TWI395632B - Deformable door type operating device - Google Patents

Deformable door type operating device Download PDF

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Publication number
TWI395632B
TWI395632B TW096132396A TW96132396A TWI395632B TW I395632 B TWI395632 B TW I395632B TW 096132396 A TW096132396 A TW 096132396A TW 96132396 A TW96132396 A TW 96132396A TW I395632 B TWI395632 B TW I395632B
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TW
Taiwan
Prior art keywords
gantry
platform
door type
unit
working device
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Application number
TW096132396A
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Chinese (zh)
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TW200819239A (en
Inventor
Kazumasa Ikushima
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Musashi Engineering Inc
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Publication of TW200819239A publication Critical patent/TW200819239A/en
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Publication of TWI395632B publication Critical patent/TWI395632B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01Frames, beds, pillars or like members; Arrangement of ways
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012Portals
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed perpendicularly by a single rotating pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25Movable or adjustable work or tool supports
    • B23Q1/44Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/022Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with same working direction of toolheads on same workholder
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23QDETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00Driving or feeding mechanisms; Control arrangements therefor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Coating Apparatus (AREA)
  • Machine Tool Units (AREA)
  • Liquid Crystal (AREA)

Description

可變形的門型作業裝置Deformable door type working device

本發明有關於對與作業部相對移動之工件執行所需作業的門型作業裝置,能解決搬送時所生空間問題之可變形的門型作業裝置。The present invention relates to a door type working device that performs a required work on a workpiece that moves relative to a working portion, and that is capable of solving a deformable door type working device that solves a space problem during transportation.

習知作業裝置,具有跨越載置工件之工作平台的橫梁(門型框架)構造,一般通稱「門型作業裝置」。供對相對移動之工件執行所需作業的門型作業裝置,例如有:液晶顯示面板製造時的密封劑塗佈裝置、太陽電池面板的圖案化裝置、半導體裝置的缺陷檢查裝置等。The conventional working device has a beam (door type frame) structure that spans the work platform on which the workpiece is placed, and is generally referred to as a "door type operation device". A door type working device for performing a required work on a workpiece that moves relatively, for example, a sealant coating device for manufacturing a liquid crystal display panel, a patterning device for a solar cell panel, a defect inspection device for a semiconductor device, and the like.

此種裝置隨工件的大型化,裝置本體亦有大型化的傾向,例如通稱第8代的液晶顯示面板用玻璃基板尺寸係2160mm×2400mm,作業裝置必需具備有能載置該基板的工作平台。Such a device tends to increase in size as the size of the workpiece increases. For example, the size of the glass substrate for the liquid crystal display panel of the eighth generation is 2160 mm × 2400 mm, and the working device must have a working platform on which the substrate can be placed.

供對液晶用基板塗佈密封劑的塗佈裝置,有提案例如具備有:分配器、驅動手段及噴嘴拍攝手段的液狀體塗佈裝置(專利文獻1)。該分配器具備有:收容液狀體的筒,以及裝卸自如地設置於該筒前端部並從前端將上述筒內的液狀體吐出之噴嘴體。該驅動手段使上述分配器朝X、Y及Z方向相對於上述工件移動。噴嘴拍攝手段拍攝上述噴嘴體前端部,並利用該拍攝信號檢測該噴嘴體前端部之位置。A coating apparatus for applying a sealant to a liquid crystal substrate is proposed, for example, a liquid coating apparatus including a dispenser, a driving means, and a nozzle imaging means (Patent Document 1). The dispenser includes a cylinder that accommodates a liquid body, and a nozzle body that is detachably provided at a front end portion of the cylinder and that discharges the liquid in the cylinder from the tip end. The driving means moves the dispenser in the X, Y and Z directions relative to the workpiece. The nozzle photographing means photographs the tip end portion of the nozzle body, and detects the position of the tip end portion of the nozzle body using the photographing signal.

門型糊劑塗佈機例如具有門型框架(Y軸移動平台),其具有相對於工作平台上所載置的基板,使噴嘴朝Z軸方向移動的Z軸移動手段,具有使門型框架利用X軸移動平台而朝X軸方向移動的構造(專利文獻2)。The gate type paste coater has, for example, a door type frame (Y-axis moving stage) having a Z-axis moving means for moving the nozzle in the Z-axis direction with respect to the substrate placed on the work platform, having the door type frame A structure that moves in the X-axis direction by the X-axis moving platform (Patent Document 2).

相對於固定平台上所安裝的工件,控制加工頭使其朝X軸、Y軸及Z軸方向移動而施行加工的門型工具機,例如有專利文獻3所揭示裝置。A door type machine tool that controls a machining head to move in the X-axis, Y-axis, and Z-axis directions with respect to a workpiece mounted on a fixed platform, for example, a device disclosed in Patent Document 3.

專利文獻1:日本專利特開平11-033458號公報專利文獻2:日本專利第3520205號公報專利文獻3:日本專利特開2001-219325號公報Patent Document 1: Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei.

上述習知作業裝置,因為保持工件的工作平台與對工件進行所需作業的作業部形成一體構造,因此移設較為困難。具體而言,欲將已設置的作業裝置移設至其他場所時、或組裝作業裝置的場所與運轉作業裝置的場所距離較遠等情況時,在通過狹窄搬送通路、或積載於卡車等輸送手段之際,便必需將作業裝置分解至零組件程度。In the above-described conventional working device, since the working platform for holding the workpiece and the working portion for performing the required work on the workpiece are integrally formed, it is difficult to transfer. Specifically, when the installed work device is to be moved to another location, or when the location where the work device is assembled and the place where the work device is operated are far away, etc., it is passed through a narrow transport path or a transport means such as a truck. In this case, it is necessary to decompose the working device to the level of components.

然而,作業裝置係在單一場所利用,並非以分解移動為前提,因此,在分解時需要耗費非常多的時間與人力。However, the working device is used in a single place, and is not premised on the decomposition movement. Therefore, it takes a lot of time and labor to disassemble.

特別就執行精密作業的裝置,其組裝作業亦必需精密地實施,為能確保充足之精度,其調整作業亦有需要高度技術的情況。In particular, in the case of a device that performs precision work, the assembly work must be carried out in a precise manner, and in order to ensure sufficient accuracy, the adjustment work also requires a high degree of skill.

況且,因為大型化的作業裝置其重量亦大,因而在組裝時,有需要起重機等重機械的課題。Moreover, since the large-sized working device has a large weight, there is a problem that heavy machinery such as a crane is required at the time of assembly.

有鑑於上述課題,本發明目的在於提供在搬送時能變形以縮小佔用空間,且容易復原的門型作業裝置。In view of the above problems, an object of the present invention is to provide a door type working device which can be deformed at the time of conveyance to reduce the occupied space and which is easy to recover.

為解決上述課題俾達目的,本發明的門型作業裝置之工作平台單元與基本單元可分離,且構成為可將基本單元變形以縮小佔用空間的構造。此外,藉由旋轉門型框架與台架,並就設置移送時固定該等的固定具、使組裝趨容易的調整具等下工夫,能容易且安全地進行搬送作業與搬送後的組裝作業。In order to solve the above problems, the working platform unit of the door type working device of the present invention is separable from the basic unit, and is configured to be able to deform the basic unit to reduce the space occupied. Further, by rotating the door frame and the gantry, it is possible to easily and safely perform the assembly work after the conveyance operation and the conveyance by providing the fixing tool for fixing the fixing tools during transportation and facilitating the assembly.

即,本發明的門型作業裝置係如下述構成。That is, the door type working device of the present invention has the following configuration.

第1發明的門型作業裝置,係主要由基本單元與工作平台單元構成的門型作業裝置;其中,上述基本單元具備有:在第1方向並設的二個台架;配設於與第1方向正交的第2方向,且下端部經由旋轉手段連接於二個台架的門型框架;以及配設於門型框架上,並對工件執行作業的作業部;上述工作平台單元具備有:設置於上述基本單元所具有的上述二個台架之間,並保持工件的工作平台;以及支撐該工作平台的平台台架;其藉由改變上述作業部與上述工件的相對位置關係,可對工件執行所需的作業,在非作業時,可使上述工作平台單元自上述基本單元分離,並旋轉上述門型框架而將上述二個台架的間隔變狹窄。The door type working device according to the first aspect of the invention is a door type working device mainly composed of a basic unit and a work platform unit; wherein the basic unit includes two stages that are arranged in the first direction; a door frame in which the first direction is orthogonal to the second direction, and the lower end portion is connected to the two gantry via a rotating means; and a working portion disposed on the door frame and performing work on the workpiece; the working platform unit is provided Provided between the above two gantrys of the basic unit and holding the working platform of the workpiece; and a platform gantry supporting the working platform; by changing the relative positional relationship between the working portion and the workpiece, The required work is performed on the workpiece, and when the work is not performed, the work platform unit can be separated from the basic unit, and the door frame can be rotated to narrow the interval between the two stands.

第2發明係就第1發明,其中,上述門型框架下端部之任一者,經由在上述台架上朝第1方向移動的滑件,而連接於配設在上述台架上面的滑座。According to a second aspect of the invention, the door of the lower end of the door frame is connected to a slide provided on the upper surface of the gantry via a slider that moves in the first direction on the gantry. .

第3發明係就第1發明,其中,上述門型框架下端部之雙方,經由在上述台架上朝第1方向移動的滑件,而連接於配設在上述台架上面的滑座。According to a third aspect of the invention, the lower end portion of the door frame is connected to a slider disposed on the upper surface of the gantry via a slider that moves in the first direction on the gantry.

第4發明係就第2或3發明,其中,上述滑件係線性馬達驅動。A fourth invention is the second or third invention, wherein the slider is driven by a linear motor.

第5發明係就第1至4發明中任一項發明,其中,其具備有台架連結導件,該台架連結導件主要由:在上述二個台架上分別延設的第1長條構件,以及卡合於該等且在上述平台台架上延設的第2長條構件所構成;上述平台單元與上述基本單元藉由台架連結導件而連結。According to a fifth aspect of the invention, the invention of any of the first to fourth aspect, further comprising: a gantry connecting guide, the gantry connecting guide mainly comprising: a first length extending on each of the two gantry a strip member and a second elongate member that is engaged with the platform platform and extended on the platform gantry; the platform unit and the base unit are coupled by a gantry connecting guide.

第6發明係就第5發明,其中,構成上述台架連結導件的第1與第2長條構件,藉由組合二個V谷形狀滑軌構件與二個V山形狀滑軌構件而構成。According to a sixth aspect of the invention, the first and second elongated members constituting the gantry connecting guide are configured by combining two V-shaped sliding rail members and two V-shaped sliding rail members. .

第7發明係就第5發明,其中,構成上述台架連結導件的第1與第2長條構件,藉由組合二個導軌、與嵌裝於該等的二個導塊而構成。According to a fifth aspect of the invention, the first and second elongated members constituting the gantry connecting guide are configured by combining two guide rails and two guide blocks fitted to the gantry.

第8發明係就第5至7項中任一項發明,其中,上述二個台架係L字狀,且在高位置的上面連接於上述門型框架下端部,而其低位置的上面延設有上述第1長條構件。The invention of any one of the items 5 to 7, wherein the two stages are L-shaped and connected to the lower end portion of the door frame at a high position and the upper portion of the lower frame The first elongated member is provided.

第9發明係就第1至8項中任一項發明,其中,上述基本單元具有供測量並記憶上述二個台架與上述門型框架所構成之角度的編碼器。The invention of any one of the first to eighth aspects, wherein the base unit has an encoder for measuring and memorizing an angle formed by the two gantry and the door frame.

第10發明係就第1至9項中任一項發明,其中,上述工作平台單元具備有將上述工作平台在上述第1方向移動自如的工作平台移動手段。According to a tenth aspect of the invention, the work platform unit includes a work platform moving means for moving the work platform in the first direction.

第11發明係就第1至9項中任一項發明,其中,上述工作平台單元具備有將上述工作平台在上述第1方向與上述第2方向移動自如的工作平台移動手段。The invention of any one of the first to ninth aspects, wherein the work platform unit includes a work platform moving means for moving the work platform in the first direction and the second direction.

第12發明係就第10或11發明,其中,上述工作平台移動手段係線性馬達驅動。A twelfth invention is the tenth or eleventh invention, wherein the work platform moving means is a linear motor drive.

第13發明係就第1至12項中任一項發明,其中,上述門型框架具備有將上述作業部在第2方向移動自如的作業部移動手段。According to a third aspect of the invention, the door frame is provided with a working unit moving means for moving the working unit in the second direction.

第14發明係就第1至13項中任一項發明,其中,上述門型框架具備有將上述作業部在上下方向移動自如的作業部移動手段。According to a fourth aspect of the invention, the door frame is provided with a working unit moving means for moving the working unit in the vertical direction.

第15發明係就第1至14項中任一項發明,其中,上述基本單元具備有將上述二個台架保持於非作業時之間隔的固定具。The invention of any one of the first to fourth aspect, wherein the basic unit is provided with a fixture for holding the two gantry at intervals when not in operation.

第16發明係就第15發明,其中,上述基本單元具有供螺鎖上述固定具的螺鎖孔。According to a fifteenth aspect of the invention, the first aspect, wherein the base unit has a screw hole for screwing the fixing device.

第17發明係就第1至16項中任一項發明,其中,上述基本單元具備有將上述二個台架的間隔調整並保持為作業時之間隔的調整具。According to a seventeenth aspect of the invention, the basic unit includes an adjuster that adjusts and maintains an interval between the two gantry to an interval at the time of operation.

第18發明係就第17發明,其中,上述基本單元具有供螺鎖上述調整具的螺鎖孔。According to a seventeenth aspect of the invention, the seventh aspect, wherein the base unit has a screw hole for screwing the adjusting device.

第19發明係就第1至18項中任一項發明,其中,上述基本單元具有複數個門型框架。The invention of any one of items 1 to 18, wherein the basic unit has a plurality of gate frames.

根據本發明,因為可將工作平台單元與基本單元分離,且能變形基本單元以縮小佔用空間,因而搬送較容易。According to the present invention, since the work platform unit can be separated from the base unit and the base unit can be deformed to reduce the occupied space, the conveyance is easier.

再者,因搬送所衍生的分解/組裝作業與搬送作業均可容易且安全地實施,可大幅減少因搬送所衍生的作業時間及費用。Further, the disassembly/assembly work and the transfer operation derived from the transfer can be easily and safely performed, and the work time and cost derived from the transfer can be greatly reduced.

再者,可縮小作業裝置長期間未使用時的裝置保管空間,且,亦可將工作平台單元與基本單元分別保管於不同地方。Further, it is possible to reduce the space for storing the device when the working device is not in use for a long period of time, and to store the work platform unit and the base unit in different places.

針對實施本發明的較佳作業裝置之一態樣,參照圖式說明。One aspect of a preferred working device embodying the present invention will be described with reference to the drawings.

圖1所示係本發明作業裝置的前視圖,圖2所示係本發明作業裝置的俯視圖,圖3所示係因搬送所衍生的變形等之說明圖,圖4所示係裝接固定具之狀態的前視圖。另外,圖1係從圖2的下側觀察裝置時的圖。1 is a front view of the working device of the present invention, FIG. 2 is a plan view of the working device of the present invention, FIG. 3 is an explanatory view showing deformations and the like derived from the transfer, and FIG. 4 is a fixing device shown in FIG. The front view of the state. In addition, FIG. 1 is a view when the apparatus is viewed from the lower side of FIG.

《構成》"Composition"

本發明的作業裝置如圖1與圖2所圖示,由配置為門型的基本單元12與在上述基本單元12的門腳之間所配設的平台單元l3所構成。As shown in FIGS. 1 and 2, the working device of the present invention comprises a base unit 12 arranged in a gate type and a platform unit 13 disposed between the door legs of the base unit 12.

基本單元12的主要構成要素有:朝第1方向(圖2中的上下方向)延設的二個台架1a、1b;由該等所支撐,且朝第2方向(圖2中的左右方向)延設的門型框架2;以及在門型框架2上所設置的作業部。The main components of the base unit 12 include two stages 1a and 1b extending in the first direction (up and down direction in Fig. 2), and supported by the second direction (the left and right directions in Fig. 2). An extended door frame 2; and a working portion provided on the door frame 2.

門型框架2保持有單數或複數個作業頭8,並藉由使作業頭8與工作平台9相對移動,可對工件上的任意位置施行所需作業。將依此對工件施行作業的作業頭8等機器,稱為「作業部」。The gantry frame 2 holds a single or a plurality of working heads 8, and by moving the working head 8 relative to the work platform 9, the desired work can be performed on any position on the workpiece. A machine such as a work head 8 that performs work on the workpiece in this manner is referred to as a "work unit".

再者,門型框架2經由旋轉手段14a、14b而連接於台架1a、1b。藉此可旋轉地支撐連接於台架1a的門型框架2之一下端,並可旋轉地支撐連接於台架1b的門型框架2另一下端。此處,台架1b接合於可將旋轉手段14b朝第1方向移動的滑件15上。即,藉由將設置在台架1b上面的滑座16、與在滑座16上朝第1方向移動自如的滑件15,接合於旋轉手段14b,可將旋轉手段14b朝第1方向移動自如。另外,圖2中雖將滑座16設置於台架1b上面,但是當然亦可設置於台架1a上面。Further, the portal frame 2 is connected to the gantry 1a, 1b via the rotating means 14a, 14b. Thereby, one of the lower ends of the portal frame 2 connected to the gantry 1a is rotatably supported, and the other lower end of the portal frame 2 connected to the gantry 1b is rotatably supported. Here, the gantry 1b is joined to the slider 15 that can move the rotating means 14b in the first direction. In other words, by connecting the slider 16 provided on the upper surface of the gantry 1b to the slider 15 that is movable in the first direction on the slider 16, the rotation means 14b can be moved in the first direction. . In addition, although the slide 16 is provided in the upper surface of the gantry 1b in FIG. 2, it can of course be provided in the upper surface of the gantry 1a.

平台單元13的主要構成要素有:保持工件的工作平台9,以及支撐該工作平台的平台台架31。藉由本裝置進行作業時,平台單元13必需設置於台架1a、1b之間。The main components of the platform unit 13 are: a work platform 9 that holds the workpiece, and a platform gantry 31 that supports the work platform. When the work is performed by the apparatus, the platform unit 13 must be disposed between the stages 1a, 1b.

《搬送時的變形等》"Transformation during transportation, etc."

說明本裝置為搬送而變形等的方法。A method in which the device is deformed by transportation or the like will be described.

首先,如圖3(a)所示,將平台單元13朝基本單元12外邊(箭頭方向)分離移動,而在台架1a與台架1b之間讓出空間。First, as shown in Fig. 3 (a), the platform unit 13 is moved away from the outer side (arrow direction) of the base unit 12, and a space is made between the gantry 1a and the gantry 1b.

其次,對台架1a及/或台架1b施力,使台架1a與台架1b間的間隔變狹窄。依此,藉由台架1a上所配設之旋轉手段14a與在台架1b上所配設之旋轉手段14b的旋轉作用,如圖3(b)所示,門型框架2朝箭頭方向旋轉,同時滑件15在滑座16上朝第1方向順大箭頭直線移動。將台架1a與台架1b間之間隔更進一步變狹窄時,如圖3(c)所示,門型框架2更進一步旋轉,而基本單元12形成摺疊之狀態。Next, the gantry 1a and/or the gantry 1b are biased to narrow the interval between the gantry 1a and the gantry 1b. Accordingly, the rotation of the rotating means 14a disposed on the gantry 1a and the rotating means 14b disposed on the gantry 1b, as shown in FIG. 3(b), the gantry frame 2 is rotated in the direction of the arrow. At the same time, the slider 15 moves linearly on the carriage 16 in the first direction along the large arrow. When the interval between the gantry 1a and the gantry 1b is further narrowed, as shown in Fig. 3(c), the gantry frame 2 is further rotated, and the base unit 12 is folded.

依照以上的步驟,可將基本單元12與平台單元13分離並搬送,更可縮小基本單元12的尺寸。According to the above steps, the base unit 12 can be separated from the platform unit 13 and transported, and the size of the base unit 12 can be further reduced.

再者,在搬送本裝置之際,最好將台架1a與台架1b固定,以保持台架1a與台架1b間之間隔。圖4所示係利用螺絲22螺鎖板材21與台架1a、1b的固定具11之例示。但,固定具只要具有保持台架1a與台架1b間之間隔的作用即可,並不僅侷限於圖4所揭示之物。Further, when the apparatus is transported, it is preferable to fix the gantry 1a and the gantry 1b so as to maintain the space between the gantry 1a and the gantry 1b. 4 shows an example in which the fixing member 11 of the plate 21 and the stages 1a, 1b are screwed by screws 22. However, the fixture has a function of maintaining the interval between the gantry 1a and the gantry 1b, and is not limited to the one disclosed in FIG.

《搬送後的復原》"Recovery after transfer"

將為搬送而變形之本裝置復原的步驟,只要逆行前述程序即可。The procedure for restoring the device that has been deformed for transport may be reversed by the aforementioned procedure.

首先,施力使摺疊而縮小之基本單元12的台架1a與台架1b間之間隔擴大。依此,藉由旋轉手段14a與旋轉手段14b之旋轉作用,門型框架2朝圖3(b)所示箭頭方向的相反方向旋轉,且滑件15在滑座16上朝第1方向的圖3(b)所示大箭頭之相反方向直線移動。First, the force is applied to enlarge the interval between the gantry 1a of the base unit 12 folded and reduced and the gantry 1b. Accordingly, by the rotation of the rotating means 14a and the rotating means 14b, the portal frame 2 is rotated in the opposite direction to the direction of the arrow shown in FIG. 3(b), and the slider 15 is oriented on the slider 16 in the first direction. The opposite direction of the large arrow shown in 3(b) moves linearly.

將台架1a與台架1b間之間隔更進一步擴大,在台架1a與台架1b位於既定寬度的位置處,將台架1a與台架1b固定。然後,在由二個台架與門型框架2所構成的門形腳之間設置平台單元13,對基本單元12與平台單元13調整水平方向與高度方向之相對位置後,固定基本單元12的位置。The interval between the gantry 1a and the gantry 1b is further enlarged, and the gantry 1a and the gantry 1b are fixed at a position where the gantry 1a and the gantry 1b are located at a predetermined width. Then, the platform unit 13 is disposed between the two legs and the door-shaped legs formed by the door frame 2, and after the basic unit 12 and the platform unit 13 are adjusted in the horizontal direction and the height direction, the basic unit 12 is fixed. position.

另外,以上在門型框架為單數作業裝置的前提下說明,惟即使為具有複數個門型框架的作業裝置,當然亦可適用於本發明的技術思想。此外,亦可不設置滑座,而在門型框架下端與台架的連接位置不變之狀態下,藉由變形時使二個台架重疊於不同高度,亦可達省空間化的構造。In addition, although the above description is made on the premise that the door frame is a single-number operation device, it is of course applicable to the technical idea of the present invention even if it is a work device having a plurality of door frames. In addition, the slider may not be provided, and in the state where the connection position between the lower end of the portal frame and the gantry is constant, the two gantry are superimposed on different heights by deformation, and the space-saving structure can be achieved.

以下就本發明的詳細內容利用實施例說明,惟本發明並不受實施例的任何限制。The details of the invention are illustrated by the following examples, but the invention is not limited by the examples.

[實施例1][Example 1]

本實施例的作業裝置係關於在構成液晶面板的玻璃基板上塗佈糊劑的塗佈裝置。The working device of the present embodiment relates to a coating device that applies a paste on a glass substrate constituting a liquid crystal panel.

《構造》"structure"

如圖5所示,本實施例之塗佈裝置20的主要構成要素有:配置為門型的基本單元12、以及配設於基本單元12之間的平台單元13。As shown in FIG. 5, the main components of the coating apparatus 20 of the present embodiment include a base unit 12 that is disposed in a gate shape, and a platform unit 13 that is disposed between the base units 12.

基本單元12由:朝第1方向(Y方向)延設的台架1a、1b、以及由該等所支撐的門型框架2所構成。門型框架2的下端接合於旋轉手段14a、14b,藉此,門型框架2旋轉自如地由台架1a、1b所支撐。在門型框架2中配設有複數個作為作業部的塗佈頭29。The base unit 12 is composed of gantry 1a and 1b extending in the first direction (Y direction) and a portal frame 2 supported by the gantry. The lower end of the portal frame 2 is joined to the rotating means 14a, 14b, whereby the portal frame 2 is rotatably supported by the stands 1a, 1b. A plurality of coating heads 29 as working portions are disposed in the portal frame 2.

台架1a、1b呈L字狀,且沿第1方向並設而構成相反的凸溝。平台單元13配置為嵌合於該凸溝的狀態,並由朝水平方向延伸出的平台單元支撐部19a、19b之上面(位於低位置的上面)所支撐。The gantry 1a and 1b have an L shape and are arranged in the first direction to form opposite convex grooves. The platform unit 13 is disposed in a state of being fitted to the convex groove, and is supported by the upper surface (on the upper side of the lower position) of the platform unit supporting portions 19a and 19b extending in the horizontal direction.

台架1a、1b之下面設有水平調整器62,可調整地面與本裝置間的水平定位。A level adjuster 62 is disposed under the gantry 1a, 1b to adjust the horizontal positioning between the ground and the device.

位於台架1a高位置處的上面設有:線性導軌7a、線性馬達定子24a及直線刻度26a,而在位於台架1b高位置處的上面則設有:線性導軌7b、線性馬達定子24b及直線刻度26b。The upper surface of the gantry 1a is provided with a linear guide rail 7a, a linear motor stator 24a and a linear scale 26a, and a top surface of the gantry 1b is provided with a linear guide rail 7b, a linear motor stator 24b and a straight line. Scale 26b.

旋轉手段14a、14b的下面接合於線性馬達可動子25a、25b,而線性導軌7a、7b、與線性馬達定子24a、24b互動,將門型框架2朝第1方向移動自如,且利用直線刻度26a、26b而高精度地移動門型框架2。The lower surfaces of the rotating means 14a, 14b are joined to the linear motor movable members 25a, 25b, and the linear guides 7a, 7b interact with the linear motor stators 24a, 24b to move the portal frame 2 in the first direction, and use the linear scale 26a, The door frame 2 is moved with high precision 26b.

圖6所示係旋轉手段14a的剖視構造圖。Fig. 6 is a cross-sectional structural view showing the rotating means 14a.

旋轉手段14a由:軸台41a、旋轉軸42a、軸承43a及絕對值編碼器44a構成。旋轉軸42a經由軸承43a而卡合於軸台41a,並相對於軸台41a旋轉。旋轉軸42a上面接合於門型框架2。在軸台41a下面中央處配設有線性馬達可動子25a,線性導軌7a位於下面邊緣處,而線性馬達定子24a則位於線性馬達可動子25a的二側邊。The rotation means 14a is composed of a spindle stage 41a, a rotation shaft 42a, a bearing 43a, and an absolute encoder 44a. The rotating shaft 42a is engaged with the boss 41a via the bearing 43a, and is rotated with respect to the boss 41a. The rotary shaft 42a is joined to the door frame 2 above. A linear motor mover 25a is disposed at the lower center of the pillow block 41a, the linear guide rail 7a is located at the lower edge, and the linear motor stator 24a is located at both sides of the linear motor mover 25a.

另外,旋轉手段14b亦為同樣的構造。Further, the rotation means 14b has the same structure.

配設在軸承43a上方的絕對值編碼器44a,係檢測軸台41a與旋轉軸42a之相對旋轉角度的機器,可檢測相對旋轉角度並記憶於控制裝置101中。即,在調整基本單元12與平台單元13的位置後,藉由記憶有經絕對值編碼器44a最佳化的相對旋轉角度,可在復原為搬送而變形等的作業裝置時,使其調整作業效率化與高精度化。The absolute encoder 44a disposed above the bearing 43a is a device that detects the relative rotation angle between the pillow block 41a and the rotary shaft 42a, and can detect the relative rotation angle and store it in the control device 101. In other words, after the position of the base unit 12 and the platform unit 13 is adjusted, the relative rotation angle optimized by the absolute encoder 44a is stored, so that the work can be adjusted when the work device is deformed to be transported and deformed. Efficiency and high precision.

另外,最好設置絕對值編碼器44a,但其並非必要的構成要素。Further, it is preferable to provide the absolute value encoder 44a, but it is not an essential component.

在門型框架2中配設的複數個塗佈頭29,具有吐出液體的噴嘴30。各塗佈頭29藉由未圖示之線性馬達,可朝門型框架2延設方向移動自如。此外,塗佈頭29可各自獨立地移動。A plurality of coating heads 29 disposed in the portal frame 2 have nozzles 30 for discharging liquid. Each of the coating heads 29 is movable in the direction in which the door frame 2 is extended by a linear motor (not shown). Further, the coating heads 29 can each move independently.

門型框架2移動的第1方向(Y方向)、與塗佈頭29移動的第2方向(X方向)相互正交。各塗佈頭29具備有使噴嘴30朝靠近(或遠離)工件方向(Z方向)移動的升降機構。即,可將塗佈頭29所具有的噴嘴30與工件朝XYZ方向相對移動。The first direction (Y direction) in which the portal frame 2 moves and the second direction (X direction) in which the coating head 29 moves are orthogonal to each other. Each of the coating heads 29 is provided with an elevating mechanism that moves the nozzles 30 toward (or away from) the workpiece direction (Z direction). That is, the nozzle 30 of the coating head 29 and the workpiece can be relatively moved in the XYZ direction.

平台單元13由平台台架31與在其上方所配設的工作平台9構成,平台台架31設有旋轉工作平台9的旋轉機構。即,可藉由未圖示之θ馬達105的動力旋轉工作平台32。The platform unit 13 is constituted by a platform gantry 31 and a work platform 9 disposed above it, and the platform gantry 31 is provided with a rotating mechanism for rotating the work platform 9. That is, the work platform 32 can be rotated by the power of the θ motor 105 (not shown).

平台單元13由從台架1a、1b延伸出的平台單元支撐部19a、19b支撐,並藉由台架連結導件33a、33b而相連結。The platform unit 13 is supported by the platform unit supporting portions 19a and 19b extending from the stages 1a and 1b, and is coupled by the gantry connecting guides 33a and 33b.

說明台架連結導件33a的構造。The configuration of the gantry link guide 33a will be described.

圖7所示係上述台架連結導件33a的剖視構造圖。Fig. 7 is a cross-sectional structural view showing the above-described gantry connecting guide 33a.

台架連結導件33a由導軌51a、導塊52a及軸承53a構成。The gantry connecting guide 33a is composed of a guide rail 51a, a guide block 52a, and a bearing 53a.

導軌51a係在平台單元支撐部19a上面朝第1方向(Y方向)延設的長條構件。導塊52a係接合於平台台架31下端的長條構件,可嵌裝於導軌51上。The guide rail 51a is an elongated member that extends in the first direction (Y direction) on the upper surface of the platform unit support portion 19a. The guide block 52a is joined to the elongated member at the lower end of the platform gantry 31 and can be fitted to the guide rail 51.

欲將平台單元13連結於基本單元12時,從基本單元12側邊將導塊52a嵌裝於導軌51a上,藉由在第1方向滑動,便可安裝平台單元13。欲將平台單元13分離時,朝基本單元12外側將平台單元13朝第1方向滑動,便可滑順且輕易地分離。When the platform unit 13 is to be coupled to the base unit 12, the guide block 52a is fitted to the guide rail 51a from the side of the base unit 12, and the platform unit 13 can be mounted by sliding in the first direction. When the platform unit 13 is to be separated, the platform unit 13 is slid toward the first direction toward the outside of the base unit 12, so that it can be smoothly and easily separated.

導軌51a與導塊52a與一般的線性導軌具相同構造,並構成為導塊52a可在導軌51a上滑順地滑動,且減小在滑動方向的正交方向(即X方向與Z方向)晃動之情形。The guide rail 51a and the guide block 52a have the same configuration as the general linear guide rail, and are configured such that the guide block 52a can smoothly slide on the guide rail 51a and reduce the sway in the orthogonal direction (ie, the X direction and the Z direction) in the sliding direction. The situation.

另外,台架連結導件33b亦具相同的構造。In addition, the gantry connecting guide 33b has the same structure.

藉由將基本單元12與平台單元13相連結,便可決定基本單元12與平台單元13間的相對位置、以及台架1a與台架1b間的間隔,且將台架1a與台架1b調整為在第1方向相互平行的位置關係。By connecting the base unit 12 and the platform unit 13, the relative position between the base unit 12 and the platform unit 13 and the interval between the gantry 1a and the gantry 1b can be determined, and the gantry 1a and the gantry 1b can be adjusted. It is a positional relationship parallel to each other in the first direction.

《移設程序》Transfer Procedure

本實施例之塗佈裝置20的移設作業,首先將平台單元13從基本單元12分離。分離作業藉由將平台台架31朝台架1a、1b外側在第1方向滑動便可實施。In the transfer operation of the coating device 20 of the present embodiment, the platform unit 13 is first separated from the base unit 12. The separation operation can be performed by sliding the platform gantry 31 in the first direction toward the outside of the gantry 1a, 1b.

接著,旋轉門型框架2以將台架1a與台架1b間的間隔變狹窄。即,若對門型框架2施加朝θ方向或其相反方向旋轉的力,則旋轉手段14a、14b旋轉,而線性馬達可動子25a、25b滑動,藉此由門型框架2與台架1a、1b所構成的角度,從直角轉變為銳角。藉此,基本單元12摺疊而形成較小的可搬送狀態,因而可輕易進行移設時的運搬作業。Next, the portal frame 2 is rotated to narrow the interval between the gantry 1a and the gantry 1b. That is, when a force that rotates in the θ direction or the opposite direction is applied to the portal frame 2, the rotation means 14a, 14b rotate, and the linear motor movers 25a, 25b slide, whereby the portal frame 2 and the gantry 1a, 1b The angle formed is changed from a right angle to an acute angle. Thereby, the basic unit 12 is folded to form a small transportable state, so that the transporting operation at the time of the transfer can be easily performed.

待運搬作業結束後,在組裝基本單元12與平台單元13時,首先進行將已變形為較小的基本單元12回復至原本形狀的作業。即,對門型框架2施力使台架1a、1b位於正交位置,旋轉手段14a、14b旋轉,同時線性馬達可動手25a、25b滑動,而擴大與台架1a、1b間的間隔。After the completion of the transport operation, when the base unit 12 and the platform unit 13 are assembled, first, the operation of returning the basic unit 12 that has been deformed to the original shape is performed. That is, the gantry frame 2 is biased so that the gantry 1a, 1b is positioned at the orthogonal position, the rotation means 14a, 14b are rotated, and the linear motor movable hands 25a, 25b are slid, and the space between the gantry 1a, 1b is enlarged.

在此,如圖12所示,根據本實施例的調整具18,可將台架1a、1b保持於適於作業的間隔。即,調整具18係預先設置形成既定距離的構件,透過台架連結導件33a、33b調整線性導軌7a、7b間的平行與高度,在調整後,將調整具18的螺鎖孔181a、181b、與台架1a、1b,藉由螺絲等結合。另外,圖12中,調整具18透過台架連結導件33a、33b調整,但是亦可透過線性導軌7a、7b調整。Here, as shown in FIG. 12, according to the adjusting tool 18 of the present embodiment, the stages 1a, 1b can be held at intervals suitable for work. That is, the adjuster 18 is provided with a member that is formed to have a predetermined distance in advance, and the parallel and height between the linear guides 7a and 7b are adjusted by the gantry connecting guides 33a and 33b. After the adjustment, the screw holes 181a and 181b of the adjusting tool 18 are adjusted. And the gantry 1a, 1b, combined by screws or the like. Although the adjuster 18 is adjusted by the gantry connecting guides 33a and 33b in Fig. 12, it can be adjusted by the linear guides 7a and 7b.

此時,利用在分離前由絕對值編碼器44a所記憶的旋轉角度值,調整復原時的旋轉角度,可精度佳且簡單地進行調整作業。At this time, the rotation angle at the time of restoration is adjusted by the rotation angle value memorized by the absolute value encoder 44a before the separation, and the adjustment work can be performed with high precision and simply.

最後,將平台台架31利用台架連結導件33a、33b連結於基本單元12上,而將平台台架31安置於既定位置處,便完成移設作業。Finally, the platform gantry 31 is coupled to the base unit 12 by the gantry link guides 33a, 33b, and the platform gantry 31 is placed at a predetermined position to complete the transfer operation.

《動作》"action"

針對本實施例塗佈裝置20的動作,參照圖11所示控制方塊圖說明。The operation of the coating device 20 of the present embodiment will be described with reference to the control block diagram shown in FIG.

本實施例的塗佈裝置20根據從設定/顯示器/輸入手段100傳送給控制裝置101之有關機器人動作順序的程式資訊、及塗佈所必要的各種參數資訊等而動作。The coating device 20 of the present embodiment operates based on program information on the order of operation of the robot transmitted from the setting/display/input means 100 to the control device 101, and various parameter information necessary for coating.

若將作業對象工件的玻璃基板設置於工作平台9上,配設在工作平台9上的感測器102檢測玻璃基板後,控制裝置101便將電磁閥103設為「ON」,而將玻璃基板真空吸附並固定於工作平台9上。When the glass substrate of the work target workpiece is placed on the work platform 9, and the sensor 102 disposed on the work platform 9 detects the glass substrate, the control device 101 sets the electromagnetic valve 103 to "ON" and the glass substrate. The vacuum is adsorbed and fixed on the work platform 9.

接著,利用塗佈頭29所具有的CCD照相機104,檢測在玻璃基板上所印刷的基準標誌位置,再相對於由門型框架2的延設方向與移動方向所定義之X-Y軸而計算出玻璃基板載置位置的斜率,並藉由驅動θ馬達105而使工作平台32進行θ旋轉,以校正玻璃基板的偏移。Next, the position of the reference mark printed on the glass substrate is detected by the CCD camera 104 included in the coating head 29, and is calculated with respect to the X-Y axis defined by the extending direction and the moving direction of the portal frame 2. The slope of the glass substrate mounting position is output, and the working platform 32 is rotated by θ by driving the θ motor 105 to correct the offset of the glass substrate.

其次,移動複數個塗佈頭29使其噴嘴30位於玻璃基板上的XY平面既定位置處後,將塗佈頭29朝Z方向下降,使噴嘴30與玻璃基板間之間隙成為所需的量。另外,塗佈頭29具備有預先填充糊劑的儲存容器。Next, after moving the plurality of coating heads 29 such that the nozzles 30 are positioned at the predetermined positions on the XY plane of the glass substrate, the coating head 29 is lowered in the Z direction, so that the gap between the nozzles 30 and the glass substrate becomes a desired amount. Further, the coating head 29 is provided with a storage container in which a paste is previously filled.

塗佈頭29的移動結束後,從控制裝置101對配料控制器111輸出吐出信號,一邊由噴嘴30吐出糊劑,一邊將複數個塗佈頭29在XY方向移動。藉由該動作,在玻璃基板上形成既定塗佈形狀。在此,因為本實施例的塗佈裝置20具有複數個塗佈頭29,因此可同時描繪形成複數個相同的塗佈圖案。After the movement of the coating head 29 is completed, the control device 101 outputs a discharge signal to the ingredient controller 111, and while the paste is discharged from the nozzle 30, the plurality of coating heads 29 are moved in the XY direction. By this operation, a predetermined coating shape is formed on the glass substrate. Here, since the coating device 20 of the present embodiment has a plurality of coating heads 29, a plurality of identical coating patterns can be simultaneously drawn.

對Y馬達69與X馬達70的控制,係由馬達控制器106控制各馬達的位置,並由馬達驅動器107控制對各馬達通電的電流量。The control of the Y motor 69 and the X motor 70 is controlled by the motor controller 106 to control the position of each motor, and the motor driver 107 controls the amount of current applied to each motor.

塗佈頭29朝Y方向的移動,根據直線刻度109的位置資訊,控制門型框架2所連接的複數個X馬達70而實施。塗佈頭29朝Z方向的移動則根據檢測噴嘴30與玻璃基板間之隙間的感測器102位置資訊,控制Z馬達110而實施。The movement of the coating head 29 in the Y direction is performed by controlling a plurality of X motors 70 connected to the door frame 2 based on the position information of the linear scale 109. The movement of the coating head 29 in the Z direction is performed by controlling the Z motor 110 based on the position information of the sensor 102 between the gap between the detecting nozzle 30 and the glass substrate.

執行以上動作的本實施例塗佈裝置20必需高精度地調整基本單元12與平台單元13間之位置關係,才能高精度地形成塗佈形狀。在此,本實施例的塗佈裝置20在移設時並不需要分解至零組件程度,且將分離前的旋轉角度值記憶於絕對值編碼器44a中,因此可容易且效率佳地調整基本單元12與平台單元13間之位置關係,所以可將移設成本降低至最小極限。The coating apparatus 20 of the present embodiment that performs the above operation must adjust the positional relationship between the base unit 12 and the stage unit 13 with high precision, so that the coating shape can be formed with high precision. Here, the coating device 20 of the present embodiment does not need to be decomposed to the degree of the component at the time of the transfer, and the value of the rotation angle before the separation is memorized in the absolute value encoder 44a, so that the basic unit can be easily and efficiently adjusted. The positional relationship between the platform unit 12 and the platform unit 13 reduces the cost of the shift to a minimum limit.

[實施例2][Embodiment 2]

本實施例的作業裝置係關於對工件塗佈接著劑等液材的塗佈裝置,更具體而言,係在工件上塗佈形成液材的裝置,適用於同時形成複數個同一形狀之描繪圖案的塗佈裝置。即,本實施例的塗佈裝置20對在工作平台9上所載置的工件,利用X馬達70與Y馬達69的動作,而使工作平台9對塗佈頭29朝X-Y方向移動,以形成所需的描繪圖案。The working device of the present embodiment relates to a coating device for applying a liquid material such as an adhesive to a workpiece, and more particularly to a device for forming a liquid material on a workpiece, and is suitable for simultaneously forming a plurality of drawing patterns of the same shape. Coating device. That is, the coating device 20 of the present embodiment moves the work table 9 in the X-Y direction by the operation of the X motor 70 and the Y motor 69 on the workpiece placed on the work platform 9, To form the desired depiction pattern.

圖8所示係第2實施例的作業裝置之立體示意圖。Fig. 8 is a perspective view showing the working device of the second embodiment.

在台架1a上面延設線性導軌63,俾可滑動門型框架2一端。A linear guide 63 is extended on the gantry 1a, and one end of the gantry frame 2 is slidable.

如同實施例1,台架1a、1b呈L字狀而沿第1方向並設,且以平台單元支撐部19a、19b的上面支撐平台單元13。此外,台架1a、1b的下方設有調整地面與本裝置的水平定位之水平調整器62。As in the first embodiment, the stages 1a, 1b are L-shaped and are arranged in the first direction, and the platform unit 13 is supported by the upper surfaces of the platform unit supporting portions 19a, 19b. Further, below the gantry 1a, 1b, a level adjuster 62 for adjusting the horizontal positioning of the ground and the device is provided.

門型框架2下端經由旋轉手段14a、14b而連結於門基座65a、65b。門基座65a朝線性導軌63延設方向(Y方向)可移動自如地配設,而門基座65b固定連接於台架1b之上面。The lower end of the portal frame 2 is coupled to the door bases 65a and 65b via the rotating means 14a and 14b. The door base 65a is movably disposed in the extending direction (Y direction) of the linear guide 63, and the door base 65b is fixedly coupled to the upper surface of the gantry 1b.

旋轉手段14a、14b與實施例1為相同構造,藉此,門型框架2可旋轉。The rotation means 14a, 14b have the same configuration as that of the first embodiment, whereby the portal frame 2 is rotatable.

在門型框架2上搭載有複數個塗佈頭29(其具有收納液材的液材儲存容器(未圖示)),可分別將該等藉由門型框架2所具有的未圖示馬達,各自獨立地朝門型框架2延設方向移動自如。藉由該構造,本塗佈裝置的複數個塗佈頭29可適當地將間隔調整為所需之間隔(即描繪圖案的間隔)。A plurality of coating heads 29 (having a liquid material storage container (not shown) for accommodating a liquid material) are mounted on the door frame 2, and the motor (not shown) included in the door frame 2 can be respectively used. Each independently moves freely toward the direction of the door frame 2 extension. With this configuration, the plurality of coating heads 29 of the present coating apparatus can appropriately adjust the interval to a desired interval (i.e., the interval at which the pattern is drawn).

配合描繪圖案,將複數個塗佈頭29之間隔調整為所需間隔後,再從噴嘴30利用未圖示之吐出裝置吐出液材,同時使工作平台9相對移動,藉此在工件表面上以液材塗佈描繪所需之形狀。After the interval between the plurality of coating heads 29 is adjusted to a required interval in accordance with the drawing pattern, the liquid material is discharged from the nozzle 30 by a discharge device (not shown), and the work platform 9 is relatively moved, whereby the surface of the workpiece is The liquid coating coats the desired shape.

在台架1a、1b所具有的平台單元支撐部19a、19b之上面,配設有構成台架連結導件33a、33b的長條構件。On the upper surfaces of the platform unit supporting portions 19a and 19b of the gantry 1a and 1b, elongated members constituting the gantry connecting guides 33a and 33b are disposed.

藉由使平台台架31朝台架1a、1b延伸方向(即Y方向)滑動,可藉由台架連結導件33a、33b的作用,將平台台架31與台架1a、1b滑順且容易地接合/分離。By sliding the platform gantry 31 toward the extending direction of the gantry 1a, 1b (i.e., the Y direction), the platform gantry 31 and the gantry 1a, 1b can be smoothly slid by the action of the gantry connecting guides 33a, 33b. Easy to join/separate.

圖9所示係台架連結導件33a的剖視構造。Fig. 9 shows a cross-sectional configuration of the gantry link guide 33a.

台架連結導件33a由凸狀滑塊81、與形成高精度溝狀的凹狀滑軌82所構成。凸狀滑塊81接合於台架31下面,藉由凸狀滑塊81在凹狀滑軌82上滑動,形成台架31在Y方向滑動自如之構造。另外,凸狀滑塊81與凹狀滑軌82可形成V溝形狀、U溝形狀等任意形狀。The gantry connecting guide 33a is composed of a convex slider 81 and a concave rail 82 which is formed in a highly precise groove shape. The convex slider 81 is joined to the lower surface of the gantry 31, and slides on the concave slide rail 82 by the convex slider 81 to form a structure in which the gantry 31 slides in the Y direction. Further, the convex slider 81 and the concave slide rail 82 may have any shape such as a V-groove shape or a U-groove shape.

另外,台架連結導件33b亦屬相同的構造。In addition, the gantry connecting guides 33b are also of the same configuration.

再者,台架連結導件33a、33b之構成,減少在平台台架31滑動方向的正交方向(即X方向與Z方向)之晃動,而使台架連結導件33a、33b與台架1a、1b精度佳地連結。Further, the gantry connecting guides 33a and 33b are configured to reduce the sway in the orthogonal direction (i.e., the X direction and the Z direction) of the sliding direction of the platform gantry 31, and the gantry connecting guides 33a and 33b and the gantry 1a and 1b are connected with high precision.

台架連結導件33a、33b的嵌合部當然加工為高精度,以能滑順滑動。The fitting portions of the gantry coupling guides 33a and 33b are of course processed to high precision so as to be slidable.

《移設程序》Transfer Procedure

本實施例之塗佈裝置20的移設作業,首先將平台單元13自基本單元12分離。分離作業藉由使平台台架31利用連結導件33a、33b朝台架1a、1b外側移動而實施。In the transfer operation of the coating device 20 of the present embodiment, the platform unit 13 is first separated from the base unit 12. The separation operation is performed by moving the stage gantry 31 to the outside of the gantry 1a, 1b by the connecting guides 33a, 33b.

接著,以旋轉手段14b為旋轉中心,使門型框架2旋轉而將台架1a與台架1b間的間隔變狹窄。即,施加使門型框架2朝θ方向旋轉的力之下,旋轉手段14a、14b旋轉,同時門基座65a在線性導軌63上滑動,藉此由門型框架2與台架1a、1b所構成的角度從直角變化為銳角。藉此,基本單元12摺疊而形成較小的可搬送狀態,因而可輕易進行移設時的運搬作業。Next, the door frame 2 is rotated by the rotation means 14b as a center of rotation, and the interval between the gantry 1a and the gantry 1b is narrowed. That is, under the force that causes the portal frame 2 to rotate in the θ direction, the rotation means 14a, 14b rotate while the door base 65a slides on the linear guide 63, whereby the gantry frame 2 and the gantry 1a, 1b are The angle of the composition changes from a right angle to an acute angle. Thereby, the basic unit 12 is folded to form a small transportable state, so that the transporting operation at the time of the transfer can be easily performed.

待運搬作業結束後,在組裝基本單元12與平台單元13時,首先進行將已變形為較小的基本單元12回復至原本形狀的作業。即,對門型框架2施力使台架1a、1b位於正交位置,旋轉手段14a、14b旋轉,同時門基座65a滑動,而擴大與台架1a、1b間的間隔。After the completion of the transport operation, when the base unit 12 and the platform unit 13 are assembled, first, the operation of returning the basic unit 12 that has been deformed to the original shape is performed. That is, the gantry frame 2 is biased so that the gantry 1a, 1b is positioned at the orthogonal position, the rotation means 14a, 14b are rotated, and the door pedestal 65a is slid, and the space between the gantry 1a, 1b is enlarged.

此時,利用在分離前由絕對值編碼器44a所記憶的旋轉角度值,調整復原時的旋轉角度,可精度佳且簡單地進行調整作業。At this time, the rotation angle at the time of restoration is adjusted by the rotation angle value memorized by the absolute value encoder 44a before the separation, and the adjustment work can be performed with high precision and simply.

最後,將平台台架31藉由台架連結導件33a、33b連結於基本單元12上,而將平台台架31安置於既定位置處,便完成移設作業。Finally, the platform gantry 31 is coupled to the base unit 12 by the gantry link guides 33a, 33b, and the platform gantry 31 is placed at a predetermined position to complete the transfer operation.

如上述,本實施例的裝置構成僅利用一個線性導軌即可摺疊的構造,因此可以較實施例1所示裝置更低成本構成裝置。As described above, the apparatus of the present embodiment constitutes a structure that can be folded by only one linear guide, and therefore the apparatus can be constructed at a lower cost than the apparatus shown in the first embodiment.

再者,因為台架連結導件形成簡單的溝構造,因而可以較實施例1所示裝置更低之成本構成裝置。Furthermore, since the gantry link guide forms a simple groove structure, the device can be constructed at a lower cost than the device of the first embodiment.

[實施例3][Example 3]

本實施例的作業裝置係關於在工件上塗佈接著劑等液材的塗佈裝置。The working device of the present embodiment relates to a coating device for applying a liquid material such as an adhesive to a workpiece.

本實施例的塗佈裝置20如圖10所示,特徵在於:具有台架連結導件33a、33b,其由在單元平台支撐部19a、19b上面所形成V形狀溝,以及在平台單元13下面所形成V形狀突起所構成。The coating device 20 of the present embodiment is characterized in that it has gantry connecting guides 33a, 33b formed by V-shaped grooves formed on the unit platform supporting portions 19a, 19b, and under the platform unit 13 as shown in FIG. The V-shaped protrusion is formed.

平台單元13與基本單元12的連結作業,藉由將平台台架31搭載在虛線所示台車3上而實施。藉由使用台車3,可使平台單元13的移動及位置調整趨於容易,將可縮短連結作業的時間及費用。此效果特別在平台單元13尺寸越大時越明顯。The connection work between the platform unit 13 and the base unit 12 is performed by mounting the platform gantry 31 on the carriage 3 shown by the broken line. By using the trolley 3, the movement and position adjustment of the platform unit 13 can be made easier, and the time and cost of the connection work can be shortened. This effect is particularly noticeable when the size of the platform unit 13 is larger.

另外,將平台單元13與基本單元12相連結後,最好設置高度調節機構,使台車3能輕易地從平台單元13上脫離。Further, after the platform unit 13 is coupled to the base unit 12, it is preferable to provide a height adjusting mechanism so that the trolley 3 can be easily detached from the platform unit 13.

(產業上之可利用性)(industrial availability)

本發明的技術思想可適用於製造及檢查液晶面板、半導體、印刷電路基板等電子機器時所使用的作業裝置。適用於例如:在平面顯示器的玻璃基板塗佈所需形狀之糊劑圖案的塗佈裝置,或搭載吐出糊劑的塗佈頭之門機構,或固定玻璃基板的平台機構。The technical idea of the present invention can be applied to a work device used for manufacturing and inspecting an electronic device such as a liquid crystal panel, a semiconductor, or a printed circuit board. For example, a coating device for applying a paste pattern of a desired shape to a glass substrate of a flat display, or a door mechanism for a coating head for discharging a paste, or a platform mechanism for fixing a glass substrate.

再者,亦可適用於將試劑分注於受試驗體中的分注裝置、工作加工機、安裝機等,亦可使用於例如取代塗佈頭,改為搭載鑽孔機等加工頭的加工機,或搭載拾取頭而將零組件安裝於工件上的安裝機等。Further, it is also applicable to a dispensing device, a working machine, a mounting machine, and the like which dispense a reagent into a test object, and can be used, for example, in place of a coating head, and is processed by processing a processing head such as a drill. A machine, or a mounting machine that mounts components on a workpiece with a pick-up head.

1a、1b...台架1a, 1b. . . Bench

2...門型框架2. . . Portal frame

3...可動台車3. . . Movable trolley

7a、7b、63...線性導軌7a, 7b, 63. . . Linear guide

8...作業頭8. . . Job head

9、32...工作平台9, 32. . . Work platform

11...固定具11. . . Fixture

12...基本單元12. . . Basic unit

13...平台單元13. . . Platform unit

14a、14b...旋轉手段14a, 14b. . . Rotating means

15...滑件15. . . Slider

16...滑座16. . . Slide

18...調整具18. . . Adjustment tool

19a、19b...平台單元支撐部19a, 19b. . . Platform unit support

20...塗佈裝置20. . . Coating device

21...板材twenty one. . . Plate

22...螺絲twenty two. . . Screw

24a、24b...線性馬達定子24a, 24b. . . Linear motor stator

25a、25b...線性馬達可動子25a, 25b. . . Linear motor mover

26a、26b、109...直線刻度26a, 26b, 109. . . Straight line scale

29...塗佈頭29. . . Coating head

30...噴嘴30. . . nozzle

31...平台台架31. . . Platform gantry

33a、33b...台架連結導件33a, 33b. . . Bench link guide

41a...軸台41a. . . Pillow block

42a...旋轉軸42a. . . Rotary axis

43a、53a...軸承43a, 53a. . . Bearing

44a...絕對值編碼器44a. . . Absolute encoder

51、51a...導軌51, 51a. . . guide

52a...導塊52a. . . Guide block

62...水平調整器62. . . Level adjuster

65a、65b...門基座65a, 65b. . . Door base

69...Y馬達69. . . Y motor

70...X馬達70. . . X motor

81...凸狀滑塊81. . . Convex slider

82...凹狀滑軌82. . . Concave slide

100...設定/顯示器/輸入手段100. . . Setting / display / input means

101...控制裝置101. . . Control device

102...感測器102. . . Sensor

103...電磁閥103. . . The electromagnetic valve

104...CCD照相機104. . . CCD camera

105...θ馬達105. . . θ motor

106...馬達控制器106. . . Motor controller

107...馬達驅動器107. . . Motor driver

110...Z馬達110. . . Z motor

111...配料控制器111. . . Batching controller

181a、181b...螺鎖孔181a, 181b. . . Screw lock hole

圖1為本發明作業裝置的前視圖。Figure 1 is a front elevational view of the work apparatus of the present invention.

圖2為本發明作業裝置的俯視圖。Figure 2 is a plan view of the working device of the present invention.

圖3a為說明本發明作業裝置的變形程序之俯視圖(1/3)。Figure 3a is a plan view (1/3) illustrating a modification procedure of the working device of the present invention.

圖3b為說明本發明作業裝置的變形程序之俯視圖(2/3)。Fig. 3b is a plan view (2/3) illustrating a modification procedure of the working device of the present invention.

圖3c為說明本發明作業裝置的變形程序之俯視圖(3/3)。Fig. 3c is a plan view (3/3) illustrating a modification procedure of the working device of the present invention.

圖4為本發明作業裝置變形並裝接固定具的狀態之前視圖。Figure 4 is a front elevational view showing the state in which the working device of the present invention is deformed and attached to the fixture.

圖5為實施例1的作業裝置之立體示意圖。Fig. 5 is a perspective view showing the working device of the first embodiment.

圖6為說明實施例1的作業裝置之旋轉手段的剖視構造圖。Fig. 6 is a cross-sectional structural view showing a rotating means of the working device of the first embodiment;

圖7為說明實施例1的作業裝置之台架連結導件的剖視構造圖。Fig. 7 is a cross-sectional structural view showing a gantry connecting guide of the working device of the first embodiment;

圖8為實施例2的作業裝置之立體示意圖。Fig. 8 is a perspective view showing the working device of the second embodiment.

圖9為說明實施例2的作業裝置之台架連結導件的剖視構造圖。Fig. 9 is a cross-sectional structural view showing a gantry connecting guide of the working device of the second embodiment.

圖10為實施例3的作業裝置之前視圖。Figure 10 is a front elevational view of the working device of the third embodiment.

圖11為說明實施例1的作業裝置之動作概要的控制方塊圖。Fig. 11 is a control block diagram showing an outline of the operation of the working device of the first embodiment.

圖12為在實施例1的作業裝置上,裝接調整具的狀態之立體示意圖。Fig. 12 is a perspective view showing the state in which the adjusting device is attached to the working device of the first embodiment.

1a、1b...台架1a, 1b. . . Bench

2...門型框架2. . . Portal frame

8...作業頭8. . . Job head

9...工作平台9. . . Work platform

12...基本單元12. . . Basic unit

13...平台單元13. . . Platform unit

14a、14b...旋轉手段14a, 14b. . . Rotating means

15...滑件15. . . Slider

16...滑座16. . . Slide

31...平台台架31. . . Platform gantry

62...水平調整器62. . . Level adjuster

Claims (19)

一種門型作業裝置,係主要由基本單元與工作平台單元構成的門型作業裝置;其特徵在於:上述基本單元具備有:二個台架,其朝第1方向並設;門型框架,其配設於與第1方向正交的第2方向,且下端部經由旋轉手段連接於二個台架;以及作業部,其配設於門型框架上,對工件執行作業;上述工作平台單元具備有:工作平台,其設置於上述基本單元所具有的上述二個台架之間,並保持工件;以及平台台架,其支撐上述工作平台;其藉由改變上述作業部與上述工件的相對位置關係,可對工件執行所需的作業;在非作業時,可使上述工作平台單元自上述基本單元分離,並旋轉上述門型框架而將上述二個台架的間隔變狹窄。A door type working device is a door type working device mainly composed of a basic unit and a working platform unit; wherein the basic unit is provided with: two gantry which are arranged in the first direction; the door type frame a second direction orthogonal to the first direction, and a lower end portion connected to the two stages via a rotating means; and a working portion disposed on the door frame to perform work on the workpiece; the working platform unit is provided a working platform disposed between the two gantrys of the basic unit and holding the workpiece; and a platform gantry supporting the working platform; wherein the relative position of the working portion and the workpiece is changed The relationship can be performed on the workpiece; when not in operation, the work platform unit can be separated from the basic unit, and the door frame can be rotated to narrow the interval between the two stands. 如申請專利範圍第1項之門型作業裝置,其中,上述門型框架下端部之任一者,經由在上述台架上朝第1方向移動的滑件,而連接於配設在上述台架上面的滑座。The door type working device according to claim 1, wherein any one of the lower end portions of the door frame is connected to the gantry via a slider that moves in the first direction on the gantry The slider above. 如申請專利範圍第1項之門型作業裝置,其中,上述門型框架下端部之雙方,經由在上述台架上朝第1方向移動的滑件,而連接於配設在上述台架上面的滑座。The door type working device according to claim 1, wherein both of the lower end portions of the door frame are connected to the upper surface of the gantry via a slider that moves in the first direction on the gantry. Slide. 如申請專利範圍第2或3項之門型作業裝置,其中,上述滑件係線性馬達驅動。A door type working device according to claim 2 or 3, wherein the slider is driven by a linear motor. 如申請專利範圍第1、2或3項之門型作業裝置,其具備有台架連結導件,而該台架連結導件主要由:在上述二個台架上分別延設的第1長條構件,以及卡合於該等且在上述平台台架上延設的第2長條構件所構成;上述平台單元與上述基本單元藉由台架連結導件而連結。The door type working device of claim 1, 2 or 3, which has a gantry connecting guide, and the gantry connecting guide mainly comprises: a first length extended on the two gantry a strip member and a second elongate member that is engaged with the platform platform and extended on the platform gantry; the platform unit and the base unit are coupled by a gantry connecting guide. 如申請專利範圍第5項之門型作業裝置,其中,構成上述台架連結導件的第1與第2長條構件,藉由組合二個V谷形狀滑軌構件與二個V山形狀滑軌構件而構成。The door type working device of claim 5, wherein the first and second elongated members constituting the gantry connecting guide are combined with two V-shaped sliding rail members and two V-mountain shapes It is composed of rail members. 如申請專利範圍第5項之門型作業裝置,其中,構成上述台架連結導件的第1與第2長條構件,藉由組合二個導軌、與嵌裝於該等的二個導塊而構成。The door type working device of claim 5, wherein the first and second elongated members constituting the gantry connecting guide are formed by combining two guide rails and two guide blocks embedded in the gantry And constitute. 如申請專利範圍第5項之門型作業裝置,其中,上述二個台架係L字狀,且在高位置的上面連接於上述門型框架下端部,而其低位置的上面延設有上述第1長條構件。The door type working device of claim 5, wherein the two stands are L-shaped, and are connected to the lower end of the door frame at a top position of the high position, and the upper surface of the lower frame is extended The first long member. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述基本單元具有供測量並記憶上述二個台架與上述門型框架所構成之角度的編碼器。A door type working device according to claim 1, 2 or 3, wherein the basic unit has an encoder for measuring and memorizing the angle formed by the two gantry and the door frame. 如申請專利範圍第1項之門型作業裝置,其中,上述工作平台單元具備有將上述工作平台在上述第1方向移動自如的工作平台移動手段。The door type working device according to claim 1, wherein the work platform unit includes a work platform moving means for moving the work platform in the first direction. 如申請專利範圍第1項之門型作業裝置,其中,上述工作平台單元具備有將上述工作平台在上述第1方向與上述第2方向移動自如的工作平台移動手段。The door type working device according to claim 1, wherein the work platform unit includes a work platform moving means for moving the work platform in the first direction and the second direction. 如申請專利範圍第10或11項之門型作業裝置,其中,上述工作平台移動手段係線性馬達驅動。The door type working device of claim 10 or 11, wherein the working platform moving means is driven by a linear motor. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述門型框架具備有將上述作業部在第2方向移動自如的作業部移動手段。The door type working device according to the first, second or third aspect of the invention, wherein the door frame includes a working unit moving means for moving the working unit in the second direction. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述門型框架具備有將上述作業部在上下方向移動自如的作業部移動手段。The door type working device according to the first, second or third aspect of the invention, wherein the door frame includes a working unit moving means for moving the working unit in the vertical direction. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述基本單元具備有將上述二個台架保持於非作業時之間隔的固定具。A door type working device according to the first, second or third aspect of the invention, wherein the base unit is provided with a fixture for holding the two stands at intervals when the work is not performed. 如申請專利範圍第15項之門型作業裝置,其中,上述基本單元具有供螺鎖上述固定具的螺鎖孔。The door type working device of claim 15, wherein the basic unit has a screw hole for screwing the fixing device. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述基本單元具備有將上述二個台架的間隔調整並保持為作業時之間隔的調整具。A door type working device according to the first, second or third aspect of the invention, wherein the basic unit is provided with an adjusting device that adjusts and maintains the interval between the two stands in an operation interval. 如申請專利範圍第17項之門型作業裝置,其中,上述基本單元具有供螺鎖上述調整具的螺鎖孔。The door type working device of claim 17, wherein the basic unit has a screw hole for screwing the adjusting device. 如申請專利範圍第1、2或3項之門型作業裝置,其中,上述基本單元具有複數個門型框架。A door type working device according to claim 1, 2 or 3, wherein the basic unit has a plurality of door frames.
TW096132396A 2006-08-31 2007-08-31 Deformable door type operating device TWI395632B (en)

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CN101505914B (en) 2010-10-13
CN101505914A (en) 2009-08-12
KR101411448B1 (en) 2014-06-24
WO2008026486A1 (en) 2008-03-06
JP4911761B2 (en) 2012-04-04
HK1131932A1 (en) 2010-02-12

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