WO2016181467A1 - Dispositif d'application et procédé d'application - Google Patents

Dispositif d'application et procédé d'application Download PDF

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Publication number
WO2016181467A1
WO2016181467A1 PCT/JP2015/063516 JP2015063516W WO2016181467A1 WO 2016181467 A1 WO2016181467 A1 WO 2016181467A1 JP 2015063516 W JP2015063516 W JP 2015063516W WO 2016181467 A1 WO2016181467 A1 WO 2016181467A1
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WO
WIPO (PCT)
Prior art keywords
cassette
robot
workpiece
chamber
liquid
Prior art date
Application number
PCT/JP2015/063516
Other languages
English (en)
Japanese (ja)
Inventor
翔平 黒木
松村　潤
孝志 椎野
博行 主計
Original Assignee
株式会社安川電機
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 株式会社安川電機 filed Critical 株式会社安川電機
Priority to PCT/JP2015/063516 priority Critical patent/WO2016181467A1/fr
Priority to JP2017517490A priority patent/JP6402824B2/ja
Publication of WO2016181467A1 publication Critical patent/WO2016181467A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C9/00—Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important
    • B05C9/04—Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important for applying liquid or other fluent material to opposite sides of the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05C13/00—Means for manipulating or holding work, e.g. for separate articles
    • B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D3/00—Pretreatment of surfaces to which liquids or other fluent materials are to be applied; After-treatment of applied coatings, e.g. intermediate treating of an applied coating preparatory to subsequent applications of liquids or other fluent materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present disclosure relates to a coating system and a coating method.
  • Patent Document 1 describes an industrial robot for applying a paint to an object to be coated.
  • This disclosure is intended to provide a coating system and a coating method that facilitate the construction of a production facility using a robot for a coating operation.
  • An application system includes a transfer chamber, an application chamber that is disposed above or below the transfer chamber and at least partially overlaps the transfer chamber in a plan view, and a carry-in port that opens in the same direction of the transfer chamber;
  • a conveyance device that conveys a cassette containing a plurality of workpieces from a carry-in port to a carry-out port in a conveyance path that reciprocates in the conveyance chamber, and a cassette located in the conveyance path between the conveyance chamber and the coating chamber.
  • One or a plurality of elevators that are moved up and down, and one or a plurality of robots for applying a liquid to each of a plurality of workpieces, and a robot system disposed in an application chamber.
  • An application method includes a transfer chamber, an application chamber that is disposed above or below the transfer chamber and at least partially overlaps the transfer chamber in a plan view, a carry-in port that opens in the same direction of the transfer chamber, and Using a coating system comprising a carry-out port and a robot disposed in the coating chamber, carrying a cassette containing a plurality of workpieces from the carry-in port into the carrying chamber through a carrying path that reciprocates in the carrying chamber, carrying Raising or lowering the cassette on the path from the transfer chamber to the coating chamber, applying a liquid to each of a plurality of workpieces using a robot in the coating chamber, and applying a cassette containing the workpiece coated with the liquid to the coating chamber And moving the cassette lowered or raised into the transfer chamber from the transfer chamber to the exit through the transfer path.
  • FIG. 2 is a sectional view taken along line II-II in FIG.
  • FIG. 3 is a sectional view taken along line III-III in FIG. 2.
  • FIG. 4 is a sectional view taken along line IV-IV in FIG. 2.
  • It is a perspective view which shows the front-end
  • It is a functional block diagram of a controller. It is a hardware block diagram of a controller.
  • It is a flowchart which shows the process by a coating system.
  • It is a schematic diagram which shows the scanning process of the cassette by a sensor.
  • the same elements or elements having the same functions are denoted by the same reference numerals, and redundant description is omitted.
  • the Z axis is an axis extending in the vertical direction.
  • the X axis and the Y axis intersect perpendicularly to each other in the horizontal plane.
  • the application system 1 is a system for applying a liquid to the workpiece W accommodated in the cassette C.
  • the workpiece W is, for example, a plate-like body having a first surface and a second surface.
  • the workpiece W is a circuit board.
  • the workpiece W is, for example, any work target that is applied with a solution-like liquid dissolved in an organic solvent such as an adhesive and requires a drying process after the liquid is applied. Also good.
  • An example of the liquid is a varnish, but any liquid may be used as long as the liquid is applied to the work target.
  • the cassette C has multistage slots for accommodating a plurality of workpieces W, respectively.
  • the multistage slots are arranged at regular intervals, for example.
  • the multistage slots may be provided so that a plurality of workpieces W are arranged at equal intervals in the thickness direction.
  • the coating system 1 includes a transfer chamber 2, a coating chamber 3, a carry-in port 4 and a carry-out port 5, a transfer device 10, one or a plurality of elevators 14, 15, and a robot.
  • System 20 the coating system 1 includes a transfer chamber 2, a coating chamber 3, a carry-in port 4 and a carry-out port 5, a transfer device 10, one or a plurality of elevators 14, 15, and a robot.
  • the coating chamber 3 is disposed above or below the transfer chamber 2 and at least partially overlaps the transfer chamber 2 in plan view.
  • the transfer chamber 2 and the coating chamber 3 are provided in, for example, one housing 6. That is, the coating system 1 may further include a housing 6.
  • the housing 6 has a substantially rectangular parallelepiped shape, for example, and has sides extending in the X-axis direction, the Y-axis direction, and the Z-axis direction.
  • the interior of the housing 6 is divided into a top and bottom and is divided into a transfer chamber 2 and a coating chamber 3.
  • the coating chamber 3 is provided above the transfer chamber 2, but the coating chamber 3 may be provided below the transfer chamber 2. Note that the transfer chamber 2 and the coating chamber 3 do not need to overlap in all regions in a plan view (that is, viewed from the Z-axis direction), but may overlap at least partially.
  • the carry-in port 4 and the carry-out port 5 are opened in the same direction of the transfer chamber 2 (for example, the negative direction of the X axis). As shown in FIG. 1, the carry-in port 4 and the carry-out port 5 may be connected to each other to form one opening 7, or may be separated from each other.
  • the transfer device 10 transfers the cassette C in which a plurality of workpieces W are stored from the carry-in port 4 to the carry-out port 5 through a transfer path that reciprocates in the transfer chamber 2.
  • the transport apparatus 10 includes a first transport apparatus 11 for transporting the cassette C in the forward path R1 of the transport path, a second transport apparatus 12 for transporting the cassette C in the return path R2 of the transport path, You may have the 3rd conveying apparatus 13 which conveys the cassette C from the 1st conveying apparatus 11 on the 2nd conveying apparatus 12.
  • the first transfer device 11 is a transfer device that transfers the cassette C from the carry-in port 4 into the transfer chamber 2. 1 to 3, the first transport device 11 transports the cassette C in the positive X-axis direction.
  • the first transport device 11 may be, for example, a roller conveyor configured with a plurality of rollers arranged in parallel in the X-axis direction.
  • the second transfer device 12 is a device that transfers the cassette C from the transfer chamber 2 to the carry-out port 5.
  • the second transport device 12 may be, for example, a roller conveyor configured with a plurality of rollers arranged in parallel in the X-axis direction.
  • the third transfer device 13 is provided on the back side (the opposite side of the carry-in port 4 and the carry-out port 5) in the transfer chamber 2, and moves the cassette C on the first transfer device 11 onto the second transfer device 12.
  • the third transport device 13 includes a pneumatic cylinder 131, a rod 132, and a pad 133.
  • the pad 133 is connected to the pneumatic cylinder 131 via the rod 132.
  • the pneumatic cylinder 131 reciprocates the pad 133 along the Y-axis direction by air pressure. Accordingly, the pad 133 reciprocates on the first transport device 11 and the second transport device 12 and moves the cassette C from the position P6 to the position P7 when moving from the first transport device 11 to the second transport device 12. Move to.
  • the one or more elevators 14 and 15 raise and lower the cassette C located in the conveyance path by the conveyance device 10 between the conveyance chamber 2 and the coating chamber 3.
  • the coating system 1 includes a first elevator 14 and a second elevator 15 as an example of one or more elevators.
  • the first elevator 14 and the second elevator 15 may raise and lower the cassette C in the forward path R ⁇ b> 1 (see FIG. 3) of the conveyance path by the conveyance device 10.
  • the first elevator 14 and the second elevator 15 may be arranged along the forward path R1 of the transport device.
  • the first elevator 14 includes a stopper 141, an elevating body 142, and an actuator 143.
  • the stopper 141 can appear on the conveyance path by the conveyance apparatus 10, and prevents the movement of the cassette C while protruding on the conveyance path.
  • the elevating body 142 supports the cassette C whose movement is restricted by the stopper 141.
  • the actuator 143 moves up and down the cassette C between the transfer chamber 2 and the coating chamber 3 by moving up and down the lifting body 142 that supports the cassette C.
  • An example of the actuator 143 is an electric linear actuator.
  • the second elevator 15 includes a stopper 151, a lifting body 152, and an actuator 153, and is located on the X axis positive direction side with respect to the first elevator 14.
  • the robot system 20 includes one or more robots 21 and 22 for applying a liquid to each of the plurality of workpieces W.
  • the robot system 20 is disposed in the coating chamber 3.
  • the robot included in the robot system 20 includes a first robot 21 for applying a liquid to the first surface of the workpiece W, and applying a liquid to the second surface of the workpiece W after applying the liquid by the first robot 21. And a second robot 22 for performing the operation.
  • the first robot 21 and the second robot 22 may be arranged along the return path R2 above the return path R2 of the transport path.
  • the first robot 21 may be disposed so as to correspond to the first elevator 14, and the second robot 22 may be disposed so as to correspond to the second elevator 15. That is, the one or more elevators included in the coating system 1 may include the first elevator 14 corresponding to the first robot 21 and the second elevator 15 corresponding to the second robot 22.
  • the first robot 21 includes, for example, a base portion 211, a turning portion 212, a first arm 213, a second arm 214, a wrist portion 215, and a tip portion 216.
  • the second arm 214 includes a first link 214a and a second link 214b connected to the distal end side of the first link 214a.
  • the base 211 is installed on the floor surface of the coating chamber 3 in the housing 6.
  • the swivel unit 212 can swivel about an axis AX1 parallel to the Z axis with respect to the base 211.
  • the first arm 213 can swing around an axis AX2 perpendicular to the axis AX1 with respect to the turning portion 212.
  • the first link 214a can swing around an axis AX3 parallel to the axis AX2 with respect to the first arm 213.
  • the second link 214b can turn around the axis AX4 along the first link 214a with respect to the first link 214a.
  • the wrist 215 can swing around an axis AX5 perpendicular to the axis AX4 with respect to the second link 214b.
  • the distal end portion 216 can pivot about an axis AX6 perpendicular to the axis AX5 with respect to the second arm 214.
  • the first robot 21 has a tip 216 that can turn around the uniaxial line AX6.
  • the first robot 21 may further include a dispenser 217 as shown in FIG.
  • the dispenser 217 protrudes in a direction intersecting the axis AX6, and discharges the liquid supplied from a liquid supply source (not shown).
  • the dispenser 217 has an end 217a that ejects liquid.
  • a nozzle that discharges liquid in a dot shape is provided at the end 217a.
  • the first robot 21 may include a plurality of dispensers 217 that respectively discharge a plurality of types of liquids.
  • the plurality of dispensers 217 may form an angle ⁇ at which the other dispenser 217 does not interfere with the workpiece W to be coated while the coating operation using one dispenser 217 is performed.
  • the direction in which all of the plurality of dispensers 217 eject the liquid may be included in an angle range of less than 180 degrees with the axis AX6 as the center.
  • the first robot 21 may further have a finger part 218.
  • the finger part 218 protrudes in a direction intersecting the axis AX6, and is used to transfer the workpiece W.
  • the dispenser 217 and the finger part 218 may form an angle at which the finger part 218 does not interfere with the workpiece W to be applied during the application work using the dispenser 217.
  • the configuration of the first robot 21 is not limited to that described above.
  • the first robot 21 may have any configuration that can apply a liquid such as varnish to the workpiece W.
  • the second robot 22 has the same configuration as the first robot 21.
  • the second robot 22 includes, for example, a base 221, a turning part 222, a first arm 223, a second arm 224, a wrist part 225, and a tip part 226.
  • the second arm 224 includes a first link 224a and a second link 224b connected to the distal end side of the first link 224a.
  • the second robot 22 may further include one or a plurality of dispensers 227 similarly to the first robot 21, and may further include a finger part 228.
  • the robot system 20 may further include one or a plurality of holding units 23 and 24.
  • the holding units 23 and 24 hold the workpiece W to be applied by one or more robots 21 and 22.
  • the holding units 23 and 24 may be disposed above or below the return path of the transport path of the transport apparatus 10.
  • the robot system 20 may include a first holding unit 23 corresponding to the first robot 21 and a second holding unit 24 corresponding to the second robot 22.
  • the first holding unit 23 includes a holding member 235, a first actuator 231, and a second actuator 232.
  • the holding member 235 holds the substrate taken out from the cassette C.
  • the first actuator 231 moves the holding member 235 in the Y-axis direction.
  • the second actuator 232 moves the holding member 235 in the X-axis direction. Accordingly, when the workpiece W is transferred between the cassette C and the work area WS ⁇ b> 1 of the first robot 21, the holding member 235 can be brought close to the workpiece W accommodation position in the cassette C.
  • the first actuator 231 and the second actuator 232 include an electric linear actuator.
  • the second holding unit 24 also includes a holding member 245, a first actuator 241, and a second actuator 242. Accordingly, when the workpiece W is delivered between the cassette C and the work area WS ⁇ b> 2 of the second robot 22, the holding member 245 can be brought close to the workpiece W accommodation position in the cassette C.
  • the coating system 1 may include a reversing mechanism 27 that reverses the directions of the first surface and the second surface of the workpiece W.
  • the reversing mechanism 27 may be provided in the work area WS ⁇ b> 2 of the second robot 22.
  • the reversing mechanism 27 may be incorporated in the second holding part 24.
  • the reversing mechanism 27 may be provided at the base of the holding member 245 and configured to rotate the holding member 245 around an axis parallel to the Y axis.
  • An example of a power source for the reversing mechanism 27 is an electric actuator.
  • the robot system 20 may further include arrangement devices 25 and 26 that move the workpiece W to be applied between the cassette C and the first holding unit 23 and between the cassette C and the second holding unit 24. Good.
  • the placement device 25 may have an extrusion mechanism 251 that pushes the workpiece W in the cassette C toward the first holding unit 23 side.
  • the extrusion mechanism 251 includes, for example, a pneumatic cylinder 252, a rod 253, and a pad 254.
  • the pad 254 is disposed so as to be able to enter the cassette C from the opposite side of the first holding portion 23, and is connected to the pneumatic cylinder 252 via the rod 253.
  • the pneumatic cylinder 252 reciprocates the pad 254 along the Y-axis direction by air pressure. As a result, the pad 254 advances and retracts into the cassette C and pushes the workpiece W toward the first holding portion 23 when entering the cassette C.
  • the placement device 26 may have an extrusion mechanism 261 similarly to the placement device 25. Similar to the push-out mechanism 251, the push-out mechanism 261 includes a pneumatic cylinder 262, a rod 263, and a pad 264.
  • the pad 264 is disposed so as to be able to enter the cassette C from the opposite side of the second holding portion 24, and is connected to the pneumatic cylinder 262 via the rod 263.
  • the pneumatic cylinder 262 reciprocates the pad 264 along the Y-axis direction by air pressure. As a result, the pad 264 advances and retreats into the cassette C and pushes the workpiece W toward the second holding unit 24 when entering the cassette C.
  • the robot system 20 may further include a sticking prevention unit 71 that contains the solvent S and can receive the end portions 217 a and 227 a of the dispensers 217 and 227.
  • the sticking prevention unit 71 may be arranged at a position where the dispenser 217 can reach around the first robot 21.
  • FIG. 14 shows the dispenser 217, its end 217a, and the sticking prevention part 71.
  • the sticking prevention unit 71 has a recess 711 that opens upward.
  • the sticking prevention unit 71 may have a plurality of recesses 711 respectively corresponding to the plurality of dispensers 217 and 227.
  • a solvent S is accommodated in the recess 711.
  • the coating system 1 may further include a sensor 31 (see FIG. 4) that detects the passage of the work in the cassette C when the first elevator 14 raises or lowers the cassette C to the coating chamber 3.
  • the sensor 31 is disposed on the floor surface of the coating chamber 3 so as to face the first elevator 14.
  • the sensor 31 is an optical sensor such as a photodetector.
  • the sensor 31 irradiates light to the cassette C and the workpiece W accommodated in the cassette C, and detects the presence or absence of the workpiece W based on the reflected light.
  • the cassette C rises as shown by the arrow in FIG. 11, the reflected light from the workpiece W changes accordingly, so that the sensor 31 can detect the presence or absence of the workpiece W according to the change in the light amount.
  • the coating system 1 may further include a squirting mechanism 41.
  • the squirting mechanism 41 is disposed at the carry-in port 4 and the carry-out port 5, and ejects gas along a surface that blocks the carry-in port 4 and the carry-out port 5.
  • the squirting mechanism 41 is provided along the upper edge of the opening 7 and has a plurality of discharge ports (not shown) arranged in the Y-axis direction. Each discharge port opens downward and discharges gas downward.
  • the gas ejected by the fusible mechanism 41 is, for example, air.
  • the squirting mechanism 41 forms an air curtain on a surface that blocks the opening 7 (a surface substantially parallel to the YZ plane), and the gas containing liquid such as varnish leaks out of the coating system 1 from the inside of the transfer chamber 2. Suppress.
  • the coating system 1 may further include an exhaust port 42 opened in the coating chamber 3.
  • the exhaust port 42 can be connected to a purification device or the like, for example, by a pipe (not shown).
  • the coating system 1 is disposed in each of the work areas WS ⁇ b> 1 and WS ⁇ b> 2 (see FIG. 4) of the robot system 20, and includes a black light 51 that irradiates the work W with ultraviolet light, and a black light 51. And a camera 52 that acquires an image of the irradiated workpiece W.
  • a liquid such as varnish
  • the fluorescent paint contained in the liquid emits fluorescence according to the ultraviolet light from the black light 51, and an image by this fluorescence is acquired by the camera 52.
  • the image acquired by the camera 52 is controlled by, for example, the controller 100 or a control system (not shown) for controlling the coating system 1.
  • the coating system 1 may further include a dryer.
  • the dryer promotes drying of the work W in the cassette C in a path through which the cassette C that houses the work W after the liquid is applied by the robot system 20 passes.
  • the coating system 1 may include a first dryer 81 that promotes drying of the workpiece W in the cassette C in the path between the first elevator 14 and the second elevator 15.
  • the second dryer 82 that promotes drying of the workpiece W in the cassette C may be included, or both the first dryer 81 and the second dryer 82 may be included.
  • the dryer may be a fan arranged to blow air to the cassette C.
  • the dryer may further include a heater, and the air heated by the heater may be sent to the cassette C.
  • the coating system 1 may further include a controller 100.
  • the controller 100 controls at least one of the robot system 20, the first elevator 14, and the second elevator 15.
  • the controller 100 includes a conveyance control unit 101, a mapping unit 102, a front surface application control unit 103, and a back surface application control unit 104 as functional modules.
  • the conveyance control unit 101 controls the first conveyance device 11, the second conveyance device 12, the third conveyance device 13, the first elevator 14, and the second elevator 15, and moves the cassette C at an appropriate timing.
  • the mapping unit 102 controls the first elevator 14 and the sensor 31 as will be described later, and acquires mapping data indicating the position of the workpiece W accommodated in the cassette C raised by the first elevator 14.
  • the surface application control unit 103 controls the first elevator 14 and the first robot 21 to apply a liquid to the first surface (surface) of the workpiece W.
  • the back surface application control unit 104 controls the second elevator 15 and the second robot 22 to apply the liquid to the second surface (back surface) of the workpiece W.
  • the front surface application control unit 103 and the back surface application control unit 104 control the first robot 21 and the second robot 22 so that the end 217a of the dispenser 217 is immersed in the solvent S of the sticking prevention unit 71 at a constant period. May be executed.
  • the front surface application control unit 103 and the rear surface application control unit 104 apply the robot system 20, the first elevator 14, and the second elevator 15 so as to apply liquid to the plurality of workpieces W in the cassette C in the same order. You may control at least one part.
  • the front surface application control unit 103 and the back surface application control unit 104 are configured so that the first robot 21 applies the liquid to the plurality of works W in the cassette C, and the second robot 22 applies the plurality of works W in the cassette C.
  • the robot system 20, the first elevator 14, and the second elevator 15 may be controlled so as to match the order in which the liquid is applied.
  • the front surface application control unit 103 and the back surface application control unit 104 are to be applied sequentially from the upper workpiece W in the cassette C in both the work area WS1 of the first robot 21 and the work area WS2 of the second robot 22.
  • the robot system 20, the first elevator 14, and the second elevator 15 may be controlled so that
  • the hardware of the controller 100 is composed of, for example, one or a plurality of control computers.
  • the controller 100 includes, for example, a circuit 110 illustrated in FIG. 7 as a hardware configuration.
  • the circuit 110 includes a processor 111, a memory 112, a storage 113, an input / output port 114, and a driver 115.
  • the driver 115 is a circuit for driving various actuators of the coating system 1.
  • the input / output port 114 performs input / output of signals to / from the driver 115 in addition to input / output of external signals.
  • the processor 111 executes the program in cooperation with at least one of the memory 112 and the storage 113, and executes the input / output of signals through the input / output port 114, thereby configuring the functional module described above.
  • the hardware configuration of the controller 100 is not necessarily limited to that which constitutes a functional module by executing a program.
  • the controller 100 may constitute these functional modules by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) in which the controller 100 is integrated.
  • ASIC Application Specific Integrated Circuit
  • step S ⁇ b> 1 the conveyance control unit 101 controls the elevator 14 so that the stopper 141 protrudes on the conveyance path, and waits for the cassette C to reach the stopper 141.
  • the cassette C is transported into the transport chamber 2 by the first transport device 11 and abuts against the stopper 141. Thereby, the cassette C is arrange
  • step S ⁇ b> 2 the surface application control unit 103 controls the robot system 20 and the first elevator 14 so as to execute a surface application process for applying a liquid to the first surface (surface) of the workpiece W in the cassette C. .
  • step S 11 the surface application control unit 103 controls the first elevator 14 to raise the cassette C at the position P ⁇ b> 2 to the position P ⁇ b> 3 in the application chamber 3.
  • the mapping unit 102 acquires mapping data indicating the position of the workpiece W in the cassette C.
  • the mapping unit 102 detects the workpiece W in the rising cassette C by the sensor 31 and acquires mapping data based on the height of the cassette C when the workpiece W is detected.
  • step S12 based on the mapping data acquired in step S11, the surface application control unit 103 sets the workpiece W to be applied.
  • step S13 the surface application control unit 103 controls the first elevator 14, the placement device 25, the first holding unit 23, and the first robot 21 so as to take out the workpiece W to be applied from the cassette C at the position P3. Specifically, the surface application control unit 103 controls the first elevator 14 so that the height of the workpiece W to be applied matches the first holding unit 23 and the placement device 25, and brings the holding member 235 closer to the workpiece W. In this way, the first holding unit 23 is controlled, and the placement device 25 is controlled so as to push the workpiece W toward the first holding unit 23, thereby holding the workpiece W on the holding member 235.
  • the surface application control unit 103 may control the first robot 21 such that the workpiece W is further pushed into the holding member 235 by the finger 218 (see FIG. 12).
  • step S ⁇ b> 14 the surface application control unit 103 controls the first holding unit 23 so as to place the workpiece W in the work area WS ⁇ b> 1 of the first robot 21, and applies a liquid to the first surface (surface) of the workpiece W.
  • the first robot 21 is controlled.
  • FIG. 13 schematically shows how the liquid is applied to the workpiece W by the dispenser 217.
  • the surface application control unit 103 may control the first robot 21 to apply a plurality of types of liquids to the workpiece W using a plurality of different dispensers 217.
  • Step S15 the controller 100 executes Step S15.
  • the surface application control unit 103 controls the first holding unit 23 and the first robot 21 so as to return the workpiece W into the cassette C. Specifically, the surface application control unit 103 controls the first holding unit 23 to bring the holding member 235 closer to the cassette C, and pushes the workpiece W held by the holding member 235 back into the cassette C by the finger unit 218.
  • the first robot 21 is controlled.
  • step S16 the controller 100 executes Step S16.
  • step S ⁇ b> 16 the surface application control unit 103 determines whether or not there is a workpiece W in the cassette C to which the liquid has not been applied yet. If there is a workpiece W to which the liquid has not yet been applied, the process returns to step S12 again. If there is no workpiece W to which the liquid has not yet been applied (that is, if the liquid has been applied to all the workpieces W in the cassette C), the controller 100 executes step S17.
  • step S17 the conveyance control unit 101 controls the first elevator 14 so as to lower the cassette C to the position P2.
  • the surface coating control unit 103 may control the first robot 21 so that the end 217a of the dispenser 217 is immersed in the solvent S in the sticking prevention unit 71.
  • the surface application control unit 103 may control the first robot 21 so that the end 217 a is immersed in the solvent S between application operations by the first robot 21.
  • the surface application control unit 103 may control the first robot 21 so that the end 217a is immersed in the solvent S at a constant period.
  • the surface application control unit 103 may control the first robot 21 so that the end 217a is immersed in the solvent S each time an application operation is performed on one or more workpieces W.
  • step S ⁇ b> 3 the conveyance control unit 101 controls the first elevator 14 to lower the stopper 141.
  • the controller 100 may execute step S3 when the cassette C is lowered in step S17.
  • the stopper 141 is lowered, the movement restriction of the cassette C is released.
  • the cassette C moves to a position P4 immediately above the lifting body 152 of the second elevator 15 and abuts against the stopper 151.
  • the coating system 1 includes the first dryer 81, drying of the workpiece W in the cassette C is promoted while the cassette C is moved from the position P2 to the position P4.
  • step S4 the back surface application control unit 104 controls the robot system 20 and the second elevator 15 so as to apply the liquid to the second surface (back surface) of the workpiece W in the cassette C.
  • step S21 the back surface application control unit 104 controls the second elevator 15 to raise the cassette C at the position P ⁇ b> 4 to the position P ⁇ b> 5 in the application chamber 3.
  • step S22 the back surface application control unit 104 sets a workpiece W to be applied.
  • the back surface application control unit 104 sets the workpiece W as a coating target in the same order as the order of the workpiece W set as a coating target in step S12.
  • the mapping data acquired in step S11 may be used, or the mapping data may be acquired again by the same procedure as in step S11 while the cassette C is rising in step S21. .
  • step S23 the back surface application control unit 104 controls the second elevator 15, the placement device 26, the second holding unit 24, and the second robot 22 so as to take out W to be applied from the cassette C at the position P5. Specifically, the back surface application control unit 104 controls the second elevator 15 so that the height of the workpiece W to be applied matches the second holding unit 24 and the placement device 26 and brings the holding member 245 closer to the workpiece W. In this way, the second holding unit 24 is controlled, and the placement device 26 is controlled so as to push the workpiece W toward the second holding unit 24, thereby holding the workpiece W on the holding member 245.
  • the back surface application control unit 104 may control the second robot 22 such that the workpiece W is further pushed into the holding member 245 by the finger unit 228.
  • step S ⁇ b> 24 the back surface application control unit 104 controls the reversing mechanism 27 so as to reverse the direction between the first surface and the second surface of the workpiece W. And the back surface application control part 104 controls the 2nd holding
  • the second robot 22 is controlled.
  • the back surface application control unit 104 may control the second robot 22 to apply a plurality of types of liquids to the workpiece W using a plurality of different dispensers 227.
  • step S ⁇ b> 25 the back surface application control unit 104 controls the second holding unit 24 and the second robot 22 so as to return the workpiece W into the cassette C. Specifically, the back surface application control unit 104 controls the second holding unit 24 to bring the holding member 245 closer to the cassette C, and pushes the workpiece W held by the holding member 245 back into the cassette C by the finger unit 228. In addition, the second robot 22 is controlled.
  • Step S26 the back surface application control unit 104 determines whether or not there is a workpiece W in the cassette C to which the liquid has not been applied yet. If there is a workpiece W to which the liquid has not yet been applied, the process returns to step S22 again. If there is no workpiece W to which the liquid has not yet been applied (that is, if the liquid has been applied to all the workpieces W in the cassette C), the controller 100 executes step S27. In step S27, the conveyance control unit 101 controls the second elevator 15 to lower the cassette C to the position P4.
  • the back surface application control unit 104 causes the second robot 22 to immerse the end 217a of the dispenser 227 in the solvent S in the sticking prevention unit 71 as in the case of the front surface application process. May be controlled.
  • step S5 the conveyance control unit 101 controls the second elevator 15 so as to lower the stopper 151.
  • the controller 100 may execute step S5 when the cassette C is lowered in step S27.
  • the stopper 151 is lowered, the movement restriction of the cassette C is released. For this reason, the cassette C moves to the end position P6 of the first transport device 11.
  • step S ⁇ b> 6 the transport control unit 101 controls the third transport device 13 to move the cassette C at the position P ⁇ b> 6 to the start position P ⁇ b> 7 of the second transport device 12.
  • the cassette C moved to the position P7 is transported to the carry-out port 5 by the second transport device 12.
  • the coating system 1 includes the second dryer 82, drying of the workpiece W in the cassette C is promoted while the cassette C moves from the position P7 to the carry-out port 5.
  • the coating system 1 can be downsized. In the coating chamber 3, much of the space overlapping the transfer path can be effectively used as a work area for the robot system 20.
  • the carry-in entrance 4 and the carry-out exit 5 open in the same direction, and a transfer path that reciprocates in the transfer chamber 2 is configured. Thereby, the conveyance distance of cassette C can be lengthened in the limited space, and the drying time of the workpiece
  • first elevator 14 and the second elevator 15 may raise and lower the cassette C in the forward path R1 of the transport path of the transport device 10.
  • the return path R2 of the transport path can be used for drying the workpiece W after the liquid application, and the workpiece W can be dried more reliably.
  • the transport apparatus 10 includes a first transport apparatus 11 for transporting the cassette C in the forward path R1 of the transport path, a second transport apparatus 12 for transporting the cassette C in the return path R2 of the transport path, and a first transport You may have the 3rd conveying apparatus 13 which conveys the cassette C from the apparatus 11 on the 2nd conveying apparatus 12.
  • the transport device since the transport device includes the first transport device 11, the second transport device 12, and the third transport device 13, for example, a reciprocating transport can be simply performed using a linear motion transport device. Since the apparatus can be configured, the coating system 1 can be constructed more easily.
  • the workpiece W is a plate-like body having a first surface and a second surface
  • one or a plurality of robots includes a first robot 21 for applying a liquid to the first surface of the workpiece W and the first robot 21.
  • a second robot 22 for applying a liquid to the second surface of the workpiece W after the application of the liquid, and the one or more elevators include a first elevator 14 corresponding to the first robot 21 and a second robot 22. And a second elevator 15 corresponding to.
  • the liquid can be efficiently applied.
  • the first robot 21 and the second robot 22 can be operated simultaneously in parallel.
  • the first robot 21 and the second robot 22 are arranged along the return path R2 above or below the return path R2 of the transport path, and the first elevator 14 and the second elevator 15 are aligned along the forward path R1 of the transport path. You may go out. In this case, the space along the transfer device 10 in the coating chamber 3 can be used effectively, and the coating system 1 can be more reliably downsized.
  • the coating system 1 may include a reversing mechanism 27 that reverses the orientation of the first surface and the second surface of the workpiece W. In this case, even when the liquid is applied to both the first surface and the second surface of the workpiece W, the operation ranges of the first robot 21 and the second robot 22 are larger than when the liquid is applied to only one surface. Since it can be kept to the same extent, the coating system 1 can be more reliably downsized.
  • the reversing mechanism 27 may be provided in the work area WS ⁇ b> 2 of the second robot 22. In this case, since the reversing mechanism 27 is provided at a position corresponding to the second robot 22, the direction of the work W can be reversed immediately before the liquid application to the second surface of the work W is started. For this reason, it is possible to secure a sufficient time from the application of the liquid to the first surface to the reversal of the direction of the work W, and to suppress the dripping of the liquid accompanying the reversal.
  • the coating system 1 further includes a controller that controls at least a part of the robot system 20, the first elevator 14, and the second elevator 15 so as to apply the liquid to the plurality of workpieces W in the cassette C in the same order. It may be. In this case, since the time between the application of the liquid by the first robot 21 and the application of the liquid by the second robot 22 can be secured for all the workpieces W, the application of the liquid by the second robot 22 can be ensured. It is possible to prevent the dripping of the liquid before.
  • the coating system 1 may further include a sensor 31 that detects the passage of the workpiece W in the cassette C when the first elevator 14 raises or lowers the cassette C to the coating chamber 3.
  • the controller 100 acquires the mapping data of the workpiece W in the cassette C based on the output of the sensor 31, controls the first robot 21 to apply the liquid to the first surface of the workpiece W, and the second robot 22
  • the mapping data may be shared with the control of applying the liquid to the second surface of W. In this case, the number of mapping data acquisition times can be reduced, and the liquid can be efficiently applied.
  • the robot system 20 includes a first holding unit 23 and a second holding unit 24 that are arranged above or below the return path R2 of the transfer path and hold the workpiece W to be coated by the first robot 21 and the second robot 22. It may be.
  • the workpiece W is held in an area above or below the return path R2 of the conveyance path, and this area can be effectively used as a work area, and the coating system 1 can be more reliably downsized.
  • the robot system 20 may further include an arrangement device 25 and an arrangement device 26 that move the workpiece W to be applied between the cassette C and the first robot 21 and the second robot 22.
  • an arrangement device 25 and an arrangement device 26 that move the workpiece W to be applied between the cassette C and the first robot 21 and the second robot 22.
  • the placement device 25 may have an extrusion mechanism 251 that pushes the workpiece W in the cassette C toward the first holding unit 23 side.
  • the placement device 26 may include an extrusion mechanism 261 that pushes the workpiece W in the cassette C toward the second holding unit 24.
  • the workpiece W in the cassette C is moved to the first holding unit 23 and the second holding unit 24. Since it is pushed out to the holding part 24 side, the stroke of the operation for pulling out the workpiece W from the cassette C on the first holding part 23 side and the second holding part 24 side can be reduced. Therefore, since each apparatus in the coating chamber 3 can be reduced in size, the coating system 1 can be reduced more reliably.
  • the coating system 1 may further include a squirting mechanism 41 that is disposed at the carry-in port 4 and the carry-out port 5 and ejects gas along a surface that blocks the carry-in port 4 and the carry-out port 5.
  • a squirting mechanism 41 that is disposed at the carry-in port 4 and the carry-out port 5 and ejects gas along a surface that blocks the carry-in port 4 and the carry-out port 5.
  • the coating system 1 may further include an exhaust port 42 opened in the coating chamber 3. In this case, it is possible to prevent liquid volatile components from leaking out from the carry-in port 4 and the carry-out port 5 by performing appropriate exhaust from the exhaust port 42.
  • the coating system 1 is disposed in the work areas WS1 and WS2 of the robot system 20, and includes a black light 51 that irradiates the workpiece W with ultraviolet light, and a camera 52 that acquires an image of the workpiece W irradiated by the black light 51. Furthermore, you may provide. In this case, by irradiating the work W with the black light 51 in the work areas WS1 and WS2 of the robot system 20 and acquiring an image of the work W with the camera 52, the fluorescent paint contained in the liquid applied to the work W is obtained. The presence or absence of light emission can be confirmed. Therefore, an abnormal state of liquid application can be detected immediately, and re-application or the like can be performed as necessary, so that work in the subsequent process is facilitated.
  • the step of taking out the workpiece W from the cassette C for confirmation of the application state can be omitted. Therefore, construction of production facilities can be facilitated more reliably.
  • the first robot 21 has a tip 216 that can turn around one axis, and a plurality of dispensers 217 that protrude from the tip 216 in a direction intersecting the one axis and discharge a plurality of types of liquids, respectively.
  • the dispensers 217 may have an angle at which the other dispenser 217 does not interfere with the workpiece W to be coated while the coating operation using the one dispenser 217 is performed. In this case, since the first robot 21 has a plurality of dispensers 217, a plurality of types of liquids can be applied to the workpiece.
  • the robot system 20 may further include a sticking prevention unit 71 that contains the solvent S and can receive the end 217a of the dispenser 217.
  • the end portion 217a of the dispenser 217 can be prevented from sticking by inserting the end portion 217a of the dispenser 217 into the sticking prevention portion 71 during a period when application is not performed.
  • the direction in which all of the plurality of dispensers 217 discharge may be included in an angle range of less than 180 ° with the axis as the center.
  • the end portions 217a of all the dispensers 217 can be inserted downward into the sticking prevention portion 71 during a period when painting is not performed.
  • the coating system 1 may include a controller 100 that executes control of the first robot 21 so that the end 217a of the dispenser 217 is immersed in the solvent of the sticking prevention unit 71 at a constant period. In this case, since the end portions 217a of all the dispensers 217 are immersed in the solvent S of the sticking prevention portion 71 at a constant period, the sticking of the end portions 217a of the dispenser 217 can be more reliably prevented.
  • the first robot 21 has a tip 216 that can turn around one axis, one or a plurality of dispensers 217 that project in a direction intersecting the one axis, and eject liquid according to a coating operation, and a direction that intersects the one axis.
  • the finger 218 used to transfer the workpiece W.
  • the dispenser 217 and the finger 218 interfere with the workpiece W to be coated while the dispensing operation using the dispenser 217 is performed. You may make an angle that does not. In this case, since the work W in the cassette C is transferred by the finger portion 218, it is not necessary to separately provide a moving mechanism having a large stroke, and the coating system 1 can be further downsized.
  • the coating system 1 may further include a second dryer 82 that promotes drying of the work W in the cassette C in a path through which the cassette C that stores the work W after the liquid is applied by the robot system 20 passes. Good. In this case, since the drying of the workpiece W is promoted in the path through which the cassette C that accommodates the workpiece W after the liquid is applied passes, the path length necessary for drying the workpiece W can be shortened, and the coating system 1 can be reduced in size. Can be
  • the second dryer 82 may promote drying of the work W in the cassette C in the return path R2 of the transport path. In this case, since the drying of the workpiece is promoted in the conveying path of the second conveying device 12, the path length necessary for the drying of the workpiece can be shortened, and the coating system 1 can be downsized.
  • the coating system 1 includes a first dryer 81 that promotes drying of the workpiece W in the cassette C in the path between the first elevator 14 and the second elevator 15, and a workpiece after the liquid is applied by the second robot 22.
  • a second dryer 82 that promotes drying of the workpiece W may be further provided.
  • the liquid applied to the workpiece W is dried after the application of the liquid by the first robot 21, it is possible to prevent the liquid from dripping from the workpiece W before the application of the liquid by the second robot 22. Can do.
  • the liquid may be a varnish.
  • the coating system 1 according to the present disclosure to the system for coating the varnish, the operational effect of the present disclosure that facilitates the construction of the production facility is suitably exhibited.
  • the coating system 1 may not include one or both of the first dryer 81 and the second dryer 82.
  • the transfer chamber 2 may be disposed above, and the coating chamber 3 may be disposed below the transfer chamber 2.
  • the present disclosure can be used for a coating system and a coating method.

Abstract

La présente invention concerne la construction facilitée d'une installation de production qui utilise un robot dans une opération d'application. Un système d'application de la description de la présente invention inclut : une chambre de transport (2) ; une chambre d'application (3) disposée au-dessus ou en-dessous de la chambre de transport (2) et la chambre de transport au moins partiellement chevauchante (2) dans une vue en plan ; un orifice de réception (4) et un orifice d'évacuation (5) qui s'ouvrent dans le même sens que la chambre de transport (2) ; un dispositif de transport (10) par lequel une cartouche (C) logeant une pluralité de pièces à travailler (W) est transportée depuis l'orifice de réception (4) vers l'orifice d'évacuation (5) le long d'une voie de transport en va-et-vient à l'intérieur de la chambre de transport (2) ; une ou une pluralité d'élévateurs (14, 15) par lesquels la cartouche (C) positionnée sur la voie de transport est hissée entre la chambre de transport (2) et la chambre d'application (3) ; et un système robot (20) qui comprend une ou une pluralité de robots (21, 22) pour l'application d'un liquide à chacune de la pluralité de pièces à travailler (W), et qui est disposé dans la chambre d'application (3).
PCT/JP2015/063516 2015-05-11 2015-05-11 Dispositif d'application et procédé d'application WO2016181467A1 (fr)

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PCT/JP2015/063516 WO2016181467A1 (fr) 2015-05-11 2015-05-11 Dispositif d'application et procédé d'application
JP2017517490A JP6402824B2 (ja) 2015-05-11 2015-05-11 塗布システム及び塗布方法

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109569940A (zh) * 2018-12-20 2019-04-05 宁波志圣烘箱有限公司 刹车片喷粉线自动上料机
CN111530668A (zh) * 2020-05-29 2020-08-14 深圳市聚飞光电股份有限公司 一种喷涂设备

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Publication number Priority date Publication date Assignee Title
JP2011115680A (ja) * 2009-12-01 2011-06-16 Seiko Epson Corp 液滴吐出装置
JP2013051248A (ja) * 2011-08-30 2013-03-14 Panasonic Corp 液剤塗布装置及び液剤塗布方法

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Publication number Priority date Publication date Assignee Title
JPH10335220A (ja) * 1997-05-30 1998-12-18 Tokyo Electron Ltd 処理装置
JP3756446B2 (ja) * 2001-11-29 2006-03-15 大日本スクリーン製造株式会社 基板処理装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011115680A (ja) * 2009-12-01 2011-06-16 Seiko Epson Corp 液滴吐出装置
JP2013051248A (ja) * 2011-08-30 2013-03-14 Panasonic Corp 液剤塗布装置及び液剤塗布方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109569940A (zh) * 2018-12-20 2019-04-05 宁波志圣烘箱有限公司 刹车片喷粉线自动上料机
CN111530668A (zh) * 2020-05-29 2020-08-14 深圳市聚飞光电股份有限公司 一种喷涂设备

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