WO2016113854A1 - Positioning device - Google Patents

Positioning device Download PDF

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Publication number
WO2016113854A1
WO2016113854A1 PCT/JP2015/050753 JP2015050753W WO2016113854A1 WO 2016113854 A1 WO2016113854 A1 WO 2016113854A1 JP 2015050753 W JP2015050753 W JP 2015050753W WO 2016113854 A1 WO2016113854 A1 WO 2016113854A1
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WO
WIPO (PCT)
Prior art keywords
end effector
rotary joint
positioning device
arm
movable
Prior art date
Application number
PCT/JP2015/050753
Other languages
French (fr)
Japanese (ja)
Inventor
昂史 井手下
福島　一彦
今城　昭彦
利映 金
茂男 編笠屋
和秋 安藤
Original Assignee
三菱電機株式会社
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.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2015/050753 priority Critical patent/WO2016113854A1/en
Priority to JP2016515172A priority patent/JP6053991B2/en
Publication of WO2016113854A1 publication Critical patent/WO2016113854A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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 present invention relates to a positioning device including a plurality of end effectors.
  • Patent Document 1 discloses a control method for avoiding a plurality of work heads from interfering with each other.
  • a plurality of arms movable along a pair of fixed rail portions provided so as to straddle the substrate transport conveyor are configured, and a mover and a fixed rail portion provided at both ends of the arm.
  • the end effector attached to the arm can move in the Y direction, which is the direction in which the fixed rail portion extends, by the linear motor constituted by the stator.
  • the plurality of end effectors constituting the component mounting apparatus disclosed in Patent Document 1 procure components from different component supply units, and position the components in the central work area.
  • the conventional positioning device is provided with the movable elements at both ends of the arm as described above, even if an attempt is made to pass a plurality of end effectors in the Y direction, the movable elements interfere with each other. In addition, a plurality of end effectors cannot pass in the Y direction. Therefore, there is a problem that the work area of the end effector becomes narrow.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a positioning device that widens a work area by allowing a plurality of end effectors to pass each other without interfering with each other.
  • the present invention is a positioning device having a closed-loop-shaped fixed portion, and includes a first and second movable portions that move on the fixed portion, and a first movable portion.
  • One end of the first rotary joint that rotates around the rotation axis in one direction mounted on the second part, the second rotation joint that rotates around the rotation axis in one direction mounted on the second movable part, and one end of the first rotation joint.
  • a plurality of end effector drive mechanisms having three rotation joints, a third rotation joint, and an end effector attached to the other end of the first arm or the other end of the second arm are provided.
  • the positioning device has an effect of widening a work area by allowing a plurality of end effectors to pass each other without interfering with each other.
  • FIG. 3 is a schematic plan view showing a state in which the end effectors are prevented from interfering with each other in the positioning device according to the first embodiment.
  • Schematic plan view showing the work area of the end effector when an electronic component mounting apparatus is assumed as the positioning apparatus according to the first embodiment.
  • FIG. 1 is a schematic plan view showing a configuration of a positioning device 10 according to a first embodiment of the present invention.
  • the positioning device 10 includes a fixed portion 1 having a closed loop shape supported by a base (not shown), an end effector driving mechanism 100 that drives one end effector 18, and an end effector driving mechanism 200 that drives another end effector 28. Is provided.
  • the right and left direction of the paper surface in FIG. 1 is the X direction and the right direction is the positive direction of X
  • the vertical direction of the paper surface is the Y direction
  • the upward direction is the positive direction of Y
  • the direction toward the front is the positive direction of Z.
  • FIG. 1 as an example of the fixed portion 1, a configuration in which four straight portions and four curved portions are alternately connected is shown. Since the base is partially supported under the fixed part 1, most of the fixed part 1 has a structure that floats in the positive Z direction from the ground. Therefore, as will be described later, it is possible to position the end effectors 18 and 28 outside the fixed portion 1 by immersing under the fixed portion 1.
  • the end effector drive mechanism 100 is movable parts 11 and 12 which are first and second movable parts that move on the fixed part 1, and first and second rotary joints mounted on the movable parts 11 and 12, respectively.
  • a rotary joint 17 and an end effector 18 attached to the tip of the rotary joint 17 are provided.
  • the end effector 18 may be attached to the other end of the arm 15 or the arm 16 instead of the rotary joint 17.
  • the rotary joints 13 and 14, the arms 15 and 16, and the rotary joint 17 constitute a closed link structure.
  • the movable parts 11 and 12 are constituted by coils, and if the fixed part 1 is a coil, the movable parts 11 and 12 are constituted by permanent magnets, so that the end effector drive mechanism 100 is configured as a linear motor drive system. It is possible to realize.
  • the end effector 18 moves in the XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. be able to.
  • a work part such as a work hand or a nozzle is attached to the tip of the end effector 18, and positioning the end effector 18 enables the work part to position the part at a target position.
  • the two movable parts 11 and 12 move independently, and the arms 15 and 16 supported by the rotary joints 13 and 14 rotate horizontally around the rotary joints 13 and 14, respectively.
  • the position of the end effector 18 at the tip of the closed link structure is determined. Therefore, the end effector 18 is positioned by the position of the movable part 11 and the movable part 12 on the fixed part 1.
  • the end effector 18 is positioned inside the closed loop of the fixed portion 1, and the angle A, which is the inner angle formed by the arms 15 and 16 at that time, is less than 180 °. It is also possible to be greater than 180 °.
  • the angle A is larger than 180 °, the end effector 18 is positioned outside the closed loop of the fixing unit 1. That is, when the positions of the movable part 11 and the movable part 12 on the fixed part 1 are determined, the end effector 18 takes two positions in the XY plane depending on whether the angle A is smaller or larger than 180 °. obtain. Therefore, under the condition shown in FIG.
  • the position of the end effector 18 is uniquely determined by the positions of the movable portion 11 and the movable portion 12 on the fixed portion 1. Similarly, even under the condition that the angle A is greater than 180 °, the position of the end effector 18 is uniquely determined by the position of the movable part 11 and the movable part 12 on the fixed part 1.
  • the end effector driving mechanism 200 has the same configuration as the end effector driving mechanism 100.
  • the end effector driving mechanism 200 includes movable parts 21 and 22 that are first and second movable parts that move on the fixed part 1, and first and second rotary joints mounted on the movable parts 21 and 22, respectively.
  • a rotary joint 27 and an end effector 28 attached to the tip of the rotary joint 27 are provided.
  • the end effector 28 may be attached to the other end of the arm 25 or 26 instead of the rotary joint 27.
  • the rotary joints 23 and 24, the arms 25 and 26, and the rotary joint 27 constitute a closed link structure.
  • the movable parts 21 and 22 are constituted by coils. If the fixed part 1 is a coil, the movable parts 21 and 22 are constituted by permanent magnets, so that the end effector drive mechanism 200 is configured as a linear motor drive system. It is possible to realize.
  • the end effector 28 moves in an XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. be able to. Similar to the end effector driving mechanism 100, the end effector 28 is uniquely positioned by the position of the movable portion 21 and the movable portion 22 on the fixed portion 1 and the angle formed by the arms 25 and 26. Similarly to the end effector 18, a working unit (not shown) such as a work hand or a nozzle is attached to the tip of the end effector 28.
  • the movable parts 11 and 12 of the end effector driving mechanism 100 and the movable parts 21 and 22 of the end effector driving mechanism 200 are movable on the fixed part 1 as long as they do not collide with each other.
  • the movable parts 11, 12 and the movable parts 21, 22 are at positions facing each other on the fixed part 1, and the end effector driving mechanism 100 and the end effector driving mechanism 200 are mutually connected to the end effector 18 and the end effector 28. Is shown facing each other.
  • the end effector driving mechanism 100 is moved while keeping the distance between the movable parts 11 and 12 in the state of FIG. If the end effector drive mechanism 200 is moved while keeping the distance between the portions 21 and 22, the end effectors 18 and 28 interfere with each other, that is, collide with each other, and the end effectors 18 and 28 cannot pass each other.
  • FIG. 2 is a schematic plan view showing a state in which the positioning device 10 according to the first embodiment avoids interference between the end effectors and makes them pass each other.
  • the angle A formed by the arms 15 and 16 as compared with FIG. 1 is increased by driving the movable part 11 and the movable part 12 of the end effector driving mechanism 100 away from each other. growing.
  • the closed link structure of the end effector driving mechanism 100 and the closed link structure of the end effector driving mechanism 200 are in the X direction.
  • the end effector 18 and the end effector 28 can pass in the Y direction without overlapping.
  • FIG. 3 is a schematic plan view showing a state where the angle A is a singular point of 180 ° in the end effector driving mechanism 100 according to the first embodiment.
  • FIG. 4 is a schematic plan view illustrating a state where the angle A exceeds 180 ° in the end effector driving mechanism 100 according to the first embodiment. 3 and 4 both show only the left side of the positioning device 10 of FIG.
  • the end effector driving mechanism 100 when the two movable parts 11 and 12 are driven so as to leave as shown in FIG. 2, the distance in the X direction between the movable parts 11 and 12 and the end effector 18 is shortened.
  • the angle A formed by the arms 15 and 16 increases, and a singular point at which the angle A formed by the arms 15 and 16 as shown in FIG.
  • the movable parts 11 and 12 are driven so as to approach each other and the end effector outside the fixed part 1 of the positioning device 10 as shown in FIG. 18 is positioned.
  • FIG. 5 is a schematic plan view showing a work area of the end effectors 18 and 28 when an electronic component mounting device is assumed as the positioning device 10 according to the first embodiment.
  • the movable range of the end effectors 18 and 28 of the positioning device 10 also extends to the outside of the fixed portion 1. Therefore, the movable range of the end effectors 18 and 28 is a movable region a in FIG.
  • the component supply regions b and c for supplying components to the positioning device 10 which is an electronic component mounting device, and the component mounting region d for positioning the components by the positioning device 10 are both included in the movable region a. Therefore, the end effectors 18 and 28 can be driven within a range that is not insufficient when the positioning device 10 functions as an electronic component mounting device.
  • the controller of the positioning apparatus 10 controls the end effector driving mechanisms 100 and 200 to operate and position the plurality of end effectors 18 and 28 at a predetermined position and speed so as not to interfere with each other. Further, it is possible to instruct the singular point to pass through an angle formed by each of the two arms 15, 16 and 25, 26 constituting the closed link structure. Further, since the end effector driving mechanisms 100 and 200 have a truss structure, an axial force acts on the arm, and the rigidity becomes higher than that of a conventional positioning device.
  • a plurality of end effectors can pass each other without interfering with each other, and the work area of the end effector can be widened.
  • Embodiment 2 FIG.
  • the positioning device 10 according to the first embodiment when the end effector 18 of the end effector driving mechanism 100 is restricted in movement in the XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. did. Accordingly, when the end effector 18 is driven from the inside of the fixed portion 1 to the outside as shown in FIG. 4, the closed link mechanism passes through the state where the angle A becomes a singular point of 180 ° as shown in FIG. The configuration was shown.
  • the movement of the end effector is not limited to a two-dimensional plane.
  • FIG. 6 is a schematic plan view showing the configuration of the positioning device 20 according to the second embodiment of the present invention.
  • the positioning device 20 includes a fixed portion 1 that is attached to a base (not shown) and has a closed loop shape, an end effector driving mechanism 101 that drives one end effector 18, and an end effector driving mechanism 201 that drives another end effector 28.
  • the right and left direction of the paper surface of FIG. 6 is the X direction and the right direction is the positive direction of X
  • the vertical direction of the paper surface is the Y direction
  • the upward direction is the positive direction of Y
  • the direction perpendicular to the paper surface is the Z direction and
  • the direction toward the front is the positive direction of Z.
  • the actuators 31 that are first and second actuators are respectively provided to the two movable parts 11 and 12 driven on the fixed part 1.
  • 32 are mounted, and the rotary joints 13, 14 are mounted on the actuators 31, 32, respectively.
  • the actuators 31 and 32 can rotate the rotary joints 13 and 14 about the moving direction of the movable parts 11 and 12 as rotation axes. As a result, the three-dimensional operation of the end effector 18 becomes possible.
  • a rotary joint connection plate 33 is connected to the rotary joint 17 that connects the arms 15 and 16 of the end effector drive mechanism 101, and the other end of the rotary joint connection plate 33 is a rotation that is a fourth rotary joint.
  • the joint 34 is connected.
  • the end effector 18 is connected to the tip of the rotary joint 34.
  • the rotary joint 34 can rotate the end effector 18 around a rotary axis in one direction perpendicular to the direction of the rotary axis of the rotary joint 17. In the state shown in FIG. 6, the rotary joint 34 can rotate the end effector 18 around the X axis.
  • the end effector drive mechanism 201 has the same configuration as the end effector drive mechanism 101, and the actuators 41 and 42 as the first and second actuators, the rotary joint connection plate 43, and the rotary joint 44 as the fourth rotary joint are driven by the end effector. This is a configuration added to the mechanism 200.
  • the functions of the constituent elements having the same reference numerals as those of the end effector driving mechanism 200 other than these are the same as the functions described in the first embodiment with respect to the end effector driving mechanism 200, and thus the description thereof is omitted.
  • FIGS. 7 to 10 are a schematic front view and a schematic plan view showing the movement of the end effector 18 in the positioning device 20 according to the second embodiment in order of time series.
  • a schematic front view of the positioning device 20 in the Y direction is shown on the top
  • a schematic plan view of the positioning device 20 in the Z direction is shown below. 7 to 10, the description of the end effector driving mechanism 201 is omitted for the sake of simplicity.
  • the actuators 31 and 32 can rotate the rotary joints 13 and 14 about the Y axis as a rotation axis. Therefore, as shown in FIG. 7 to FIG. 10, the actuators 31 and 32 rotate the arms 15 and 16 and the end effector 18 180 degrees around the Y axis while maintaining the angle A formed by the arms 15 and 16. It can be driven from the inside to the outside of the fixed portion 1. That is, in the positioning device 20 according to the second embodiment, since the end effector 18 can be three-dimensionally moved, the angle A formed by the arms 15 and 16 is set to 180 ° which is a singular point as in the first embodiment. Without this, the end effector 18 can be driven from the inside to the outside of the fixed portion 1. Conversely, the positioning device 20 can also drive the end effector 18 from the outside to the inside of the fixed portion 1 from FIG. 10 to FIG. 7.
  • the rotary joint 34 is rotated.
  • the positioning device 20 when the end effector 18 and the end effector 28 are moved in the Y direction, the end effector 18 or the end effector using the actuators 31 and 32 or the actuators 41 and 42 are used. Any one of 28 can be made to float in the Z direction. Therefore, the operation
  • the work area of the end effector is widened without widening the interval between the two movable parts, and the end effectors are not interfered with each other. It becomes possible.
  • the movable parts 11, 12, 21, and 22 can all move on the fixed part 1. It may be fixed above. If the end effectors can pass each other without interfering with each other and the work area of the end effector can be widened, the movable portion 11 is fixed to the fixed portion 1, and the movable portions 12, 21 and The configuration may be such that 22 can move on the fixed portion 1. That is, in any of the end effector driving mechanisms, either the first movable part or the second movable part may be fixed to the fixed part 1.
  • the positioning devices 10 and 20 have been described using an example in which two end effectors and two end effector driving mechanisms are provided. You may have more than one.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

Provided is a positioning device (10) having a fastening part (1) of closed loop shape, provided with a plurality of end effector drive mechanisms (100) having first and second movable parts (11, 12) for moving the top of the fastening part, a first rotation joint (13) mounted on the first movable part and rotating about a unidirectional rotation axis, a second rotation joint (14) mounted on the second movable part and rotating about a unidirectional rotation axis, a first arm (15) supported at one end by the first rotation joint, a second arm (16) supported at one end by the second rotation joint, a third rotation joint (17) linking the other end of the first arm and the other end of the second arm, and rotating about a unidirectional rotation axis, and an end effector (18) attached to the third rotation joint, the other end of the first arm, or the other end of the second arm.

Description

位置決め装置Positioning device
　本発明は、複数のエンドエフェクタを備えた位置決め装置に関する。 The present invention relates to a positioning device including a plurality of end effectors.
　位置決め装置としては、位置決めの作業効率を高めるために複数のエンドエフェクタを持つ装置が従来知られており、複数のエンドエフェクタの干渉を避けて作業領域を広くする必要がある。特許文献１では、複数の作業ヘッドが互いに干渉するのを回避する制御方法が示されている。 As a positioning device, a device having a plurality of end effectors is conventionally known in order to increase the positioning work efficiency, and it is necessary to widen the work area by avoiding the interference of the plurality of end effectors. Patent Document 1 discloses a control method for avoiding a plurality of work heads from interfering with each other.
　特許文献１においては、基板搬送コンベアを跨ぐように設けられた一対の固定レール部に沿って移動可能な複数のアームが構成されており、アームの両端部に設けられた可動子と固定レール部の固定子によって構成されたリニアモータによって、アームに取り付けられたエンドエフェクタは固定レール部が伸びている方向であるＹ方向に移動することが可能である。 In Patent Document 1, a plurality of arms movable along a pair of fixed rail portions provided so as to straddle the substrate transport conveyor are configured, and a mover and a fixed rail portion provided at both ends of the arm. The end effector attached to the arm can move in the Y direction, which is the direction in which the fixed rail portion extends, by the linear motor constituted by the stator.
　特許文献１に示される部品実装装置を構成する複数のエンドエフェクタは、それぞれ異なる部品供給部から部品を調達し、中央の作業エリアで部品を位置決めしている。 The plurality of end effectors constituting the component mounting apparatus disclosed in Patent Document 1 procure components from different component supply units, and position the components in the central work area.
特許第５３８３３１９号公報Japanese Patent No. 5383319
　しかしながら、上記従来の位置決め装置は、上述したようにアームの両端部に可動子が設けられているので、複数のエンドエフェクタをＹ方向ですれ違おうとさせようとしても、可動子同士が干渉するために複数のエンドエフェクタのＹ方向でのすれ違いはできない。したがって、エンドエフェクタの作業エリアが狭くなるという問題点があった。 However, since the conventional positioning device is provided with the movable elements at both ends of the arm as described above, even if an attempt is made to pass a plurality of end effectors in the Y direction, the movable elements interfere with each other. In addition, a plurality of end effectors cannot pass in the Y direction. Therefore, there is a problem that the work area of the end effector becomes narrow.
　本発明は、上記に鑑みてなされたものであって、複数のエンドエフェクタが互いに干渉せずにすれ違うことを可能とすることにより作業エリアを広くする位置決め装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to obtain a positioning device that widens a work area by allowing a plurality of end effectors to pass each other without interfering with each other.
　上述した課題を解決し、目的を達成するために、本発明は、閉ループ形状の固定部を有する位置決め装置であって、固定部の上を移動する第１および第２可動部と、第１可動部に搭載された一方向の回転軸周りに回転する第１回転関節と、第２可動部に搭載された一方向の回転軸周りに回転する第２回転関節と、第１回転関節に一端が支持される第１アームと、第２回転関節に一端が支持される第２アームと、第１アームの他端および第２アームの他端を連結し、一方向の回転軸周りに回転する第３回転関節と、第３回転関節、第１アームの他端または第２アームの他端に取り付けられたエンドエフェクタと、を有するエンドエフェクタ駆動機構を複数備えることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention is a positioning device having a closed-loop-shaped fixed portion, and includes a first and second movable portions that move on the fixed portion, and a first movable portion. One end of the first rotary joint that rotates around the rotation axis in one direction mounted on the second part, the second rotation joint that rotates around the rotation axis in one direction mounted on the second movable part, and one end of the first rotation joint. A first arm supported, a second arm supported at one end by a second rotary joint, the other end of the first arm and the other end of the second arm connected to each other, and rotated around a rotation axis in one direction. A plurality of end effector drive mechanisms having three rotation joints, a third rotation joint, and an end effector attached to the other end of the first arm or the other end of the second arm are provided.
　本発明にかかる位置決め装置は、複数のエンドエフェクタが互いに干渉せずにすれ違うことを可能とすることにより作業エリアを広くするという効果を奏する。 The positioning device according to the present invention has an effect of widening a work area by allowing a plurality of end effectors to pass each other without interfering with each other.
本発明の実施の形態１にかかる位置決め装置の構成を示す平面概略図Schematic plan view showing the configuration of the positioning device according to the first embodiment of the present invention. 実施の形態１にかかる位置決め装置においてエンドエフェクタ同士の干渉を回避してすれ違わせる様子を示す平面概略図FIG. 3 is a schematic plan view showing a state in which the end effectors are prevented from interfering with each other in the positioning device according to the first embodiment. 実施の形態１にかかるエンドエフェクタ駆動機構において角度Ａが１８０°の特異点となった場合の様子を示す平面概略図Schematic plan view showing a state when the angle A is a singular point of 180 ° in the end effector drive mechanism according to the first exemplary embodiment. 実施の形態１にかかるエンドエフェクタ駆動機構において角度Ａが１８０°を超えた場合の様子を示す平面概略図Schematic plan view showing a state when the angle A exceeds 180 ° in the end effector drive mechanism according to the first exemplary embodiment. 実施の形態１にかかる位置決め装置として電子部品の実装装置を想定した場合のエンドエフェクタの作業エリアを示す平面概略図Schematic plan view showing the work area of the end effector when an electronic component mounting apparatus is assumed as the positioning apparatus according to the first embodiment. 本発明の実施の形態２にかかる位置決め装置の構成を示す平面概略図Schematic plan view showing the configuration of the positioning device according to the second embodiment of the present invention. 実施の形態２にかかる位置決め装置におけるエンドエフェクタの動きを時系列の順に示す正面概略図および平面概略図Front schematic diagram and plan schematic diagram showing movement of end effector in positioning apparatus according to second embodiment in chronological order 実施の形態２にかかる位置決め装置におけるエンドエフェクタの動きを時系列の順に示す正面概略図および平面概略図Front schematic diagram and plan schematic diagram showing movement of end effector in positioning apparatus according to second embodiment in chronological order 実施の形態２にかかる位置決め装置におけるエンドエフェクタの動きを時系列の順に示す正面概略図および平面概略図Front schematic diagram and plan schematic diagram showing movement of end effector in positioning apparatus according to second embodiment in chronological order 実施の形態２にかかる位置決め装置におけるエンドエフェクタの動きを時系列の順に示す正面概略図および平面概略図Front schematic diagram and plan schematic diagram showing movement of end effector in positioning apparatus according to second embodiment in chronological order
　以下に、本発明の実施の形態にかかる位置決め装置を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a positioning device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.
実施の形態１．
　図１は、本発明の実施の形態１にかかる位置決め装置１０の構成を示す平面概略図である。位置決め装置１０は、図示せぬ土台で支えられた閉ループ形状の固定部１と、１つのエンドエフェクタ１８を駆動するエンドエフェクタ駆動機構１００と、もう１つのエンドエフェクタ２８を駆動するエンドエフェクタ駆動機構２００を備える。図１の紙面の左右方向がＸ方向で右方向がＸの正方向であり、紙面の上下方向がＹ方向で上方向がＹの正方向であり、紙面に垂直な方向がＺ方向で紙面から手前に向かう方向がＺの正方向である。 Embodiment 1 FIG.
FIG. 1 is a schematic plan view showing a configuration of a positioning device 10 according to a first embodiment of the present invention. The positioning device 10 includes a fixed portion 1 having a closed loop shape supported by a base (not shown), an end effector driving mechanism 100 that drives one end effector 18, and an end effector driving mechanism 200 that drives another end effector 28. Is provided. The right and left direction of the paper surface in FIG. 1 is the X direction and the right direction is the positive direction of X, the vertical direction of the paper surface is the Y direction, the upward direction is the positive direction of Y, and The direction toward the front is the positive direction of Z.
　図１では、固定部１の例として、４つの直線部と４つの曲線部が交互に接続された構成を示してある。固定部１の下を部分的に土台が支えているので、固定部１の大半は地面からＺの正の方向に浮いた構造になっている。従って、後述するように固定部１の下を潜らせて固定部１の外側にエンドエフェクタ１８，２８を位置決めすることが可能である。 In FIG. 1, as an example of the fixed portion 1, a configuration in which four straight portions and four curved portions are alternately connected is shown. Since the base is partially supported under the fixed part 1, most of the fixed part 1 has a structure that floats in the positive Z direction from the ground. Therefore, as will be described later, it is possible to position the end effectors 18 and 28 outside the fixed portion 1 by immersing under the fixed portion 1.
　エンドエフェクタ駆動機構１００は、固定部１の上を移動する第１および第２可動部である可動部１１，１２と、可動部１１，１２にそれぞれ搭載された第１および第２回転関節である回転関節１３，１４と、回転関節１３，１４にそれぞれ一端が回転支持される第１および第２アームであるアーム１５，１６と、アーム１５，１６の他端を連結する第３回転関節である回転関節１７と、回転関節１７の先に取り付けられたエンドエフェクタ１８と、を備える。なお、エンドエフェクタ１８は回転関節１７ではなく、アーム１５あるいはアーム１６の他端に取り付けられていてもかまわない。回転関節１３，１４と、アーム１５，１６と、回転関節１７により閉リンク構造が構成される。 The end effector drive mechanism 100 is movable parts 11 and 12 which are first and second movable parts that move on the fixed part 1, and first and second rotary joints mounted on the movable parts 11 and 12, respectively. The rotary joints 13 and 14, the first and second arms 15 and 16 whose one ends are rotatably supported by the rotary joints 13 and 14, and the third rotary joint that connects the other ends of the arms 15 and 16, respectively. A rotary joint 17 and an end effector 18 attached to the tip of the rotary joint 17 are provided. The end effector 18 may be attached to the other end of the arm 15 or the arm 16 instead of the rotary joint 17. The rotary joints 13 and 14, the arms 15 and 16, and the rotary joint 17 constitute a closed link structure.
　固定部１が永久磁石なら可動部１１，１２はコイルで構成し、固定部１がコイルなら可動部１１，１２は永久磁石で構成することにより、リニアモータの駆動システムとしてエンドエフェクタ駆動機構１００を実現することが可能である。 If the fixed part 1 is a permanent magnet, the movable parts 11 and 12 are constituted by coils, and if the fixed part 1 is a coil, the movable parts 11 and 12 are constituted by permanent magnets, so that the end effector drive mechanism 100 is configured as a linear motor drive system. It is possible to realize.
　回転関節１３，１４，１７はＺ方向の回転軸周りに回転することが可能であるので、エンドエフェクタ１８はＺ方向の定められた位置にあるＸ－Ｙ平面内、即ち２次元平面内で動くことができる。エンドエフェクタ１８の先端には、作業ハンドあるいはノズルといった図示せぬ作業部が取り付けられており、エンドエフェクタ１８を位置決めすることにより、目標とする位置に作業部が部品を位置決めするといった作業が可能となる。 Since the rotary joints 13, 14, and 17 can rotate about the rotation axis in the Z direction, the end effector 18 moves in the XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. be able to. A work part (not shown) such as a work hand or a nozzle is attached to the tip of the end effector 18, and positioning the end effector 18 enables the work part to position the part at a target position. Become.
　エンドエフェクタ駆動機構１００においては、２つの可動部１１，１２がそれぞれ独立に移動し、回転関節１３，１４にそれぞれ支持されるアーム１５，１６が回転関節１３，１４を支点として水平に回転することで閉リンク構造の先端にあるエンドエフェクタ１８の位置が定まる。したがって、エンドエフェクタ１８は、可動部１１および可動部１２の固定部１の上での位置により位置決めされる。 In the end effector drive mechanism 100, the two movable parts 11 and 12 move independently, and the arms 15 and 16 supported by the rotary joints 13 and 14 rotate horizontally around the rotary joints 13 and 14, respectively. Thus, the position of the end effector 18 at the tip of the closed link structure is determined. Therefore, the end effector 18 is positioned by the position of the movable part 11 and the movable part 12 on the fixed part 1.
　図１では、エンドエフェクタ１８が固定部１の閉ループの内側に位置しており、そのときにアーム１５，１６が成す内角である角度Ａは１８０°未満の状態になっているが、後述するように１８０°より大きくなることも可能である。角度Ａが１８０°より大きい場合は、エンドエフェクタ１８が固定部１の閉ループの外側に位置決めされる。即ち、可動部１１および可動部１２の固定部１の上での位置が定まると、角度Ａが１８０°より小さいか大きいかによってエンドエフェクタ１８は上記Ｘ－Ｙ平面内で２通りの位置をとり得る。したがって、角度Ａが１８０°未満であるという図１に示した条件下では、可動部１１および可動部１２の固定部１の上での位置によってエンドエフェクタ１８の位置は一意に定まる。同様に、角度Ａが１８０°より大きいという条件下でも、可動部１１および可動部１２の固定部１の上での位置によってエンドエフェクタ１８の位置は一意に定まる。 In FIG. 1, the end effector 18 is positioned inside the closed loop of the fixed portion 1, and the angle A, which is the inner angle formed by the arms 15 and 16 at that time, is less than 180 °. It is also possible to be greater than 180 °. When the angle A is larger than 180 °, the end effector 18 is positioned outside the closed loop of the fixing unit 1. That is, when the positions of the movable part 11 and the movable part 12 on the fixed part 1 are determined, the end effector 18 takes two positions in the XY plane depending on whether the angle A is smaller or larger than 180 °. obtain. Therefore, under the condition shown in FIG. 1 in which the angle A is less than 180 °, the position of the end effector 18 is uniquely determined by the positions of the movable portion 11 and the movable portion 12 on the fixed portion 1. Similarly, even under the condition that the angle A is greater than 180 °, the position of the end effector 18 is uniquely determined by the position of the movable part 11 and the movable part 12 on the fixed part 1.
　エンドエフェクタ駆動機構２００もエンドエフェクタ駆動機構１００と同様の構成である。エンドエフェクタ駆動機構２００は、固定部１の上を移動する第１および第２可動部である可動部２１，２２と、可動部２１，２２にそれぞれ搭載された第１および第２回転関節である回転関節２３，２４と、回転関節２３，２４にそれぞれ一端が回転支持される第１および第２アームであるアーム２５，２６と、アーム２５，２６の他端を連結する第３回転関節である回転関節２７と、回転関節２７の先に取り付けられたエンドエフェクタ２８と、を備える。なお、エンドエフェクタ２８は回転関節２７ではなく、アーム２５あるいはアーム２６の他端に取り付けられていてもかまわない。回転関節２３，２４と、アーム２５，２６と、回転関節２７により閉リンク構造が構成される。 The end effector driving mechanism 200 has the same configuration as the end effector driving mechanism 100. The end effector driving mechanism 200 includes movable parts 21 and 22 that are first and second movable parts that move on the fixed part 1, and first and second rotary joints mounted on the movable parts 21 and 22, respectively. The rotary joints 23 and 24, the first and second arms 25 and 26 whose one ends are rotatably supported by the rotary joints 23 and 24, and the third rotary joints connecting the other ends of the arms 25 and 26, respectively. A rotary joint 27 and an end effector 28 attached to the tip of the rotary joint 27 are provided. The end effector 28 may be attached to the other end of the arm 25 or 26 instead of the rotary joint 27. The rotary joints 23 and 24, the arms 25 and 26, and the rotary joint 27 constitute a closed link structure.
　固定部１が永久磁石なら可動部２１，２２はコイルで構成し、固定部１がコイルなら可動部２１，２２は永久磁石で構成することにより、リニアモータの駆動システムとしてエンドエフェクタ駆動機構２００を実現することが可能である。 If the fixed part 1 is a permanent magnet, the movable parts 21 and 22 are constituted by coils. If the fixed part 1 is a coil, the movable parts 21 and 22 are constituted by permanent magnets, so that the end effector drive mechanism 200 is configured as a linear motor drive system. It is possible to realize.
　回転関節２３，２４，２７はＺ方向の回転軸周りに回転することが可能であるので、エンドエフェクタ２８はＺ方向の定められた位置にあるＸ－Ｙ平面内、即ち２次元平面内で動くことができる。エンドエフェクタ駆動機構１００と同様に、エンドエフェクタ２８も、可動部２１および可動部２２の固定部１の上での位置およびアーム２５，２６が成す角度により一意に位置決めされる。エンドエフェクタ２８の先端にも、エンドエフェクタ１８と同様に作業ハンドあるいはノズルといった図示せぬ作業部が取り付けられている。 Since the rotary joints 23, 24, and 27 can rotate around the rotation axis in the Z direction, the end effector 28 moves in an XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. be able to. Similar to the end effector driving mechanism 100, the end effector 28 is uniquely positioned by the position of the movable portion 21 and the movable portion 22 on the fixed portion 1 and the angle formed by the arms 25 and 26. Similarly to the end effector 18, a working unit (not shown) such as a work hand or a nozzle is attached to the tip of the end effector 28.
　エンドエフェクタ駆動機構１００の可動部１１，１２と、エンドエフェクタ駆動機構２００の可動部２１，２２とはそれぞれが衝突しない限りは固定部１の上を移動自在である。図１では、可動部１１，１２と可動部２１，２２とが固定部１の上の対向する位置にあり、エンドエフェクタ駆動機構１００とエンドエフェクタ駆動機構２００とが互いにエンドエフェクタ１８とエンドエフェクタ２８とを対向させている様子を示す。 The movable parts 11 and 12 of the end effector driving mechanism 100 and the movable parts 21 and 22 of the end effector driving mechanism 200 are movable on the fixed part 1 as long as they do not collide with each other. In FIG. 1, the movable parts 11, 12 and the movable parts 21, 22 are at positions facing each other on the fixed part 1, and the end effector driving mechanism 100 and the end effector driving mechanism 200 are mutually connected to the end effector 18 and the end effector 28. Is shown facing each other.
　エンドエフェクタ駆動機構１００，２００の２つのエンドエフェクタ１８，２８を互いにすれ違うように駆動させる場合、図１の状態で可動部１１，１２の間隔を保ったままエンドエフェクタ駆動機構１００を移動させ、可動部２１，２２の間隔を保ったままエンドエフェクタ駆動機構２００を移動させると、エンドエフェクタ１８，２８が互いに干渉、即ち衝突してしまい、エンドエフェクタ１８，２８同士がすれ違うことができない。 When the two end effectors 18 and 28 of the end effector driving mechanisms 100 and 200 are driven so as to pass each other, the end effector driving mechanism 100 is moved while keeping the distance between the movable parts 11 and 12 in the state of FIG. If the end effector drive mechanism 200 is moved while keeping the distance between the portions 21 and 22, the end effectors 18 and 28 interfere with each other, that is, collide with each other, and the end effectors 18 and 28 cannot pass each other.
　図２は、実施の形態１にかかる位置決め装置１０においてエンドエフェクタ同士の干渉を回避してすれ違わせる様子を示す平面概略図である。図１の状態に対して、図２においては、エンドエフェクタ駆動機構１００の可動部１１および可動部１２が離れるように駆動されることで、図１に比べてアーム１５，１６がなす角度Ａが大きくなる。その結果、可動部１１，１２とエンドエフェクタ１８との間のＸ方向の距離が短くなっているため、エンドエフェクタ駆動機構１００の閉リンク構造とエンドエフェクタ駆動機構２００の閉リンク構造がＸ方向で重ならず、エンドエフェクタ１８とエンドエフェクタ２８のＹ方向でのすれ違いが可能となる。 FIG. 2 is a schematic plan view showing a state in which the positioning device 10 according to the first embodiment avoids interference between the end effectors and makes them pass each other. In contrast to the state of FIG. 1, in FIG. 2, the angle A formed by the arms 15 and 16 as compared with FIG. 1 is increased by driving the movable part 11 and the movable part 12 of the end effector driving mechanism 100 away from each other. growing. As a result, since the distance in the X direction between the movable parts 11 and 12 and the end effector 18 is shortened, the closed link structure of the end effector driving mechanism 100 and the closed link structure of the end effector driving mechanism 200 are in the X direction. The end effector 18 and the end effector 28 can pass in the Y direction without overlapping.
　図３は、実施の形態１にかかるエンドエフェクタ駆動機構１００において角度Ａが１８０°の特異点となった場合の様子を示す平面概略図である。図４は、実施の形態１にかかるエンドエフェクタ駆動機構１００において角度Ａが１８０°を超えた場合の様子を示す平面概略図である。図３および図４は、共に図１の位置決め装置１０の左側のみ示してある。 FIG. 3 is a schematic plan view showing a state where the angle A is a singular point of 180 ° in the end effector driving mechanism 100 according to the first embodiment. FIG. 4 is a schematic plan view illustrating a state where the angle A exceeds 180 ° in the end effector driving mechanism 100 according to the first embodiment. 3 and 4 both show only the left side of the positioning device 10 of FIG.
　エンドエフェクタ駆動機構１００において、図２に示すように２つの可動部１１，１２が離れるように駆動されると、可動部１１，１２とエンドエフェクタ１８との間のＸ方向での距離が短くなるようにアーム１５，１６がなす角度Ａが大きくなり、図３に示すようなアーム１５，１６がなす角度Ａが１８０°となる特異点に到達する。そして、角度Ａが特異点を通過して１８０°より大きくなると、今度は可動部１１，１２が近づくように駆動されて、図４に示すように位置決め装置１０の固定部１の外側でエンドエフェクタ１８が位置決めされる。 In the end effector driving mechanism 100, when the two movable parts 11 and 12 are driven so as to leave as shown in FIG. 2, the distance in the X direction between the movable parts 11 and 12 and the end effector 18 is shortened. Thus, the angle A formed by the arms 15 and 16 increases, and a singular point at which the angle A formed by the arms 15 and 16 as shown in FIG. Then, when the angle A passes through the singular point and becomes larger than 180 °, this time, the movable parts 11 and 12 are driven so as to approach each other and the end effector outside the fixed part 1 of the positioning device 10 as shown in FIG. 18 is positioned.
　図５は、実施の形態１にかかる位置決め装置１０として電子部品の実装装置を想定した場合のエンドエフェクタ１８，２８の作業エリアを示す平面概略図である。位置決め装置１０のエンドエフェクタ１８，２８の可動範囲は図４で示したように固定部１の外側にも広がっているので、エンドエフェクタ１８，２８の可動範囲は図５の可動領域ａとなる。電子部品の実装装置である位置決め装置１０に部品を供給する部品供給領域ｂおよびｃと、位置決め装置１０が部品を位置決めする部品実装領域ｄと、は共に可動領域ａに含まれている。従って、エンドエフェクタ１８，２８を、位置決め装置１０が電子部品の実装装置として機能した場合に不足ない範囲で駆動することができる。 FIG. 5 is a schematic plan view showing a work area of the end effectors 18 and 28 when an electronic component mounting device is assumed as the positioning device 10 according to the first embodiment. As shown in FIG. 4, the movable range of the end effectors 18 and 28 of the positioning device 10 also extends to the outside of the fixed portion 1. Therefore, the movable range of the end effectors 18 and 28 is a movable region a in FIG. The component supply regions b and c for supplying components to the positioning device 10 which is an electronic component mounting device, and the component mounting region d for positioning the components by the positioning device 10 are both included in the movable region a. Therefore, the end effectors 18 and 28 can be driven within a range that is not insufficient when the positioning device 10 functions as an electronic component mounting device.
　実施の形態１にかかる位置決め装置１０のコントローラは、エンドエフェクタ駆動機構１００，２００を制御することにより、複数のエンドエフェクタ１８，２８を予定した位置および速度で、互いに干渉しないように動作させて位置決めさせることが可能であり、さらに閉リンク構造を構成するそれぞれの２本のアーム１５，１６および２５，２６が成す角度に特異点を通過させる指令が可能である。また、エンドエフェクタ駆動機構１００，２００はトラス構造となっているため、アームには軸力が作用し、従来の位置決め装置に比べて剛性が高くなる。 The controller of the positioning apparatus 10 according to the first embodiment controls the end effector driving mechanisms 100 and 200 to operate and position the plurality of end effectors 18 and 28 at a predetermined position and speed so as not to interfere with each other. Further, it is possible to instruct the singular point to pass through an angle formed by each of the two arms 15, 16 and 25, 26 constituting the closed link structure. Further, since the end effector driving mechanisms 100 and 200 have a truss structure, an axial force acts on the arm, and the rigidity becomes higher than that of a conventional positioning device.
　以上説明したように、実施の形態１にかかる位置決め装置１０によれば、複数のエンドエフェクタが互いに干渉せずにすれ違うことが可能となり、エンドエフェクタの作業エリアを広くすることができる。 As described above, according to the positioning device 10 according to the first embodiment, a plurality of end effectors can pass each other without interfering with each other, and the work area of the end effector can be widened.
実施の形態２．
　実施の形態１にかかる位置決め装置１０では、エンドエフェクタ駆動機構１００のエンドエフェクタ１８は、Ｚ方向の定められた位置にあるＸ－Ｙ平面内、即ち２次元平面内に動きが拘束されているとした。従って、エンドエフェクタ１８が固定部１の内側から図４に示すように外側へ駆動されるときには、図３に示したように閉リンク機構において角度Ａが１８０°の特異点となる状態を通過する構成を示していた。本実施の形態２にかかる位置決め装置ではエンドエフェクタの動きは２次元平面内に限定されない。 Embodiment 2. FIG.
In the positioning device 10 according to the first embodiment, when the end effector 18 of the end effector driving mechanism 100 is restricted in movement in the XY plane at a predetermined position in the Z direction, that is, in a two-dimensional plane. did. Accordingly, when the end effector 18 is driven from the inside of the fixed portion 1 to the outside as shown in FIG. 4, the closed link mechanism passes through the state where the angle A becomes a singular point of 180 ° as shown in FIG. The configuration was shown. In the positioning device according to the second embodiment, the movement of the end effector is not limited to a two-dimensional plane.
　図６は、本発明の実施の形態２にかかる位置決め装置２０の構成を示す平面概略図である。位置決め装置２０は、図示せぬ土台に取り付けられ閉ループ形状の固定部１と、１つのエンドエフェクタ１８を駆動するエンドエフェクタ駆動機構１０１と、もう１つのエンドエフェクタ２８を駆動するエンドエフェクタ駆動機構２０１を備える。図６の紙面の左右方向がＸ方向で右方向がＸの正方向であり、紙面の上下方向がＹ方向で上方向がＹの正方向であり、紙面に垂直な方向がＺ方向で紙面から手前に向かう方向がＺの正方向である。 FIG. 6 is a schematic plan view showing the configuration of the positioning device 20 according to the second embodiment of the present invention. The positioning device 20 includes a fixed portion 1 that is attached to a base (not shown) and has a closed loop shape, an end effector driving mechanism 101 that drives one end effector 18, and an end effector driving mechanism 201 that drives another end effector 28. Prepare. The right and left direction of the paper surface of FIG. 6 is the X direction and the right direction is the positive direction of X, the vertical direction of the paper surface is the Y direction, the upward direction is the positive direction of Y, and the direction perpendicular to the paper surface is the Z direction and The direction toward the front is the positive direction of Z.
　エンドエフェクタ駆動機構１０１においては、実施の形態１のエンドエフェクタ駆動機構１００と異なり、固定部１の上を駆動される２つの可動部１１，１２のそれぞれに第１および第２アクチュエータであるアクチュエータ３１，３２が実装されており、アクチュエータ３１，３２にそれぞれ回転関節１３，１４が搭載されている。アクチュエータ３１，３２はそれぞれ可動部１１，１２の移動方向を回転軸として回転関節１３，１４を回転させることが可能である。これによりエンドエフェクタ１８の三次元的な動作が可能となる。 In the end effector driving mechanism 101, unlike the end effector driving mechanism 100 of the first embodiment, the actuators 31 that are first and second actuators are respectively provided to the two movable parts 11 and 12 driven on the fixed part 1. , 32 are mounted, and the rotary joints 13, 14 are mounted on the actuators 31, 32, respectively. The actuators 31 and 32 can rotate the rotary joints 13 and 14 about the moving direction of the movable parts 11 and 12 as rotation axes. As a result, the three-dimensional operation of the end effector 18 becomes possible.
　また、エンドエフェクタ駆動機構１０１のアーム１５，１６を連結する回転関節１７には回転関節接続板３３の一端が接続されており、回転関節接続板３３の他端には第４回転関節である回転関節３４が接続されている。さらに、回転関節３４の先にエンドエフェクタ１８が接続されている。回転関節３４は、回転関節１７の回転軸の方向と垂直な一方向の回転軸周りにエンドエフェクタ１８を回転することが可能である。図６の状態では、回転関節３４は、Ｘ軸の周りにエンドエフェクタ１８を回転することが可能になっている。アクチュエータ３１，３２、回転関節接続板３３および回転関節３４以外のエンドエフェクタ駆動機構１００と同一符号の構成要素の機能はエンドエフェクタ駆動機構１００について実施の形態１で説明した機能と同じなので説明を省略する。 One end of a rotary joint connection plate 33 is connected to the rotary joint 17 that connects the arms 15 and 16 of the end effector drive mechanism 101, and the other end of the rotary joint connection plate 33 is a rotation that is a fourth rotary joint. The joint 34 is connected. Further, the end effector 18 is connected to the tip of the rotary joint 34. The rotary joint 34 can rotate the end effector 18 around a rotary axis in one direction perpendicular to the direction of the rotary axis of the rotary joint 17. In the state shown in FIG. 6, the rotary joint 34 can rotate the end effector 18 around the X axis. The functions of the constituent elements having the same reference numerals as those of the end effector drive mechanism 100 other than the actuators 31 and 32, the rotary joint connecting plate 33 and the rotary joint 34 are the same as the functions described in the first embodiment with respect to the end effector drive mechanism 100, and thus the description thereof is omitted. To do.
　エンドエフェクタ駆動機構２０１もエンドエフェクタ駆動機構１０１と同様の構成であり、第１および第２アクチュエータであるアクチュエータ４１，４２、回転関節接続板４３および第４回転関節である回転関節４４がエンドエフェクタ駆動機構２００に追加された構成である。これら以外のエンドエフェクタ駆動機構２００と同一符号の構成要素の機能はエンドエフェクタ駆動機構２００について実施の形態１で説明した機能と同じなので説明を省略する。 The end effector drive mechanism 201 has the same configuration as the end effector drive mechanism 101, and the actuators 41 and 42 as the first and second actuators, the rotary joint connection plate 43, and the rotary joint 44 as the fourth rotary joint are driven by the end effector. This is a configuration added to the mechanism 200. The functions of the constituent elements having the same reference numerals as those of the end effector driving mechanism 200 other than these are the same as the functions described in the first embodiment with respect to the end effector driving mechanism 200, and thus the description thereof is omitted.
　実施の形態２にかかる位置決め装置２０におけるエンドエフェクタの動作を、エンドエフェクタ駆動機構１０１を例に、図７から図１０を用いて説明する。図７から図１０は、実施の形態２にかかる位置決め装置２０におけるエンドエフェクタ１８の動きを時系列の順に示す正面概略図および平面概略図である。図７から図１０において、位置決め装置２０をＹ方向にみた正面概略図を上に、位置決め装置２０をＺ方向にみた平面概略図を下に示す。図７から図１０においては、簡単のためエンドエフェクタ駆動機構２０１の記載は省く。 The operation of the end effector in the positioning device 20 according to the second embodiment will be described using the end effector driving mechanism 101 as an example with reference to FIGS. 7 to 10 are a schematic front view and a schematic plan view showing the movement of the end effector 18 in the positioning device 20 according to the second embodiment in order of time series. 7 to 10, a schematic front view of the positioning device 20 in the Y direction is shown on the top, and a schematic plan view of the positioning device 20 in the Z direction is shown below. 7 to 10, the description of the end effector driving mechanism 201 is omitted for the sake of simplicity.
　図７で示した状態において、アクチュエータ３１，３２は、Ｙ軸を回転軸として回転関節１３，１４を回転させることが可能である。したがって、図７から図１０へと示すように、アクチュエータ３１，３２は、アーム１５，１６が成す角度Ａを維持したままアーム１５，１６およびエンドエフェクタ１８をＹ軸周りに１８０°回転させることにより固定部１の内側から外側に駆動することができる。即ち、実施の形態２にかかる位置決め装置２０においてはエンドエフェクタ１８の三次元的な動作が可能なので、実施の形態１のようにアーム１５，１６が成す角度Ａを特異点である１８０°にすること無しに、エンドエフェクタ１８を固定部１の内側から外側に駆動することができる。また逆に、位置決め装置２０は、図１０から図７へとエンドエフェクタ１８を固定部１の外側から内側に駆動することも可能である。 7, the actuators 31 and 32 can rotate the rotary joints 13 and 14 about the Y axis as a rotation axis. Therefore, as shown in FIG. 7 to FIG. 10, the actuators 31 and 32 rotate the arms 15 and 16 and the end effector 18 180 degrees around the Y axis while maintaining the angle A formed by the arms 15 and 16. It can be driven from the inside to the outside of the fixed portion 1. That is, in the positioning device 20 according to the second embodiment, since the end effector 18 can be three-dimensionally moved, the angle A formed by the arms 15 and 16 is set to 180 ° which is a singular point as in the first embodiment. Without this, the end effector 18 can be driven from the inside to the outside of the fixed portion 1. Conversely, the positioning device 20 can also drive the end effector 18 from the outside to the inside of the fixed portion 1 from FIG. 10 to FIG. 7.
　さらに、アクチュエータ３１，３２が駆動することで固定部１の内側から外側へもしくは固定部１の外側から内側へエンドエフェクタ１８が移動するとき、回転関節３４を回転させる。これにより、エンドエフェクタ１８が固定部１の内側に位置決めされている図７の場合と、エンドエフェクタ１８が固定部１の外側に位置決めされている図１０の場合の両方において、エンドエフェクタ１８の先端の作業部を地面に向かせることが可能となる。即ち、実施の形態１にかかる位置決め装置１０と同様に、実施の形態２にかかる位置決め装置２０においても、エンドエフェクタの先端の作業部を地面に向けた位置決めが可能となる。 Furthermore, when the end effector 18 moves from the inside to the outside of the fixed portion 1 or from the outside to the inside of the fixed portion 1 by driving the actuators 31 and 32, the rotary joint 34 is rotated. As a result, the tip of the end effector 18 in both the case of FIG. 7 where the end effector 18 is positioned inside the fixed part 1 and the case of FIG. 10 where the end effector 18 is positioned outside the fixed part 1. It is possible to point the working part to the ground. That is, similarly to the positioning device 10 according to the first embodiment, the positioning device 20 according to the second embodiment can position the working portion at the tip of the end effector toward the ground.
　また、実施の形態２にかかる位置決め装置２０によれば、エンドエフェクタ１８とエンドエフェクタ２８とをＹ方向ですれ違いさせる場合に、アクチュエータ３１，３２あるいはアクチュエータ４１，４２を用いてエンドエフェクタ１８あるいはエンドエフェクタ２８のいずれか一方をＺ方向に浮かせてすれ違わせることが可能である。従って、可動部１１，１２あるいは可動部２１，２２の２つの可動部が互いに離れる動作が不要である。 Further, according to the positioning device 20 according to the second embodiment, when the end effector 18 and the end effector 28 are moved in the Y direction, the end effector 18 or the end effector using the actuators 31 and 32 or the actuators 41 and 42 are used. Any one of 28 can be made to float in the Z direction. Therefore, the operation | movement which the two movable parts of the movable parts 11 and 12 or the movable parts 21 and 22 leave | separate is unnecessary.
　以上説明したように、実施の形態２にかかる位置決め装置２０によれば、２つの可動部の間隔を広げずに、エンドエフェクタの作業エリアを広くし、エンドエフェクタ同士を干渉せずにすれ違わせることが可能となる。 As described above, according to the positioning device 20 according to the second embodiment, the work area of the end effector is widened without widening the interval between the two movable parts, and the end effectors are not interfered with each other. It becomes possible.
　上記、実施の形態１および２の説明においては、可動部１１，１２，２１，２２が全て固定部１の上を移動することができるとして説明したが、いずれかの可動部が固定部１の上で固定されていても構わない。エンドエフェクタ同士が互いに干渉せずにすれ違うことが可能で、且つエンドエフェクタの作業エリアを広くすることができるのであれば、可動部１１が固定部１に固定されていて、可動部１２，２１および２２が固定部１の上を移動することができるようになっているといった構成であっても構わない。すなわち、いずれかのエンドエフェクタ駆動機構において、第１可動部あるいは第２可動部のいずれかが固定部１に固定されていても構わない。 In the above description of the first and second embodiments, it has been described that the movable parts 11, 12, 21, and 22 can all move on the fixed part 1. It may be fixed above. If the end effectors can pass each other without interfering with each other and the work area of the end effector can be widened, the movable portion 11 is fixed to the fixed portion 1, and the movable portions 12, 21 and The configuration may be such that 22 can move on the fixed portion 1. That is, in any of the end effector driving mechanisms, either the first movable part or the second movable part may be fixed to the fixed part 1.
　また、上記、実施の形態１および２の説明においては、位置決め装置１０，２０がエンドエフェクタおよびエンドエフェクタ駆動機構を２つ備えた例を用いて説明したが、エンドエフェクタおよびエンドエフェクタ駆動機構を３つ以上備えていてもかまわない。 In the above description of the first and second embodiments, the positioning devices 10 and 20 have been described using an example in which two end effectors and two end effector driving mechanisms are provided. You may have more than one.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１　固定部、１０，２０　位置決め装置、１１，１２，２１，２２　可動部、１３，１４，１７，２３，２４，２７，３４，４４　回転関節、１５，１６，２５，２６　アーム、１８，２８　エンドエフェクタ、３１，３２，４１，４２　アクチュエータ、３３，４３　回転関節接続板、１００，１０１，２００，２０１　エンドエフェクタ駆動機構、ａ　可動領域、ｂ，ｃ　部品供給領域、ｄ　部品実装領域。 1 fixed part, 10, 20 positioning device, 11, 12, 21, 22 movable part, 13, 14, 17, 23, 24, 27, 34, 44 rotary joint, 15, 16, 25, 26 arm, 18, 28 End effector, 31, 32, 41, 42 Actuator, 33, 43 Rotary joint connection plate, 100, 101, 200, 201 End effector drive mechanism, a movable area, b, c parts supply area, d parts mounting area.

Claims (4)

  1. 　閉ループ形状の固定部を有する位置決め装置であって、
    　前記固定部の上を移動する第１および第２可動部と、前記第１可動部に搭載された一方向の回転軸周りに回転する第１回転関節と、前記第２可動部に搭載された一方向の回転軸周りに回転する第２回転関節と、前記第１回転関節に一端が支持される第１アームと、前記第２回転関節に一端が支持される第２アームと、前記第１アームの他端および前記第２アームの他端を連結し、一方向の回転軸周りに回転する第３回転関節と、前記第３回転関節、前記第１アームの他端または前記第２アームの他端に取り付けられたエンドエフェクタと、を有するエンドエフェクタ駆動機構を複数備える
    　ことを特徴とする位置決め装置。     A positioning device having a closed-loop shaped fixing part,
    The first and second movable parts that move on the fixed part, the first rotary joint that rotates around the rotation axis in one direction mounted on the first movable part, and the second movable part. A second rotary joint that rotates about a rotation axis in one direction, a first arm supported at one end by the first rotary joint, a second arm supported at one end by the second rotary joint, and the first A third rotary joint that connects the other end of the arm and the other end of the second arm and rotates around a rotation axis in one direction; and the third rotary joint, the other end of the first arm, or the second arm A positioning device comprising a plurality of end effector drive mechanisms having an end effector attached to the other end.
  2. 　前記エンドエフェクタ駆動機構は、
    　前記第１可動部に設けられ、前記第１可動部の移動方向を回転軸として前記第１回転関節を回転することが可能な第１アクチュエータと、
    　前記第２可動部に設けられ、前記第２可動部の移動方向を回転軸として前記第２回転関節を回転することが可能な第２アクチュエータと、
    　前記エンドエフェクタに接続され、前記第３回転関節の回転軸の方向と垂直な一方向の回転軸周りに前記エンドエフェクタを回転することが可能な第４回転関節と、
    　を備える
    　ことを特徴とする請求項１に記載の位置決め装置。     The end effector drive mechanism is
    A first actuator provided in the first movable part and capable of rotating the first rotary joint with a moving direction of the first movable part as a rotation axis;
    A second actuator provided in the second movable part and capable of rotating the second rotary joint with a moving direction of the second movable part as a rotation axis;
    A fourth rotary joint connected to the end effector and capable of rotating the end effector about a rotary axis in one direction perpendicular to the direction of the rotary axis of the third rotary joint;
    The positioning apparatus according to claim 1, further comprising:
  3. 　前記エンドエフェクタを前記固定部の閉ループ形状の内側および外側に位置決めすることが可能な
    　ことを特徴とする請求項１または２に記載の位置決め装置。     The positioning device according to claim 1, wherein the end effector can be positioned inside and outside the closed loop shape of the fixing portion.
  4. 　いずれかの前記エンドエフェクタ駆動機構において、前記第１可動部あるいは前記第２可動部のいずれかが前記固定部に固定されている
    　ことを特徴とする請求項１または２に記載の位置決め装置。     3. The positioning device according to claim 1, wherein, in any one of the end effector driving mechanisms, either the first movable portion or the second movable portion is fixed to the fixed portion.
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