JPWO2013161036A1 - パラレルリンク式部品実装装置 - Google Patents
パラレルリンク式部品実装装置 Download PDFInfo
- Publication number
- JPWO2013161036A1 JPWO2013161036A1 JP2014512237A JP2014512237A JPWO2013161036A1 JP WO2013161036 A1 JPWO2013161036 A1 JP WO2013161036A1 JP 2014512237 A JP2014512237 A JP 2014512237A JP 2014512237 A JP2014512237 A JP 2014512237A JP WO2013161036 A1 JPWO2013161036 A1 JP WO2013161036A1
- Authority
- JP
- Japan
- Prior art keywords
- axis
- parallel link
- base
- rotary head
- component mounting
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
Claims (3)
- 基台と、
該基台にパラレルリンク機構を介して支持される可動部材と、
前記パラレルリンク機構を駆動して前記可動部材を少なくともXY平面内で移動させる複数のアクチュエータと、
前記可動部材に固定された支持部材に鉛直軸線の回りに回転可能に支持されたロータリヘッドと、
該ロータリヘッドの円周上にそれぞれ鉛直軸線の回りに回転可能かつ昇降可能に支持された複数の吸着ノズルと、
前記基台側に設けられたR軸サーボモータによって回転駆動され、前記ロータリヘッドをインデックスする第1駆動軸と、
前記基台側に設けられたθ軸サーボモータによって回転駆動され、前記吸着ノズルを回転する第2駆動軸と、
前記基台側に設けられたZ軸サーボモータによって回転駆動され、前記ロータリヘッドのインデックスによって部品吸着位置に割出された吸着ノズルを昇降する第3駆動軸と、
を備えたことを特徴とするパラレルリンク式部品実装装置。 - 請求項1において、前記支持部材には、前記第1、第2および第3駆動軸の各回転角を検出するエンコーダがそれぞれ設けられているパラレルリンク式部品実装装置。
- 請求項1または請求項2において、前記R軸、θ軸およびZ軸サーボモータは、前記基台にそれぞれ支持されているパラレルリンク式部品実装装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/061229 WO2013161036A1 (ja) | 2012-04-26 | 2012-04-26 | パラレルリンク式部品実装装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013161036A1 true JPWO2013161036A1 (ja) | 2015-12-21 |
JP6161598B2 JP6161598B2 (ja) | 2017-07-12 |
Family
ID=49482405
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014512237A Active JP6161598B2 (ja) | 2012-04-26 | 2012-04-26 | パラレルリンク式部品実装装置 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6161598B2 (ja) |
WO (1) | WO2013161036A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6396219B2 (ja) * | 2015-01-06 | 2018-09-26 | 株式会社ソフトサービス | チップ部品実装方法及び実装装置 |
JP6718977B2 (ja) * | 2016-11-24 | 2020-07-08 | 株式会社Fuji | 部品実装装置 |
CN107972017A (zh) * | 2017-12-29 | 2018-05-01 | 勃肯特(天津)机器人技术有限公司 | 六轴串并混联机器人 |
CN111989191B (zh) * | 2018-04-24 | 2023-07-11 | Abb瑞士股份有限公司 | 并联运动机器人 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0435883A (ja) * | 1990-06-01 | 1992-02-06 | Toshiba Corp | 産業用ロボット |
JP2000296486A (ja) * | 1999-04-15 | 2000-10-24 | Sony Corp | 部品装着装置及びこれに用いられる装着機構 |
JP2005286171A (ja) * | 2004-03-30 | 2005-10-13 | Matsushita Electric Ind Co Ltd | ロータリー型部品実装装置 |
JP2008279527A (ja) * | 2007-05-08 | 2008-11-20 | Fanuc Ltd | パラレルリンク型作業装置 |
JP2009295608A (ja) * | 2008-06-02 | 2009-12-17 | Fuji Mach Mfg Co Ltd | 電子部品装着ヘッド |
JP2009297793A (ja) * | 2008-06-10 | 2009-12-24 | Murata Mach Ltd | パラレルメカニズム |
-
2012
- 2012-04-26 WO PCT/JP2012/061229 patent/WO2013161036A1/ja active Application Filing
- 2012-04-26 JP JP2014512237A patent/JP6161598B2/ja active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0435883A (ja) * | 1990-06-01 | 1992-02-06 | Toshiba Corp | 産業用ロボット |
JP2000296486A (ja) * | 1999-04-15 | 2000-10-24 | Sony Corp | 部品装着装置及びこれに用いられる装着機構 |
JP2005286171A (ja) * | 2004-03-30 | 2005-10-13 | Matsushita Electric Ind Co Ltd | ロータリー型部品実装装置 |
JP2008279527A (ja) * | 2007-05-08 | 2008-11-20 | Fanuc Ltd | パラレルリンク型作業装置 |
JP2009295608A (ja) * | 2008-06-02 | 2009-12-17 | Fuji Mach Mfg Co Ltd | 電子部品装着ヘッド |
JP2009297793A (ja) * | 2008-06-10 | 2009-12-24 | Murata Mach Ltd | パラレルメカニズム |
Also Published As
Publication number | Publication date |
---|---|
JP6161598B2 (ja) | 2017-07-12 |
WO2013161036A1 (ja) | 2013-10-31 |
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