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
Authority
TW
Taiwan
Prior art keywords
gantry
working
platform
unit
door type
Prior art date
Application number
TW096132396A
Other languages
Chinese (zh)
Other versions
TW200819239A (en
Inventor
Kazumasa Ikushima
Original Assignee
Musashi Engineering Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2006235853A priority Critical patent/JP4911761B2/en
Application filed by Musashi Engineering Inc filed Critical Musashi Engineering Inc
Publication of TW200819239A publication Critical patent/TW200819239A/en
Application granted granted Critical
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
    • 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
    • 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
    • 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

Description

Deformable door type working device
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.
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.
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.
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.
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).
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.
Patent Document 1: Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. No. Hei. No. Hei. No. Hei.
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.
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.
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.
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.
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.
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.
That is, the door type working device of the present invention has the following configuration.
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.
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. .
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.
A fourth invention is the second or third invention, wherein the slider is driven by a linear motor.
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.
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. .
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.
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.
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.
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.
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.
A twelfth invention is the tenth or eleventh invention, wherein the work platform moving means is a linear motor drive.
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.
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.
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.
According to a fifteenth aspect of the invention, the first aspect, wherein the base unit has a screw hole for screwing the fixing device.
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.
According to a seventeenth aspect of the invention, the seventh aspect, wherein the base unit has a screw hole for screwing the adjusting device.
The invention of any one of items 1 to 18, wherein the basic unit has a plurality of gate frames.
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.
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.
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.
One aspect of a preferred working device embodying the present invention will be described with reference to the drawings.
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.
"Composition"
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.
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.
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".
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.
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.
"Transformation during transportation, etc."
A method in which the device is deformed by transportation or the like will be described.
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.
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.
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.
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.
"Recovery after transfer"
The procedure for restoring the device that has been deformed for transport may be reversed by the aforementioned procedure.
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.
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.
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.
The details of the invention are illustrated by the following examples, but the invention is not limited by the examples.
[Example 1]
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.
"structure"
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.
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.
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.
A level adjuster 62 is disposed under the gantry 1a, 1b to adjust the horizontal positioning between the ground and the device.
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.
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.
Fig. 6 is a cross-sectional structural view showing the rotating means 14a.
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.
Further, the rotation means 14b has the same structure.
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.
Further, it is preferable to provide the absolute value encoder 44a, but it is not an essential component.
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.
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.
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).
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.
The configuration of the gantry link guide 33a will be described.
Fig. 7 is a cross-sectional structural view showing the above-described gantry connecting guide 33a.
The gantry connecting guide 33a is composed of a guide rail 51a, a guide block 52a, and a bearing 53a.
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.
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.
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.
In addition, the gantry connecting guide 33b has the same structure.
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.
Transfer Procedure
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.
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.
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.
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.
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.
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.
"action"
The operation of the coating device 20 of the present embodiment will be described with reference to the control block diagram shown in FIG.
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.
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.
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.
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.
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.
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.
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.
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.
[Embodiment 2]
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.
Fig. 8 is a perspective view showing the working device of the second embodiment.
A linear guide 63 is extended on the gantry 1a, and one end of the gantry frame 2 is slidable.
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.
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.
The rotation means 14a, 14b have the same configuration as that of the first embodiment, whereby the portal frame 2 is rotatable.
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).
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.
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.
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.
Fig. 9 shows a cross-sectional configuration of the gantry link guide 33a.
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.
In addition, the gantry connecting guides 33b are also of the same configuration.
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.
The fitting portions of the gantry coupling guides 33a and 33b are of course processed to high precision so as to be slidable.
Transfer Procedure
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.
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.
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.
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.
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.
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.
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.
[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.
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.
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.
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.
(industrial availability)
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.
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. . . Bench
2. . . Portal frame
3. . . Movable trolley
7a, 7b, 63. . . Linear guide
8. . . Job head
9, 32. . . Work platform
11. . . Fixture
12. . . Basic unit
13. . . Platform unit
14a, 14b. . . Rotating means
15. . . Slider
16. . . Slide
18. . . Adjustment tool
19a, 19b. . . Platform unit support
20. . . Coating device
twenty one. . . Plate
twenty two. . . Screw
24a, 24b. . . Linear motor stator
25a, 25b. . . Linear motor mover
26a, 26b, 109. . . Straight line scale
29. . . Coating head
30. . . nozzle
31. . . Platform gantry
33a, 33b. . . Bench link guide
41a. . . Pillow block
42a. . . Rotary axis
43a, 53a. . . Bearing
44a. . . Absolute encoder
51, 51a. . . guide
52a. . . Guide block
62. . . Level adjuster
65a, 65b. . . Door base
69. . . Y motor
70. . . X motor
81. . . Convex slider
82. . . Concave slide
100. . . Setting / display / input means
101. . . Control device
102. . . Sensor
103. . . The electromagnetic valve
104. . . CCD camera
105. . . θ motor
106. . . Motor controller
107. . . Motor driver
110. . . Z motor
111. . . Batching controller
181a, 181b. . . Screw lock hole
Figure 1 is a front elevational view of the work apparatus of the present invention.
Figure 2 is a plan view of the working device of the present invention.
Figure 3a is a plan view (1/3) illustrating a modification procedure of the working device of the present invention.
Fig. 3b is a plan view (2/3) illustrating a modification procedure of the working device of the present invention.
Fig. 3c is a plan view (3/3) illustrating a modification procedure of the working device of the present invention.
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.
Fig. 5 is a perspective view showing the working device of the first embodiment.
Fig. 6 is a cross-sectional structural view showing a rotating means of the working device of the first embodiment;
Fig. 7 is a cross-sectional structural view showing a gantry connecting guide of the working device of the first embodiment;
Fig. 8 is a perspective view showing the working device of the second embodiment.
Fig. 9 is a cross-sectional structural view showing a gantry connecting guide of the working device of the second embodiment.
Figure 10 is a front elevational view of the working device of the third embodiment.
Fig. 11 is a control block diagram showing an outline of the operation of the working device of the first embodiment.
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. . . Bench
2. . . Portal frame
8. . . Job head
9. . . Work platform
12. . . Basic unit
13. . . Platform unit
14a, 14b. . . Rotating means
15. . . Slider
16. . . Slide
31. . . Platform gantry
62. . . Level adjuster

Claims (19)

  1. 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.
  2. 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.
  3. 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.
  4. A door type working device according to claim 2 or 3, wherein the slider is driven by a linear motor.
  5. 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.
  6. 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.
  7. 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.
  8. 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.
  9. 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.
  10. 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.
  11. 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.
  12. The door type working device of claim 10 or 11, wherein the working platform moving means is driven by a linear motor.
  13. 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.
  14. 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.
  15. 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.
  16. The door type working device of claim 15, wherein the basic unit has a screw hole for screwing the fixing device.
  17. 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.
  18. The door type working device of claim 17, wherein the basic unit has a screw hole for screwing the adjusting device.
  19. 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)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006235853A JP4911761B2 (en) 2006-08-31 2006-08-31 Deformable gantry working device

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CN (1) CN101505914B (en)
HK (1) HK1131932A1 (en)
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CN101505914A (en) 2009-08-12
KR101411448B1 (en) 2014-06-24
JP4911761B2 (en) 2012-04-04
JP2008055554A (en) 2008-03-13
HK1131932A1 (en) 2010-02-12
TW200819239A (en) 2008-05-01
KR20090054425A (en) 2009-05-29
CN101505914B (en) 2010-10-13
WO2008026486A1 (en) 2008-03-06

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