JPH0343170A - Robot - Google Patents

Abstract

PURPOSE:To perform work with high accuracy by providing a movable body capable of positioning at the optional position in an X direction on an X axis table and fitting a work head part via a positioning means capable of positioning in high accuracy in the X direction on the movable body. CONSTITUTION:A work position is correctly conformed to the specific position of a position recognizing means 11 in a work head part 10 by moving a movable body 8 in Y and X directions with the operation of Y axis tables 1, 2, and an X axis table 5, or the work position is correctly located on the line in the X direction passing through the specific position of the position recognizing means 11 at least. The work head part 10 is then moved for the specific distance in the X direction by a highly accurate positioning means 15 based on the gaps among the position in the X direction of the recognized work position, the specific position of the position recognizing means 11 and a work means 12. Consequently the work means 12 can be conformed to the work position with high accuracy and the work can be performed with high positional accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a robot that positions a working head section in two arbitrary positions in the X direction and the Y direction on one plane, and in particular, the present invention relates to a robot that positions a working head section at arbitrary positions in two directions, the X direction and the Y direction. This invention relates to a robot equipped with working means.

BACKGROUND OF THE INVENTION For example, as a robot that performs various tasks with high positional accuracy on a workpiece such as a board, as shown in FIGS. An X-axis table 32 that can be positioned at any position, and
A work head part 33 that can be positioned at any position in the X direction on the axis table 32, and this work head part 33
It is known that a position recognition means 34 and a working means 35 are provided at a predetermined interval in the X direction.

In such a robot, the Y-axis table 31 and the
By moving the work head section 33 using the shaft table 32, the position recognition means 34 is positioned on the work position of the workpiece W, and the position recognition means 34 recognizes the work position with high precision. Based on the recognized working position and the distance between the position recognition means 34 and the working means 35,
By moving the working head section 33 using the axis table 32 or the Y-axis table 31, the working means 35 is positioned at a working position with high accuracy and a predetermined work is performed.

Problem to be Solved by the Invention However, in the robot having the above configuration, even if the working position is recognized with high accuracy by the position recognition means 34, the work head section 3 is subsequently
3, the positional accuracy of the working means 35 is determined by the movement accuracy at that time, and the accuracy of the working position depends on the accuracy of the guides and ball screws in the long stroke X-axis table 32 and Y-axis table 31. It becomes dependent. However, it is very difficult to improve the accuracy of long stroke guides and ball screws, for example, 10μ
If an attempt is made to obtain a positional accuracy of less than m, there is a problem that the apparatus becomes extremely expensive and large.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, it is an object of the present invention to provide a robot capable of performing work with high positional accuracy using an inexpensive and small device.

Means for Solving the Problems In order to achieve the above object, the present invention provides a Y-axis table;
An X-axis table that can be positioned at any position in the Y direction with this Y-axis table, a work head part that can be positioned at any position in the X direction with this X-axis table, and a predetermined interval between the work head parts in the X direction In a robot equipped with a position recognition means and a working means, the X-axis table is provided with a movable body that can be positioned at any position in the X direction, and the movable body is positioned in the X direction with high precision. It is characterized in that the working head is mounted via possible positioning means.

Function According to the present invention, by operating the Y-axis table and the X-axis table to move the movable body in the Y direction and the X direction,
Accurately align the working position with the predetermined position of the position recognition means in the work head section, or at least accurately locate the work position on a line in the X direction passing through the predetermined position of the position recognition means, and then Based on the position in the X direction and the distance between the predetermined position of the position recognition means and the work means, the work head is moved a predetermined distance in the It is possible to match the position with high accuracy, and work can be performed with high positional accuracy.

EXAMPLE Hereinafter, an example of the present invention will be described based on FIGS. 1 to 4.

In FIGS. 1 and 2, reference numeral 1.2 denotes a pair of Y-axis tables arranged parallel to each other at a distance, each of which is equipped with a Y-axis motor 3 and a Y-axis ball screw 4. Reference numeral 5 denotes an X-axis table that is driven to move in the Y direction along these Y-axis tables 1.2 and positioned at an arbitrary position in the Y-direction, and is equipped with an X-axis motor 6 and a Y-axis ball screw 7. 8 is a movable body that is driven to move along the X-axis table 5 and positioned at an arbitrary position in the X direction. 9
a and 9b are cable units for transmitting power and control signals between the Y-axis table 1 and the X-axis table 5 and between the X-axis table 5 and the movable body 8.

A working head section 10 is attached to the movable body 8. A position recognition camera 11 for recognizing a work position and a work tool 12 for performing a predetermined work are fixedly installed on the work head section 10 at predetermined intervals in the X direction. In this illustrated example, the axial center of the position recognition camera 11 and the axial center of the working tool 12 are arranged exactly on a line along the X direction.

This work head section 10 can be moved with high precision to the movable body 8.
It is installed so as to be movable along the direction, and its movement range approximately corresponds to the distance between the position recognition camera 11 and the work tool 12. Further, a precision positioning means 15 is provided which is composed of a precision motor 13 and a precision ball screw 14 for moving and positioning the working head section 10 with high precision.

In addition, as shown in FIGS. 3 and 4, the Y-axis table 1 and
One end of the axis table 5 is connected to allow relative rotation and relative movement in the X direction, and the other ends of the Y-axis table 2 and the X-axis table 5 are connected to allow relative rotation. To explain in detail, a connecting shaft 16 projecting upward from a movable body 1a on one Y-axis table l connects via a bearing 17 to a movable portion 18a of a slide block 18 that is relatively rotatably slidable in the X direction. A fixed portion 18b of this slide block 18 is fixed to one end of the X-axis table 5. Further, a connecting shaft 19 projecting upward from the movable body in the other Y-axis table 2 is relatively rotatably connected to a mounting plate 21 via a bearing 20, and this mounting plate 21 is connected to the other end of the X-axis table 5. It is fixed to the part.

Next, the operation will be explained.

Work tool 1 at a predetermined work position
2, the Y-axis table 12 and the X-axis table 5 are operated to move the movable body 8 in the Y direction and the X direction, and the position recognition camera 1 in the work head section 10 is operated.
1, the working position is detected and adjusted, and the axis position of the position recognition camera 11 is made to match the working position with high precision. In this positioning state of the movable body 8, since both ends of the X-axis table 5 are positioned by the pair of Y-axis tables l and 2,
Even if the strokes of the seven-wheel table 1.2 and the X-axis table 5 are long, the X-axis table 5 maintains its posture along the X direction with high precision, and the work head 10 maintains its posture along the X direction with high precision. It is said that it is possible to move in any direction.

Further, during the above movement, by driving the pair of Y pongee tables 1 and 2 synchronously, the X-axis table 5 moves while maintaining its posture along the X direction. Also, by using a pair of Y-axis tables 1.2 in this way, some error in their parallelism and feed speed is unavoidable, but even in that case, the X-axis table 5 has one end that is connected to the Y-axis table 1. is connected to allow relative rotation and slide in the X direction, and the other end is connected to the
Since it is connected to the shaft table 2 so that it can rotate relatively,
The shaft table 5 absorbs these errors and moves smoothly.

Next, the working head section 10 is moved by the precision positioning means 15.
By accurately moving the distance between the axial center position of the position recognition camera 11 and the axial center position of the working tool 12, the working tool 12 can be matched with the working position with high precision. By operating the work tool 12 in this state, work can be performed with high positional accuracy.

In the description of the above embodiment, the axial position of the position recognition camera 11 is made to coincide with the working position. It is sufficient to accurately position the working position on the line passing through in the X direction.

Further, although the above embodiment shows an example using a pair of Y-axis tables 1.2, it goes without saying that the present invention can also be applied to a robot configured using a single Y-axis table. .

Effects of the Invention According to the robot of the present invention, as is clear from the above description, the work head is moved by the Y-axis table and the X-axis table, and the position recognition means is accurately positioned in accordance with the work position. Thereafter, by moving the working head portion a predetermined distance using a highly accurate positioning means, the working means can be aligned with the working position with high accuracy. Therefore, the long stroke Y-axis table and the X-axis table do not need to have low accuracy, and work can be performed with high positional accuracy simply by providing a short stroke high-precision positioning means on the movable body, so the cost is low. This has the great effect of making it possible to perform work with high positional accuracy using a small device.

[Brief explanation of drawings]

1 to 4 show one embodiment of the present invention, FIG. 1 is a perspective view showing the overall configuration, FIG. 2 is a plan view of the same, and FIG. 3 is a connecting portion between the Y-axis table and the X-axis table. 4 is a sectional view taken along line AA in FIG. 3, FIG. 5 is a perspective view of the conventional example, and FIG. 6 is a plan view thereof. 1.2... Y-axis table, 5... X-axis table 8... Movable body, 10... Work head section, 11...・Position recognition camera, 12...
...Working tools, 15...Precise positioning means.

Claims (1)

[Claims] A Y-axis table, an X-axis table that can be positioned at any position in the Y direction with this Y-axis table, a work head part that can be positioned at any position in the X direction with this X-axis table, and a work head part that can be positioned at any position in the X direction with this Y-axis table. In a robot equipped with a position recognition means and a working means arranged at a predetermined interval in the X direction, a movable body that can be positioned at any position in the X direction on the X-axis table is provided, and this movable body 1. A robot characterized in that the working head section is attached to the robot via a positioning means that can be positioned with high precision.