WO2019186753A1 - Machine à travailler - Google Patents

Machine à travailler Download PDF

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Publication number
WO2019186753A1
WO2019186753A1 PCT/JP2018/012711 JP2018012711W WO2019186753A1 WO 2019186753 A1 WO2019186753 A1 WO 2019186753A1 JP 2018012711 W JP2018012711 W JP 2018012711W WO 2019186753 A1 WO2019186753 A1 WO 2019186753A1
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WO
WIPO (PCT)
Prior art keywords
frame
rail
robot
axis
fixed
Prior art date
Application number
PCT/JP2018/012711
Other languages
English (en)
Japanese (ja)
Inventor
山田　修平
Original Assignee
株式会社Ｆｕｊｉ
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Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2020510286A priority Critical patent/JP7127114B2/ja
Priority to PCT/JP2018/012711 priority patent/WO2019186753A1/fr
Publication of WO2019186753A1 publication Critical patent/WO2019186753A1/fr

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    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components

Definitions

  • the gantry includes a first frame member installed on the operation side (front end) with respect to the base, a second frame member installed on the non-operation side (rear end) facing the operation side, and the substrate transport direction of the base ( A third frame member installed on both sides in the X direction).
  • the gantry includes a sixth connecting member that extends in an orthogonal direction (Y direction) orthogonal to the substrate transport direction and connects the first frame member and the second frame member.
  • the first frame member, the second frame member, the third frame member, and the sixth connecting member are integrally formed, and are fixed to the base to constitute a housing of the component mounting machine.
  • the first frame member is configured as a gate-type frame member that is erected on the base, and includes a first support member that is erected on both ends of the operation side of the base, and upper ends of the first support members.
  • the second frame member is configured as a square frame member that is erected on the base, a second column member that is erected at both ends on the non-operation side of the base, and an upper end portion of each second column member And a second connecting member for connecting the two.
  • the sixth connecting member extends in the orthogonal direction and connects the separating member of the first frame member and the second connecting member of the second frame member.
  • Two Y-axis robots arranged in parallel with each other are installed.
  • Each of the two Y-axis robots has a beam-shaped main body having a substantially gate-like cross-sectional shape, guide rails disposed on both sides of the lower end of the beam-shaped main body, and moves to the guide rail via a linear guide member. And a movable part (slider) supported freely.
  • the two beam-shaped Y-axis robots are arranged in parallel in the X direction so that the vibration caused by the movement of one Y-axis robot is transmitted to the other Y-axis robot. Can be suppressed.
  • the two Y-axis robots can stably support the movable part (slider) in the X direction because each pair of guide rails is disposed on both sides of the lower end of the narrow beam-shaped main body. Difficult and prone to vibrations due to own movement.
  • the present disclosure suppresses vibration caused by movement of each of the first and second XY robots, and transmits vibration caused by movement of one of the first and second XY robots in the Y direction to the other XY robot.
  • the main purpose is to suppress the occurrence of the damage.
  • the work machine of the present disclosure is a work machine in which a first XY robot that moves a first head in the XY direction and a second XY robot that moves the second head in the XY direction are provided side by side in the X direction on the same frame.
  • a pair of first guides are fixed to one end of the box frame in the X direction so as to extend in the Y direction and the other rail is fixed to the central frame so as to extend in the Y direction.
  • the gist is that the rails are divided along the Y direction over a length of 1 ⁇ 2 or more including the central portion of the frame length in the Y direction.
  • the first XY robot that moves the first head in the XY direction and the second XY robot that moves the second head in the XY direction are provided side by side in the X direction on the same frame.
  • the work machine includes a box-shaped frame that forms a part of the gantry and a central frame that is fixed so as to be bridged in the Y direction at a central portion in the X direction of the box-shaped frame.
  • One rail of the pair of first guide rails of the first XY robot and one rail of the pair of second guide rails of the second XY robot are respectively fixed to end portions in the X direction of the box-shaped frame. .
  • the other rail of the pair of first guide rails of the first XY robot and the other rail of the pair of second guide rails of the second XY robot are fixed to the central frame. For this reason, the rails of the pair of first guide rails are arranged sufficiently apart from each other in the X direction, and the rails of the pair of second guide rails are arranged sufficiently apart from each other in the X direction. Therefore, vibration of the first XY robot including the first slider suspended from the pair of first guide rails is suppressed, and vibration of the second XY robot including the second slider suspended from the pair of second guide rails is suppressed. Vibration due to the movement of itself can be suppressed.
  • the central frame is divided along the Y direction over a length of 1 ⁇ 2 or more including the central portion of the frame length in the Y direction between the two other rails fixed to the central frame. For this reason, it is possible to satisfactorily suppress the vibration generated by the movement of one XY robot in the Y direction among the first and second XY robots from being transmitted to the other XY robot.
  • FIG. 3 is a top view of the work machine 10.
  • FIG. 2 is a side view of the work machine 10.
  • FIG. FIG. 4 is a cross-sectional view showing an AA cross section of the working machine 10 in FIG. 3.
  • FIG. 3 is an external view of the central beam 16. It is an external view of the center beam 160 of a modification.
  • FIG. 1 is an external perspective view of a working machine 10 according to the present embodiment.
  • FIG. 2 is a top view of the work machine 10.
  • FIG. 3 is a side view of the work machine 10.
  • 4 is a cross-sectional view showing an AA cross section of the work machine 10 of FIG.
  • FIG. 5 is an external view of the central beam 16. 1 to 5, the X direction is the transport direction of the substrate S as the work target, the Z direction is the vertical direction, and the Y direction is a direction orthogonal to the X direction and the Z direction.
  • the working machine 10 is a component mounting machine that is mounted with a component supply device (not shown) on the front, picks up an electronic component supplied from the component supply device, and mounts it on the substrate S.
  • the work machine 10 includes first and second XY robots 21 and 22 (see FIGS. 1, 2, and 4) arranged in the X direction, and first and second heads 23 and 24 (to be moved by the corresponding XY robots). 4).
  • the work machine 10 includes a base 11, a main body frame 12, and an upper frame 15.
  • Each of the main body frame 12 and the upper frame 15 has a box-shaped outer shape that is open at the top and bottom and has substantially the same size in the XY directions as the base 11.
  • the main body frame 12 and the upper frame 15 are stacked on the base 11 in order of the main body frame 12 and the upper frame 15 so as to form a pedestal so that the wall surfaces are continuous.
  • the main body frame 12 includes a lower frame 13 erected on the base 11 and a middle frame 14 stacked on the lower frame 13.
  • the lower frame 13 is erected on the rear wall portion (not shown) erected on the rear end portion of the base 11, the right end portion and the left wall portion of the base 11, and is parallel to the Y direction.
  • a right side wall part 133 and a left side wall part 134 which extend and are connected to both side edges in the X direction of the rear wall part.
  • the middle frame 14 is connected to each other so as to be continuous with the portal-shaped front wall portion 141, the rear wall portion 142 connected to the rear wall portion of the lower frame 13, and the right wall portion 133 and the left wall portion 134 of the lower frame 13.
  • the main body frame 12 is divided into the lower frame 13 and the middle frame 14, but may be configured as an integral frame.
  • the upper frame 15 supports the first XY robot 21 and the second XY robot 22 and is installed so as to be stacked on the main body frame 12.
  • the upper frame 15 includes a front wall portion 151, a rear wall portion 152, a right wall portion 153, and a left wall portion 154 that are connected to the front wall portion 141, the rear wall portion 142, the right wall portion 143, and the left wall portion 144 of the middle frame 14.
  • a central beam 16 extending in the Y direction is bridged between the front wall portion 151 and the rear wall portion 152 of the upper frame 15.
  • the central beam 16 is a long and plate-like member, and the center of the front wall 151 in the X direction and the center of the rear wall 152 in the X direction with the plate surface being perpendicular to the Z direction. It is stretched over to the department. Further, as shown in FIG. 5, the central beam 16 is formed with slits 16s extending in the Y direction leaving both ends in the Y direction at the center in the X direction. Further, a pair of support members 17 extending in the Y direction are bridged between the front wall portion 151 and the rear wall portion 152 of the upper frame 15 so as to support the central beam 16 as shown in FIGS. Has been.
  • the pair of support members 17 are long and plate-like members, and are provided on both the left and right sides with the slit 16s of the central beam 16 interposed therebetween.
  • the pair of support members 17 are fixed vertically to the upper surface of the central beam 16, and end portions in the Y direction are fixed to the inner surface of the front wall portion 151 and the inner surface of the rear wall portion 152 of the upper frame 15. .
  • the first XY robot 21 includes a first X-axis robot 21X and a first Y-axis robot 21Y.
  • the first Y-axis robot 21Y has a pair of first Y-axis guide rails (first left rail 211, first right rail 212) extending in parallel to the Y direction with a predetermined interval in the X direction. ), A suspended first Y-axis slider 213 suspended on a pair of first Y-axis guide rails so as to be movable in the Y direction, and a first Y-axis actuator 214 that drives the first Y-axis slider 213.
  • the first left rail 211 is fixed to the lower portion of the left wall portion 154 of the upper frame 15 with a fastening member such as a screw.
  • the first right rail 212 is fixed to the lower part of the central beam 16 and on the left side of the slit 16s by a fastening member such as a screw.
  • the 1st right rail 212 is being fixed so that it may be located in the surface on the back side of the part to which the left support member 17 of the center beam 16 was fixed.
  • the first Y-axis actuator 214 is a linear motor, and includes a shaft 214a in which a plurality of permanent magnets are arranged in the axial direction, and a mover 214b including a coil arranged so as to go around the shaft 214a.
  • Have The plurality of permanent magnets are arranged such that the directions of the magnetic poles of two adjacent permanent magnets are opposite to each other.
  • the linear motor generates a thrust force on the mover 214b by the action of the magnetic force generated from the permanent magnet and the current flowing in the coil.
  • the first Y-axis slider 213 is fixed to the mover 214b.
  • the first Y-axis actuator 214 (linear motor) can move the first Y-axis slider 213 to a desired position in the Y direction by controlling the current flowing through the coil.
  • the first Y-axis actuator 214 may be configured by a ball screw mechanism.
  • the first X-axis robot 21X includes a first X-axis guide rail 215 fixed to the first Y-axis slider 213 so as to extend in the X direction, and a first X-axis supported by the first X-axis guide rail 215 so as to be movable in the X direction. It has an axis slider 216 and a first X-axis actuator 217 that drives the first X-axis slider 216.
  • the first X-axis actuator 217 may be configured by a linear motor similar to the first Y-axis actuator 214, or may be configured by a ball screw mechanism.
  • a first head 23 is fixed to the first X-axis slider 216. Thus, the first head 23 can be moved in the XY directions by the first XY robot 21.
  • the second XY robot 22 includes a second X-axis robot 22X and a second Y-axis robot 22Y.
  • the second Y-axis robot 22Y has a pair of second Y-axis guide rails (second left rail 221 and second right rail 222) extending in parallel to the Y direction with a predetermined interval in the X direction. ), A suspended second Y-axis slider 223 suspended from a pair of second Y-axis guide rails so as to be movable in the Y direction, and a second Y-axis actuator 224 that drives the second Y-axis slider 223.
  • the second left rail 221 is fixed by a fastening member such as a screw below the center beam 16 and on the right side of the slit 16s.
  • the second left rail 221 is fixed so as to be positioned on the back surface of the portion to which the right support member 17 of the central beam 16 is fixed.
  • the second right rail 222 is fixed to the lower portion of the right side wall 153 of the upper frame 15 with a fastening member such as a screw.
  • the second Y-axis actuator 224 is a linear motor having a shaft 224a and a mover 224b similar to the first Y-axis actuator 214.
  • the second Y-axis slider 223 is fixed to the mover 224b.
  • the second Y-axis actuator 224 (linear motor) moves the second Y-axis slider 223 to a desired position in the Y direction independently of the first Y-axis slider 213 by controlling the current flowing through the coil. Can do.
  • the second Y-axis actuator 224 may be configured by a ball screw mechanism.
  • the second X axis robot 22X includes a second X axis guide rail 225 fixed to the second Y axis slider 223 so as to extend in the X direction, and a second X axis supported by the second X axis guide rail 225 so as to be movable in the X direction.
  • the second X-axis actuator 227 may be configured with a linear motor similar to the second Y-axis actuator 224, or may be configured with a ball screw mechanism.
  • the second head 24 is fixed to the second X-axis slider 226. Accordingly, the second head 24 can be moved in the XY directions by the second XY robot 22.
  • the left rail 211 of the first Y-axis robot 21Y is fixed to the left wall portion 154 of the upper frame 15. Further, the right rail 212 of the first Y-axis robot 21Y is fixed to the central beam 16 spanned in the Y direction at the center in the X direction of the upper frame 15. Thus, the first left rail 211 and the first right rail 212 (first Y-axis guide rail) are arranged with an interval of about 1 ⁇ 2 of the width of the upper frame 15 in the X direction.
  • the upper frame 15 is formed in a box shape, and the central beam 16 is bridged between the center portion in the X direction of the front wall portion 151 and the center portion in the X direction of the rear wall portion 152, and has high rigidity. ing.
  • first left rail 211 and the first right rail 212 (first Y-axis guide rail) stably support the Y-axis slider 213 and vibrate with the movement of the first X-axis robot 21X and the first Y-axis robot 21Y. It can suppress well.
  • the left rail 221 of the second Y-axis robot 22Y is fixed to a central beam 16 that spans the central portion of the upper frame 15 in the X direction in the Y direction.
  • the right rail 222 of the second Y-axis robot 22Y is fixed to the right wall 153 of the upper frame 15.
  • the second left rail 221 and the second right rail 222 are arranged at an interval of about 1 ⁇ 2 of the width of the upper frame 15 in the X direction.
  • the second left rail 221 and the second right rail 222 (second Y-axis guide rail) stably support the Y-axis slider 223 and vibrate due to the movement of the second X-axis robot 22X and the second Y-axis robot 22Y. It can suppress well.
  • the right rail 212 of the first Y-axis robot 21Y and the left rail 221 of the second Y-axis robot 22Y fixed to the central beam 16 are arranged on the left and right sides with the slit 16s interposed therebetween. For this reason, even if vibration is generated on the left side of the central beam 16 due to the movement of the first Y-axis robot 21Y, most of the vibration is absorbed by the slit 16s and transmitted to the right side of the central beam 16, that is, the second Y-axis robot 22Y side. Not to be.
  • the first XY robot 21 that moves the first head 23 in the XY direction and the second XY robot 22 that moves the second head 24 in the XY direction are arranged on the same frame in the X direction. It is provided side by side.
  • the work machine 10 includes an upper frame 15 that forms a part of the gantry, and a central beam 16 that is fixed so as to be bridged in the Y direction at the center of the upper frame 15 in the X direction.
  • the left rail 211 of the pair of first Y-axis guide rails of the first XY robot 21 and the right rail 222 of the pair of second Y-axis guide rails of the second XY robot 22 are the left side wall 154 and the right side wall of the upper frame 15. 153.
  • the right rail 212 of the pair of first Y-axis guide rails of the first XY robot 21 and the left rail 221 of the pair of second Y-axis guide rails of the second XY robot 22 are fixed to the central beam 16.
  • each of the rails 221 and 222 of the pair of second Y-axis guide rails is sufficiently spaced apart from each other in the X direction, and includes a second Y-axis slider 223 suspended from the pair of second Y-axis guide rails. The vibration by 22's own movement can be suppressed.
  • the central beam 16 is divided along the Y direction by a slit 16s between the right rail 212 of the first Y-axis guide rail and the left rail 221 of the second Y-axis guide rail fixed thereto. For this reason, it can suppress that the vibration which arises by the movement to the Y direction of one XY robot among the 1st and 2nd XY robots 21 and 22 is transmitted to the other XY robot.
  • the slit 16s of the central beam 16 is formed so as to extend in the Y direction leaving both ends in the Y direction.
  • the slit 16s of the central beam 16 is formed so as to extend in the Y direction leaving both ends in the Y direction.
  • the slit of the central beam 16 should just be divided
  • FIG. Even in this case, although the effect of the slit of the central beam 16 is slightly reduced, the vibration caused by the operation of one of the first and second XY robots 21 and 22 is caused by the other through the left rail 221 and the right rail 212. Can be absorbed without being transmitted to the XY robot.
  • FIG. 6 is an external view of a modified central beam 160.
  • the center beam 160 of the modification includes a first frame member 161, a second frame member 162, and a connecting member 163, as shown in the figure.
  • the first frame member 161 is formed in substantially the same shape as the left half of the central beam 60.
  • the second frame member 162 is formed in substantially the same shape as the right half of the central beam 60.
  • the connecting member 163 is attached to both ends of the first and second frame members 161, 162 in the Y direction, and the first and second frame members 161, 162 are spaced apart in the X direction by a gap equivalent to the slit 16s. To be connected.
  • the vibration generated by the operation of one of the first and second XY robots 21 and 22 is caused to pass through the left rail 221 and the right rail 212 in the same manner as the central beam 16 of the embodiment. So that it is not transmitted to the other XY robot.
  • the upper frame 15 is formed in a box shape having an upper opening, but the upper frame 15 may be covered with a plate, a cover, or the like.
  • the work machine 10 is configured as a component mounter.
  • the working machine may be any working machine as long as it has two heads arranged in the X direction and independently movable in the XY direction.
  • the working machine may be, for example, an applicator that applies an adhesive, or an inspection machine that inspects components mounted on a substrate.
  • the first head 23 of the present embodiment corresponds to the first head of the present disclosure.
  • the first XY robot 21 corresponds to the first XY robot.
  • the second head 24 corresponds to the second head.
  • the second XY robot 22 corresponds to the second XY robot.
  • the upper frame 15 corresponds to a box frame.
  • the central beam 16 corresponds to the central frame.
  • the first left rail 211 corresponds to one rail of the first guide rail
  • the first right rail 212 corresponds to the other rail of the first guide rail.
  • the first Y-axis slider 213 corresponds to the first slider.
  • the second right rail 222 corresponds to one rail of the second guide rail
  • the second left rail 221 corresponds to the other rail of the second guide rail.
  • the second Y-axis slider 223 corresponds to the second slider.
  • the slit 16s of the central beam 16 corresponds to the slit of the central frame.
  • the first frame member 161 and the second frame member 162 correspond to two frame members.
  • the connecting member 163 corresponds to the connecting member.
  • the main body frame 12 (the lower frame 13 and the middle frame 14) corresponds to the main body frame.
  • the present disclosure can be used in the work machine manufacturing industry.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Supply And Installment Of Electrical Components (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une machine à travailler qui comprend un cadre en forme de boîte et un cadre central s'étendant sur la partie centrale du cadre en forme de boîte dans la direction X à travers la direction Y. Un premier robot XY comprend : une paire de premiers rails de guidage, l'un des rails étant fixé à une partie d'extrémité du cadre en forme de boîte dans la direction X, et l'autre rail étant fixé au cadre central ; et un premier coulisseau suspendu à partir des premiers rails de guidage. Un second robot XY comprend : une paire de seconds rails de guidage, l'un des rails étant fixé à l'autre partie d'extrémité du cadre en forme de boîte dans la direction X, et l'autre rail étant fixé au cadre central de façon à être aligné avec l'autre rail à partir des premiers rails de guidage en parallèle dans la direction X ; et un second coulisseau suspendu à partir des seconds rails de guidage. Le long de la direction Y, le cadre central est divisé au niveau de la zone entre les deux autres rails fixés à celui-ci sur au moins la moitié de la longueur de cadre dans la direction Y, comprenant la partie centrale.
PCT/JP2018/012711 2018-03-28 2018-03-28 Machine à travailler WO2019186753A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020510286A JP7127114B2 (ja) 2018-03-28 2018-03-28 作業機
PCT/JP2018/012711 WO2019186753A1 (fr) 2018-03-28 2018-03-28 Machine à travailler

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/012711 WO2019186753A1 (fr) 2018-03-28 2018-03-28 Machine à travailler

Publications (1)

Publication Number Publication Date
WO2019186753A1 true WO2019186753A1 (fr) 2019-10-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/012711 WO2019186753A1 (fr) 2018-03-28 2018-03-28 Machine à travailler

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JP (1) JP7127114B2 (fr)
WO (1) WO2019186753A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02160484A (ja) * 1988-12-09 1990-06-20 Matsushita Electric Ind Co Ltd 産業用複腕協調ロボット
JPH06246655A (ja) * 1993-03-01 1994-09-06 Sharp Corp 産業用複腕協調ロボット
JP2000117666A (ja) * 1998-10-09 2000-04-25 Nsk Ltd 直動アクチュエータ
JP2004241595A (ja) * 2003-02-06 2004-08-26 Matsushita Electric Ind Co Ltd 部品実装機
JP2005064222A (ja) * 2003-08-12 2005-03-10 Matsushita Electric Ind Co Ltd 部品実装機用架台及び部品実装機
JP2009050964A (ja) * 2007-08-27 2009-03-12 Yamaha Motor Co Ltd ロボット
JP2011054605A (ja) * 2009-08-31 2011-03-17 Yamaha Motor Co Ltd 表面実装機および駆動装置
JP2011187468A (ja) * 2010-03-04 2011-09-22 Panasonic Corp 部品実装装置および部品実装装置における振動抑制方法
JP2012033736A (ja) * 2010-07-30 2012-02-16 Yamaha Motor Co Ltd 実装機

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6246655B2 (ja) 2014-05-08 2017-12-13 株式会社フジクラ 撮像システム

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02160484A (ja) * 1988-12-09 1990-06-20 Matsushita Electric Ind Co Ltd 産業用複腕協調ロボット
JPH06246655A (ja) * 1993-03-01 1994-09-06 Sharp Corp 産業用複腕協調ロボット
JP2000117666A (ja) * 1998-10-09 2000-04-25 Nsk Ltd 直動アクチュエータ
JP2004241595A (ja) * 2003-02-06 2004-08-26 Matsushita Electric Ind Co Ltd 部品実装機
JP2005064222A (ja) * 2003-08-12 2005-03-10 Matsushita Electric Ind Co Ltd 部品実装機用架台及び部品実装機
JP2009050964A (ja) * 2007-08-27 2009-03-12 Yamaha Motor Co Ltd ロボット
JP2011054605A (ja) * 2009-08-31 2011-03-17 Yamaha Motor Co Ltd 表面実装機および駆動装置
JP2011187468A (ja) * 2010-03-04 2011-09-22 Panasonic Corp 部品実装装置および部品実装装置における振動抑制方法
JP2012033736A (ja) * 2010-07-30 2012-02-16 Yamaha Motor Co Ltd 実装機

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JPWO2019186753A1 (ja) 2021-02-12

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