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WO2016113854A1 - Dispositif de positionnement - Google Patents

Dispositif de positionnement 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
Authority
WO
WIPO (PCT)
Prior art keywords
end effector
rotary joint
positioning device
arm
movable
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2015/050753
Other languages
English (en)
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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2015/050753 priority Critical patent/WO2016113854A1/fr
Priority to JP2016515172A priority patent/JP6053991B2/ja
Publication of WO2016113854A1 publication Critical patent/WO2016113854A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

L'invention concerne un dispositif (10) de positionnement doté d'une partie (1) de fixation en forme de boucle fermée, muni d'une pluralité de mécanismes (100) d'entraînement d'effecteur comprenant des première et deuxième parties mobiles (11, 12) servant à déplacer le dessus de la partie de fixation, une première articulation (13) de rotation montée sur la première partie mobile et pivotant autour d'un axe de rotation unidirectionnel, une deuxième articulation (14) de rotation montée sur la deuxième partie mobile et pivotant autour d'un axe de rotation unidirectionnel, un premier bras (15) soutenu à une extrémité par la première articulation de rotation, un deuxième bras (16) soutenu à une extrémité par la deuxième articulation de rotation, un troisième articulation (17) de rotation reliant l'autre extrémité du premier bras à l'autre extrémité du deuxième bras et pivotant autour d'un axe de rotation unidirectionnel, et un effecteur (18) rattaché à la troisième articulation de rotation, à l'autre extrémité du premier bras ou à l'autre extrémité du deuxième bras.
PCT/JP2015/050753 2015-01-14 2015-01-14 Dispositif de positionnement Ceased WO2016113854A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2015/050753 WO2016113854A1 (fr) 2015-01-14 2015-01-14 Dispositif de positionnement
JP2016515172A JP6053991B2 (ja) 2015-01-14 2015-01-14 位置決め装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/050753 WO2016113854A1 (fr) 2015-01-14 2015-01-14 Dispositif de positionnement

Publications (1)

Publication Number Publication Date
WO2016113854A1 true WO2016113854A1 (fr) 2016-07-21

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PCT/JP2015/050753 Ceased WO2016113854A1 (fr) 2015-01-14 2015-01-14 Dispositif de positionnement

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Country Link
JP (1) JP6053991B2 (fr)
WO (1) WO2016113854A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019044136A1 (fr) * 2017-08-29 2019-03-07 日本電産株式会社 Système de travail

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0290080U (fr) * 1988-12-29 1990-07-17
JP2004520952A (ja) * 2001-04-19 2004-07-15 コンシッリオ ナツィオナーレ デレ リチェルケ モジュール式再構成可能な平行運動ロボット
US20040150291A1 (en) * 2001-06-01 2004-08-05 Jens Hamann Production machine
JP2004524982A (ja) * 2001-02-23 2004-08-19 ウィレマン マシン ソシエテ アノニム 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス
JP2010149269A (ja) * 2008-12-26 2010-07-08 Murata Machinery Ltd 作業具の移動装置およびローダ装置
JP2011125950A (ja) * 2009-12-17 2011-06-30 Murata Machinery Ltd ワーク搬送装置

Family Cites Families (1)

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Publication number Priority date Publication date Assignee Title
US9505137B2 (en) * 2011-03-30 2016-11-29 Squse Inc. Scott Russell mechanism device

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JPH0290080U (fr) * 1988-12-29 1990-07-17
JP2004524982A (ja) * 2001-02-23 2004-08-19 ウィレマン マシン ソシエテ アノニム 機械又は計器における端部要素を支持し且つプログラム可能に駆動するための運動デバイス
JP2004520952A (ja) * 2001-04-19 2004-07-15 コンシッリオ ナツィオナーレ デレ リチェルケ モジュール式再構成可能な平行運動ロボット
US20040150291A1 (en) * 2001-06-01 2004-08-05 Jens Hamann Production machine
JP2010149269A (ja) * 2008-12-26 2010-07-08 Murata Machinery Ltd 作業具の移動装置およびローダ装置
JP2011125950A (ja) * 2009-12-17 2011-06-30 Murata Machinery Ltd ワーク搬送装置

Non-Patent Citations (2)

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Title
BOURI, M.; ET AL.: "The Linear Delta: Developments and Applications, Robotics (ISR", 2010 41ST INTERNATIONAL SYMPOSIUM ON AND 2010 6TH GERMAN CONFERENCE ON ROBOTICS (ROBOTIK, pages 1 - 8 *
HARADA, T.; ET AL.: "Configurations and Mathematical Models of Parallel Link Mechanisms Using Multi Drive Linear Motors", INTELLIGENT ROBOTS AND SYSTEMS, 2009. IROS 2009. IEEE /RSJ INTERNATIONAL CONFERENCE ON, pages 1974 - 1979 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019044136A1 (fr) * 2017-08-29 2019-03-07 日本電産株式会社 Système de travail

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JP6053991B2 (ja) 2016-12-27
JPWO2016113854A1 (ja) 2017-04-27

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