JPH11156769A - Double-arm type scalar robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To extend the working scope in the 2-axial direction, as well as to position the arms of a robot at a high speed moving condition and a high accuracy condition, as to a double-arm type of scalar robot which mounts an electronic part and the like to a printed circuit board. SOLUTION: This double-arm type scalar robot is composed of a base board 1; the first arms 13 supported to the base board 1; the first driving means 5 to rotate the first arms 13; the second arms 15 supported to the first arms 13; the second driving means 12 to rotate the second arms 15, and to move heads 26 for working to specific positions. And the first driving means 5 and the second driving means 12 are provided to the base board 1, rotation transmitting means to transmit the rotations of the second driving means 12, and to rotate the second arms 15, are provided from the base board 1 to the tips of the first arms 13, and a pair of articulated arms 2 and 2 which consist of the first arm 13 and the second arm 15 respectively are provided to the base board 1, and the pair of articulated arms 2 and 2 are made movable in the Z-axial direction independently, respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for mounting an electronic component or the like on a printed circuit board, a probe or the like provided at a tip thereof to perform a predetermined inspection, and the like.
The present invention relates to a dual-arm SCARA robot used as a working device provided with various working heads such as a jig and a hand jig or a working device for transporting and transferring various articles.

[0002]

2. Description of the Related Art Conventionally, a dual-arm robot has two arm turning axes arranged in parallel on both sides of a single column, and the two other arm turning axes interfere with each other with a robot having another horizontal joint. A device provided with an area so as to operate is known (JP-A-59-88291).

[0003]

However, in the conventional dual-arm robot, although the two arms can independently turn in the horizontal plane, they are prevented from interfering with each other, and the two arms are connected to the joints of the arms. Each has a rotation drive source.
Further, the two arms are only allowed to rotate in a horizontal plane and cannot move in the vertical direction (Z-axis direction). Therefore, the operating range is narrowed because the two arms cannot cross each other. In addition, there is a disadvantage that the arm itself cannot be moved up and down when the probe cannot be captured in the up and down movement range of a probe or the like provided at the tip of the arm.

[0004] It is an object of the present invention to eliminate the problems arising from the limitations of such conventional dual-arm robots.

[0005]

The gist of the present invention for solving the above-mentioned problems of the dual-arm robot according to the present invention is as follows. A base having a base and a rear end rotatably supported by the base. One arm,
A first driving means for rotating the first arm, a second arm having one end rotatably supported at a distal end of the first arm and a working head provided at the other end; Second
A second drive unit for rotating the arm; and a control unit for controlling the amount of rotation of the first arm and the second arm to move the working head to a predetermined position. A first drive unit and a second drive unit are provided, and a rotation transmission unit for transmitting rotation of the second drive unit and rotating the second arm about a tip end of the first arm is provided. A pair of articulated arms, which are provided from the base to the distal end of the first arm, and a pair of articulated arms including the first arm and the second arm are provided on the base, and the pair of articulated arms are each independently provided. That is, it is provided so as to be movable in the Z-axis direction.

According to the dual-arm SCARA robot of the present invention,
Since the second drive means for rotating the second arm of the multi-joint arm in a horizontal plane is provided on the base portion side, the weight of the entire robot converges on the base portion to a large extent, and the weight of the multi-joint arm is reduced. Thus, the moving speed of the arm is increased. Furthermore, since a pair of articulated arms can be independently moved in the Z-axis direction, which is the vertical direction, by changing the position of the articulated arms in the Z-axis direction, each arm can simultaneously perform different tasks. Can be done.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a dual-arm SCARA robot according to the present invention will be described with reference to the drawings.

The dual-arm SCARA robot A according to the present invention is shown in FIG.
As shown in (1), a pair of articulated arms 2 is provided on a base 1 of the robot. The base 1 is made of a metal with high rigidity, for example, an aluminum alloy casting, iron, or steel.

The articulated arm 2 includes a first arm 13 having a rear end of an elongated rod-shaped arm rotatably supported by a drive unit 3 which is a part of the base 1, and a first arm 13. 13
One end of a rod-shaped arm is rotatably supported at the distal end of the arm, and the second arm 15 is provided with a working head 26 at the other end of the arm.

The driving section 3 is provided at the tip of a sliding arm 1a projecting from the side surface of the base section 1 and movable in the Z-axis direction. The rear end of the sliding arm 1a is engaged with a guide groove 1b formed in the side wall surface of the base 1 at an appropriate length in the Z-axis direction. It is reciprocated by known means (not shown) including a gear mechanism rotated by a motor and a rack, and is movable in the Z-axis direction.

Each of the sliding arms 1a, 1a is provided with a Z-axis driving motor, and can be independently moved in the Z-axis direction.

Further, the drive unit 3 includes the first arm 13
Rotation motor 5 as first driving means for rotating the motor
And a second rotation motor 12 as second driving means for rotating the second arm 15.

By providing the first and second rotating motors 5 and 12 in the drive unit 3 which is a part of the base unit 1, the entire weight of the double-arm SCARA robot A can be reduced. It is one that converges largely to the side.

A control unit 27 for controlling the amount of rotation of the first arm 13 and the second arm 15 to move the working head 26 to a predetermined position is provided inside or near the base unit 1.

The operation of the articulated arm 2 will be described together with its components. The rotating shaft of the first rotary motor 5 is connected to a reduction mechanism of a gear box 6, and a cylindrical boss is formed by the rotation shaft of the reduction mechanism. 23 rotates.

The boss 23 is integrally provided with an elongated rod-shaped first arm 13 from the surface thereof.
The arm 13 rotates together with the boss 23 in the same direction.

At the tip of the first arm 13, a cylindrical bearing portion 25 is provided, and the connecting arm 10 is provided rotatably on a rotating shaft which is inserted through the bearing portion 25 and is rotatable. Further, an arm lever 14 and a boss 9 are fixed to upper and lower ends of the rotation shaft, respectively. Then, the arm lever 14 and the boss 9 rotate simultaneously in the same direction.

The gear box 6 is interposed between the tip of the connecting arm 10 and the gear box 6 and the boss 23.
The connecting rod 7 is connected to a distal end portion of a fixed arm 4 fixed to the end with a bolt or the like. Each connection point is rotatable with a pin or the like.

As shown in FIG. 3, a parallel link is formed by the first arm 13 and the connecting rod 7, and the fixed arm 4 and the connecting arm 10.

Next, an elongated rod-shaped second arm 15 is integrally extended from the surface of the boss 9, and the second arm 1
5 is provided with a cylindrical bearing portion 15a at the tip thereof. The arm lever 16 and the working head 2 are mounted on upper and lower ends of a rotatable rotary shaft 17 inserted through the bearing portion 15a.
6 is fixed. The arm lever 16 and the work head 26 are simultaneously rotated by the rotation shaft 17.

The connecting rod 11 is connected to the distal end of the arm lever 16 and the distal end of the connecting arm 10. Each connecting portion of the connecting rod 11 is rotatable with a pin or the like.

As shown in FIG. 4, a parallel link is formed by the second arm 15 and the connecting rod 11, and the connecting arm 10 and the arm lever 16.

As shown in FIGS. 1 and 4, the rotation transmitting means 28 for rotating the boss 9 has a rear end fixed to the rotation shaft of the second rotation motor 12 in the drive unit 3. It comprises a rotating lever 24 that rotates, and a connecting rod 8 that is rotatably connected to the tip of the rotating lever 24 and the tip of the arm lever 14 with a pin or the like.

As described above, in the dual-arm SCARA robot A of the present invention, whether the first arm 13 and the second arm 15 are simultaneously rotated or only one of them is rotated, Since the arm lever 16 and the connecting arm 10 and the connecting arm 10 and the fixed arm 4 are kept parallel to each other, the working head 26 is always kept in a predetermined direction and moves within the working range in the horizontal direction. .

FIG. 1 shows a method of using the double-armed SCARA robot A according to the present invention configured as described above.
This will be described with reference to FIGS.

The height of the articulated arms 2 and 2 in the Z-axis direction is adjusted by a rotation command from the control unit 27.

That is, whether the work heads 26 of the two articulated arms 2 and 2 may collide or not is determined. If there is a possibility of collision, the control unit 27 controls the collision area so as not to collide.

First, when the first rotation motor 5 rotates in one direction, the rotation speed is reduced to an appropriate rotation speed by the gear box 6, and the boss 23 rotates via the rotation shaft. Then, the first arm 13 extended from the boss 23 rotates simultaneously in the same direction about the axis of the boss 23.

Next, regarding the rotation of the second arm 15,
When the second rotation motor 12 rotates in one direction, the speed is reduced to an appropriate rotation speed by the reduction gear, and the rotation lever 24 rotates in one direction about the output shaft of the reduction gear. The rotation of the rotation lever 24 is transmitted by the connecting rod 8 to rotate the arm lever 14 in one direction.

As a result, the boss 9 integrally attached via the rotation shaft of the arm lever 14 and the bearing 25 rotates in one direction. Then, the second arm 15 extending from the boss 9 rotates in one direction about the rotation axis of the bearing 25.

As described above, the first arm and the second arm 15 are rotated by a predetermined amount in one direction under the control of the control unit 27, and the working heads 26, 26 do not collide with each other, and are While moving at high speed in the horizontal direction.

Further, as shown in FIG.
When there is no risk of collision between the articulated arms 6 and 26, each of the articulated arms 2 and 2 can perform a separate operation independently. Further, this double-armed SCARA robot A is installed in opposition, four working heads 26 are set, and the height is adjusted in the Z-axis direction, and the control unit 27 controls the heads so that they do not collide with each other. To perform more complex and different types of work at the same time.

As described above, the dual-arm SCARA robot A is
The inertial force due to the rotation of the articulated arm 2 is reduced, the load on the rotation motor is reduced, and high-speed movement and high-precision positioning can be performed. In addition, the work is performed by changing the position in the Z-axis direction. The range has been widened, and multiple tasks can be performed simultaneously.

A dual-arm SCARA robot B shown in FIG. 5 relates to another embodiment of the present invention, and has multiple articulated arms 2a and 2a.
a is a first arm that is directly rotated by the first rotation motor 5 and a second arm that is rotated by the second rotation motor 12 via the rotation lever 24, the connecting rod 8, and the rotation lever 8a. 15. Other configurations are substantially the same as those of the dual-arm SCARA robot A.

Various working heads for freely controlling the attitude of the head around the axis are attached to the tip 15a of the second arm 15. Also in this double-armed SCARA robot B, the weight of the articulated arms 2a, 2a is reduced, and it is independently movable in the Z-axis direction.・ Effective.

In this way, the dual-arm SCARA robot A or B of the present invention measures the input / output of an electronic component on a printed circuit board, for example, at four terminals to determine the quality.

[0037]

As described above, the dual-arm SCARA robot of the present invention has a base, a first arm having a rear end rotatably supported by the base, and a first arm. First driving means for rotating the arm, a second arm having one end rotatably supported at a tip end of the first arm and a working head provided at the other end, and the second arm Rotate the second
A driving unit, and a control unit that controls the amount of rotation of the first arm and the second arm to move the working head to a predetermined position. The first driving unit and the second driving unit are mounted on the base unit. Means for transmitting rotation of the second drive means to rotate the second arm about the distal end of the first arm. And a pair of articulated arms comprising the first arm and the second arm are provided on the base portion, and the pair of articulated arms are independently movable in the Z-axis direction. , The overall weight of the robot is largely converged on the base, the inertial force due to the rotation of the articulated arm 2 is reduced, and the load on the rotation motor is reduced.
Not only high-speed movement and high-precision positioning can be performed, but also crossing can be performed by changing the position in the Z-axis direction, so that the work range is widened, and a plurality of works can be performed simultaneously. This is an excellent effect.

[Brief description of the drawings]

FIG. 1 is a perspective view of a dual-arm SCARA robot according to the present invention.

FIG. 2 is an explanatory diagram showing an operation of the double-arm SCARA robot according to the present invention.

FIG. 3 is an explanatory diagram illustrating a parallel link mechanism of a first arm of the dual-arm SCARA robot.

FIG. 4 is an explanatory diagram illustrating a parallel link mechanism of a second arm of the dual-arm SCARA robot.

FIG. 5 is a perspective view of another embodiment of the dual-arm SCARA robot according to the present invention.

[Explanation of symbols]

1 base part, 1a sliding arm, 1b guide groove, 2, 2a
Articulated arm, 3 drive unit, 4 fixed arm, 5 first rotating motor, 6 gear box, 7, 8, 11 connecting rod, 9 boss, 10 connecting arm, 12 second rotating motor, 13 first arm, 14 , 16 arm lever, 15 second arm, 17 rotation axis, 23 boss, 2
4 Rotating lever, 25 bearing unit, 26 working head, 27 control unit.

Claims (1)

[Claims] 1. A base, a first arm having a rear end rotatably supported by the base, a first driving means for rotating the first arm, and a first driving means for rotating the first arm. A second arm having one end rotatably supported at the distal end and a working head provided at the other end; second driving means for rotating the second arm; A control unit for controlling the amount of rotation of the two arms to move the working head to a predetermined position, wherein the base unit is provided with the first driving means and the second driving means, Rotation transmitting means for transmitting the rotation of the means to rotate the second arm about the distal end of the first arm from the base to the distal end of the first arm; A pair of articulated arms each including one arm and a second arm are provided on the base portion, and the pair of articulated arms are provided. The over arm is movable independently in the Z-axis direction, double-arm type SCARA robot, characterized in that.