KR100350037B1 - a desktop robot - Google Patents

Abstract

PURPOSE: A desktop robot is provided to continue working in loading and unloading and to easily change inline system when necessary. CONSTITUTION: A desktop robot is composed of an x-axis unit mounted in a base, a y-axis unit mounted in the x-axis unit, a z-axis unit mounted in the y-axis unit and a working head mounted in the z-axis unit. A guide rail(21) is formed in upper part of the base(11). A guide block(23) is connected to the upper part of guide rail slidably. A plurality of sliding table(22) is fixed to the guide block in one end, and is fixed to a lodless cylinder(24) in the other end. The sliding table moves along the sliding rail alternately between the loading area and the working area.

Description

Desktop robots {a desktop robot}

The present invention relates to automatic screwing, automatic dispencing, automatic soldering, pick places or pieces of small workpieces or in-line or manual type PCB routers. The present invention relates to a desktop robot used, and more particularly to a desktop robot having two working tables, each having a movable dual table.

For example, in the manufacturing process of a semiconductor chip, an operation such as applying an adhesive on a pad of a lead frame or mounting a component thereon requires not only a high degree of precision but also a series of Since the processes must be performed continuously, it is common for the working head to automatically perform the required work by the robot which is moved in three directions of X, Y and Z axes within a certain range.

In addition, soldering of PCBs, screw fastening during assembly of parts, or small pieces of work are also automatically performed by robots in order to perform quickly with high precision.

These robots are required for the workpiece fixed on the table while the work head is moved in three axes by the X-axis unit, Y-axis unit, and Z-axis unit while the worktable holding the workpiece is fixed. It's supposed to do the job.

By the way, such a conventional robot is fixed because the work table is composed of one, there are a number of problems as follows.

First, productivity is lowered because the robot is put on standby because the work cannot be performed during loading / unloading or clamping / unclamping of the work to the table.

Secondly, both the manual and the autoloading type of facilities are quite difficult to change into inline systems for automation.

Third, when used as a workpiece processing apparatus there is a lot of difficulty in removing the harmful waste dust generated during cutting or routing (routing), due to which there is a problem of contamination of the robot as well as its surroundings.

Fourth, there is a limit to the selection of the workpiece because it is difficult to accept the clamping and processing of the workpiece having a special shape. For example, in the routing work to cut unnecessary peripheral parts of the finished PCB, depending on the characteristics of the work, it is cut by press or by manual work. In the case of press cutting, the cracking of the PCB is caused by shear pressure. The defect rate is high, and in the case of manual work, there is a problem that clamping is very difficult and the work is complicated and takes a long time.

Fifth, it is not possible to accept work of various models at the same time or to perform separate work at the same time.

Sixth, because the table is configured in a certain size, it can not be flexibly coped according to the size of the workpiece.

The present invention, in consideration of the above-mentioned conventional problems, can continue the required work without interruption even when loading / unloading of the workpiece, and can be easily changed to an inline system if necessary for both manual and automatic loading method equipment The purpose is to provide a desktop robot.

Another object of the present invention is to provide a desktop robot that can simultaneously accommodate various models of different types and execute separate tasks on them continuously, and which can flexibly respond to the size of the workpiece.

Still another object of the present invention is to provide a desktop robot to which a working system of the above-described objects is applied.

Still another object of the present invention is to provide a desktop robot which can reliably remove harmful waste dust generated when cutting or rooting a workpiece even when used as a processing apparatus.

Still another object of the present invention is to provide a desktop robot that can easily receive and clamp a workpiece having a special shape such as a PCB for routing.

1 is a front view showing a desktop robot according to the present invention,

2 is a plan view thereof;

3 is a right side view thereof;

4 is a cross-sectional view taken along the line IV-IV of FIG. 2;

5 is a cross-sectional view taken along the line VV of FIG.

6 is a cross-sectional view taken along line VI-VI of FIG. 3;

7 is an excerpt top view showing the operation of the present invention,

8 and 9 are a front view and a plan view showing an example of use of the present invention,

10 and 11 are a side view and a plan view showing another embodiment of the present invention,

12 and 13 are a front view and a plan view showing another embodiment of the present invention,

14 and 15 are a side view and a plan view showing another embodiment of the present invention.

<Explanation of symbols for main parts of drawing>

10: base unit 12: fixed table (of base unit)

20: dual worktable unit

21: guide rail 22: sliding table

23: guide block 24: rodless cylinder

30: Y-axis unit 40: X-axis unit

50: Z axis unit 60: work head

70: sub sliding table

80: clamp

81: support plate 82: post

83: pressure plate 84: actuator

90: dust collector 100: loader / unloader

In order to achieve the above object, the desktop robot according to the present invention can perform the required work while moving by the organic interaction of the X-axis unit, the Y-axis unit, and the Z-axis unit with respect to the workpiece whose work head is fixed on the table. In the desktop robot to be executed, the table is composed of at least two seats on which the work is settled, and each table is alternately moved between the loading / unloading area and the work area to perform the required work continuously. do.

According to one preferred feature of such a desktop robot of the present invention, by placing the workpieces alternately on at least two tables, each having a different model of workpiece for each of them, thereby providing a respective requirement for the workpiece of at least two models. The task will run continuously.

On the other hand, the desktop robot according to the present invention includes a table mounted on a base for mounting and supporting a workpiece, an X axis unit moving in the X axis direction with respect to the table, and a Y installed in the X axis unit and moving in the Y axis direction. The desktop robot is provided with an axis unit, a Z-axis unit mounted on the Y-axis unit and moving in the Z-axis direction, and a work head mounted on the Z-axis unit to perform work on the workpiece by organic interaction of each unit. The table comprises a guide rail provided on the base, a sliding table reciprocating along the guide rail, and driving means for moving the sliding table, respectively, alternately between the loading / unloading area and the work area. It is characterized in that it is composed of at least two units that are driven.

According to one preferred feature of this desktop robot of the present invention, the drive means consists of a rodless cylinder which is mounted on the base in parallel with the guide rail.

According to another preferred feature of the desktop robot of the present invention, a plurality of posts, which are selectively mounted according to the type of the workpiece, penetrate up and down the base in the work area, a support plate supporting the lower end of each post, and a sliding table Or a clamp consisting of an actuator, which is supported on an upper end of each post so as to be positioned above the sub-sliding table, and an actuator, which pushes the pressing plate against the base, to press the workpiece seated on the upper surface thereof.

According to another preferred feature of the desktop robot of the present invention, a through hole is formed in the sliding table or the sub sliding table, and is further provided with a dust collector connected to the lower part of the through hole to suck in harmful dust generated during operation.

As described above, the present invention performs the required work by alternately inserting the work into at least two table units, so that the work can be continued without interruption of the work device even when loading / unloading the work. By inserting different kinds of workpieces into each table unit, it is possible to execute separate tasks successively for at least two different kinds of workpieces.

Such specific features and other advantages of the present invention will become more apparent from the following description of the preferred embodiments with reference to the accompanying drawings.

1 to 3, the desktop robot according to the present invention includes a base unit 10, a work table unit 20 mounted on the base unit 10 to seat and support a workpiece, and a base 10. The Y-axis unit 30 moved in the Y-axis direction, the X-axis unit 40 moved in the X-axis direction with respect to the base 10, and the Z-axis unit moved in the Z-axis direction with respect to the base 10 ( 50) and a work head 60 mounted on the Z-axis unit 50 to perform required work on the work seated on the work table unit 20.

The base unit 10 is constituted by fixing tables 12 positioned on the upper side of the base 11 at regular intervals, and their front and rear ends are connected by two end plates 13, respectively. And the front end plate 13 is provided with a controller 14 for controlling the robot.

The worktable unit 20 is composed of dual worktables arranged side by side on the fixed table 12 of the base 10 at regular intervals in accordance with a feature of the invention. Each work table unit 20 includes a guide rail 21 provided on the fixed table 12 in the Y-axis direction, a sliding table 22 moving along the guide rail 21, and the sliding table 22. The rodless cylinder 24 is reciprocally driven between the loading / unloading region and the working region. The above-described rodless cylinder 24 is installed in parallel with the inside of the guide rail 21. Accordingly, the lower surface of the sliding table 22 is fixed to the rodless cylinder 24, and only the other lower surface of the sliding table 22 is movably coupled to the guide rail 21 through the guide block 23. The cylinder 24 only needs to be able to linearly reciprocate the sliding table 22, and may be comprised, for example with a ball screw. These two worktable units 20 are driven such that they are alternately positioned with respect to the loading / unloading area and the working area.

These two sliding tables 22 are driven at regular intervals by the controller 14, the operation period of which can be properly adjusted in the controller 14 according to the workpiece.

1 to 4, the Y-axis unit 30 is a ball screw 31 provided on the lower surface of the fixed table 12 of the base 10, and a motor for driving the ball screw 31 forward or reverse ( 33, a sliding bracket 36 reciprocating along the ball screw 31, and two guide shafts 37 for guiding the movement of the sliding bracket 36. The ball screw 31 has a fixed table ( 12) both ends are respectively rotatably supported by two support blocks 32 installed in the middle of the lower surface in the Y-axis direction, one end of which is coupled to a rotation shaft of the motor 33 through a coupling (coupling: 34). do. A sliding block 35 having a ball bush is movably coupled to the ball screw 31, and a sliding bracket 36 is fixed to the sliding block 35. The sliding bracket 36 is a sliding block. Main plate 36a fixed to 35 and two side plates 36b and two side plates 36b vertically upwardly installed at both ends of the main plate 36a are horizontally provided It is comprised by the mounting plate 36c which supports the X-axis unit 40. As shown in FIG. On the other hand, the motor 33 is preferably composed of a servo motor (servo motor) for precise control, it may be composed of a stepping motor (stepping motor) if necessary.

The two guide shafts 37 are installed on both sides of the fixed table 12 of the base 10 in parallel with the ballscrews 31, respectively. Each of the guide shafts 37 supports two support blocks respectively supporting the leading ends thereof. It is installed on the fixed table 12 via 38. And at both ends of the main plate 36a of the sliding bracket 36, guide blocks 39 are movably coupled to the two guide shafts 37, respectively.

1 to 3 and 5, the X-axis unit 40 includes a frame 41 mounted on the mounting plate 36c of the sliding bracket 36 of the Y-axis unit 30, and on the frame 41. A ball screw 42 provided in the longitudinal direction, a motor 44 for driving the ball screw 42 in the forward and reverse directions, and a sliding plate 48 that reciprocates along the ball screw 42. The ball screw 42 is installed in the middle of one side of the frame 41 by two support blocks 43 which support both ends of the balls so as to be idling, and the ball screw 42 has a sliding block having a ball bush ( 47 is engaged and fixed to the middle portion of the sliding plate 48. In addition, two guide rails 41a for guiding the movement of the sliding plate 48 are provided on one side of the frame 41 on which the ball screw 42 is installed, in parallel with the ball screw 42, respectively. On the corresponding surface of 48, guide blocks 49 are movably coupled to the guide rails 41a, respectively.

The motor 44 is installed through the bracket 45 on the other side of the frame 41. Accordingly, a drive and driven pulleys 42a and 44a for driving coupling between the rotary shaft of the motor 44 and one end of the ball screw 42 are respectively installed and connected to each other by the transmission belt 46. The belt 46 is preferably composed of a timing belt for precise control of the sliding plate 48. In addition, the motor 44 is also preferably configured as a servo motor for precise control, it may be configured as a stepping motor if necessary.

1 to 3 and 6, the Z-axis unit 50 is provided with a housing 51 mounted on the sliding plate 48 of the X-axis unit 40, and installed vertically in the housing 51. The ball screw 52, the motor 53 which drives the ball screw 52 forwards and reverses, and the elevating plate 57 which raises and lowers along the ball screw 52. The housing 51 is X Two end plates 51b are horizontally installed on the upper and lower ends of the main plate 51a fixed to the sliding plate 48 of the shaft unit 40, and the two side covers 51c and the front surface are disposed between the two end plates 51b. The cover 51d is provided and comprised, respectively. The ball screw 52 is supported by the two end plates 51b of the housing 51 through two support blocks 52a on which both ends thereof are rotatably supported, one end of which is connected to the motor by a coupling 55. It is coupled to the rotating shaft of 53. A mounting plate 54 is installed on the upper side of the housing 51 through a plurality of connecting rods 54a, and a motor 53 is mounted on the mounting plate 54. The motor 53 should also be capable of precise control, consisting of a servo motor or a stepping motor. A sliding block 56 having a ball bush is coupled to the ball screw 52, and a lifting plate 57 is fixed to the sliding block 56. On the other hand, two guides are provided on the main plate 51a of the housing 51. The rail 58 is installed in parallel with the ball screw 52, and two guide blocks 59 are installed on the opposite surface of the elevating plate 57 to be movably coupled to the guide rails 58.

The working head 60 includes a holder 61 fixed to the elevating plate 57 of the Z-axis unit 50, a tool 63 mounted on the holder 61, for example, a spindle motor. It is composed of The holder 61 has two fingers 62 which form a mounting space 61a of the spindle motor 63 therebetween, and each finger 62 is provided with a screw 65 to fix the tool 63. A plurality of coupling holes 62a to be coupled are formed coaxially. The tool 63 is replaced with a solder or dispenser as necessary.

The remaining 64 is a bit of the tool.

Next, the operation of the desktop robot according to the present invention configured as described above will be described.

FIG. 7 shows the operation of two worktable units 20 in which two sliding tables 22 are alternately positioned with respect to the loading / unloading area and the working area. That is, in the drawing, the sliding table 22 located on the left side is located in the loading / unloading area, and the sliding table 22 located on the right side is located in the work area.

In this state, the workpiece is placed and fixed on the sliding table 22 positioned in the loading / unloading area within a set time. Thereafter, the rodless cylinders 24 of each worktable unit 20 are operated to alternately move the two sliding tables 22. Accordingly, as shown in the phantom line, the sliding table 22 on the left on which the workpiece is placed is located in the work area, and the sliding table 22 on the right is located in the loading / unloading area.

Then, the ball screw 42 is rotated in the forward direction by the motor 44 of the X-axis unit 40, so that the sliding block 47 is moved along the ball screw 42, the Z-axis unit 50 is It is moved to the left to be located at the top of the workpiece. Subsequently, the ballscrews 31, 42, 52 are simultaneously driven by the motors 33, 44, 53 of the Y-axis unit 30 and the X-axis unit 40 and the Z-axis unit 50. Rotated in the forward or reverse direction so that each sliding block 35, 47, 56 is reciprocated along its ballscrews 31, 42, 52 so that the tool 63 of the working head 60 The required work is performed along the set trajectory. At the same time, on the sliding table 22 on the right side located in the loading / unloading area, a subsequent work is placed and fixed.

Next, when the work on the workpiece on the left sliding table 22 is completed, each sliding table 22 is alternately moved again by the rodless cylinders 24 of each worktable unit 20. Then, the sliding table 22 on the right side is located in the work area, and the required work on the work is performed in the above-described operation, while the sliding table 22 on the left side is located in the loading / unloading area, and the detachment of the preceding work completed. And subsequent work piece mounting.

Therefore, the present invention enables the continuous operation without interruption of the device even when loading / unloading the workpiece.

On the other hand, according to the present invention, the work required for at least two types of work by mounting different workpieces on two sliding tables 22 which alternately move with respect to the loading / unloading area and the work area as described above. You can also do it at the same time. That is, in FIG. 7, for example, when the work A is mounted on the sliding table 22 on the left side and the work B is mounted on the sliding table 22 on the right side, the work head 60 is the X-axis unit 40. By shifting from side to side by the left and right work A and B positioned on each sliding table 22 to perform the required work alternately. At this time, the programming for each required work of the A and B work First, it should be set in the controller 14, by which the work head 60 performs two tasks alternately, so that necessary tasks for two different workpieces can be simultaneously performed.

As described above, the present invention is composed of two tables for seating and supporting the work, and is very easy to change to an inline system for automation. That is, in FIGS. 8 and 9, the loader / unloader 100 is installed in the loading / unloading area in the X-axis direction, and both ends thereof are connected to adjacent processes and conveyors 110 and 120. For example, when the sliding table 22 on the left side is located in the work area and the work head 60 performs the required work by the X-axis, Y-axis, and Z-axis units 40, 30, 50, the right side The sliding table 22 is located in the loading / unloading area so that the hand 110 of the loader / unloader 100 transfers the processed workpiece to the subsequent conveyor 130 and then by the preceding conveyor 120. The next workpiece supplied is settled. When the two sliding tables 22 are moved to the opposite position by the rodless cylinder 24 of each worktable unit 20, the work on the right sliding table 22 is performed. The head 60 performs the necessary work and at the same time the loader / unloader 100 for the left sliding table 22. ) Can be used for continuous work by removing and seating the workpiece.

10 and 11 show another embodiment of the present invention. This is a configuration in which in the above-described embodiment, one large sub-sliding table 70 is mounted on the two sliding tables 22 of each worktable unit 20 so as to cover them. Although not illustrated separately, the sub sliding table 70 can be easily mounted and detached by a fastening means such as a screw. In this case, the two sliding tables 22 are positioned side by side in the controller 14 so that each rodless cylinder 24 ) Is set to move simultaneously. This embodiment can respond to a wide range of the size of the workpiece by selectively mounting the sub-sliding table 70 according to the size of the workpiece.

12 and 13 show another embodiment of the present invention. This is a configuration in which the clamp 80 is further provided to clamp the workpiece seated on the sliding table 22 or 70 in the working area. This embodiment is used when the workpiece has a special shape, for example, a workpiece that requires routing work, such as cutting off unnecessary edges of the PCB where the parts are assembled. Accordingly, the clamp 80 may be selectively mounted according to the required work piece, or may be installed from the beginning when used for routing work.

To this end, the clamp 80 is installed on the fixed table 12 of the base unit 10 and a support plate 81 supporting them at the bottom of the plurality of posts 82 that are penetrated to be positioned around the sliding table 22. The pressing plate 83 which presses the workpiece | work is installed in the upper end, and the actuator 84 which raises and lowers the pressing plate 83 is comprised in the lower surface of the fixed table 12, and is comprised. The remaining reference numeral 85 is a guide bush installed in the fixed table 12 to guide the lifting of each post 82. Accordingly, when the sliding table 22 mounts a workpiece such as a PCB in the loading / unloading area, When the pressing plate 83 is raised by the actuator 84 and the sliding table 22 on which the workpiece is seated moves to the work area and is positioned below the clamp 80, the pressing plate 83 is moved by the actuator 84. This lowering forces the upper surface of the workpiece to be clamped. In this state, the work head 60 is easily cut by the X-axis, Y-axis, and Z-axis units 40, 30, 50 of the edge of the workpiece exposed to the outside of the pressing plate 83.

Meanwhile, another embodiment of the present invention is illustrated in FIGS. 14 and 15. In the above-described embodiments, the dust collector 90 for removing harmful dust generated during the work is further installed below the work area. This embodiment is particularly suitable when used as a processing apparatus, and through holes 22a 'are formed in the sliding table 22' or 70 on which the workpiece is placed. Dust bodies 90. The main body 91 of the dust collector 90 is provided. Is connected to the lower surface of the sliding table 22 'at the front end of the dust collecting hose 92 connected to the dust collecting hose 92, and the connecting jack 93 is connected to the sliding table 22' on the base 11 of the base unit 10. An actuator 94 is attached to the bottom surface of the bottom face).

Accordingly, after the sliding table 22 'on which the work is mounted is moved to the work area, the connecting jack 93 is raised by the actuator 94 to closely adhere to the bottom of the through hole 22a' of the sliding table 22 '. As a result, the dust generated during the work is absorbed and removed, and when the work is completed, the connection jack 93 is lowered by the actuator 94 to be separated from the sliding table 22 '.

As described above, according to the present invention, two working tables for seating a work are alternately moved with respect to the loading / unloading area and the work area. Work can be continued without interruption, and both manual and automatic loading facilities can be easily changed to inline systems when needed.

In addition, it is possible to accommodate at least two workpieces of different types or types of work at the same time, and to execute separate required work for each one continuously, and to flexibly respond to the size of the workpieces.

In addition, even when used as a processing equipment, it is possible to reliably remove harmful dust generated during cutting or rooting of workpieces, and to easily accommodate and clamp workpieces with special shapes such as PCB for routing work. do.

Claims (10)

delete delete delete delete An X-axis unit installed in the base and moving in the X-axis direction with respect to a table on which the workpiece is mounted, a Y-axis unit installed in the X-axis unit and moving in the Y-axis direction, and a Z-axis installed in the Y-axis unit A desktop robot having a Z axis unit moving in a direction and a work head mounted on the Z axis unit to perform a required work on the workpiece by organic interaction of each unit: Guide rails 21 formed on the upper surface of the base 11 in a symmetrical manner; A guide block 23 slidably coupled above the guide rail 21; And One side is fixed to the guide block 23 and the other side is fixed to the rodless cylinder 24 to alternately slide along the guide rail 21 between the loading / unloading area and the work area of the workpiece. A desktop robot comprising a plurality of sliding tables (22). delete 6. The desktop robot according to claim 5, further comprising one sub-sliding table (70) selectively mounted to cover the two sliding tables (22) of each of the worktable units (20) according to the size of the workpiece. . According to claim 7, Selectively mounted according to the type of the workpiece, a plurality of posts 82 through the base 11 in the work area up and down, and a support plate for supporting the lower end of each post 82 And a pressing plate 83 which is supported on the upper end of each of the posts 82 so as to be positioned above the sliding table 22 or the sub sliding table 70 and presses the workpiece seated on the upper surface thereof. And a clamp (80) consisting of an actuator (84) for elevating the pressing plate (83) relative to the base (11). delete The harmfulness of claim 5 or 7, wherein a through hole (22a ') is formed in the sliding table (22) or the sub sliding table (70), and is connected to a lower portion of the through hole (22a). Desktop robot characterized in that it comprises a dust collector (90) for sucking dust.