 33 has a camera (not shown) for achieving inspection of the processing object supported by the support table 5. Of course, a second image processing device (not shown) is provided that receives an image signal from the camera and performs predetermined image processing for inspection.
The first image processing device and the second image processing device may be provided separately, but may be configured to perform corresponding processing by one image processing device.

The three coating units 34, 35, and 36 have a droplet supply mechanism (not shown) for supplying droplets onto the object to be processed. Here, as the droplet supply mechanism, an inkjet head can be exemplified. Of course, a control device (not shown) for controlling the three coating units 34, 35 and 36 is provided.
The support table 5 preferably has a number of suction holes for sucking and holding the object to be processed.

And, if necessary, a negative pressure setting member (not shown) that makes the inside of the X-axis partition wall 22 and the X-axis cover member 8 and the inside of the Y-axis partition wall 23 and the Y-axis cover member 9 negative pressure. Is preferably provided.
Although not shown, a drive mechanism control device is provided for controlling the X-axis linear motion mechanism 2, the Y-axis linear motion mechanism 3, and the rotary shaft mechanism 4 in order to achieve the positioning of the processing object. .

In the above and below, since the configurations of the linear motion mechanism, the rotary shaft mechanism, the image processing apparatus, and the drive mechanism control apparatus are conventionally known, detailed description thereof is omitted.
The operation of the multi-axis positioning device having the above-described configuration is as follows.

First, the area cover member 6 is opened, the processing object is supported on the support table 5, the area cover member 6 is closed, and the space containing the processing object is isolated from the external space.
Next, the X-axis linear motion mechanism 2, the Y-axis linear motion mechanism 3, and the rotary shaft mechanism 4 are controlled by the drive mechanism control device, and the processing object supported on the support table 5 by the alignment unit 32. Achieve alignment.
Thereafter, the X-axis linear motion mechanism 2 and the Y-axis linear motion mechanism 3 are controlled by the drive mechanism control device to achieve positioning of the processing object.

  In this state, the three coating units 34, 35, and 36 are controlled by the control device, and the first droplet layer, the second droplet layer, and the third droplet layer are laminated at predetermined positions of the processing object. Can be formed. Here, any of the first droplet layer, the second droplet layer, and the third droplet layer can be adopted. However, when applied to medical applications, for example, a material that dissolves in the intestine. A droplet layer containing, a droplet layer containing a drug, and a droplet layer containing a block material that prevents leakage of the drug. The first droplet layer, the second droplet layer, and the third droplet layer are dried.

After each droplet layer is formed, the X-axis linear motion mechanism 2 and the Y-axis linear motion mechanism 3 are controlled by the drive mechanism control device, and the inspection unit 33 is formed in a stacked state on the processing object. The first droplet layer, the second droplet layer, and the third droplet layer can be inspected.
Then, by repeating the positioning of the processing object, the control of the three coating units 34, 35 and 36, and the inspection by the inspection unit 33, the first droplet layer and the second layer in the stacked state are repeatedly formed on the processing object. A plurality of droplet layers and third droplet layers can be formed.

  During the series of processes, the negative pressure setting member causes negative pressure inside the X-axis partition wall 22, the Y-axis partition wall 23, the X-axis cover member 8, and the Y-axis cover member 9. Therefore, even if particles are generated in the X-axis linear motion mechanism 2 and the Y-axis linear motion mechanisms 3, the possibility that the particles enter the space for accommodating the processing object is extremely small.

  Thereafter, the area cover member 6 is opened, and the processing object on which a plurality of stacked first, second, and third droplet layers are formed is unloaded, and the new processing object is supported on the support table. 5 to form a plurality of stacked first, second, and third droplet layers on a new object to be processed by performing the above-described series of processes. Can do.

By performing the above-described series of processes only a predetermined number of times, particles are generated in the space for accommodating the processing object due to the existence of a period during which the negative pressure setting member does not operate, and a new processing object is created. There is a risk of adhesion.
Depending on the type of treatment for the processing target, the generation of such particles may not be a problem. However, if the processing for the processing target is processing for medical use, food use, etc., such particles Occurrence becomes a fatal problem.

  However, in the present multi-axis positioning device, the X-axis cover member 8 having the X-axis partition wall 22 that separates and isolates the movement range of the X-axis linear movement mechanism 2 and the movement range of the support table 5, A Y-axis cover member 9 having a Y-axis partition wall 23 that separates and isolates the moving range of the moving mechanism 3 and the moving range of the support table 5; and the support table 5 provided on the upper portion of the rotating shaft mechanism 4. Therefore, the area cover member 6 is opened, and in this state, a cleaning liquid such as water may be supplied from the upper part of the support table 5, and the space in the range in which the object to be processed is accommodated and moved by the support table 5 can be obtained. The entire range can be easily cleaned.

Further, nothing is disposed below the moving range of the support table 5 separated by the X-axis partition wall 22 and the Y-axis partition wall 23, and the lower part of the support table 5 is a water collecting pan, so that the cleaning waste liquid Can be collected efficiently.
Therefore, after cleaning, it is possible to achieve processing on the processing object in a state where no particles exist.

Further, an X-axis opening 28 and a Y-axis opening 29 for allowing movement of the X-axis support member 21 and the Y-axis support member 31 provided in the X-axis partition wall 22 and the Y-axis partition wall 23 are shown in FIG. The mechanism 41 (Y-axis opening) closes the X-axis opening 28 and the Y-axis opening 29 when the X-axis support member 21 and the Y-axis support member 31 are moved by a flexible member such as a stainless thin plate as the support member as shown in FIG. It is preferable that the movement range space of the X-axis support member 21 and the Y-axis support member 31 be in a semi-sealed state. The mechanism 41 may be any mechanism as long as it is sandwiched between the support portions 21 and 31 to close the opening.
Furthermore, it is more preferable to dispose the drive sliding portion above the opening because it can prevent the cleaning liquid from being deposited.
Further, the negative pressure setting member can be omitted in the present multi-axis positioning device, and in this case, the advantage of being able to be easily cleaned can be fully enjoyed.

The alignment unit 32, the inspection unit 33, and the three coating units 34, 35, and 36 are preferably mounted so as to be removable together with the cover, and the cleaning with these units removed is achieved. be able to. As shown in FIG. 4, each unit is fixed by a unit positioning pin 38 and a unit fixing hook 39, and each unit can be easily removed together with the cover by removing the unit fixing hook 39 when attaching or detaching. Further, the power supply to the unit and the control signal can be easily attached and detached by the integrated connector 40.
Embodiment 2
FIG. 5 is a schematic perspective view showing only the main part of another embodiment of the multi-axis positioning apparatus of the present invention. In addition, since FIG. 5 explains the shaft configuration in an easy-to-understand manner, illustration of a cover member and a region cover member for covering each shaft linear motion mechanism is omitted.

  This multi-axis positioning device includes an X-axis linear motion mechanism 2 extending in the X-axis direction (left and right in the figure) above the back of the base 1 and a Y-axis above the left and right end edges of the base 1. A pair of Y-axis linear motion mechanisms 3 extending in a direction (horizontal direction orthogonal to the X-axis), a cantilevered X-axis support member 21 moved in the X-axis direction by the X-axis linear motion mechanism 2, A Y-axis support member 31 that is moved in the Y-axis direction by a pair of Y-axis linear motion mechanisms 3, a rotary shaft mechanism 4 provided at the upper center of the Y-axis support member 31, and the rotary shaft mechanism 4 A support table 5 provided on the upper portion thereof so as to cover, an alignment unit 32 provided at a predetermined position on one side surface of the X-axis support member 21, an inspection unit 33, and three coating units 34, 35, 36. Have.

Therefore, also in this multi-axis positioning device, the movement range of the X-axis linear movement mechanism 2 and the Y-axis linear movement mechanism 3 and the movement range of the support table 5 are separated by the X-axis partition wall 22 and the Y-axis partition wall 23. Since the area cover member (not shown) is opened and the cleaning liquid such as water is supplied from the upper part of the support table 5 in this state, the entire range of the space for accommodating the processing object can be easily cleaned. Can do.
Embodiment 3
FIG. 6 is a schematic perspective view showing only the main part of still another embodiment of the multi-axis positioning apparatus of the present invention. Note that FIG. 6 illustrates the shaft configuration in an easy-to-understand manner, and therefore, illustration of a cover member and a region cover member for covering each shaft linear motion mechanism is omitted.

This multi-axis positioning device is provided on both sides of the back of a base (not shown), and is provided on a Z-axis linear motion mechanism 7 extending in the Z-axis direction (vertical direction in the drawing), and the X-axis X-axis linear motion mechanism 2 extending in the direction (left-right direction in the figure), a cantilever X-axis support member 21 moved in the X-axis direction by the X-axis linear motion mechanism 2, and the X-axis support member 21 A Y-axis linear motion mechanism 3 extending in the Y-axis direction (horizontal direction orthogonal to the X-axis and Z-axis) at the top of the Y-axis, and a Y-axis support member 31 moved in the Y-axis direction by the Y-axis linear motion mechanism 3; A rotary shaft mechanism 4 provided above a predetermined position of the Y-axis support member 31; a support table 5 provided above the rotary shaft mechanism 4 so as to cover the rotary shaft mechanism 4; Alignment unit 32, inspection unit 33, and three provided in fixed part 70 It has a coating unit 34, 35, 36.
In this case, the movement range of the drive sliding portion of the X-axis linear movement mechanism 2 and the Y-axis linear movement mechanism 3 and the movement range of the support table 5 are separated by the X-axis partition wall 22, and the Z-axis It is connected to an X-axis linear motion mechanism 2 configured on the linear motion mechanism 7.

Therefore, also in this multi-axis positioning device, the area cover member (not shown) is opened, and in this state, the drive sliding portions of the X-axis linear motion mechanism 2, the Y-axis linear motion mechanism 3, and the Z-axis linear motion mechanism Since the movement range and the movement range of the support table 5 are separated by the X-axis partition wall 22, the entire range of the space for accommodating the processing object is supplied by supplying a cleaning liquid such as water from the upper part of the support table 5. Can be easily cleaned.
Embodiment 4
FIG. 7 is a schematic perspective view showing still another embodiment of the multi-axis positioning apparatus of the present invention.
This multi-axis positioning device includes an X-axis linear motion mechanism (not shown) extending in the X-axis direction (left-right direction in the figure) above the back of the base 1, and the X-axis linear motion mechanism. Cantilevered X-axis support member 21, the rotary shaft mechanism 4 provided at the top of the tip of the X-axis support member 21, and the upper portion of the rotary shaft mechanism 4 so as to cover the rotary shaft mechanism 4. A support table 5, a plurality of Y-axis linear motion mechanisms 3 extending in the Y-axis direction (horizontal direction orthogonal to the X-axis) above a predetermined position of the base 1, and the Y-axis linear motion mechanisms 3, in the Y-axis direction. A Y-axis support member 31 that is moved to the position, an alignment unit 32 provided on the Y-axis support member 31, an inspection unit 33, and three coating units 34, 35, and 36. In FIG. 7, the alignment unit 32 and the inspection unit 33 are shown in an integrated state.

  In addition, 22 is an X-axis partition, 23 is a Y-axis partition, and 6 is a region cover member. Therefore, also in the present multi-axis positioning apparatus, the entire area of the space for accommodating the processing object is easily cleaned by opening the area cover member 6 and supplying a cleaning liquid such as water from the upper part of the support table 5 in this state. can do.

  The shaft configuration of the multi-axis positioning device of the present invention is not limited to the above-described shaft configuration, and other various shaft configurations can be adopted.

DESCRIPTION OF SYMBOLS 1 Base 2 X-axis linear motion mechanism 3 Y-axis linear motion mechanism 4 Rotating-axis mechanism 5 Support table 6 Area | region cover member 7 Z-axis linear motion mechanism 8 X-axis cover member 9 Y-axis cover member 21, 31, 71 Support Member 22 X-axis partition wall 23 Y-axis partition wall 28 X-axis opening portion 29 Y-axis opening portion 32 Alignment unit 33 Inspection unit 34, 35, 36 Application unit 38 Unit positioning pin 39 Unit fixing hook 40 Connector 41 Mechanism for closing opening 70 Fixing Part

Claims (4)

A multi-axis drive mechanism for moving the support table (5) for supporting the processing object and the processing mechanism for performing a predetermined process on the processing object relative to each other;
The multi-axis drive mechanism has at least one linear movement mechanism (2) (3), and separates the movement range of the linear movement mechanism (2) (3) from the movement range of the support table (5). Partition wall (22) (23),
Each of the linear motion mechanisms (2) and (3) is more open than the openings (28) and (29) provided in the partition walls (22) and (23) corresponding to the linear motion mechanisms (2) and (3). Placed at the top,
At least during the predetermined processing by operating the linear motion mechanisms (2) (3) and the support table (5), out of the regions separated by the partition walls (22) (23), The multi-axis positioning device characterized in that the pressure on the side having the moving range of the moving mechanisms (2) and (3) is negative relative to the pressure on the side having the moving range of the support table (5). . The multi-axis positioning device according to claim 1, wherein at least one of the linear motion mechanisms (2) (3) is disposed above the support table (5). The multi-axis drive mechanism has at least one rotating shaft mechanism (4), and an upper portion of the rotating shaft mechanism (4) is covered with the support table (5). The multi-axis positioning device described. The processing mechanism has a cover mainly composed of a flat surface, and is detachably mounted together with the cover on a moving member moved by the linear motion mechanism (2) (3). 4. The multi-axis positioning device according to any one of 3.

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