WO2008026486A1 - Appareil de travail déformable de type portique - Google Patents

Appareil de travail déformable de type portique Download PDF

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Publication number
WO2008026486A1
WO2008026486A1 PCT/JP2007/066276 JP2007066276W WO2008026486A1 WO 2008026486 A1 WO2008026486 A1 WO 2008026486A1 JP 2007066276 W JP2007066276 W JP 2007066276W WO 2008026486 A1 WO2008026486 A1 WO 2008026486A1
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WO
WIPO (PCT)
Prior art keywords
gantry
work
working device
base unit
type working
Prior art date
Application number
PCT/JP2007/066276
Other languages
English (en)
Japanese (ja)
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
Application filed by Musashi Engineering, Inc. filed Critical Musashi Engineering, Inc.
Priority to KR1020097002005A priority Critical patent/KR101411448B1/ko
Priority to CN2007800305629A priority patent/CN101505914B/zh
Publication of WO2008026486A1 publication Critical patent/WO2008026486A1/fr
Priority to HK09111460.9A priority patent/HK1131932A1/xx

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012—Portals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B23Q1/4852—Movable 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58—Movable 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-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
    • B23Q39/021—Metal-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
    • B23Q39/022—Metal-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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, 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
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor

Definitions

  • the present invention relates to a gantry-type work device that can perform a desired work on a work that moves relative to a work unit, and is capable of solving a problem in terms of space at the time of transfer. About.
  • a working device having a structure having a beam (gantry frame) that vertically traverses a work table on which a work is placed, and is generally called a gantry type working device.
  • a gantry-type working device for performing a desired work on a relatively moving workpiece include, for example, a device for applying a sealant in the manufacture of a liquid crystal display panel, a patterning device for a solar cell panel, and a defect in a semiconductor device.
  • inspection devices There are inspection devices.
  • This type of device tends to increase in size as the workpiece becomes larger.
  • the size of a glass substrate for a liquid crystal display panel called 8th generation is 2160 mm x 2400 mm. is necessary force s a work table capable of placing it.
  • a coating apparatus for applying a sealant to a liquid crystal substrate for example, a barrel in which a liquid material is accommodated and a liquid material in the barrel from the front end that is detachably provided.
  • a dispenser having a nozzle body from which the nozzle is discharged, driving means for moving the dispenser in the X, Y and z directions relative to the workpiece, and imaging the tip of the nozzle body,
  • a liquid material coating apparatus having a nozzle imaging means for detecting the position of the tip of the nozzle body is proposed (Patent Document 1).
  • the gantry-type paste applicator includes, for example, a gantry frame (Y-axis moving table) having a Z-axis moving means for moving the nozzle in the Z-axis direction with respect to the substrate placed on the work table.
  • a gantry frame Y-axis moving table
  • Z-axis moving means for moving the nozzle in the Z-axis direction with respect to the substrate placed on the work table.
  • Patent Document 1 JP-A-11 033458
  • Patent Document 2 Japanese Patent No. 3520205
  • Patent Document 3 Japanese Patent Laid-Open No. 2001-219325
  • the above-described conventional work device is difficult to relocate because a work table that holds a work and a work unit that performs a desired work on the work are integrally configured. Specifically, when the work equipment once installed is moved to another place, or when the place where the work equipment is assembled and the place where the work equipment is operated are separated from each other, the work equipment passes through a narrow conveyance path or is used as a transportation means such as a truck. When loading, it was sometimes necessary to disassemble the work equipment to the parts level.
  • the assembly work must also be performed precisely, and in some cases, advanced technology is required for adjustment work to ensure sufficient accuracy.
  • an object of the present invention is to provide a gantry-type working device that can be deformed so as to reduce an occupied space during transfer and can be easily restored.
  • the gantry-type working device of the present invention makes it possible to separate the work table unit and the base unit, and to further deform the base unit in order to reduce the occupied space. Configured.
  • the gantry frame and the gantry are configured to rotate, and the transfer work and the assembly work after the transfer are facilitated by devising such means as providing a fixing tool that fixes them during transfer and an adjustment tool that facilitates assembly. And safely Made it possible to do.
  • the gantry type work device of the present invention is configured as follows.
  • a first invention is a gantry-type working device comprising a base unit and a work table unit, the base unit comprising two mounts arranged in parallel in the first direction and orthogonal to the first direction
  • a gantry frame that is disposed in a second direction and that has a lower end connected to the two mounts via a rotating means, and a work unit that is disposed on the gantry frame and that performs work on the work.
  • the table unit is installed between the two mounts of the base unit and includes a work table for holding a work and a table support for supporting the work table, and changes a relative positional relationship between the working unit and the work.
  • the workpiece table unit can be separated from the base unit when not working.
  • a gantry-type working device characterized in that the distance between the two mounts can be reduced while rotating the gantry leaf frame.
  • a slide disposed on the upper surface of the gantry via a force S at the lower end of the gantry frame and a slider moving in the first direction on the gantry. It is connected to the base.
  • the slide base disposed on the upper surface of the gantry via the both forces on the lower end of the gantry frame and the slider moving in the first direction on the gantry. It is connected.
  • the slider is driven by a linear motor.
  • the first elongate member extending on each of the two frames and the table frame engaged therewith are extended.
  • a gantry coupling guide comprising a second elongated member is provided, and the table unit and the base unit are coupled by a gantry coupling guide.
  • the first and second long members constituting the gantry coupling guide are a combination of two V-valley-shaped rail members and two V-shaped rail members. It is characterized by comprising.
  • the first and second elongated members constituting the gantry connection guide are obtained by combining two guide rails and two guide blocks fitted therein. It is characterized by becoming.
  • An eighth invention is the invention according to any one of the fifth to seventh inventions, wherein the two mounts are L-shaped, the lower end of the gantry frame is connected to the upper surface of the high position, and the upper surface of the lower position is connected to the upper surface.
  • the first elongate member is extended.
  • the base unit has an encoder that measures and stores an angle formed by the two mounts and the gantry frame.
  • a tenth invention is characterized in that, in any one of the first to ninth inventions, the worktable unit comprises a worktable moving means for making the worktable movable in the first direction. To do.
  • An eleventh aspect of the present invention is the worktable movement according to any one of the first to ninth aspects, wherein the worktable unit moves the worktable in the first direction and the second direction. Means are provided.
  • a twelfth invention is characterized in that, in the tenth or eleventh invention, the work table moving means is a linear motor drive.
  • a thirteenth aspect of the present invention is characterized in that, in any one of the first to twelfth aspects, the gantry frame is provided with working part moving means for making the working part movable in a second direction.
  • the gantry frame is provided with working part moving means for allowing the working part to move in the vertical direction.
  • the base unit in any one of the first to fourteenth aspects, includes a fixture that holds the two mounts at intervals when not in operation. In a sixteenth aspect based on the fifteenth aspect, the base unit has a fastening hole for fastening the fixture.
  • the base unit comprises: An adjustment tool for adjusting and holding the interval between the two mounts to an interval at the time of work is provided.
  • the base unit has a fastening hole for fastening the adjusting tool.
  • the base unit includes a plurality of gantry frames.
  • the work table unit and the base unit can be separated and the base unit can be deformed so as to reduce the occupied space.
  • disassembly / assembly and transfer operations associated with transfer can be performed easily and safely, and the number of work steps involved in transfer can be greatly reduced.
  • FIG. 1 is a front view of a working device according to the present invention.
  • FIG. 2 is a plan view of the working device of the present invention.
  • FIG. 3a is a plan view for explaining a deformation procedure of the working device of the present invention (1/3).
  • FIG. 3b is a plan view for explaining a deformation procedure of the working device of the present invention (2/3).
  • FIG. 3c is a plan view for explaining a modification procedure of the working device of the present invention (3/3).
  • FIG. 4 is a front view of a state in which the working device of the present invention is modified and a fixture is mounted.
  • FIG. 5 is a perspective view of a working device according to Embodiment 1.
  • FIG. 6 is a cross-sectional configuration diagram for explaining the rotating means of the working device according to the first embodiment.
  • FIG. 7 is a cross-sectional configuration diagram illustrating a gantry connection guide of the working device according to the first embodiment.
  • FIG. 8 is a perspective view of a working device according to a second embodiment.
  • FIG. 9 is a cross-sectional configuration diagram for explaining a gantry connection guide of a working device according to a second embodiment.
  • FIG. 10 is a front view of a working device according to Embodiment 3.
  • FIG. 11 is a control block diagram for explaining the outline of the operation of the working device according to the first embodiment.
  • FIG. 12 is a perspective view showing a state where an adjustment tool is mounted on the working device according to the first embodiment. Explanation of symbols
  • FIG. 1 is a front view of a working device according to the present invention
  • FIG. 2 is a working device according to the present invention
  • FIG. 3 is a diagram for explaining deformation and the like accompanying the transfer
  • FIG. 4 is a front view of the state in which the fixture is mounted.
  • FIG. 1 is a drawing when the apparatus is observed from the lower side in FIG.
  • the working device includes a base unit 12 disposed in a gate shape and a table unit 13 disposed between the gate legs of the base unit 12. Composed.
  • the base unit 12 includes two mounts la and 1b extending in a first direction (up and down direction in FIG. 2) and a second direction (left and right direction in FIG. 2) supported by them.
  • the extended gantry frame 2 and the working part provided in the gantry frame 2 are the main components.
  • the gantry frame 2 holds one or a plurality of work heads 8 and can move a work head 8 and a work table 9 relative to each other to perform a desired work on an arbitrary position on the work.
  • a device such as a work head 8 that performs work on a workpiece in this way is called a work unit.
  • the gantry frame 2 is connected to the gantry la and lb via the rotating means 14a and 14b.
  • one lower end of the gantry frame 2 connected to the gantry la is rotatably supported, and the other lower end of the gantry frame 2 connected to the gantry lb is rotatably supported.
  • the gantry lb is joined to a slider 15 that allows the rotating means 14b to move in the first direction.
  • the slide base 16 provided on the upper surface of the mount lb and the slider 15 movable on the slide base 16 in the first direction are joined to the rotation means 14b, whereby the rotation means 14b is moved in the first direction. It is movable.
  • the slide base 16 may naturally be configured to have the force S provided on the upper surface of the gantry lb and the upper surface of the gantry la.
  • the table unit 13 includes a work table 9 that holds a work and a table base 31 that supports the work table 9 as main components. When working with this apparatus, the table unit 13 needs to be installed between the racks la and lb.
  • FIG. 3 (a) A method of changing the apparatus with transfer! / Will be described. First, as shown in FIG. 3 (a), the table unit 13 is separated and moved outward (in the direction of the arrow) of the base unit 12, and a space is provided between the frame la and the frame lb.
  • FIG. 4 illustrates the fixture 11 that fastens the plate material 21 and the mounts la and lb with screws 22.
  • the fixture is not limited to the one disclosed in FIG. 4 as long as it has an action of maintaining the distance between the mount la and the mount lb.
  • the distance between the base la and the base lb is further increased, and the base la and the base lb are fixed when the base la and the base lb are set to a predetermined width.
  • the technical idea of the present invention can also be applied to a working device having a plurality of gantry frames. Needless to say.
  • the slide base is not provided, and the lower end of the gantry frame and the mounting position of the gantry are fixed, and the two cradles overlap each other when deformed to save space! /.
  • the working device of the present embodiment relates to a coating device that applies paste to a glass substrate that constitutes a liquid crystal panel.
  • the coating apparatus 20 of this embodiment includes a base unit 12 arranged in a gate shape and a table unit 13 arranged between the base units 12 as main components. Consists of gantry la, lb extending in the first direction (Y direction) and gantry frame 2 supported on these. The lower end of the gantry frame 2 is joined to the rotating means 14a and 14b, so that the gantry frame 2 is rotatably supported by the frames la and lb.
  • the gantry frame 2 has a plurality of application heads 29 serving as working parts.
  • the mounts la and lb are L-shaped and are juxtaposed along the first direction to form inverted convex grooves.
  • the table unit 13 is installed so as to be fitted in the convex groove, and is supported by the upper surface (the upper surface at the lower position) of the table unit support portions 19a and 19b extending in the horizontal direction.
  • the level adjuster 62 is provided at the center, and the horizontal level between the floor and this equipment is adjusted with force S.
  • a linear guide 7a, a linear motor stator 24a, and a linear scale 26a are provided on the upper surface of the gantry la, and the linear guide 7b and linear scale 26a are provided on the upper surface of the gantry lb.
  • a motor stator 24b and a linear scale 26b are provided.
  • the lower surfaces of the rotating means 14a and 14b are joined to the linear motor movable elements 25a and 25b.
  • the gantry frame cooperates with the linear guides 7a and 7b and the linear motor stators 24a and 24b.
  • the gantry frame 2 can be moved in the first direction and the gantry frame 2 can be moved with high accuracy using the linear scales 26a and 26b.
  • FIG. 6 is a cross-sectional configuration diagram of the rotating means 14a.
  • the rotating means 14a includes a shaft base 41a, a rotating shaft 42a, a bearing 43a, and an absolute value encoder 44a.
  • the rotating shaft 42a is engaged with the shaft base 41a via the bearing 43a, and rotates with respect to the shaft base 41a.
  • the upper surface of the rotating shaft 42a is joined to the gantry frame 2.
  • the linear motor mover 25a is disposed at the center of the lower surface of the shaft base 41a, the linear guide 7a is located at the lower edge, and the linear motor stator 24a is located on both sides of the linear motor mover 25a.
  • the rotating means 14b has the same configuration.
  • the absolute value encoder 44a disposed above the bearing 43a is a device that detects the relative rotation angle between the shaft base 41a and the rotation shaft 42a, and detects the relative rotation angle and stores it in the control device 101. can do. In other words, after adjusting the position of the base unit 12 and the table unit 13, by storing the optimized relative rotation angle in the absolute encoder 44a, adjustment when restoring a working device that has been deformed due to transfer is performed. It is possible to improve work efficiency and accuracy.
  • a plurality of coating heads 29 arranged on the gantry frame 2 have nozzles 30 for discharging liquid.
  • Each coating head 29 is movable in the extending direction of the gantry frame 2 by a linear motor (not shown). Further, the coating heads 29 can move independently.
  • a first direction (Y direction) in which the gantry frame 2 moves and a second direction (X direction) in which the coating head 29 moves are orthogonal to each other.
  • Each coating head 29 is provided with an elevating mechanism that moves the nozzle 30 in a direction toward or away from the workpiece, or in a direction (Z direction). That is, the nozzle 30 of the coating head 29 and the work can be moved relative to each other in the XYZ directions.
  • the table unit 13 includes a table base 31 and a work table 9 disposed on the table base 31, and the table base 31 has a rotating mechanism for rotating the work table 9. That is, the work table 32 can be rotated by the power of the ⁇ motor 105 (not shown).
  • the table unit 13 is supported by table unit support portions 19a and 19b extending from the gantry la and lb, and is coupled by gantry coupling guides 33a and 33b.
  • FIG. 7 is a drawing showing a cross-sectional configuration of the gantry coupling guide 33a.
  • the gantry coupling guide 33a includes a guide rail 51a, a guide block 52a, and a bearing 53a.
  • the guide rail 51a is a long member that extends in the first direction (Y direction) on the upper surface of the table unit support portion 19a.
  • the guide block 52 a is a long member joined to the lower part of the table base 31 and can be fitted to the guide rail 51.
  • the table unit 13 When connecting the table unit 13 to the base unit 12, the side force of the base unit 12, the guide block 52a is fitted to the guide rail 51a, and the table unit 13 is attached by sliding in the first direction. Can do. When the table unit 13 is separated, the table unit 13 can be separated smoothly and easily by sliding the table unit 13 in the first direction toward the outside of the base unit 12.
  • the guide rail 5 la and the guide block 52a have the same configuration as a general linear guide.
  • the guide block 52a slides smoothly on the guide rail 51a and is perpendicular to the sliding direction (that is, the X direction and the Z direction). (Direction) is small.
  • the gantry connection guide 33b has the same configuration.
  • the table unit 13 is separated from the base unit 12. Separation work can be performed by sliding the table base 31 to the outside of the bases la and lb and sliding in the first direction.
  • the distance between the base la and the base lb is reduced. . That is, when a force for rotating the gantry frame 2 in the ⁇ direction or in the opposite direction is applied, the rotating means 14a and 14b force S is rotated, and the linear motor movable elements 25a and 25b slide and move.
  • the angle formed by frame 2 and bases la and lb also changes the right-angle force to an acute angle.
  • the base unit 12 is folded so that its packing form becomes compact, so that it is possible to easily carry the transport work associated with the relocation.
  • the base unit 12 and the table unit 13 are assembled after the transporting operation is completed, the base unit 12 that has been deformed compactly is first returned to its original shape. That is, when a force is applied so that the gantry frame 2 is at a position orthogonal to the bases la and lb, the rotating means 14a and 14b are rotated, and the linear motor movable elements 25a and 25b are slid to move the bases la and lb. The interval between and is expanded.
  • the frames la and lb can be held at intervals suitable for work. That is, a member formed in advance at a predetermined distance so that the force S can be adjusted for parallel adjustment and height adjustment between the linear guides 7a and 7b by passing the adjustment tool 18 through the gantry coupling guides 33a and 33b.
  • the fastening holes 181a and 181b of the adjustment tool 18 and the mounts la and lb can be coupled with screws or the like.
  • the adjustment tool 18 may be adjusted through the force reduction guides 7a and 7b adjusted through the gantry connection guides 33a and 33b.
  • the table base 31 is connected to the base unit 12 by the base connection guides 33a and 33b, and the transfer work is completed by setting the table base 31 at a predetermined position.
  • the coating apparatus 20 of the present embodiment operates based on program information related to the robot operation procedure sent from the setting / display / input unit 100 to the control apparatus 101 and various parameter information necessary for coating.
  • the control device 101 turns on the electromagnetic valve 103 and vacuum-sucks and fixes the glass substrate to the work table 9.
  • the glass substrate relative to the XY axis defined by the extending direction and the moving direction of the gantry frame 2 is detected.
  • the inclination of the mounting position is calculated, and the shift of the glass substrate is corrected by driving the ⁇ motor 105 and rotating the work table 32 by ⁇ .
  • the application head 29 includes a storage container filled with a paste in advance.
  • a discharge signal is output from the control device 101 to the dispense controller 111, and the plurality of coating heads 29 move XY while discharging the paste from the nozzle 30.
  • a predetermined coating shape is formed on the glass substrate.
  • the coating apparatus 20 of this embodiment has a plurality of coating heads 29, a plurality of the same coating patterns can be drawn and formed simultaneously.
  • Control of the Y motor 69 and the X motor 70 is performed by the motor controller 106 performing position control of each motor and the motor driver 107 controlling the amount of current supplied to each motor.
  • the movement of the coating head 29 in the Y direction is performed by controlling the plurality of X motors 70 to which the gantry frame 2 is connected based on the 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 positional information of the sensor 102 that detects the gap between the nozzle 30 and the glass substrate.
  • the positional relationship between the base unit 12 and the table unit 13 needs to be adjusted with high accuracy in order to form the coating shape with high accuracy.
  • the application device 20 of this embodiment does not require component-level disassembly at the time of transfer, and the absolute value encoder 44a stores the value of the rotation angle before separation, so the base unit 12 and the table unit Since the 13 positional relationships can be adjusted easily and efficiently, the relocation cost can be minimized.
  • Example 2
  • the working device relates to a coating device that applies a liquid material such as an adhesive to a workpiece, and more specifically, a device that applies and forms a liquid material on a workpiece, and has the same shape.
  • This coating apparatus is suitable for forming a plurality of drawing patterns simultaneously. That is, the coating apparatus 20 of the present embodiment moves the work table 9 in the X-Y direction with respect to the coating head 29 by the operation of the X motor 70 and the Y motor 69 with respect to the work placed on the work table 9. By moving it, a desired drawing pattern is formed.
  • FIG. 8 is a perspective view of a working device according to the second embodiment.
  • a linear guide 63 is extended on the upper surface of the gantry la so that one end of the gantry frame 2 can be slid.
  • the bases l a and lb are L-shaped and are arranged side by side along the first direction to support the upper table unit 13 of the table unit support portions 19a and 19b.
  • the bases la and lb have a level adjuster 62 at the lower part for adjusting the horizontal level between the floor and the device.
  • the lower end of the gantry frame 2 is connected to the gantry base 65a through the rotating means 14a and 14b.
  • the gantry base 65a is fixedly connected to the upper surface of the gantry lb, and the force S is movably disposed in the extending direction (Y direction) of the linear guide 63.
  • the rotating means 14a and 14b have the same configuration as that of the first embodiment, so that the gantry frame 2 can be rotated.
  • the gantry frame 2 is equipped with a plurality of coating heads 29 each having a liquid material storage container (not shown) for storing the liquid material, and these are independently driven by a motor (not shown) included in the gantry frame 2.
  • the gantry frame 2 is movable in the extending direction. With this configuration, the plurality of coating heads 29 of the coating apparatus can appropriately adjust the interval to a desired interval (that is, a drawing pattern interval).
  • the liquid material is discharged from the nozzle 30 by a discharge device (not shown), and the work table 9 is moved relative to the surface of the workpiece.
  • the table base 31 and the bases la and lb can be smoothly and smoothly joined and separated by the action of the base connection guides 33a and 33b. I can do it.
  • FIG. 9 shows a cross-sectional configuration of the gantry coupling guide 33a.
  • the gantry connection guide 33a includes a convex block 81 and a concave rail 82 formed in a groove shape with high accuracy.
  • the convex block 81 is joined to the lower surface of the gantry 31, and the gantry 31 is configured to be slidable in the Y direction when the convex block 81 slides on the concave rail 82.
  • the convex block 81 and the concave rail 82 can be formed in any shape such as a V-groove shape or a U-groove shape with a force S.
  • the gantry connection guide 33b has the same configuration.
  • the gantry coupling guides 33a and 33b are configured to reduce the play in the direction perpendicular to the direction in which the table gantry 31 slides (that is, the X direction and the Z direction).
  • the racks la and lb can be accurately connected.
  • the fitting portions of the gantry connection guides 33a and 33b are precisely machined so that they can slide smoothly.
  • the table unit 13 is separated from the base unit 12.
  • the separation work can be performed by moving the table base 31 to the outside of the bases la and lb by the connection guides 33a and 33b.
  • the interval between the gantry la and the gantry lb is narrowed while rotating the gantry frame 2 around the rotation means 14b. That is, when the force for rotating the gantry frame 2 in the ⁇ direction is applied, the rotating means 14a and 14b rotate, and the gantry base 65a slides on the linear guide 63, so that the gantry frame 2 and the gantry frame 2 are mounted.
  • the angle formed by la and lb changes from a right angle to an acute angle.
  • the base unit 12 can be folded so that its packing form becomes compact, so that it can be easily carried along with the relocation.
  • the base unit 12 that has been compactly deformed is first returned to its original shape. That is, when a force is applied so that the gantry frame 2 is positioned perpendicular to the gantry la lb, the rotating means 14a and 14b are rotated, and the gantry base 65a is slid to increase the distance from the gantry la lb. .
  • the table base 31 is connected to the base unit 12 by means of base connection guides 33a 33b, and the transfer work is completed by setting the table base 31 at a predetermined position.
  • the apparatus of the present embodiment is configured to be foldable with a single linear guide, and thus the apparatus can be configured at a lower cost than the apparatus of the first embodiment.
  • the apparatus can be configured at a lower cost than the apparatus of the first embodiment.
  • the working device of the present embodiment relates to a coating device that applies a liquid material such as an adhesive to a workpiece.
  • the coating apparatus 20 of the present embodiment is configured by a V-shaped groove formed on the upper surface of the unit table support portions 19a and 19b and a V-shaped protrusion formed on the lower surface of the table unit 13. It is characterized in that it has a frame connection guide 33a 33b.
  • the table unit 13 and the base unit 12 are connected by loading the table base 31 on the carriage 3 indicated by the dotted line.
  • the carriage 3 By using the carriage 3, the movement and position adjustment of the table unit 13 can be facilitated, and the power required for connecting work and the man-hours required can be reduced. The effect becomes more remarkable as the size of the table unit 13 increases.
  • the technical idea of the present invention is the manufacture of electronic devices such as liquid crystal panels, semiconductors, and printed circuit boards. It can be applied to a working device used for inspection. For example, it is suitable for a coating apparatus for applying a paste pattern of a desired shape to a flat panel glass substrate, a gantry mechanism for mounting a coating head for discharging paste, and a table mechanism for fixing the glass substrate.
  • machining with a machining head such as a drill instead of a coating head can also be applied to machines and mounting machines that mount pick-up heads and mount parts on workpieces.

Landscapes

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

Abstract

L'invention a pour objet un appareil de travail de type portique, qui peut se déformer pendant le transport de manière à réduire son encombrement et qui peut facilement revenir à sa forme initiale. L'appareil de travail de type portique comprend une unité de base et une unité de table de travail. L'unité de base comprend deux supports juxtaposés dans un premier sens, un cadre de portique disposé dans un second sens perpendiculairement au premier sens et relié au niveau de sa partie d'extrémité inférieure aux deux supports par des moyens de tournage, et une partie de travail disposée sur le cadre de portique pour usiner une pièce. L'unité de table de travail comprend une table de travail disposée entre les deux supports appartenant à l'unité de base pour tenir la pièce et un support de table pour soutenir la table de travail. L'appareil de travail de type portique est caractérisé en ce qu'il permet de réaliser une opération de travail souhaitée sur la pièce en modifiant les relations positionnelles entre la partie de travail et la pièce, et en ce qu'il peut séparer, à un moment où il n'est pas utilisé, l'unité de la table de travail de l'unité de base ainsi que réduire l'espacement entre les deux supports tout en tournant le cadre du portique.
PCT/JP2007/066276 2006-08-31 2007-08-22 Appareil de travail déformable de type portique WO2008026486A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020097002005A KR101411448B1 (ko) 2006-08-31 2007-08-22 변형 가능한 갠트리형 작업 장치
CN2007800305629A CN101505914B (zh) 2006-08-31 2007-08-22 可变形的门型作业装置
HK09111460.9A HK1131932A1 (en) 2006-08-31 2009-12-08 Deformable gantry type working apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006235853A JP4911761B2 (ja) 2006-08-31 2006-08-31 変形可能なガントリー型作業装置
JP2006-235853 2006-08-31

Publications (1)

Publication Number Publication Date
WO2008026486A1 true WO2008026486A1 (fr) 2008-03-06

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PCT/JP2007/066276 WO2008026486A1 (fr) 2006-08-31 2007-08-22 Appareil de travail déformable de type portique

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Country Link
JP (1) JP4911761B2 (fr)
KR (1) KR101411448B1 (fr)
CN (1) CN101505914B (fr)
HK (1) HK1131932A1 (fr)
TW (1) TWI395632B (fr)
WO (1) WO2008026486A1 (fr)

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ITBS20120117A1 (it) * 2012-07-25 2014-01-26 Innse Berardi S P A Apparato di supporto di una macchina utensile
CN110465851A (zh) * 2019-09-02 2019-11-19 明峰医疗系统股份有限公司 一种SiPM电路板外形修整装置
WO2021199008A1 (fr) * 2020-04-04 2021-10-07 Matin Karimi Jahromi Conversion d'une machine à fraiser à commande numérique en une machine à scier à fil à commande numérique

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JP2010260025A (ja) * 2009-05-11 2010-11-18 Hitachi Plant Technologies Ltd 台車式搬送装置とその搬送及び組立方法
JP5525182B2 (ja) * 2009-05-14 2014-06-18 株式会社日立製作所 ペースト塗布装置及び塗布方法
DE102009035804B3 (de) 2009-07-31 2010-08-12 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Maschinelle Werkstückbearbeitungsanlage und Paletten-Auflage für eine maschinelle Werkstückbearbeitungsanlage
CN101995672B (zh) * 2009-08-28 2012-07-18 北京京东方光电科技有限公司 光电一体式测试系统和光电测试方法
KR101045553B1 (ko) * 2010-08-12 2011-06-30 김복인 목형 가공기
KR101218772B1 (ko) 2010-11-29 2013-01-21 순환엔지니어링 주식회사 유연기구를 이용한 회전 오차 보상 스테이지
TW201226098A (en) * 2010-12-22 2012-07-01 Metal Ind Res & Dev Ct Processing equipment capable of reorganizing itself to a new structure and new processing model
KR101385320B1 (ko) * 2012-09-17 2014-04-16 이지마크(주) 이동물체용 자동마킹장치및 그 마킹방법
CN105548220B (zh) * 2016-01-25 2018-04-10 中国工程物理研究院核物理与化学研究所 一种辐照样品自动调节探测装置
KR101729588B1 (ko) * 2016-03-03 2017-04-25 한국기계연구원 이동형 가공기 이송기구
KR101652666B1 (ko) * 2016-03-28 2016-08-31 주식회사 맥스로텍 공간 확장형 5축 병렬 가공 시스템
KR101841530B1 (ko) * 2016-07-14 2018-03-23 한국생산기술연구원 복수의 갠트리부를 갖는 복합생산장비
DE102016119619B4 (de) * 2016-10-14 2020-06-10 Marco Systemanalyse Und Entwicklung Gmbh Dosierroboter
KR102650068B1 (ko) * 2018-11-15 2024-03-21 세메스 주식회사 약액 토출 어셈블리 및 이를 포함하는 기판 처리 장치

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CN110465851A (zh) * 2019-09-02 2019-11-19 明峰医疗系统股份有限公司 一种SiPM电路板外形修整装置
WO2021199008A1 (fr) * 2020-04-04 2021-10-07 Matin Karimi Jahromi Conversion d'une machine à fraiser à commande numérique en une machine à scier à fil à commande numérique

Also Published As

Publication number Publication date
CN101505914A (zh) 2009-08-12
CN101505914B (zh) 2010-10-13
TW200819239A (en) 2008-05-01
KR101411448B1 (ko) 2014-06-24
JP2008055554A (ja) 2008-03-13
KR20090054425A (ko) 2009-05-29
HK1131932A1 (en) 2010-02-12
JP4911761B2 (ja) 2012-04-04
TWI395632B (zh) 2013-05-11

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