JPH05329785A - Drive device - Google Patents

Drive device

Info

Publication number
JPH05329785A
JPH05329785A JP13483792A JP13483792A JPH05329785A JP H05329785 A JPH05329785 A JP H05329785A JP 13483792 A JP13483792 A JP 13483792A JP 13483792 A JP13483792 A JP 13483792A JP H05329785 A JPH05329785 A JP H05329785A
Authority
JP
Japan
Prior art keywords
table
arm
conveyor
attached
axis motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP13483792A
Other languages
Japanese (ja)
Inventor
Ryoji Ishibashi
良治 石橋
Original Assignee
Yokogawa Electric Corp
横河電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yokogawa Electric Corp, 横河電機株式会社 filed Critical Yokogawa Electric Corp
Priority to JP13483792A priority Critical patent/JPH05329785A/en
Publication of JPH05329785A publication Critical patent/JPH05329785A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To perform easy delivery of a work and to improve flexibility of line variation on an automation line by a method wherein a level difference is absorbed between conveyor lines to effect branch and joining by providing a table with the four degrees of freedom of X, Y, Z, and theta. CONSTITUTION:Four arms are intercoupled to form a pantograph mechanism and first and second arms 16 and 29 coupled with each other are independently driven by means of a biaxial output module 1. A table 46 is attached to a coupling part between third and fourth arms 41 and 42. By driving the first and second arms 16 and 29 by means of the biaxial module 1, a table 46 is moved in directions X and Y. Further, the table 46 is rotated around a Z-axis with the aid of a 9-axis motor 43 attached to a coupling part between the third and fourth arms 41 and 42. Further, the table 46 is moved in a direction Z by means of a mechanism 45 to convert rotational movement into linear movement with a Z-axis motor 44 arranged on the O-axis motor 43.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive unit used in a conveyor of an automated line. More specifically, the present invention relates to a conveyor that conveys a work and a drive device that transfers the work between the conveyors.

[0002]

2. Description of the Related Art In some automation lines, a work such as a substrate is carried and the carried work is processed and inspected. Conventionally, as such an automation line, there is one having a configuration shown in FIG. 7, for example. In FIG. 7, reference numeral 100 is a conveyor that conveys the substrate 101 in the a direction. The route conveyed by the conveyor 100 is the main stream of the line. Reference numeral 102 denotes an appearance inspection device that inspects the appearance of the pattern formed on the substrate 101 sent by the conveyor 100. Reference numeral 103 denotes a branching conveyor that transfers a board determined to be defective by the visual inspection apparatus 102 to the unloader 104. The branching conveyor 103 is a rotary conveyor, which rotates when a defective substrate is received, and transfers the defective substrate to the unloader 104 whose feeding direction is orthogonal to the conveyor 100. The unloader 104 stocks defective substrates on a magasin (not shown). The worker corrects the defective substrate stocked in Magasin. The non-defective substrate flows along the main stream without branching to the unloader 104. Reference numeral 105 is a loader for sending the corrected board, and 106 is an interrupting conveyor for interrupting the board sent by the loader 105 into the main stream by looking at the intervals between the flows. The interrupt conveyor 106 is also a rotary conveyor similar to the branch conveyor 103.

As shown in FIG. 7, when an appearance inspection apparatus is placed in an automated line, it is often necessary to take out the substrate from the mainstream, and further to correct the taken-out substrate and return it to the mainstream. In order to realize this, two conveyors, one for branching and one for interrupting, are required, and a considerable space is taken up in a portion which is not an actual work such as substrate transfer.

Further, even when a plurality of lines merge and branch, the lines become complicated, and the work of adjusting the heights of the lines for joining and branching becomes troublesome. For this reason, there is a problem that flexibility is lacking in the case of line change or the like. Recently, there has been a trend toward high-mix low-volume production,
A more flexible production line is required. For this reason, it is difficult for the conventional line as shown in FIG. 7 to handle high-mix low-volume production.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and can absorb a level difference between lines for branching and merging to easily transfer a work. Thus, it is an object of the present invention to realize a drive device with improved flexibility in line change in an automated line.

[0006]

The present invention is a drive device having the following configuration.

According to the first aspect of the present invention, the first arm (16) and the second arm (29) are rotatably provided on the same axis, and the first and second arms (16, 29).
A two-axis output module (1) for driving each of the
A third arm (41) having a proximal end rotatably attached to the distal end of an arm (16) of the second arm, and a proximal end rotatably attached to the distal end of the second arm (29),
A fourth arm (42) having a distal end rotatably attached to the distal end of the third arm (41) and a stator fixed to the distal end of the third arm (41) and having a rotor Theta-axis motor (4
3), a Z-axis motor (44) attached to the rotor of the θ-axis motor (43), and a conversion mechanism for converting the rotational motion of the output shaft of the Z-axis motor (44) into a linear motion in the Z-axis direction. (45) and the output unit (45) of this conversion mechanism (45)
1) which is fixed to the table (46),
With the axis output module (1), the table (46) is X,
The table (46) is moved in the Y direction by the Z axis motor (44) and the conversion mechanism (45),
The drive device is characterized in that the table (46) is rotated around the Z-axis by the θ-axis motor (43).

According to a second aspect of the present invention, the biaxial output module (1) is rotatable in a flange (4,5) attached to the base (6) side and a central hole of the flange (4,5). The second arm (29) provided at one end
Is provided on one side through the shaft (25) to which is attached the flange (4,5), the stator (13) is attached to the flange (4,5) side, and the rotor (14) is attached to the casing (12). The casing (12) is provided on the other side with the first motor (2) to which the first arm (16) is attached, and the stator (21) via the flanges (4, 5). Is attached to the casing (20) at the side of the flanges (4, 5) and the rotor (22), and the casing (2
The drive unit according to claim 1, characterized in that (0) comprises a second motor (3) to which the other end of the shaft (25) is attached.

The invention according to claim 3 is the table (46).
The drive device according to claim 1, wherein a conveyor is provided on the top.

The invention of claim 4 provides the table (46).
Was placed between two conveyors for transferring the work, the height of the table (46) was adjusted to the height of one of the conveyors, and the work sent from the one conveyor was provided on the table (46). Pick it up on the conveyor and then
A controller (50) for adjusting the height of the table (46) to the height of the other conveyor and transferring the work received by the conveyor provided on the table (46) to the other conveyor. The drive device according to claim 3.

The invention according to claim 5 is characterized in that a teaching means (51) for teaching the height of the one conveyor and the other conveyor to the controller (50) is provided. Is.

[0012]

The operation of the present invention is as follows.

In the drive device of the invention of claim 1, the first
When the second arm and the second arm are respectively driven by the biaxial output module, the third and fourth arms are also driven,
The table moves in the X and Y directions. When the Z-axis motor is driven, the power is transmitted through the conversion mechanism and the table moves to Z
Can be moved in the direction. When the θ-axis motor is driven, the table is rotated around the Z axis.

In the drive device of the invention of claim 2, the first
The first arm and the second arm are driven by the first motor and the second motor.

In the driving apparatus of the third aspect of the invention, the conveyor provided on the table conveys the work received by the table on the table.

In the driving apparatus of the invention of claim 4, the controller arranges the table between the two conveyors for transferring the work, adjusts the height of the table to the height of one of the conveyors, and Receive the work sent by the conveyor provided on the table, then adjust the height of the table to the height of the other conveyor,
Control is performed to transfer the work received by the conveyor provided on the table to the other conveyor.

In the driving apparatus of the fifth aspect of the invention, the teaching means teaches the controller the heights of the two conveyors for transferring the work.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. First, the configuration of the biaxial output module used in the present invention will be described. FIG. 1 is a diagram showing a configuration example of a biaxial output module used in the present invention. In FIG. 1, reference numeral 1 denotes a biaxial output module 1, which is composed of a first motor 2 and a second motor 3. These motors are outer rotor type direct drive motors. Then, the first flange 4 that is the base of the first motor 2
And the second flange 5, which is the base of the second motor 3, are arranged so as to face each other. On the other hand, this 2
A hole 6a for mounting the shaft output module 1 is formed. The biaxial output module 1 is set in the hole 6a, and the first flange 4 and the second flange 5 are attached to the base 6 in the vicinity of the peripheral edge of the hole 6a by using bolts 7 and nuts 8.

Next, the first motor 2 will be described. A sleeve 10 is mounted on the first flange 4 using a bolt 9. A lower end portion of a casing 12 is rotatably attached to the sleeve 10 via a bearing 11, and a stator 12 is attached to an upper portion of the sleeve 10.
Is attached. On the inner peripheral surface of the casing 12,
A rotor 14 that rotates with respect to the stator 13 is attached. A first arm 16 is attached to the upper end of the casing 12 using a bolt 15.

Next, the second motor 3 will be described. A sleeve 18 is attached to the second flange 5 with a bolt 17. An upper end portion of a casing 20 is rotatably attached to the sleeve 18 via a bearing 19, and a stator 21 is attached to a lower portion of the sleeve 18.
Is attached. On the inner peripheral surface of the casing 20,
A rotor 22 that rotates with respect to the stator 21 is attached. A joint 24 is attached to the lower end of the rotor 22 using a bolt 23. The lower end of this joint 24 is attached using a bolt 26 to a collar 25a formed at the lower end of a hollow shaft 25 extending from the lower end of the second motor 3 to the upper end of the first motor 2. Has been.

The upper end surface of the shaft 25 is attached to a joint 28 on a disk by using a bolt 27. Further, a second arm 29 is attached to the joint 28 with a bolt 30. On the other hand, a sleeve 32 is attached to the first arm 16 using a bolt 31. A second arm 29 is rotatably attached to the sleeve 32 via a bearing 33. In the present embodiment, the first arm 16 and the second arm 29 are set to have the same length.

Next, the structure of the drive device according to the present invention will be described. 2 and 3 are block diagrams of an embodiment of the driving device according to the present invention. 2 is a top view and FIG. 3 is a side view. In these figures, the base end portion of the third arm 41 is rotatably attached to the tip end portion of the first arm 16. The base end of the fourth arm 42 is rotatably attached to the tip of the second arm 29. Then, the third arm 41 and the fourth arm 42
Of the first arm 16, the second arm 29, the third arm 41 and the fourth arm are rotatably attached to each other.
A so-called pantograph mechanism is formed with the arm 42 of the. In addition, in the present embodiment, the third arm 41 and the fourth arm 42 are set to have the same length. A θ-axis motor 43 has a stator fixed to the tip of the third arm 41. The central axis θ of the rotor of the θ-axis motor 43 coincides with the Z-axis direction. 44 is θ
A Z-axis motor fixed on the rotor of the axis motor 43, 45
Is a conversion mechanism that converts the rotational motion of the output shaft of the Z-axis motor 44 into a linear motion in the Z-axis direction. The conversion mechanism 45 is a mechanism using a ball screw, for example. 46 is a conversion mechanism 45
A table fixed to the output unit 451 that is moved linearly by 47 is a conveyor motor provided on the table 46.

FIG. 4 shows a mechanical model of the drive device constructed as described above.

The operation of such a driving device will be described. In FIG. 1, when the first motor 2 of the biaxial output module 1 is driven, the rotor 14 rotates with respect to the stator 13. The rotation of the rotor 14 is transmitted to the first arm 16 via the casing 12, and the first arm 16 rotates. Similarly, the second motor 3 of the two-axis output module 1
When the rotor 22 is driven, the rotor 22 rotates with respect to the stator 21, and the rotation of the rotor 22 passes through the casing 20, the joint 24, the shaft 25, and the joint 28 to the second
Is transmitted to the second arm 29, and the second arm 29 rotates coaxially with the first arm 16. The rotation of the first arm 16 and the second arm 29 causes the table 46 to move to the position shown in FIG.
As shown by the alternate long and short dash line, it is possible to take various positions in the XY plane.

In addition, in FIGS. 2 and 3, when the θ-axis motor 43 is driven, the table 46 rotates around the θ-axis. Further, when the Z-axis motor 44 is driven, the table 46 moves in the Z-axis direction.

As described above, the table 46 includes X, Y,
It has four degrees of freedom, Z and θ. As a result, the table 46 can receive and send out the work from various positions and directions. A belt conveyor is provided on the table 46, and the work can be transferred in both directions of the table. The drive device is controlled by the controller, and the drive device is connected to each device in the automation line through an interface to realize flexible operation.

In the present embodiment, the first arm 16, the second arm 29, the third arm 41, and the fourth arm 41 are arranged regardless of the position of the table 46 or the movement of the table 46. The table 46 is controlled so as not to rotate depending on the movement of the arm 42. This control is performed as follows. As shown in FIG. 5, the angle formed by the first arm 16 and the second arm 29;
1 −θ 2 ) The direction of the bisector of the angle formed by the first arm 16 and the second arm 29 θ 3 ; θ 3 = (θ 1 −θ 2 ) / 2 where the table 46 is In order to prevent rotation at any position, the angle θ between the bisector of the angle formed by the first arm 16 and the second arm 29 and the table is θ.
The control is performed so that 4 becomes (90 ° −θ 3 ). However, in the present embodiment, since the θ-axis motor 43 is mounted on the third arm 41, it is necessary to add the direction ψ of the third arm 41 to θ 4 . Then, θ 3 (f
1 , θ 2 )) is calculated and the rotation angle of the table 46 is controlled. Alternatively, a gyro is provided on the table 46,
Feedback is provided between the gyro and the two-axis output module 1. Furthermore, the rotation angle of the table 46 can be controlled by properly analyzing the results of both and outputting them.

Next, the operation of the drive unit incorporated in the automation line will be described. FIG. 6 is a block diagram of an automation line incorporating the drive device according to the present invention. 6 that are the same as those in FIG. 7 are assigned the same reference numerals. In FIG. 7, when the appearance inspection apparatus 103 determines that the board is non-defective, the conveyor 1 that sends out the board after the height of the table 46 is determined.
The substrate is received according to the height of 00a. After that, the height of the table 46 is adjusted to the height of the conveyor 100b in the next stage, and the substrate is transferred to 100b. In such delivery, the table 46 conveys the substrate by means of a conveyor provided therein. When the visual inspection apparatus 103 determines that the board is defective, the height of the table 46 is set to the conveyor 10.
After receiving the substrate according to the height of 0a, the driving device moves the table 46 to a portion A shown by a dotted line in the drawing, and adjusts the height to the unloader 104 to pass the defective substrate. If the loader 105 has a corrected substrate, the substrate is received, the table 46 is moved to the main stream of the line, and the corrected substrate is returned to the main stream. Reference numeral 50 is a controller that causes the drive device to perform the above-described substrate transfer work, and 51 is a teaching unit that teaches the controller 50 the height of the conveyor for transfer. The controller 50 and the teaching means 51
May be integral.

[0029]

According to the present invention, the following effects can be obtained. In the drive device according to the present invention, the table is X, Y,
Since it has four degrees of freedom of Z and θ, if the driving device is arranged between the lines for branching and merging, the driving device can absorb the level difference between the lines and easily transfer the work. As a result, it is possible to save the labor required for line knitting. Further, the level of the line to be handed over can be freely changed only by teaching the controller. When the visual inspection device is placed in the line, it is necessary to branch the work determined to be defective from the main line of the line. In such a case, if the table of the drive device according to the present invention is arranged in the mainstream line, the work is branched from the mainstream only when a defective product comes out, and the work to be corrected is returned to the mainstream. It can be done easily. On the other hand, in the conventional line shown in FIG. 7, a branch line and an interrupt line must be installed in the mainstream line. As described above, according to the drive device of the present invention,
It is possible to easily deal with branching and merging of lines, installation of appearance inspection equipment, etc., and it is possible to greatly improve the flexibility of line changes in automated lines.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration example of a biaxial output module used in the present invention.

FIG. 2 is a configuration diagram of an embodiment of a drive device according to the present invention.

FIG. 3 is a configuration diagram of an embodiment of a drive device according to the present invention.

FIG. 4 is a diagram showing a drive device according to the present invention as a mechanical model.

FIG. 5 is an explanatory diagram showing a method of controlling the drive device according to the present invention.

FIG. 6 is a configuration diagram of an automation line incorporating a drive device according to the present invention.

FIG. 7 is a diagram showing a configuration example of a conventional automation line.

[Explanation of symbols]

 1 2-axis output module 2 1st motor 3 2nd motor 4 1st flange 5 2nd flange 6 Base 12,20 Casing 13,22 Rotor 14,21 Stator 16 1st arm 25 Shaft 29 2nd Arm 41 Third Arm 42 Fourth Arm 43 θ-axis Motor 44 Z-axis Motor 45 Conversion Mechanism 451 Output Section 46 Table 47 Conveyor Motor 50 Controller 51 Teaching Means

Claims (5)

[Claims]
1. A first unit rotatably provided coaxially with each other.
An arm (16) and a second arm (29), a biaxial output module (1) for respectively driving the first and second arms (16, 29), and a first arm (16) A third arm (41) having a proximal end rotatably attached to the distal end, and a proximal end rotatably attached to the distal end of the second arm (29), and the distal end is the third A fourth arm (4) rotatably attached to the tip of the arm (41) of the
2), a θ-axis motor (43) in which a stator is fixed to the tip of the third arm (41), and the central axis of the rotor is in the Z-axis direction, and the θ-axis motor (43) A Z-axis motor (44) attached to the rotor, a conversion mechanism (45) for converting the rotational movement of the output shaft of the Z-axis motor (44) into a linear movement in the Z-axis direction, and the conversion mechanism (45) A table (46) fixed to the output unit (451), and the table (46) by the biaxial output module (1).
In the X and Y directions, the Z-axis motor (44) and the conversion mechanism (45) move the table (46) in the Z direction, and the θ-axis motor (43) moves the table (46).
Is rotated about the Z-axis.
2. The biaxial output module (1) has flanges (4, 5) attached to the base (6) side.
A shaft (25) rotatably disposed in the center hole of the flange (4,5) and having the second arm (29) attached to one end thereof; The stator (13) is attached to the flanges (4, 5), the rotor (14) is attached to the casing (12), and the casing (12) has the first arm (16).
Is provided on the other side through the flanges (4, 5), the stator (21) is on the flange (4,5) side, and the rotor (22) is the casing ( 20) and the casing (20) includes the shaft (2).
The drive device according to claim 1, further comprising a second motor (3) to which the other end of (5) is attached.
3. The drive device according to claim 1, wherein a conveyor is provided on the table (46).
4. The table (46) is arranged between two conveyors for transferring a work,
The height of 6) is adjusted to the height of one conveyor, and the work sent from one conveyor is received by the conveyor provided on the table (46), and then the table (46)
The height of the table to the height of the other conveyor,
6. The drive device according to claim 3, further comprising a controller (50) for controlling the transfer of the work received by the conveyor provided above to the other conveyor.
5. The drive device according to claim 4, further comprising a teaching means (51) for teaching the controller (50) the heights of the one conveyor and the other conveyor.
JP13483792A 1992-05-27 1992-05-27 Drive device Pending JPH05329785A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP13483792A JPH05329785A (en) 1992-05-27 1992-05-27 Drive device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP13483792A JPH05329785A (en) 1992-05-27 1992-05-27 Drive device

Publications (1)

Publication Number Publication Date
JPH05329785A true JPH05329785A (en) 1993-12-14

Family

ID=15137626

Family Applications (1)

Application Number Title Priority Date Filing Date
JP13483792A Pending JPH05329785A (en) 1992-05-27 1992-05-27 Drive device

Country Status (1)

Country Link
JP (1) JPH05329785A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9057429B2 (en) 2011-05-16 2015-06-16 Harmonic Drive Systems Inc. Concentric multi-axis actuator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9057429B2 (en) 2011-05-16 2015-06-16 Harmonic Drive Systems Inc. Concentric multi-axis actuator

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