WO2016113854A1 - Positioning device - Google Patents
Positioning device Download PDFInfo
- 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
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Classifications
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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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
- 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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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
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.
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.
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 apositioning 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。
FIG. 1 is a schematic plan view showing a configuration of a
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 thepositioning 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.
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
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)
- 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. - 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: - 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. - 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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