Cartesian coordinates robot

Details Cartesian coordinates robot Cartesian coordinates robot

1999-03-18

2000-09-26

Masih, Karen

Electricity: motive power systems

Positional servo systems

With particular 'error-detecting' means

395 85, 395 86, 395 87, 395 89, 901 41, B64C 1706

Patent

active

061246956

DESCRIPTION:

BRIEF SUMMARY
TECHNICAL FIELD

The present invention relates to a rectangular coordinate (Cartesian coordinate) type robot.


BACKGROUND ART

In recent years, robots for use in mounting electronic components or the like are required to have a longer stroke together with high speed and high accuracy.
Conventionally, as a robot for executing a variety of operations with high positional accuracy on a workpiece such as a board, there is the robot shown in FIG. 11 and FIG. 12.
This is provided with an X-axis table 52 supported in a cantilever style on an Y-axis table 51. The X-axis table 52 can be positioned in an arbitrary position in the Y-direction. The X-axis table 52 is mounted with a working head section 53 that can be positioned in an arbitrary position in the X-direction. The working head section 53 is mounted with a position recognition means 54 for recognizing the position of a workpiece W and a working member 55 such as a component suction nozzle, which are spaced apart at a specified distance D in the X-direction as shown in FIG. 12.
This robot recognizes with high accuracy the working position of the working head section 53 by means of the position recognition means 54 by moving the working head section 53 into the working position of the workpiece W by means of the Y-axis table 51 and the X-axis table 52, and moves the working head section 53 by means of the Y-axis table 51 or the X-axis table 52 on the basis of the recognized working position and the above-mentioned distance D, thereby guiding the working member 55 into the working position for the execution of the operation.
The X-axis table 52 is supported in a cantilever style on the Y-axis table 51, and this causes an issue that vibration tends to occur when the X-axis table 52 is made to have a long stroke in correspondence to the workpiece W and an issue that it takes a period of time to position the working head section 53 when stopping a high-speed operation. A bolt for fastening the Y-axis table 51 to the X-axis table 52 tends to become loose. There is a further issue that the positioning accuracy of the working head section 53 is significantly reduced by the yawing and rolling of the Y-axis table 51.
A rectangular coordinate type robot (Japanese Laid-Open Patent Publication No. 3-221385) that we have already proposed in order to solve the above-mentioned issues has a construction as shown in FIG. 13 and FIG. 14.
A pair of Y-axis tables 1 and 2 are arranged parallel to each other, and the Y-axis tables 1 and 2 are provided with first moving units 4 and S that move while being guided along the Y-axis tables 1 and 2, respectively.
Between the Y-axis tables 1 and 2 is provided an X-axis table 3 perpendicular to the Y-axis tables 1 and 2. The X-axis table 3 is provided with a second moving unit 21 that is guided along the X-axis table 3.
One end portion of the X-axis table 3 and the first moving unit 4 located on the side of the one Y-axis table 1 are engaged with each other while being pivotal around the axes that are perpendicular to the Y-axis and X-axis tables. The other end portion of the X-axis table 3 and the first moving unit 5 located on the side of the other Y-axis table 2 are engaged and supported with each other while being pivotal around the axes that are perpendicular to the Y-axis and X-axis tables and slidable in the axial direction of the X-axis table 3.
The second moving unit 21 is provided with a workpiece position recognition means 25 and a working member 26.
In more detail, the Y-axis tables 1 and 2 are internally provided with threaded shafts (implemented by, for example, ball screws) 6 and 7 and motors 8 and 9 for rotating these threaded shafts 6 and 7. The first moving units 4 and 5 are meshed with the respective threaded shafts 6 and 7 via nuts (not shown).
The X-axis table 3 is supported and engaged pivotally with the first moving units 4 and 5 located on the Y-axis tables 1 and 2 and slidably in the axial direction of the X-axis table 3.
That is, the first moving units 4 and 5 located on the Y-axis tables 1 and 2 have their cent

REFERENCES:
patent: 5761390 (1998-06-01), Koshishiba et al.
patent: 5987349 (1999-11-01), Schulz

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