KR20090054425A - Deformable gantry type working apparatus - Google Patents

Abstract

The present invention provides a gantry type work device that can be deformed so that the occupied space becomes small at the time of conveyance and is easy to recover. The base unit includes two mounts arranged in a first direction, a gantry frame provided in a second direction orthogonal to the first direction, and a lower end portion thereof connected to the two mounts via a rotating means, and a gantry It is provided in a frame and has a work part which works on a workpiece, The workpiece table unit is installed between two mounts which a base unit has, The workpiece table which supports a workpiece, and the table mount which supports the said workpiece table is provided. By changing the relative positional relationship between the work part and the work piece, a desired work can be performed on the work piece. In the case of non-working, the two table stands are separated from the work table unit from the base unit and the gantry frame is rotated. The gantry type work device, characterized in that to narrow the interval.

Gantry Work Tool, Base Unit, Work Table Unit, Work Part, Stand

Description

DEFORMABLE GANTRY TYPE WORKING APPARATUS}

The present invention is a gantry type work device that performs a desired work on a work part and a relatively moving workpiece, wherein the gantry type work device that can be deformed can solve the problem in space during transportation. It is about.

There is a work device having a structure having a beam (gantry frame) terminating a work table on which a work is mounted, and is generally called a gantry type work device. Examples of the gantry type work device for performing a desired work on a relatively moving workpiece include, for example, a device for applying a sealing agent in the manufacture of a liquid crystal display panel, a patterning device for a solar cell panel, and defect inspection of a semiconductor device. Device and the like.

The apparatus main body itself tends to be enlarged with the enlargement of a workpiece | work of this kind of apparatus, For example, the size of the glass substrate for liquid crystal display panels of the 8th generation is 2160 mm x 2400 mm, and a working apparatus mounts this. It is necessary to provide a work table which can be done.

As a coating device for applying a sealing agent to a liquid crystal substrate, for example, there is provided a barrel in which a liquid body is accommodated and a nozzle body which is installed to be detachable from the tip and discharges the liquid in the barrel from the tip. A dispenser, drive means for moving the dispenser in the X, Y, and Z directions relative to the workpiece, and a nozzle for imaging the tip of the nozzle body and detecting the position of the tip of the nozzle body by the imaging signal The coating device of the liquid body provided with the imaging means is proposed (patent document 1).

As a gantry type paste applicator, it is equipped with the gantry frame (Y-axis movement table) which has a Z-axis movement means which moves a nozzle to a Z-axis direction with respect to the board | substrate mounted in the workpiece table, for example, There exists a structure which moves to an X-axis direction by an axial movement table (patent document 2).

As a gantry type machine tool which performs a process by carrying out a control movement of a processing head to a X-axis, a Y-axis, and a Z-axis direction with respect to the workpiece mounted in the fixed table, the apparatus disclosed by patent document 3 is mentioned, for example.

[Patent Document 1] Japanese Patent Application Publication No. 1999-033458

[Patent Document 2] Japanese Patent No. 3520205

[Patent Document 3] Japanese Patent Application Publication No. 2001-219325

In the conventional working apparatus, since the work table on which the work is supported and the work part for performing a desired work on the work are integrally formed, the previous installation was difficult. Specifically, when the work device once installed is transferred to another place, or when the work device is assembled and the place where the movable device is separated from each other, for example, passes through a narrow conveyance path, or a truck or the like. When loading on a transport means, it is sometimes necessary to disassemble the work device at the component level.

However, work equipment is used at one place, and it is not presupposed to disassemble and move, and disassembly required very much time and effort.

In particular, in the apparatus which performs a precise work, since the assembly work must also be performed precisely, the adjustment work for ensuring sufficient precision may require advanced technology.

In addition, since an enlarged working device becomes large in weight, there is a problem in that assembly requires heavy equipment such as a crane.

In view of the above problems, an object of the present invention is to provide a gantry type work device that can be deformed so that the occupied space becomes small during transportation and can be easily restored.

In order to solve the above problems and achieve the above object, the gantry type work device of the present invention is configured such that the work table unit and the base unit can be separated, and the base unit can be deformed in order to reduce the occupied space. In addition, the gantry frame and the mount are rotated, and researches such as the installation of a fixture for fixing them at the time of transport or an adjustment tool for assembling are facilitated, thereby facilitating the transport work and the assembly work after the transport. And safe to do.

That is, the gantry type work device of the present invention is configured as follows.

1st invention is a gantry-type work device comprised from a base unit and a workpiece table unit, The said base unit is provided in the two mounts parallel to a 1st direction, and in the 2nd direction orthogonal to a 1st direction, A gantry frame having a lower end connected to two mounts through a rotating means, and a work portion provided on the gantry frame and working on a workpiece, wherein the work table unit is provided between the two mounts of the base unit. And a work table for supporting the work and a table mount for supporting the work table. By changing the relative positional relationship between the work portion and the work, desired work can be performed on the work. In this case, separating the work table unit from the base unit, and the gantry frame While rotating a gantry-type work tool, characterized in that to narrow the distance between the two trestle.

According to a second invention, in the first invention, any one of lower ends of the gantry frame is connected to a slide base provided on an upper surface of the mount through a slider for moving the mount on the mount in the first direction.

According to a third aspect of the present invention, in the first aspect, both ends of the lower end of the gantry frame are connected to a slide base provided on an upper surface of the mount through a slider for moving the mount on the mount in the first direction.

In 4th invention, in the 2nd or 3rd invention, the said slider is a linear motor drive, It is characterized by the above-mentioned.

In 5th invention, in any one of the 1st thru | or 4th invention, the 1st elongate member extended in each of the said two mounts, and the agent provided extended in the said table mount engaged with these, And a mount connecting guide composed of two elongated members, wherein the table unit and the base unit are connected by a mount connecting guide.

6th invention is a 5th invention WHEREIN: The 1st and 2nd long elongate member which comprises the said mount connecting guide consists of a combination of two V-shaped rail members and two V-shaped rail members. It is done.

7th invention is a 5th invention WHEREIN: The 1st and 2nd elongate member which comprises the said mount connecting guide consists of a combination of two guide rails and two guide blocks fitted with these, It is characterized by the above-mentioned.

In the eighth to seventh inventions, in the fifth to seventh inventions, the two mounts are L-shaped, and a lower end portion of the gantry frame is connected to an upper surface of the high position, and the first long length is on an upper surface of the lower position. A member is extended and installed.

9th invention is an invention in any one of the 1st-8th invention WHEREIN: The said base unit is equipped with the encoder which measures and memorizes the angle comprised by the said two mounts and the said gantry frame, It is characterized by the above-mentioned. do.

In a tenth aspect of the invention, in any one of the first to ninth inventions, the work table unit includes a work table moving unit that enables the work table to move in the first direction. .

In the eleventh invention, in any one of the first to ninth inventions, the work table unit includes a work table moving unit that enables the work table to be movable in the first direction and the second direction. Characterized in that.

12th invention is a 10th or 11th invention, WHEREIN: The said workpiece table moving means is a linear motor drive, It is characterized by the above-mentioned.

13th invention is an invention in any one of the 1st-12th invention WHEREIN: The said gantry frame is provided with the work part movement means which enables the said work part to move to a 2nd direction.

14th invention is an invention in any one of the 1st thru | or 13th invention WHEREIN: The said gantry frame is provided with the work part movement means which enables the said work part to move to an up-down direction.

In a fifteenth aspect of the invention, in any one of the first to fourteenth aspects of the invention, the base unit includes a fastener for supporting the two mounts at intervals during non-working.

In a fifteenth invention, in the fifteenth invention, the base unit includes a fastening hole for fastening the fastener.

In the seventeenth invention, in any one of the first to sixteenth inventions, the base unit is provided with an adjusting tool for adjusting and supporting the intervals between the two mounts at intervals during work. .

In the eighteenth invention, in the seventeenth invention, the base unit includes a fastening hole for fastening the fastener.

19th invention is an invention in any one of the 1st-18th invention, Comprising: The said base unit was equipped with the some gantry frame. It is characterized by the above-mentioned.

According to the present invention, since the work table unit and the base unit can be separated, and the base unit can be deformed so that the occupied space becomes small, the conveyance is easy.

In addition, the disassembly and assembly work or the transfer work according to the transfer can be easily and safely performed, and the number of work steps due to the transfer can be greatly reduced.

In addition, the device storage space when the working device is not used for a long time can be made small, and the work table unit and the base unit can be stored in separate places.

1 is a front view of the working apparatus of the present invention.

2 is a plan view of the working apparatus of the present invention.

It is a top view explaining the modification procedure of the working apparatus of this invention (1/3).

It is a top view explaining the modification procedure of the working apparatus of this invention (2/3).

It is a top view explaining the modification procedure of the working apparatus of this invention (3/3).

4 is a front view of a state in which the working apparatus of the present invention is deformed and the fixture is mounted.

5 is a perspective view of the work device according to the first embodiment.

6 is a cross-sectional configuration diagram illustrating a rotation means of the working apparatus according to the first embodiment.

7 is a cross-sectional configuration diagram illustrating a mount connecting guide of the working apparatus according to the first embodiment.

8 is a perspective view of a work device according to a second embodiment.

9 is a cross-sectional configuration diagram illustrating a mount connecting guide of the working apparatus according to the second embodiment.

10 is a front view of the work device according to the third embodiment.

11 is a control block diagram for explaining an outline of the operation of the working apparatus according to the first embodiment.

12 is a perspective view of a state in which an adjustment tool is attached to the working apparatus according to the first embodiment.

[Explanation of symbols on the main parts of the drawings]

(1) trestle

(2) gantry frame

(3) movable carriage

(7) linear guide

(8) working head

(9) workpiece table

(11) fixture

(12) Base Unit

(13) table unit

(14) rotating means

15 slider

(16) slide base

(18) adjustment

(19) Table unit support

20. Applicator

(21) board

(22) screws

24 linear motor stator

25 linear motor mover

(26) linear scale

29. Application head

30 nozzles

31 table mount

33 stand connection guide

41 headstock

(42) axis of rotation

43 bearings

(44) absolute value encoder

51 guide rail

52 guide block

(62) Level Adjuster

(63) linear guide

(65) gantry base

(69Y) motor

(70X) motor

(81) iron rail

(82) concave rail

(100) setting / indicator

101 control unit

102 sensors

103 solenoid valve

104 CCD camera

(105) θ motor

106 motor controller

107 motor driver

(109) linear scale

(110) Z motor

(111) dispense controller

(181) Fastening Hole

One aspect of the best working apparatus for implementing this invention is demonstrated referring drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The front view of the working apparatus which concerns on this invention, FIG. 2 is the top view of the working apparatus which concerns on this invention, FIG. 3 is a figure explaining the deformation | transformation by transfer, etc., FIG. to be. 1 is a figure when the apparatus is observed from the lower side in FIG.

≪Configuration≫

As shown in FIG. 1 and FIG. 2, the working device according to the present invention is provided between a base unit 12 arranged in a door shape and a leg of a door of the base unit 12. It consists of the table unit 13.

The base unit 12 includes two mounts 1a and 1b extending in a first direction (up and down direction in FIG. 2), and a gantry frame extending in a second direction (left and right direction in FIG. 2) supported thereon. (2) and the work part provided in the gantry frame 2 as a main component.

The gantry frame 2 supports the singular or plural working heads 8 and can perform a desired work at any position on the work piece by relatively moving the work head 8 and the work table 9. In this manner, an apparatus such as a work head 8 that performs work on a workpiece will be referred to as a work part.

In addition, the gantry frame 2 is connected to the mounts 1a and 1b via the rotation means 14a and 14b. Thereby, one lower end of the gantry frame 2 connected to the mount 1a is rotatably supported, and the other lower end of the gantry frame 2 connected to the mount 1b is rotatably supported.

Here, the mount 1b is joined to the slider 15 which enables the rotation means 14b to move in a 1st direction. That is, the rotation means 14b is joined by the rotation means 14b by which the slide base 16 provided in the upper surface of the mount 1b, and the slider 15 which can move on the slide base 16 in a 1st direction are joined. It is possible to move in the first direction.

In addition, although the slide base 16 is provided in the upper surface of the mount 1b in FIG. 2, you may make it the structure installed in the upper surface of the mount 1a.

The table unit 13 has the work table 9 which supports a workpiece | work, and the table stand 31 which supports this as a main component. At the time of work by this apparatus, the table unit 13 needs to be provided between the mounts 1a and 1b.

`` Deformation due to transfer, etc. ''

The method of transforming the apparatus in accordance with the transfer will be described.

First, as shown to Fig.3 (a), the table unit 13 is separated and moved to the outer side (arrow direction) of the base unit 12, and a space is provided between the mount 1a and the mount 1b. . Next, power is applied to the mount 1a and / or the mount 1b so as to narrow the gap between the mount 1a and the mount 1b. Then, as shown in FIG.3 (b), the gantry frame 2 is rotated by the rotation action of the rotating means 14a provided in the mount 1a, and the rotating means 14b provided in the mount 1b. While rotating in the direction of the arrow, the slider 15 moves straight on the slide base 16 in the first direction toward the large arrow.

If the distance between the mount 1a and the mount 1b is further narrowed, as shown in Fig. 3C, the gantry frame 2 is rotated again, and the base unit 12 is folded.

By the above process, the base unit 12 and the table unit 13 can be separated and conveyed, and the base unit 12 can be made compact in size.

In addition, it is preferable to fix the mount 1a and the mount 1b so that the space | interval of the mount 1a and the mount 1b may be maintained at the time of conveyance of this apparatus. 4 illustrates the fastener 11 for fastening the plate 21 and the mounts 1a and 1b with the screws 22. However, the fastener should just have the effect | action which maintains the space | interval of the mount 1a and the mount 1b, and is not limited to what is shown in FIG.

 ≪Restore after transfer≫

The process of restoring this apparatus deformed according to the transfer may be performed in reverse order.

First, power is applied so as to widen the space between the mount 1a and the mount 1b of the base unit 12 which is compactly folded. Then, by the rotational action of the rotating means 14a and the rotating means 14b, the gantry frame 2 rotates in the reverse direction to the arrow direction in FIG. 3 (b) while the slider 15 moves the slide base 16. The image moves straight in the first direction in the reverse direction to the large arrow in Fig. 3 (b).

The space between the stand 1a and the stand 1b is further increased, and the stand 1a and the stand 1b are fixed at a position where the stand 1a and the stand 1b have a predetermined width. Then, the table unit 13 is installed between the two legs and the door-shaped legs composed of the gantry frame 2, and the base unit 12 and the table unit 13 are placed in the horizontal direction and the height direction. After the relative position adjustment is performed, the position of the base unit 12 is fixed.

In the above description, the gantry frame has been described on the premise of a single work device, but the technical idea of the present invention can be applied to the work device having a plurality of gantry frames. In addition, it is good also as a structure which saves space by folding two mounts at a significant difference at the time of deformation, without fixing the slide base and fixing the connection position of the lower end of a gantry frame.

Hereinafter, although an Example demonstrates the detail of this invention, this invention is not limited by an Example.

Example 1

The working apparatus of this embodiment relates to a coating apparatus for applying paste to a glass substrate constituting a liquid crystal panel.

≪Configuration≫

As shown in FIG. 5, the coating apparatus 20 of this embodiment has the base unit 12 arrange | positioned at the door shape, and the table unit 13 provided between the base unit 12 as a main component.

The base unit 12 is comprised by the mounts 1a and 1b extended in a 1st direction (Y direction), and the gantry frame 2 supported by these. The lower end of the gantry frame 2 is joined to the rotating means 14a and 14b, and the gantry frame 2 is supported by the mounts 1a and 1b so that rotation is possible. The gantry frame 2 is provided with a plurality of application heads 29 as work units.

The mounts 1a and 1b have an L shape, are arranged along the first direction, and constitute opposite iron grooves. The table unit 13 is provided to fit into the iron groove, and is supported by the upper surface (upper surface in the lower position) of the table unit support portions 19a and 19b extending in the horizontal direction.

The mounts 1a and 1b have a level adjuster 62 on the lower surface, and can adjust the horizontal level of the bottom surface and the apparatus.

A linear guide 7a, a linear motor stator 24a, and a linear scale 26a are provided on the upper surface at the high position of the mount 1a, and a linear guide 7b on the upper surface of the mount 1b. ), A linear motor stator 24b, and a linear scale 26b are provided.

The lower surfaces of the rotating means 14a and 14b are joined to the linear motor movers 25a and 25b, and cooperate with the linear guides 7a and 7b and the linear motor stators 24a and 24b to gantry frames 2. Is movable in the first direction, and the movement of the gantry frame 2 is made highly accurate by the linear scales 26a and 26b.

6 is a cross-sectional configuration diagram of the rotating means 14a.

The rotating means 14a is comprised by the shaft 41a, the rotating shaft 42a, the bearing 43a, and the absolute value encoder 44a. The rotating shaft 42a is engaged with the shaft 41a via the bearing 43a, and rotates about the shaft 41a. The upper surface of the rotating shaft 42a is joined by the gantry frame 2. The linear motor mover 25a is installed at the center of the lower surface of the shaft 41a, the linear guide 7a is positioned at the periphery of the lower surface, and the linear motor stator 24a is provided at both sides of the linear motor mover 25a. Located.

And the rotating means 14b is the same structure.

The absolute encoder 44a provided above the bearing 43a is a device that detects the relative rotation angle between the shaft 41a and the rotation shaft 42a, and can detect and store the relative rotation angle in the control device 101. have. That is, after the position adjustment of the base unit 12 and the table unit 13, the relative rotation angle optimized for the absolute encoder 44a is stored, thereby restoring the work device that has been deformed in accordance with the transfer. The adjustment work can be made more efficient and more accurate.

And although it is preferable to have the absolute value encoder 44a, it is not an essential component.

The coating head 29 provided in plurality in the gantry frame 2 has the nozzle 30 which discharges a liquid. Each application head 29 is movable in the extending direction of the gantry frame 2 by the linear motor which is not shown in figure. In addition, the application heads 29 can move independently of each other.

The first direction (Y direction) in which the gantry frame 2 moves and the second direction (X direction) in which the application head 29 moves are perpendicular to each other. Each coating head 29 is provided with the lifting mechanism which moves the nozzle 30 to the direction approaching a workpiece | work, or the direction away from (Z direction). That is, the nozzle 30 and the workpiece which the coating head 29 has can be moved relatively in the XYZ direction.

The table unit 13 is comprised from the table stand 31 and the workpiece table 9 provided in the upper part, The table stand 31 has the rotating mechanism which rotates the workpiece table 9. That is, the workpiece table 32 can be rotated by the power of the (theta) motor 105 which is not shown in figure.

The table unit 13 is supported by the table unit support parts 19a and 19b extending from the mounts 1a and 1b, and is connected by the mount connection guides 33a and 33b.

The structure of the mount connecting guide 33a is demonstrated.

7 is a diagram illustrating a cross-sectional configuration of the mount connecting guide 33a.

The mount connecting guide 33a is comprised from the guide rail 51a, the guide block 52a, and the bearing 53a.

The guide rail 51a is a long member extended in a 1st direction (Y direction) from the upper surface of the table unit support part 19a. The guide block 52a is a long member joined to the lower part of the table mount 31, and can be attached to the guide rail 51. As shown in FIG.

When connecting the table unit 13 to the base unit 12, the table unit 13 is mounted by fitting the guide block 52a to the guide rail 51a from the side of the base unit 12 and sliding the first direction. ) Can be installed. When the table unit 13 is separated, the table unit 13 can be smoothly and easily separated by sliding the first direction toward the outside of the base unit 12.

The guide rail 51a and the guide block 52a have the same configuration as a general linear guide, and the guide block 52a smoothly slides on the guide rail 51a and is perpendicular to the slide direction (that is, X Direction and Z direction) is configured to be small.

The mount connecting guide 33b has the same configuration.

By connecting the base unit 12 and the table unit 13, the relative positions of the base unit 12 and the table unit 13 and the distance between the mount 1a and the mount 1b are determined, and the mount 1a is also provided. ) And mount 1b are adjusted in a positional relationship parallel to each other in the first direction.

`` Previous Installation Steps ''

In the previous installation operation of the coating device 20 of the present embodiment, the table unit 13 is first separated from the base unit 12. The separation operation can be performed by sliding the table mount 31 in the first direction toward the outside of the mounts 1a and 1b.

Subsequently, the distance between the mount 1a and the mount 1b is narrowed while rotating the gantry frame 2. That is, when applying the power to rotate the gantry frame 2 in the θ direction or the reverse direction thereof, the rotation means 14a, 14b rotate, and the linear motor movers 25a, 25b slide to move the gantry frame ( The angle comprised by 2) and mounts 1a and 1b changes from a right angle to an acute angle. Thereby, since the base unit 12 is folded and the form becomes compact, the conveyance work by previous installation can be performed easily.

After assembling the base unit 12 and the table unit 13, the carrying out of the conveyance work is performed to return the base unit 12 which has been deformed compactly to its original shape. That is, when power is applied so that the gantry frame 2 is in a position orthogonal to the mounts 1a and 1b, the rotating means 14a and 14b rotate, and the linear motor movers 25a and 25b slide. The distance from the mounts 1a and 1b can be widened.

Here, as shown in FIG. 12, according to the adjustment tool 18 of this embodiment, the mounts 1a and 1b can be hold | maintained at the space | interval suitable for an operation | work. That is, the member formed in advance by predetermined distance is provided so that the adjustment tool 18 can pass through the mount coupling guides 33a and 33b, and the parallel adjustment and height adjustment between linear guides 7a and 7b can be performed, After the adjustment, the fastening holes 181a and 181b of the adjusting tool 18 and the mounts 1a and 1b can be joined by screws or the like. In addition, in FIG. 12, although the adjusting tool 18 is adjusted through the mount coupling guides 33a and 33b, you may adjust it through the linear guides 7a and 7b.

At this time, if the rotation angle at the time of restoration is adjusted by using the value of the rotation angle memorized by the absolute value encoder 44a before separation, the adjustment work can be performed with good accuracy and simplicity.

Finally, the previous installation work is completed by connecting the table mount 31 to the base unit 12 by the mount connecting guides 33a and 33b, and setting the table mount 31 to a predetermined position.

≪Motion≫

The operation of the coating device 20 of the present embodiment will be described with reference to the control block diagram shown in FIG. 11.

The coating device 20 of this embodiment operates according to the program information about the robot operation step sent to the control apparatus 101 from the setting / display / input means 100, and various parameter information required for coating.

When the glass substrate which is a workpiece | work which is a workpiece | work object is installed in the workpiece table 9, after the sensor 102 installed in the workpiece table 9 detects a glass substrate, the control apparatus 101 turns ON the solenoid valve 103. The glass substrate is vacuum-adsorbed to the work table 9 and fixed.

Subsequently, when the position of the reference mark printed on the glass substrate is detected by the CCD camera 104 included in the application head 29, the X-Y axis defined in the extending direction and the moving direction of the gantry frame 2 is detected. The inclination of the mounting position of the glass substrate is calculated, and the shift of the glass substrate is corrected by driving the θ motor 105 to rotate the work table 32 by θ.

Next, after moving the some coating head 29 so that the nozzle 30 may become a predetermined position of the XY plane on a glass substrate, the application head 29 so that clearance of the nozzle 30 and a glass substrate may become desired amount. ) In the Z direction. The application head 29 is provided with a storage container filled with a paste in advance.

When the movement of the application head 29 is completed, a discharge signal is output from the control device 101 to the dispense controller 111, and the plurality of application heads 29 XY move while discharging the paste from the nozzle 30. By this operation, a predetermined coating shape is formed on the glass substrate. Here, since the coating device 20 of this embodiment has a some coating head 29, it can draw and form several same application pattern simultaneously.

Control of the Y motor 69 and the X motor 70 is performed by the motor controller 106 controlling the position of each motor, and controlling the amount of current that the motor driver 107 energizes each motor.

Movement of the application head 29 in the Y direction is performed by controlling the plurality of X motors 70 to which the gantry frame 2 is connected based on the positional information of the linear scale 109. Movement of the coating head 29 in the Z direction is performed by controlling the Z motor 110 in accordance with the positional information of the sensor 102 that detects the gap between the nozzle 30 and the glass substrate.

In the coating device 20 of this embodiment which performs the above operation, in order to form a coating shape with high precision, the positional relationship of the base unit 12 and the table unit 13 needs to be adjusted with high precision.

Here, since the disassembly of the component level is unnecessary at the time of the previous installation, and the absolute value encoder 44a memorize | stores the value of the rotation angle before removal, the coating apparatus 20 of this embodiment has the base unit 12 and table Since the positional relationship of the unit 13 can be adjusted easily and efficiently, the transfer cost can be minimized.

Example 2

The working apparatus of this embodiment relates to a coating apparatus for applying a liquid material such as an adhesive to a workpiece, and more specifically, an apparatus for applying and forming a liquid material on a workpiece, which is suitable for simultaneously forming a plurality of drawing patterns of the same shape at the same time. Device. That is, the application apparatus 20 of this embodiment is a workpiece table with respect to the application | coating head 29 by operation | movement of the X motor 70 and the Y motor 69 with respect to the workpiece mounted on the workpiece table 9. The desired drawing pattern is formed by moving (9) in the X-Y direction.

8 is a perspective view of the working device according to the second embodiment.

The linear guide 63 is extended in the upper surface of the mount 1a, and one end of the gantry frame 2 is made to slide.

Similarly to the first embodiment, the mounts 1a and 1b have an L shape and are arranged along the first direction to support the upper surface table unit 13 of the table unit support portions 19a and 19b. In addition, the mounts 1a and 1b have the level adjuster 62 which adjusts the horizontal level of a bottom surface and this apparatus below.

The lower end of the gantry frame 2 is connected to the gantry bases 65a and 65b via the rotating means 14a and 14b. The gantry base 65a is provided to be movable in the extension direction (Y direction) of the linear guide 63, but the gantry base 65b is fixed to and connected to the upper surface of the mount 1b.

The rotating means 14a and 14b are the structures similar to Example 1, and this makes the gantry frame 2 rotatable.

The gantry frame 2 is equipped with a plurality of coating heads 29 including a liquid material storage container (not shown) for storing the liquid material, and these are each independently by a motor (not shown) that the gantry frame 2 has. It is movable in the extending direction of the gantry frame 2. By such a structure, the some application | coating head 29 of this application apparatus enables to adjust the space | interval suitably to a desired space | interval (namely, the space | interval of a drawing pattern).

After adjusting the space | interval of several application head 29 according to a drawing pattern to a desired space | interval, the liquid material is discharged from the nozzle 30 by the ejection apparatus which is not shown in figure, and the workpiece table 9 is moved relatively, and the workpiece Application drawing by the liquid material of a desired shape can be performed to the surface.

On the upper surface of the table unit support parts 19a and 19b which the mounts 1a and 1b have, the elongate member which comprises the mount connection guides 33a and 33b is provided.

By sliding the table mount 31 in the extending direction of the mounts 1a and 1b (that is, the Y direction), the table mount 31 and the mounts 1a and 1b are smoothly operated by the action of the mount connecting guides 33a and 33b. And can be easily bonded and separated.

9 shows a cross-sectional structure of the mount connecting guide 33a.

The mount connecting guide 33a is composed of an iron block 81 and a concave rail 82 formed in a groove shape with high precision. The convex block 81 is joined to the lower surface of the mount 31, and the convex block 81 slides on the concave rail 82 so that the mount 31 can be slidable in the Y direction. The convex block 81 and the concave rail 82 can be in any shape such as a V groove shape and a U groove shape.

The mount connecting guide 33b has the same configuration.

The mount connecting guides 33a and 33b are configured to reduce the recoil in a direction orthogonal to the direction in which the table mount 31 slides (that is, the X direction and the Z direction), and the mount connecting guides 33a, 33b) and mounts 1a and 1b can be connected with high precision.

It goes without saying that the engaging portions of the mount connecting guides 33a and 33b are processed with high precision so as to slide smoothly.

`` Previous Installation Steps ''

In the previous installation operation of the coating device 20 of the present embodiment, the table unit 13 is first separated from the base unit 12. The separation operation can be performed by moving the table mount 31 to the outside of the mounts 1a and 1b by the connection guides 33a and 33b.

Next, with the rotation means 14b as the rotation center, the space between the mount 1a and the mount 1b is narrowed while rotating the gantry frame 2. That is, when the power for rotating the gantry frame 2 in the θ direction is applied, the rotation means 14a and 14b rotate, and the gantry base 65a slides on the linear guide 63, thereby providing a gantry frame ( The angle comprised by 2) and mounts 1a and 1b changes from a right angle to an acute angle. Thereby, since the base unit 12 is folded and the form becomes compact, the conveyance operation | work according to the past can be performed easily.

After assembling the base unit 12 and the table unit 13, the carrying out of the conveyance work is performed to return the base unit 12 which has been deformed compactly to its original shape.

That is, when power is applied so that the gantry frame 2 is in a position orthogonal to the mounts 1a and 1b, the rotating means 14a and 14b rotate, and the gantry base 65a slides to move the mounts 1a and 1b. The distance from 1b) is widened.

At this time, if the rotation angle at the time of restoration is adjusted by using the value of the rotation angle memorized by the absolute value encoder 44a before separation, the adjustment work can be easily performed with high accuracy.

Finally, the previous installation work is completed by connecting the table mount 31 to the base unit 12 by the mount connecting guides 33a and 33b, and setting the table mount 31 to a predetermined position.

As mentioned above, since the apparatus of this embodiment can be folded by one linear guide, an apparatus can be comprised at a lower cost than the apparatus of Example 1. As shown in FIG.

Further, since the mount connecting guide has a simple groove structure, the device can be configured at a lower cost than the device of the first embodiment.

Example 3

The working device of the present embodiment relates to a coating device for applying a liquid material such as an adhesive to a workpiece.

As shown in FIG. 10, the coating device 20 according to the present embodiment has a V-shaped groove formed on the upper surfaces of the unit table support portions 19a and 19b and a V-shaped protrusion formed on the lower surface of the table unit 13. It is characterized by having the mount connecting guides 33a and 33b constituted.

The work of connecting the table unit 13 and the base unit 12 is performed by loading the table mount 31 on the carriage 3 indicated by the dotted line. By using the carriage 3, the movement and position adjustment of the table unit 13 become easy, and the number of processes which apply to a connection work can be shortened. The effect is remarkable especially as the size of the table unit 13 becomes larger.

And after connecting the table unit 13 and the base unit 12, it is preferable to provide a height adjustment mechanism so that the carriage 3 may be easily detached from the table unit 13.

The technical idea of this invention is applicable to the working apparatus used for manufacture and test of electronic devices, such as a liquid crystal panel, a semiconductor, and a printed circuit board. For example, it is preferable to the coating apparatus which apply | coats the paste pattern of a desired shape to the glass substrate of a flat panel, the gantry mechanism which mounts the application head which discharges a paste, and the mechanism of the table which fixes a glass substrate.

Claims (19)

A gantry type work device consisting of a base unit and a work table unit, The base unit includes two mounts arranged in a first direction, a gantry frame provided in a second direction orthogonal to the first direction, and a lower end portion thereof connected to the two mounts via a rotation means; It is provided in the gantry frame, provided with a work portion for performing work on the workpiece, The work table unit is provided between the two mounts that the base unit has, a work table for supporting the work, and a table mount for supporting the work table, By changing the relative positional relationship between the work part and the work piece, desired work can be performed on the work piece, In a non-working operation, the work table unit can be separated from the base unit, and the gap between the two mounts can be narrowed while rotating the gantry frame. The method of claim 1, Any one of the lower ends of the gantry frame is connected to the slide base provided on the upper surface of the mount through the slider for moving the mount on the first direction. The method of claim 1, Both sides of the lower end of the gantry frame is connected to the slide base provided on the upper surface of the mount through a slider for moving the mount image in the first direction. The method according to claim 2 or 3, And the slider is a linear motor drive. The method according to any one of claims 1 to 3, A table connecting guide comprising a first long member extending to the two mounts and a second long member extending to the table mount engaged with the table, wherein the table unit and the base unit are provided. The gantry type work device is connected by a mount connecting guide. The method of claim 5, The first and second long member constituting the mount connecting guide is a gantry type work device comprising a combination of two V-shaped rail members and two V-shaped rail members. The method of claim 5, The first and second elongate members constituting the mount connecting guide comprise a combination of two guide rails and two guide blocks fitted thereto. The method of claim 5, The two mounts are L-shaped, the lower end of the gantry frame is connected to the upper surface of the high position, the gantry-type working device is provided with the first elongated member extending on the upper surface of the lower position. The method according to any one of claims 1 to 3, The base unit is a gantry type work device provided with an encoder for measuring and storing an angle formed by the two mounts and the gantry frame. The method of claim 1, The work table unit is provided with a work table moving means for enabling the work table to move in the first direction. The method of claim 1, The work table unit is provided with a work table moving means for moving the work table in the first direction and the second direction. The method according to claim 10 or 11, wherein And the workpiece table moving means is a linear motor drive. The method according to any one of claims 1 to 3, And the gantry frame is provided with work moving means for moving the work in a second direction. The method according to any one of claims 1 to 3, The gantry frame is provided with a work unit moving means for enabling the work unit to move in the vertical direction. The method according to any one of claims 1 to 3, The base unit has a gantry-type working device having a fixture for maintaining the two mounts at non-working intervals. The method of claim 15, And the base unit has a fastening hole for fastening the fastener. The method according to any one of claims 1 to 3, The base unit has a gantry-type work device which is provided with an adjusting tool for adjusting and supporting the interval between the two mounts at the time of work. The method of claim 17, And the base unit is provided with a fastening hole for fastening the fastener. The method according to any one of claims 1 to 3, And the base unit is provided with a plurality of gantry frames.

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