WO2017090243A1 - 部品実装ロボットシステム - Google Patents
部品実装ロボットシステム Download PDFInfo
- Publication number
- WO2017090243A1 WO2017090243A1 PCT/JP2016/004917 JP2016004917W WO2017090243A1 WO 2017090243 A1 WO2017090243 A1 WO 2017090243A1 JP 2016004917 W JP2016004917 W JP 2016004917W WO 2017090243 A1 WO2017090243 A1 WO 2017090243A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- component
- mounting
- jig
- robot
- electrolytic capacitor
- Prior art date
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Classifications
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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
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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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
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
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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
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
Definitions
- the present invention relates to a component mounting robot system for mounting a mounted component to a mounted product.
- the mounted component when mounting a mounted component on a mounted product with a robot, for example, the mounted component is gripped with a chuck or the like and transported to a mounting position, and the mounting portion of the mounted component is mounted at the mounting position of the mounted product.
- the mounting components such as electrolytic capacitors on a mounted product such as a printed circuit board
- the legs that are mounting portions of the electrolytic capacitors have individual differences in position, inclination, etc. with respect to the main body of the electrolytic capacitors There are many.
- This apparatus includes a handling robot for transporting a mounted component and an insertion jig for guiding a lead terminal, which is a mounting portion for the mounted component, to a mounting position.
- the handling robot holds the mounted component so as to keep the posture of the mounted component, accurately conveys it to the mounted position, and guides only the lead terminal of the mounted component to the mounted position with a jig.
- the mounting component is transported to an accurate position by the handling robot, there is a possibility that the lead terminal cannot be guided to the mounting position due to a shift in position, inclination, etc. due to individual differences in the mounted components.
- the main body is a cylindrical mounting component like an electrolytic capacitor, the position of the leg (lead terminal) may be shifted around the axis (rotation direction) depending on the gripping position of the main body. Also in this case, there is a possibility that the legs cannot be guided to the mounting position.
- the present invention can change the position of the main body to the mounting position by changing the posture of the main body while holding the main body of the mounting component by the component transfer robot, even for a cylindrical mounting component.
- An object is to provide a component mounting robot system capable of correction.
- the present invention provides a component transport robot for transporting a mounting component having a mounting portion to a mounting position of a mounted product, and the position of the mounting portion of the mounting component transported by the component transport robot.
- a jig for correcting the mounting position, and the jig has a guide part for correcting the position of the mounting portion of the mounting component to the mounting position, and the component transport robot changes the posture of the mounting component. It has a holding part that holds it as possible. “Hold so that the posture can be changed” in the document of this specification and claims means that the mounted component held by the component transfer robot can change its posture in the holding state. For example, holding through a rubber material, holding through a spring material, and the like are included.
- the mounted component can be transported to the mounting position, and the mounting portion mounting portion position can be corrected to the mounting position by the jig guide portion.
- the mounted component since the mounted component is held by the holding unit that can change the posture, the mounted component also changes its posture following the position correction of the mounting portion.
- the posture change includes tilt and rotation around the axis. Accordingly, it is possible to absorb the shift of the position of the mounting portion due to individual differences of the mounting components when the mounting component is transported to the mounting position, and to guide the mounting portion to the mounting position and correct the position.
- the holding part may have a holding member for holding the upper part or the side surface of the mounted component. If comprised in this way, since the upper part or side of the mounting component is held by the holding member and the posture of the lower part can be changed, the position of the mounting part mounting part can be corrected by the guide part of the jig. The mounting portion can be accurately corrected to the mounting position by the posture change caused by the inclination and rotation of the lower portion of the main body portion of the mounted component.
- the holding member may have a suction pad that sucks an upper part or a side surface of the mounting component.
- the suction pad that holds the mounting component is deformed following the position correction of the mounting portion, and the mounting portion is positioned at the mounting position due to the posture change due to the tilt and rotation of the lower portion of the main body of the mounting component. It can be corrected.
- the guide portion may be formed in a tapered shape in which the insertion side of the mounting portion has a large diameter and the mounting position side has a small diameter. If comprised in this way, the position correction of the mounting part of a mounting component can be carried out toward a mounting position along a taper-shaped guide part.
- the apparatus further includes a jig transfer robot for transferring the jig, and the jig transfer robot is configured to arrange the guide portion of the jig at the mounting position set at an arbitrary position of the mounted product.
- a possible control unit may be provided. If comprised in this way, the position which conveys a jig
- the component transport robot and the jig transport robot may be configured by a robot having an arm base of the component transport robot and an arm base of the jig transport robot on the same axis. If comprised in this way, since the arm base part of two robots is arrange
- the position of the main body portion can be changed by the guide portion of the jig and the mounting portion can be guided to the mounting position to correct the position. Therefore, even in the case of a cylindrical mounting component or the like, it is possible to appropriately correct the position of the mounting portion to the mounting position by absorbing the displacement of the mounting portion due to individual differences in the mounting components.
- FIG. 1 is a perspective view showing a main part of a component mounting robot system showing an embodiment of the present invention.
- FIG. 2 is a side view showing a tip portion of a component transport robot of the component mounting robot system shown in FIG.
- FIG. 3 is a perspective view showing a jig portion of the jig transport robot of the component mounting robot system shown in FIG.
- FIG. 4 is a perspective view showing a tip portion of the jig shown in FIG.
- FIG. 5A is a view for explaining the operation of the mounted component by the component mounting robot system shown in FIG. 1, and is a side view showing a state where the mounted component held by the component transfer robot is transferred to the position of the jig.
- FIG. 1 is a perspective view showing a main part of a component mounting robot system showing an embodiment of the present invention.
- FIG. 2 is a side view showing a tip portion of a component transport robot of the component mounting robot system shown in FIG.
- FIG. 3 is a perspective view showing
- 5B is a diagram for explaining the operation of the mounted component by the component mounting robot system shown in FIG. 1, and is a side view showing a state in which the mounting portion of the mounted component is corrected in position by a jig and inserted into the mounted product. is there.
- a component mounting robot system 1 includes a component transport robot 10 that transports an electrolytic capacitor (mounted component) C to a mounting position Ba (hole portion: FIG. 5) of a printed circuit board (mounted product) B.
- a jig 30 for correcting the position of the leg portion Ca (attachment portion) of the electrolytic capacitor C conveyed by the component conveying robot 10 to the mounting position Ba of the printed circuit board B is provided.
- the jig 30 is transported to the mounting position Ba by the jig transport robot 20.
- the jig conveyance robot 20 arranges the jig 30 so that the guide portions 31b and 32b formed at the tip portions 31a and 32a of the jig 30 are accurately arranged at the mounting position Ba of the printed board B.
- the printed circuit board B is held at a fixed position by the fixed position holding device 40.
- the component transfer robot 10 and the jig transfer robot 20 may be arranged in parallel, but in this embodiment, the component transfer robot 10 and the jig transfer robot 20 are coaxially provided with an arm base. It has a robot (two-dot chain line in the figure). If comprised in this way, since the arm base part of two robots is arrange
- the component transport robot 10 includes a holding portion 11 that holds an upper portion of a main body portion Cb of an electrolytic capacitor (mounted component) C.
- the holding part 11 may hold the upper part or the side surface of the main body part Cb.
- the holding unit 11 holds the electrolytic capacitor C so that the posture of the electrolytic capacitor C (mounting component) can be changed (tilt and rotation can be performed) while being held.
- the holding unit 11 is provided downward on the hand unit 12 of the component transport robot 10.
- the holding portion 11 of this embodiment is provided with a suction pad 14 that is a holding member downward.
- the suction pad 14 is made of a rubber material.
- the upper portion of the suction pad 14 is attached to a cylinder 13 that extends downward from the hand portion 12.
- the lower part of the suction pad 14 is formed as a suction surface 15 that extends toward the lower end.
- a reduced diameter portion 15 a is provided on the upper surface of the suction surface 15 of the suction pad 14.
- the suction surface 15 can be changed in posture so as to be inclined and rotated with respect to the axis of the suction pad 14 including the reduced diameter portion 15a.
- the suction pad 14 sucks the upper surface of the main body Cb of the electrolytic capacitor C by sucking air (arrow) from the suction hole 16 provided in the axial direction (vertical direction in the drawing) of the cylinder 13 of the attachment portion.
- the surface 15 can be adsorbed and held. Moreover, even if the suction pad 14 is an electrolytic capacitor C having a different outer shape, it can be sucked and held.
- the suction pad 14 can change the posture (tilt and rotation) of the electrolytic capacitor C held by the suction surface 15 following the position correction of the leg portion Ca of the electrolytic capacitor C. Since the suction pad 14 allows the posture change of the electrolytic capacitor C due to the deformation of the rubber material, the posture of the main body portion Cb of the electrolytic capacitor C can be appropriately changed following the position correction of the leg portion Ca.
- the posture of the main body Cb of the electrolytic capacitor C By changing the posture of the main body Cb of the electrolytic capacitor C and correcting it, individual differences such as the position of the leg Ca relative to the main body Cb and the inclination of the leg Ca when the electrolytic capacitor C is disposed at the mounting position Ba The position can be corrected by absorbing the deviation. Therefore, the leg portion Ca can be appropriately inserted into the mounting position Ba of the printed board B.
- the holding that enables the posture of the main body Cb of the electrolytic capacitor (mounted component) C to be changed is not limited to adsorption.
- a spring may be provided between the hand unit 12 of the component transport robot 10 and the clamper that holds the electrolytic capacitor C.
- the clamper holding the main body Cb of the electrolytic capacitor C can change the posture of the main body Cb of the electrolytic capacitor C by changing the posture of the spring portion. Even with this configuration, the position of the leg Ca can be corrected by changing the posture of the main body Cb of the electrolytic capacitor C.
- the holding member may be any member that can hold the electrolytic capacitor C so that the posture of the main body Cb of the electrolytic capacitor (mounted component) C can be changed. Holding by the holding member is not limited to holding by a rubber material and holding via a spring material.
- the jig transport robot 20 is provided with a jig 30 for guiding the leg portion Ca of the electrolytic capacitor C to the mounting position Ba (hole portion: FIG. 5) of the printed circuit board B. ing.
- the jig 30 is attached to a drive unit 21 provided in the hand unit 22.
- the jig 30 has two rod portions 31 and 32 extending in the front-rear direction of the drawing from the drive portion 21 toward the mounting position Ba. These rod parts 31 and 32 can be opened and closed in the front-rear direction of the figure by a drive mechanism (not shown) provided inside the drive part 21 (two-dot chain line).
- the drive mechanism is controlled by the control unit 23.
- the rod portions 31 and 32 of the jig 30 have guide portions 31b and 32b for correcting the position of the leg portion Ca of the electrolytic capacitor C to the mounting position Ba at the tip portions 31a and 32a, respectively.
- the tip portions 31 a and 32 a are in contact with portions where the guide portions 31 b and 32 b are provided in a state where the rod portions 31 and 32 are closed.
- the two guide portions 31b and 32b are provided so as to guide the two legs Ca provided on the electrolytic capacitor C.
- the rod parts 31 and 32 of the jig 30 are closed when the position Ca is corrected by guiding the leg Ca of the electrolytic capacitor C, and after the position correction of the leg Ca to the mounting position Ba, It can be moved to a position away from the electrolytic capacitor C by opening in the front-rear direction (two-dot chain line).
- the inner surfaces of the guide portions 31b and 32b of this embodiment are such that the upper surfaces of the tip portions 31a and 32a on the insertion side of the leg portions Ca of the electrolytic capacitor C have a large diameter, and the diameter decreases toward the lower surface.
- the lower surface is a conical tapered surface having a small diameter.
- the lower ends of the guide portions 31b and 32b are formed to have a diameter that can guide the leg portion Ca to the mounting position Ba. With the rod portions 31 and 32 closed, the inner surfaces of the guide portions 31b and 32b are conical. Another function may be sufficient as the function which carries out position correction of the leg part Ca of the electrolytic capacitor C to the mounting position Ba by the guide parts 31b and 32b.
- the position of the leg portion Ca of the electrolytic capacitor C can be corrected along the tapered guide portions 31b and 32b toward the mounting position Ba.
- the jig transport robot 20 sets the positions of the guide portions 31b and 32b of the jig 30 by the control unit 23 so that the electrolytic capacitor C can be attached to the mounting position Ba set at an arbitrary position of the printed circuit board B. It can be programmed to be placed at any mounting position Ba on the printed circuit board B. That is, the position where the jig 30 is conveyed can be programmed by the control unit 23 according to the printed circuit board B. Therefore, it can be easily adapted to various printed circuit boards B.
- FIG. 5A is a side view showing a state in which the mounting component held by the component transport robot is transported to the position of the jig, and the mounting portion of the mounting part is corrected by the jig and inserted into the mounted product.
- the correction operation of the electrolytic capacitor (mounted component) C by the component mounting robot system 1 will be described with reference to FIG.
- the electrolytic capacitor C is mounted on the mounting position Ba of the printed circuit board B by the component mounting robot system 1 described above.
- the jig 30 is transported by the jig transport robot 20 to a position where the guide portions 31b and 32b provided at the tip portions 31a and 32a of the rod portions 31 and 32 are disposed above the mounting position Ba.
- the mounting component is an electrolytic capacitor C
- the two leg portions Ca are relatively long and are often not parallel to the axis of the main body Cb.
- the electrolytic capacitor C is transported to the mounting position Ba of the printed circuit board B with the upper portion of the main body Cb being sucked by the suction pad 14 of the component transport robot 10.
- the electrolytic capacitor C transported to the mounting position Ba by the component transport robot 10 is lowered toward the jig 30 by the component transport robot 10.
- the legs Ca of the electrolytic capacitor C inserted into the guide portions 31b and 32b of the jig 30 move downward while being corrected in position along the tapered surfaces of the guide portions 31b and 32b.
- the suction pad 14 contracts the suction surface 15 and the upper portion thereof. It deforms including the diameter portion 15a. Due to the deformation of the suction pad 14, the body portion Cb of the electrolytic capacitor C changes its posture so as to tilt and rotate. By changing the posture of the main body Cb of the electrolytic capacitor C, the positional displacement of the leg Ca due to individual differences of the electrolytic capacitor C is absorbed, and the leg Ca is mounted along the guide portions 31b and 32b of the jig 30. It is possible to accurately guide toward the position Ba. Then, the leg portion Ca whose position has been corrected by the guide portions 31b and 32b of the jig 30 exits from the lower surface of the jig 30 and is inserted into the mounting position Ba.
- the component mounting robot system 1 is configured to hold and transport the upper portion of the main body Cb of the electrolytic capacitor C by the suction pad 14. For this reason, if the lower leg portion Ca of the electrolytic capacitor C is inserted into the guide portions 31b and 32b of the jig 30, even if there is an individual difference in position or inclination of the leg portion Ca with respect to the main body portion Cb, adsorption is performed. Since the pad 14 is deformed to change the posture of the main body Cb, individual differences can be absorbed. That is, following the correction by the leg portion Ca being guided to the mounting position Ba, the body portion Cb is also tilted and rotated to change its posture.
- the position of the leg Ca can be corrected so as to absorb variations in the leg Ca due to individual differences in the electrolytic capacitor C and variations in the arrangement. . Therefore, it is possible to appropriately guide and insert the leg portion Ca of the electrolytic capacitor C into the mounting position Ba of the printed circuit board B.
- the electrolytic capacitor C can be conveyed to the mounting position Ba, and the leg portion Ca of the electrolytic capacitor C can be corrected to the accurate mounting position Ba by the jig 30.
- the mounting component (electrolytic capacitor C) having the mounting portion (leg portion Ca) is transported and mounted to the mounting position Ba of the mounted product (printed circuit board B).
- the mounting part (electrolytic capacitor C) of the mounting part (electrolytic capacitor C) changes the posture of the body part Cb, and the mounting part (leg part Ca) is moved to the jig 30. It is possible to accurately guide to the mounting position Ba along the guide portions 31b and 32b, and it is possible to absorb the individual differences of the attachment portions (leg portions Ca) and the displacement such as the arrangement position error.
- the mounted component mounting robot system 1 even when the form of the mounted component is not uniform or when it is difficult to always keep the mounting position of the mounted component, the mounted component is appropriately attached to the mounted product. It becomes possible.
- the electrolytic capacitor C is described as the mounting component and the printed circuit board B is used as the mounted product.
- the mounting component may be, for example, an IC, a pin, or a rod.
- these pins, rods and the like are attached, for example, a substrate, a casing, a cylinder and the like can be applied.
- the combination of the mounted component and the mounted product is not limited to the combination of the electrolytic capacitor C and the printed board B.
- the above-described embodiment shows an example, and the number of places where the guide portions 31b and 32b of the jig 30 are formed may be one place, three places, etc. according to the number of mounting parts of the mounting parts.
- the present invention is not limited to the above-described embodiment.
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- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
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- Mechanical Engineering (AREA)
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- Supply And Installment Of Electrical Components (AREA)
Abstract
Description
図1に示すように、部品実装ロボットシステム1は、電解コンデンサ(実装部品)Cをプリント基板(被実装品)Bの実装位置Ba(穴部:図5)に搬送する部品搬送ロボット10と、この部品搬送ロボット10で搬送した電解コンデンサCの脚部Ca(取付部)の位置をプリント基板Bの実装位置Baに補正する治具30とを備えている。治具30は、治具搬送ロボット20によって実装位置Baに搬送されるようになっている。治具搬送ロボット20は、治具30の先端部31a,32aに形成された案内部31b,32bが、プリント基板Bの実装位置Baに正確に配置されるように治具30を配置する。プリント基板Bは、定位置保持装置40で定位置に保持されている。
図1,2に示すように、上記部品搬送ロボット10は、電解コンデンサ(実装部品)Cの本体部Cbの上部を保持する保持部11を有している。この保持部11は、本体部Cbの上部又は側面を保持するものでよい。保持部11は、電解コンデンサC(実装部品)が、保持された状態で姿勢変化可能(傾き及び回転などが可能)なように電解コンデンサCを保持する。保持部11は、部品搬送ロボット10のハンド部12に下向きに設けられている。この実施形態の保持部11には、下向きに保持部材たる吸着パッド14が設けられている。吸着パッド14は、ゴム材で形成されている。吸着パッド14の上部は、ハンド部12から下向きに延びる筒体13に取り付けられている。吸着パッド14の下部は、下端に向けて拡がる吸着面15として形成されている。吸着パッド14の吸着面15の上部には縮径部15aが設けられている。吸着面15は、この縮径部15aを含めて吸着パッド14の軸心に対して傾き及び回転する姿勢変化が可能となっている。吸着パッド14は、取り付け部の筒体13の軸方向(図の上下方向)に設けられた吸引穴16から空気が吸引(矢印)されることで、電解コンデンサCの本体部Cbの上面を吸着面15で吸着して保持することができる。しかも、吸着パッド14は、異なる外形を有する電解コンデンサCであっても、吸着して保持することが可能である。
図1,3に示すように、上記治具搬送ロボット20には、上記電解コンデンサCの脚部Caをプリント基板Bの実装位置Ba(穴部:図5)に案内する治具30が設けられている。治具30は、ハンド部22に設けられた駆動部21に取り付けられている。治具30は、駆動部21から実装位置Baに向けて図の前後方向に延びる2本のロッド部31,32を有している。これらのロッド部31,32は、駆動部21の内部に設けられた駆動機構(図示略)によって、図の前後方向に開閉可能となっている(二点鎖線)。駆動機構は、制御部23によって制御される。
次に、部品搬送ロボットで保持した実装部品が治具の位置に搬送された状態を示す側面図である図5Aと、実装部品の取付部が治具によって位置補正されて被実装品に挿入された状態を示す側面図である図5Bに基づいて、部品実装ロボットシステム1による電解コンデンサ(実装部品)Cの補正動作を説明する。
上記した実施形態では、部品搬送ロボット10と治具搬送ロボット20とを備えた構成を説明したが、電解コンデンサ(実装部品)Cの実装位置Baが一定の場合は、治具30を搬送する治具搬送ロボット20を必要としない場合もある。このように、ロボットの構成は上記実施形態に限定されるものではない。
10 部品搬送ロボット
11 保持部
14 吸着パッド(保持部材)
15 吸着面
15a 縮径部
16 吸引穴
20 治具搬送ロボット
21 駆動部
23 制御部
30 治具
31,32 ロッド部材
31a,32a 先端部
31b,32b 案内部
B プリント基板(被実装品)
Ba 実装位置
C 電解コンデンサ(実装部品)
Ca 脚部(取付部)
Cb 本体部
Claims (6)
- 取付部を有する実装部品を被実装品の実装位置に搬送する部品搬送ロボットと、
前記部品搬送ロボットで搬送した前記実装部品の取付部の位置を前記実装位置に補正する治具と、を備え、
前記治具は、前記実装部品の取付部の位置を前記実装位置に補正する案内部を有し、
前記部品搬送ロボットは、前記実装部品を姿勢変化可能に保持する保持部を有している、ことを特徴とする部品実装ロボットシステム。 - 前記保持部は、前記実装部品の上部又は側面を保持する保持部材を有している、請求項1に記載の部品実装ロボットシステム。
- 前記保持部材は、前記実装部品の上部又は側面を吸着する吸着パッドを有している、請求項2に記載の部品実装ロボットシステム。
- 前記案内部は、前記取付部の挿入側が大径で、前記実装位置の側が小径に形成されたテーパ状に形成されている、請求項1~3のいずれか1項に記載の部品実装ロボットシステム。
- 前記治具を搬送する治具搬送ロボットをさらに備え、
前記治具搬送ロボットは、前記被実装品の任意の位置に設定した前記実装位置に前記治具の案内部を配置するようにプログラム可能な制御部を備えている、請求項1~4のいずれか1項に記載の部品実装ロボットシステム。 - 前記部品搬送ロボットと前記治具搬送ロボットとは、同軸上に前記部品搬送ロボットのアーム基部と前記治具搬送ロボットのアーム基部を具備するロボットで構成されている、請求項5に記載の部品実装ロボットシステム。
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KR1020187017513A KR20180100117A (ko) | 2015-11-27 | 2016-11-18 | 부품 실장 로봇 시스템 |
CN201680068932.7A CN108293324B (zh) | 2015-11-27 | 2016-11-18 | 部件实装机器人*** |
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WO2018225777A1 (ja) * | 2017-06-06 | 2018-12-13 | 川崎重工業株式会社 | リード線の挿入方法及びその実施に用いる保持装置 |
JP2019140300A (ja) * | 2018-02-14 | 2019-08-22 | 川崎重工業株式会社 | 実装装置及び実装方法 |
JP2019212650A (ja) * | 2018-05-31 | 2019-12-12 | 川崎重工業株式会社 | 電子部品保持装置 |
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JP7339729B2 (ja) * | 2018-05-31 | 2023-09-06 | 川崎重工業株式会社 | ロボット |
CN113973491B (zh) * | 2021-10-25 | 2023-05-23 | 深圳市本致科技有限公司 | 一种电子元件多功能预处理装置 |
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JP2017098501A (ja) | 2017-06-01 |
US10716251B2 (en) | 2020-07-14 |
CN108293324A (zh) | 2018-07-17 |
KR20180100117A (ko) | 2018-09-07 |
US20190230831A1 (en) | 2019-07-25 |
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