JPH05253871A - Head protection device - Google Patents

Abstract

PURPOSE:To provide a head protection device which can easily prevent both a position recognition camera and a work tool mounted on a movable body from being collided with Y axis tables without enlarging the stroke of an X axis. CONSTITUTION:This is a rectangular coordinates type robot equipped with paired Y axis tables 1 and 2 where both of the axial directions are arranged so as to be parallel with each other, and with an X axis table 5 the axial direction of which is normal to the Y axis tables 1 and 2, and the robot is so constituted as to be equipped with a movable body 8 which is guided so as to be moved along the X axis table 5 while a position recognition camera 10, a work tool 11 and the like are mounted, and also with a projection 12 at a place faced to the Y axis tables 1 and 2 of the movable body 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a head protection device,
In particular, the present invention relates to a head protection device to be attached to a rectangular coordinate type robot used as a positioning device of a component assembling device.

[0002]

2. Description of the Related Art Industrial robots used for electronic component mounting machines are required to have high speed, high accuracy, and long strokes. For example, various work can be performed with high positional accuracy on a work such as a substrate. As a Cartesian coordinate type robot of an electronic component mounting machine, there is one as shown in FIG. Figure 3
In, the both ends of the X-axis table 5 are supported by the two Y-axis tables 1 and 2 arranged in parallel, which allows the X-axis table 5 to have a long stroke in response to the increase in size of the substrate. However, since it is driven at both ends, the X-axis table 5
Vibration, Y-axis tables 1 and 2 yaw (Yaw
ing) and rolling can be eliminated.

The structure of the X-axis and Y-axis tables is shown in FIGS.
This will be described with reference to FIGS. 4 to 7,
The Y-axis tables 1 and 2 are screwed into the Y-axis motor 3, the ball screw 4 fixed to the rotation shaft of the Y-axis motor 3 and the ball screw 4, respectively, as main constituent elements inside the Y-axis table 1 and the moving body 1.
Ball screw nuts 4a fixed to c and 2c, and linear guides 1b and 2b for slidably supporting movable bodies 1c and 2c having rotating shafts 1a and 2a on the upper side are provided. The power of the Y-axis motor 3 is transmitted to the ball screw 4 and converted into thrust force for moving the moving bodies 1c and 2c straight in the Y-axis direction by the ball screw nut 4a.

As with the Y-axis tables 1 and 2 described above, the X-axis table 5 also has an X-axis motor 6 as a main component therein, a ball screw 7 fixed to the rotary shaft of the X-axis motor 6, A ball screw nut fixed to a moving body, which is not shown in the figure and is engaged with the movable body 8 and is screwed into the ball screw 7, and a straight guide for slidably supporting the moving body in the X-axis direction. I have it. The power of the X-axis motor 6 is transmitted to the ball screw 7, and the ball screw nut moves the moving body to the X-axis.
It is converted to thrust that moves straight in the axial direction. As a result, the movable body 8 engaged with the protrusion of the movable body is driven so as to move on the X-axis table along the X-axis direction, and is positioned at an arbitrary position in the X-axis direction.

The cable unit 9a transmits power and control signals between the Y-axis table 1 and the X-axis table 5. The cable unit 9b includes the X-axis table 5 and the movable body 8.
Transmits power and control signals to and from. The movable body 8 has a position recognition camera 10 for recognizing a work position and a work tool 1.
1 is fixed.

In the robot having the above structure, an error is inevitable in the squareness and the feed rate of the two Y-axis tables 1 and 2, and the X-axis table 5 and the Y-axis table 1 and 1 are absorbed in order to absorb the error. The connection of 2 has a structure as shown in FIG. The rotary bearing outer ring body 14 can rotate about the rotary shaft 1a above the moving body 1c that slides in the axial direction of the Y-axis table 1 via the ring-shaped rotary bearing inner ring body 13. The rotary bearing outer ring body 14 and the slide block 15 are configured to be slidable, and the slide block 15 is fixed to the lower surface of one end of the X-axis table 5.

On the other hand, the rotary bearing outer ring body 16 is rotated about the rotary shaft 2a above the moving body 2c which slides in the axial direction of the Y-axis table 2 via the ring-shaped rotary bearing inner ring body 17. it can. The rotary bearing outer ring body 16 is fixed to the lower surface of the other end of the X-axis table 5.

With the above structure, the Y-axis table 1,
When a feed error occurs between the two, the X-axis table 5 slides the Y-axis table 1 in the X-axis direction and at the same time the moving body 1 moves.
Errors are absorbed by rotating the rotary shafts 1a and 2a above c and 2c as rotary shafts.

When a feed error occurs between the Y-axis tables 1 and 2, the X-axis table 5 slides on the Y-axis table 1. Therefore, the slide switches the limit switch 18 and the limit switch 18 provided in the X-axis table 5. Outer ring body 14 for rotary bearing
It is detected by the dog 19 provided in the. At the stage when this slide is detected, the controller 20 that supplies power to the Y-axis motor 3 and the X-axis motor 6 stops the power supply beyond that and puts each motor in a free state.

[0010]

However, in the rectangular coordinate type robot having the above-mentioned configuration, the robot is out of control due to a large deviation in the synchronous control between the Y-axis tables 1 and 2 or a break in the power or signal cable. Then, the X-axis table 5 is rotated and slid by the connecting mechanism described above, and the
In such a case, the position recognition camera 10 or the work tool 11 fixedly installed on the movable body 8 may collide with the Y-axis table 1 or 2, and the expensive position recognition camera 10 or the work tool 11 may be damaged. There is. Even if the deviation between the Y-axis tables 1 and 2 becomes maximum, the position recognition camera 10 or the work tool 11 on the movable body 8 does not move to the Y-axis tables 1 and 2.
If the stroke of the X-axis table 5 is lengthened so as not to collide with, and a margin larger than the stroke required for the X-axis table is taken, the above problem can be solved, but the X-axis table becomes longer than necessary and the speed is increased. However, there is a problem that it impedes accuracy.

The present invention solves the above problems, and
Provided is a head protection device for easily preventing a collision between a movable body and a Y-axis table without lengthening the stroke of the axis table and protecting a head mainly composed of a position recognition camera and a working tool on the movable body 8. The purpose is to do.

[0012]

In order to achieve the above object, the head protection device of the present invention is provided with a projection at a position of the movable body on the X-axis table facing the Y-axis table.

[0013]

With the above-mentioned structure, twisting should occur between the pair of Y-axis tables, and the position recognition camera or work tool on the movable body moving along the X-axis table collides with the Y-axis table. Even if there is a risk, the twist is detected by sliding the X-axis table, and by stopping the power supply to each motor, each motor becomes free and the protrusion provided at the position facing the Y-axis table of the movable body is removed. , The Y-axis table hits the movable body, so that the position recognition camera mounted on the movable body or the work tool is protected.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A head protection device according to an embodiment of this embodiment will be described below with reference to the drawings. As shown in FIGS. 1 and 2, before and after facing the Y-axis tables 1 and 2 of the movable body 8,
The protrusions 12 are provided at the left and right positions, respectively. Since other configurations are the same as the configurations described in the related art, the same members are designated by the same reference numerals and the description thereof will be omitted.

Next, the operation of this embodiment will be described. In the unlikely event that a feed error occurs between the pair of Y-axis tables 1 and 2 and twisting occurs, the position recognition camera 10 or the work tool 11 on the movable body 8 that moves along the X-axis table 5.
Even if there is a risk of the Y-axis table 1 or 2 colliding with each other, the twisting is detected by sliding the X-axis table 5 and the power supply to each motor is stopped as described in the conventional example. When the motor becomes free and the protrusions 12 provided at the front, rear, left and right positions facing the Y-axis table 1 or 2 of the movable body 8 push back the movable body 8 when they hit the Y-axis table 1 or 2, the movable body 8 is pushed back. The position recognition camera 10 or the work tool 11 mounted on is protected.

[0016]

As is apparent from the above description of the embodiments, according to the head protection device of the present invention, a pair of Y-axis tables arranged so that their axial directions are parallel to each other,
Inside the Y-axis table, there are provided a moving body having a rotating shaft at the upper part that is guided and moved along the Y-axis table, and an X-axis table whose axial direction is orthogonal to the Y-axis table. One end is rotatably engaged with and supported by one of the rotating shafts of the moving body about an axis orthogonal to the X-axis table and the Y-axis table, and the other end of the X-axis table is connected with the other rotating shaft of the moving body by X. A Cartesian coordinate type robot rotatably centered on an axis orthogonal to an axis table and a Y-axis table and slidably supported in an axial direction of the X-axis table. Even if the pair of Y-axis tables are twisted, the twisting is detected by sliding the X-axis table and the power supply to each motor is stopped by providing a protrusion at a position facing the Y-axis of the body. More each motor it is possible to protect the head provided on the movable body that moves along the X-axis table for pushing back the movable body against projections and Y-axis table becomes free.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a head protection device according to an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a perspective view showing a configuration of a conventional head.

FIG. 4 is a plan view of the same.

FIG. 5 is a perspective view showing a configuration inside a Y-axis table of the present invention and a conventional rectangular coordinate type robot.

FIG. 6 is a perspective view showing a portion of the Y-axis table of the Cartesian robot which engages with the X-axis table.

FIG. 7 shows that a head of a conventional Cartesian robot has a large deviation in synchronous control between a pair of Y-axis tables driving an X-axis table, and a movable body on the X-axis table collides with the Y-axis table. Plan view showing the state

[Explanation of symbols]

 1, 2 Y-axis table 1a, 2a Rotating shaft 1b, 2b Straight guide 1c, 2c Moving body 3 Y-axis motor 5 X-axis table 6 X-axis motor 8 Movable body 12 Protrusion

Claims (1)

[Claims] 1. A pair of Y-axis tables arranged such that their axial directions are parallel to each other, and a movement having a rotary shaft on the upper part thereof which is guided and moved along the Y-axis table inside the Y-axis table. A body and an X-axis table whose axial direction is orthogonal to the Y-axis table, and one end of the X-axis table is connected to one of the rotation axes of the moving body and an axis orthogonal to the X-axis and Y-axis tables. The other end of the X-axis table is rotatably engaged and supported, and the other end of the X-axis table is rotatable about the other of the rotary shafts of the moving body and an axis orthogonal to the X-axis and Y-axis tables. A Cartesian coordinate type robot slidably engaged and supported in an axial direction of an axis table, comprising a movable body guided and moved along the X-axis table, and a position of the movable body facing the Y-axis table. With a protrusion on De protection device.