U.S. patent application number 14/148728 was filed with the patent office on 2014-05-01 for robot system and method of manufacturing processed product.
This patent application is currently assigned to KABUSHIKI KAISHA YASKAWA DENKI. The applicant listed for this patent is KABUSHIKI KAISHA YASKAWA DENKI. Invention is credited to Keigo ISHIBASHI, Kenichi MOTONAGA, Takashi SHIINO, Katsunori URABE.
Application Number | 20140115863 14/148728 |
Document ID | / |
Family ID | 44317643 |
Filed Date | 2014-05-01 |
United States Patent
Application |
20140115863 |
Kind Code |
A1 |
URABE; Katsunori ; et
al. |
May 1, 2014 |
ROBOT SYSTEM AND METHOD OF MANUFACTURING PROCESSED PRODUCT
Abstract
To automatically perform an attachment work of a material supply
to a target object, a robot system includes a robot provided with a
body, a first arm provided for the body and having a plurality of
joints, a second arm provided for the body separately from the
first arm and having a plurality of joints, and hand units
respectively provided for the first arm and the second arm. The
robot holds one of a plurality of types of workpiece components
using the hand units of the first arm and the second arm at the
same time, and the remaining type of the workpiece components is
held and carried by the hand unit of the first arm or the second
arm.
Inventors: |
URABE; Katsunori; (Fukuoka,
JP) ; MOTONAGA; Kenichi; (Fukuoka, JP) ;
ISHIBASHI; Keigo; (Fukuoka, JP) ; SHIINO;
Takashi; (Fukuoka, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KABUSHIKI KAISHA YASKAWA DENKI |
Kitakyushu-shi |
|
JP |
|
|
Assignee: |
KABUSHIKI KAISHA YASKAWA
DENKI
Kitakyushu-shi
JP
|
Family ID: |
44317643 |
Appl. No.: |
14/148728 |
Filed: |
January 7, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
13021788 |
Feb 7, 2011 |
8651160 |
|
|
14148728 |
|
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Current U.S.
Class: |
29/428 ; 29/700;
901/30 |
Current CPC
Class: |
Y10T 29/49826 20150115;
Y10T 29/53 20150115; Y10T 156/133 20150115; Y10T 156/1335 20150115;
Y10T 156/1062 20150115; Y10T 156/1056 20150115; Y10T 156/1052
20150115; B23P 19/001 20130101; Y10T 156/1317 20150115; Y10T
83/0448 20150401; B25J 9/1682 20130101; Y10T 156/12 20150115; Y10T
156/1322 20150115; Y10T 83/202 20150401; Y10S 901/30 20130101; Y10T
156/1326 20150115 |
Class at
Publication: |
29/428 ; 29/700;
901/30 |
International
Class: |
B23P 19/00 20060101
B23P019/00 |
Foreign Application Data
Date |
Code |
Application Number |
May 28, 2010 |
JP |
2010-123360 |
Claims
1. A robot system that attaches a material supply to a target
object, comprising: a first arm having a first hand mechanism; a
second arm having a second hand mechanism; and a control device
that is configured to operate the first hand mechanism to feed the
material supply, the control device being configured to operate the
second hand mechanism to press the material supply that was fed
against the target object, and the control device being configured
to operate the first arm to further feed the material supply while
the second hand mechanism presses the material supply against the
target object.
2. The robot system according to claim 1, wherein the control
device is configured to move the first arm to further feed the
material supply and is configured to move the second arm in a
direction same as a direction in which the first arm moves after
operating the second hand mechanism to press the material supply
against the target object.
3. The robot system according to claim 2, wherein the first hand
mechanism includes: a feeding mechanism configured to feed the
material supply from an upstream side to a downstream side; a first
gripping mechanism configured to grip a tip end portion of the
material supply that has been fed from the feeding mechanism; and a
cutting mechanism configured to cut the material supply on a
downstream side from the first gripping mechanism, the second hand
mechanism includes: a second gripping mechanism configured to grip
the material supply supported by the first hand mechanism; and a
pressing mechanism configured to press a tip end portion of the
material supply that has been fed from the first hand mechanism
against the target object, and the control device being configured
to: operate the second gripping mechanism to grip the material
supply that is gripped by the first gripping mechanism, operate the
first gripping mechanism to ungrip the gripping, and operates the
first arm and the second arm in cooperation to feed the material
supply, operate the second gripping mechanism to ungrip the
gripping, and moves the first hand mechanism and the second hand
mechanism to a previously set position, operate the second arm to
cause the pressing mechanism to press the tip end portion of the
material supply against the target object, operate the first arm to
feed the material supply by a previously set length, operate the
second arm to move the pressing mechanism toward the first hand
mechanism in a state in which the material supply is pressed
against the target object, and operate the first gripping mechanism
to grip the material supply, and then operates the cutting
mechanism to cut the material supply.
4. The robot system according to claim 3, wherein the pressing
mechanism includes a driven roller configured to press the material
supply against the target object.
5. The robot system according to claim 3, wherein the first
gripping mechanism and the feeding mechanism are integrally
provided, the feeding mechanism includes: a winding roller holder
loaded with a winding roller on which the material supply is wound,
a guide roller configured to guide the material supply fed from the
winding roller toward the first gripping mechanism, and the first
hand mechanism includes a detachment mechanism configured to
detachably hold the first gripping mechanism and the feeding
mechanism that are integrally provided.
6. The robot system according to claim 1, further comprising: a
stage provided near the robot device; a carry-in device configured
to carry the target object before processing into the stage; a
positioning device configured to fix the target object that has
been carried in to the stage at a previously set position; and a
carry-out device configured to carry the target object after
processing out from the stage.
7. The robot system according to claim 1, wherein, during the
further feeding of the material, the control device is configured
to move the first arm in a first direction to further feed the
material supply and is configured to simultaneously move the second
arm in a second direction, which is same as the first direction, as
the second hand mechanism presses the material supply against the
target object.
8. The robot system according to claim 1, wherein the control
device is configured to operate the first arm to further feed the
material supply while the second hand mechanism presses the
material supply against the target object prior to the material
supply fed from the first hand mechanism being cut.
9. The robot system according to claim 1, wherein the first hand
mechanism includes a cutting mechanism configured to cut the
material supply, and wherein the control device is configured to
operate the first arm to further feed the material supply while the
second hand mechanism presses the material supply against the
target object prior to the material supply fed from the first hand
mechanism being cut by the cutting mechanism.
10. The robot system according to claim 1, wherein the control
device is configured to operate the firsthand mechanism to feed the
material supply a first length prior to the second hand mechanism
pressing the material supply that was fed against the target
object, and the control device is configured to operate the first
arm to further feed the material supply a second length while the
second hand mechanism presses the material supply against the
target object to reach a total length of material supply that
equals the first length plus the second length.
11. The robot system according to claim 10, wherein the control
device is configured to feed the material supply by the total
length prior to the material supply being cut.
12. A robot system that attaches a material supply to a target
object, comprising: a first arm having a first hand mechanism; a
second arm having a second hand mechanism; and a control device
that is configured to operate the first hand mechanism to feed the
material supply, the control device being configured to operate the
second hand mechanism to press the material supply that was fed
against the target object, and the control device being configured
to simultaneously operate the first arm to move in a first
direction to further feed the material supply and operate the
second hand mechanism to press the material supply against the
target object and move in a second direction, which is same as the
first direction.
13. A method of manufacturing a processed product, comprising the
steps of: preparing a robot provided with a first arm having a
first hand mechanism and a second arm having a second hand
mechanism; placing a target object on a stage provided near the
robot, the target object being a component of the processed
product; feeding the material supply from the first hand mechanism;
pressing the material supply that was fed against the target object
using the second hand mechanism; and further feeding the material
supply using the first arm while the second hand mechanism presses
the material supply against the target object.
14. The method of manufacturing a processed product according to
claim 13, wherein during the further feeding of the material
supply, the first arm moves in a first direction to further feed
the material supply while the second hand mechanism to press the
material supply against the target object and simultaneously moves
in a second direction, which is same as the first direction.
15. The method of manufacturing a processed product according to
claim 13, wherein the first hand mechanism includes: a feeding
mechanism configured to feed the material supply from an upstream
side to a downstream side; a first gripping mechanism configured to
grip a tip end portion of the material supply that has been fed
from the feeding mechanism; and a cutting mechanism configured to
cut the material supply on a downstream side from the first
gripping mechanism, and the second hand mechanism includes: a
second gripping mechanism configured to grip the material supply
supported by the first hand mechanism; and a pressing mechanism
configured to press a tip end portion of the material supply that
has been fed from the first hand mechanism against the target
object.
16. The method of manufacturing a processed product according to
claim 15, further comprising the steps of: causing the second
gripping mechanism to grip the material supply that is gripped by
the first gripping mechanism; causing the first gripping mechanism
to ungrip the gripping, and operating the first arm and the second
arm in cooperation to feed the material supply; causing the second
gripping mechanism to ungrip the gripping, and moving the first
hand mechanism and the second hand mechanism to a previously set
position; operating the second arm to cause the pressing mechanism
to press the tip end portion of the material supply against the
target object; operating the first arm to feed the material supply
by a previously set length; causing the first gripping mechanism to
grip the material supply, and then causing the cutting mechanism to
cut the material supply; and operating the second arm to move the
pressing mechanism toward the first hand mechanism in a state in
which the material supply is pressed against the target object.
17. The method of manufacturing a processed product according to
claim 13, wherein the further feeding of the material supply is
performed prior to the material supply fed from the first hand
mechanism being cut.
18. The method of manufacturing a processed product according to
claim 13, further comprising cutting the material supply using a
cutting mechanism in the first hand mechanism after the further
feeding of the material supply is performed, wherein the further
feeding of the material supply is performed prior to the material
supply fed from the first hand mechanism being cut.
19. The method of manufacturing a processed product according to
claim 13, wherein the feeding of the material supply from the first
hand mechanism includes feeding the material supply a first length
prior to the second hand mechanism pressing the material supply
that was fed against the target object, the further feeding of the
material supply using the first arm while the second hand mechanism
presses the material supply against the target object includes
further feed the material supply a second length to reach a total
length of material supply that equals the first length plus the
second length.
20. The method of manufacturing a processed product according to
claim 19, wherein the material supply is fed by the total length
prior to the material supply being cut.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] The present application is a continuation application of
U.S. patent application Ser. No. 13/021,788, filed Feb. 7, 2011,
and claims priority under 35 U.S.C. .sctn.119 to Japanese Patent
Application No. 2010-123360, filed May 28, 2010. The contents of
this application are incorporated herein by reference in their
entirety.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to a robot system and a method
of manufacturing a processed product.
[0004] 2. Description of the Related Art
[0005] Japanese Patent Laid-Open Publication No. 2009-000799 and
such propose a technique for automating a production line by using
a robot to carry out a work that has been carried out by a
person.
[0006] In addition to such a technique, there is an increased
demand for streamlining production facilities for a wide variety of
products in small lots by automating various complicated
human-intensive works using a versatile robot instead of a
specialized machine. This requires expansion of works that can be
automated using robots.
SUMMARY OF THE INVENTION
[0007] According to one aspect of the present invention, a robot
system that attaches a material supply to a target object includes:
a first arm having a first hand mechanism; a second arm having a
second hand mechanism; and a control device, wherein the control
device operates the first hand mechanism to feed the material
supply, and operates the second hand mechanism to press the fed
material supply against the target object.
[0008] According to another aspect of the present invention, a
method of manufacturing a processed product includes the steps of:
preparing a robot provided with a first arm having a first hand
mechanism and a second arm having a second hand mechanism; placing
a target object on a stage provided near the robot, the target
object being a component of the processed product; feeding the
material supply from the first hand mechanism; and pressing the fed
material supply against the target object using the second hand
mechanism.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The present invention will be described in further detail
with reference to the accompanying drawings wherein:
[0010] FIG. 1 is a top view schematically illustrating an entire
structure of a processing system according to an embodiment;
[0011] FIG. 2 is an elevational view schematically illustrating a
main portion of a robot device according to the embodiment;
[0012] FIG. 3 is an elevational view schematically illustrating a
main portion of a first hand mechanism and a second hand mechanism
according to the embodiment;
[0013] FIG. 4 is a top view schematically illustrating the main
portion of the first hand mechanism and the second hand mechanism
according to the embodiment;
[0014] FIG. 5 is a partial schematic illustration of the
embodiment, illustrating a tip end portion of a second hand
unit;
[0015] FIGS. 6A and 6B are both illustrations of the embodiment,
and FIG. 6A shows a state in which a winding roller mechanism is
dismounted from a first hand unit, and FIG. 6B shows the winding
roller mechanism;
[0016] FIG. 7 is a schematic illustration of an operation of the
processing system according to the embodiment;
[0017] FIG. 8 is a schematic illustration of the operation of the
processing system according to the embodiment;
[0018] FIG. 9 is a schematic illustration of the operation of the
processing system according to the embodiment; and
[0019] FIG. 10 is a schematic illustration of the operation of the
processing system according to the embodiment.
DETAILED DESCRIPTION OF THE EMBODIMENTS
Entire Structure
[0020] The following describes an embodiment according to the
present invention with reference to the drawings.
[0021] This embodiment describes one example of a robot system that
carries out a process of applying a masking tape T as a material
supply to a previously set position of a substrate of an electronic
device as a target object (hereinafter referred to as a workpiece
W).
[0022] In this case, the substrate of the electronic device is not
yet loaded with an electronic component, and is to be soldered at a
portion without the masking in a soldering step as a post process
after the robot system of this embodiment applies the masking tape
T to the previously set position.
[0023] As shown in FIG. 1, a robot system 100 according to the
embodiment includes a robot main body 101 disposed within a
partition wall 100A, a stage 102, a pre-processed workpiece
cartridge 103, a post-processed workpiece cartridge 104, and a
winding roller container 105. Further, the partition wall 100A is
provided with a gate 100B, and a carrier path 106 is provided
through the gate 100B in and outside the partition wall 100A.
Moreover, a robot controller (control device) 107 is provided
outside the partition wall 100A, and connected to the robot main
body 101 so as to allow transmission of information.
Structure of Robot Main Body
[0024] As shown in FIG. 2, the robot main body 101 is configured
such that a base 1 is fixed to a floor by an anchor bolt that is
not depicted in the figure, and a body 2 is provided on the base 1
pivotally with respect to the base 1 via an actuator.
[0025] The body 2 is provided with a first arm 3L and a second arm
3R (also functions as a carry-in device and a carry-out device in
this embodiment) respectively on a left side and a right side.
[0026] The second arm 3R is provided with a right shoulder 4R
pivotally about a rotation axis parallel to a plane on which the
base 1 is disposed. The right shoulder 4R is provided with a right
upper arm section-A 5R swingably about a rotation axis
perpendicular to the rotation axis of the right shoulder 4R. The
right upper arm section-A 5R is provided with a right upper arm
section-B 6R rotatably about a rotation axis perpendicular to the
rotation axis of the right upper arm section-A 5R.
[0027] Further, near a tip end of the right upper arm section-B 6R,
a right lower arm 7R is provided swingably about a rotation axis
perpendicular to the rotation axis of the right upper arm section-B
6R. At a tip end of the right lower arm 7R, a right wrist section-A
8R is provided swingably about a rotation axis perpendicular to the
rotation axis of the right lower arm 7R.
[0028] At a tip end of the right wrist section-A 8R, a right wrist
section-B 9R is provided rotatably about a rotation axis
perpendicular to the rotation axis of the right wrist section-A
8R.
[0029] At a tip end of the right wrist section-B 9R, a right flange
10R is provided rotatably about a rotation axis perpendicular to
the rotation axis of the right wrist section-B 9R, and a right hand
unit (second hand mechanism) 11 is attached to the right flange
10R.
[0030] The first arm 3L and the second arm 3R are bilaterally
symmetric. The first arm 3L is provided with a left shoulder 4L
pivotally about a rotation axis parallel to a plane on which the
base 1 is disposed. The left shoulder 4L is provided with a left
upper arm section-A 5L swingably about a rotation axis
perpendicular to the rotation axis of the left shoulder 4L. The
left upper arm section-A 5L is provided with a left upper arm
section-B 6L rotatably about a rotation axis perpendicular to the
rotation axis of the left upper arm section-A 5L.
[0031] Further, near a tip end of the left upper arm section-B 6L,
a left lower arm 7L is provided swingably about a rotation axis
perpendicular to the rotation axis of the left upper arm section-B
6L. At a tip end of the left lower arm 7L, a left wrist section-A
8L is provided swingably about a rotation axis perpendicular to the
rotation axis of the left lower arm 7L.
[0032] At a tip end of the left wrist section-A 8L, a left wrist
section-B 9L is provided rotatably about a rotation axis
perpendicular to the rotation axis of the left wrist section-A
8L.
[0033] At a tip end of the left wrist section-B 9L, a left flange
10L is provided rotatably about a rotation axis perpendicular to
the rotation axis of the left wrist section-B 9L, and a left hand
unit (first hand mechanism) 12 is attached to the left flange
10L.
[0034] The left hand unit (first hand mechanism) 12 is attached to
the left flange 10L. Each of joints (the rotating sections, the
pivoting sections, and the hand unit) in the robot main body 101
includes a built-in actuator having a servomotor (not shown in the
drawings), and a rotation position of each movable section is
inputted to the controller 107 as a signal from an encoder within
the actuator.
[0035] Detailed structures of the right hand unit 11 and the left
hand unit 12 will be described later.
[0036] As shown in FIG. 1, the stage 102 is disposed in front of
the robot main body 101, and provided with a flat work table on
which the workpiece W is placed. At one corner of the work table, a
positioning wall 102A having a right-angled shape is disposed
upright. Further, the stage 102 is provided with a movable member
102B and a movable member 102C that are driven by an actuator that
is not shown in the figure so as to respectively slide in an X-X
direction (hereinafter also referred to as a right-and-left
direction) and in a Y-Y direction (hereinafter also referred to as
a back-and-forth direction).
[0037] The pre-processed workpiece cartridge 103 is configured to
contain more than one pre-processed workpiece W. Further, the
post-processed workpiece cartridge 104 is a container having a
plurality of slots each configured to contain the workpiece W that
has been post-processed.
[0038] The winding roller container 105 is provided with a
plurality of types of winding roller mechanisms 38 as will be
described later. The winding rollers 36 for masking tapes of
different widths, materials and such are respectively loaded on the
winding roller mechanisms 38.
[0039] The controller 107 is configured by a computer having a
storage device, an electronic computing unit, and an input device
(all of which are not depicted in the drawings), and connected to
the robot main body 101 so as to allow transmission of
information.
[0040] The controller 107 is previously instructed how to carry out
a process operation to the workpiece W (more specifically, such as
information on a type of the masking tape and a position of the
workpiece W to be applied) via the input device (e.g., a
programming pendant). When carrying out the operation, the
controller 107 supplies an operation signal to each movable section
of the robot main body 101 according to the instructed
operation.
[0041] In this case, for the sake of the simplicity of the
explanation, the controller 107 as the control device is
represented and described as a single body in this embodiment.
However, the control device can be configured as a robot controller
that controls driving of the robot main body 101 only, separately
from the computer that controls the hand unit and the like.
Structure of Second Hand Unit
[0042] Next, a structure of the right hand unit 11 is described in
further detail.
[0043] As shown in FIG. 3 and FIG. 4, the right hand unit 11 is
provided with a pressing mechanism 20, a second gripping mechanism
21, an actuator 22, a pre-processed workpiece gripping mechanism
(target object gripping mechanism) 23, a post-processed workpiece
gripping mechanism (target object gripping mechanism) 24, and a
bracket 25.
[0044] The bracket 25 is fixed to the right flange 10R, and the
pressing mechanism 20, the second gripping mechanism 21, the
actuator 22, the pre-processed workpiece gripping mechanism 23, and
the post-processed workpiece gripping mechanism 24 are attached to
the bracket 25.
[0045] The pressing mechanism 20 is configured by a pair of
pressing claws 20A and 20B and a base portion 20C, and the base
portion 20C fixed to the bracket 25 extends along a direction
substantially identical with a rotation axis Ax of the right flange
10R.
[0046] At a tip end of the base portion 20C, the pressing claw 20A
extends along a longitudinal direction of the base portion 20C. The
pressing claw 20A has a shape in a triangular prism, and its tip
end forms an acute angle and its base end is connected to the base
portion 20C.
[0047] The pressing claw 20B, similarly to the pressing claw 20A,
also has a shape in a triangular prism and its tip forms an acute
angle and its base end is connected to the base portion 20C.
However, the pressing claw 20B extends along a direction
substantially perpendicular to the pressing claw 20A.
[0048] In this case, the base portion 20C is made of metal, and
both of the pressing claws 20A and 20B are made of resin.
[0049] Further, FIG. 5 illustrates the pressing mechanism 20 in a
state in which the right flange 10R is pivoted on the order of 180
degrees from a state illustrated in FIG. 4.
[0050] As shown in FIG. 5, a driven roller 20D is pivotally
supported on a surface of each of the pressing claws 20A and 20B
with which the masking tape T is brought into contact. The driven
roller 20D is driven to rotate according to a change in a relative
position between the pressing claws 20A and 20B and the workpiece W
(or the masking tape T) when moving a workpiece while the masking
tape T is pressed against the workpiece, as will be described
later.
[0051] The second gripping mechanism 21 is a forceps shaped member
that extends in parallel with the base portion of the pressing
mechanism 20 from the actuator 22 fixed to the bracket 25, and that
is provided with a gripper 21A that is flexed substantially at a
right angle. Switching between gripping and ungripping based on the
driving of the actuator 22 allows the second gripping mechanism 21
to grip and ungrip the masking tape T by sandwiching the masking
tape T.
[0052] The pre-processed workpiece gripping mechanism 23 is
provided with a plurality of (three, in this case) suction members
23A, and is able to hold and unhold the workpiece W by suctioning
an upper surface of the workpiece W by the suction members 23A.
[0053] The post-processed workpiece gripping mechanism 24 is a
member in a flat-plated shape fixed to the bracket 25, and provided
with an engagement section 24A that has gone through a bending
process at a tip end portion.
[0054] The workpiece W is provided with a hole that is not shown in
the drawing. The workpiece W can be held by operating the second
arm 3R and engaging the engagement section 24A of the
post-processed workpiece gripping mechanism 24 with the hole of the
workpiece W. With this, it is possible to hold the workpiece W
without bringing the masking tape into contact with the surface of
the workpiece W, and to prevent the masking tape T and such that is
applied to the surface of the workpiece W from being damaged when
carrying the post-processed workpiece W.
Structure of First Hand Unit
[0055] Next, a structure of the left hand unit 12 is described in
further detail.
[0056] As shown in FIG. 3 and FIG. 4, the left hand unit 12 is
provided with a cutting mechanism 32, a bracket 35, a detachment
mechanism 37, the winding roller mechanism 38, and a cartridge
gripper 39.
[0057] The cartridge gripper 39 is a member in a flat-plated shape
fixed to the bracket 35, and provided with an engagement section
39A that has gone through a bending process at a tip end
portion.
[0058] The cutting mechanism 32 is provided with a cutting blade
32A at a tip end portion, and configured to cut the masking tape T
on a downstream side of a first gripping mechanism 31 (a feeding
side of the masking tape T) that will be later described by sliding
the cutting mechanism 32 upward and downward and moving the cutting
blade 32A toward the masking tape T.
[0059] As shown in FIG. 6A, the winding roller mechanism 38 can be
gripped and ungripped by the left hand unit 12 by means of the
detachment mechanism 37.
[0060] As shown in FIG. 6B, the winding roller mechanism 38 is
configured by the winding roller 36 rotatably mounted to the main
body, a pair of driven rollers 33 and 34 (guide rollers), and the
first gripping mechanism 31.
[0061] The winding roller 36 is configured such that the masking
tape T is wound around a core material. The two driven rollers 33
and 34 apply an appropriate tensile force to the masking tape T
that is fed from the winding roller 36, and guide the masking tape
T along a feeding direction of the masking tape T toward a side of
the first gripping mechanism 31 of the tip end portion.
Specifically, a feeding mechanism of the masking tape T is
configured by the winding roller 36 and the driven rollers 33 and
34.
[0062] The first gripping mechanism 31 is a forceps shaped member
that extends in parallel with the masking tape T, and that is
provided with a gripper 31A that is flexed substantially at a right
angle. Switching between gripping and ungripping based on the
driving of an actuator (not shown in the drawings) allows the first
gripping mechanism 31 to grip and ungrip the masking tape T by
sandwiching the masking tape T.
[0063] The robot system 100 according to the one embodiment of the
present invention is thus configured, and operated in the following
manner according to instruction data that is previously set by the
controller 107.
[0064] When starting the operation, the controller 107 operates the
robot system 100 to hold the pre-processed workpiece cartridge 103
and the post-processed workpiece cartridge 104 that have been
carried in the gate 100B by a carrier device that is not shown in
the drawings by engaging the engagement section 24A of the right
hand unit 11 and the engagement section 39A of the left hand unit
12 respectively with grooves of the cartridges 103 and 104, then
carry the pre-processed workpiece cartridge 103 and the
post-processed workpiece cartridge 104 to a previously set position
shown in FIG. 1, and set the pre-processed workpiece cartridge 103
and the post-processed workpiece cartridge 104 at this
position.
[0065] Then, the second arm 3R is driven and holds one of the
workpieces W in the pre-processed workpiece cartridge 103 by
pressing the suction members 23A against the surface of the
workpiece W that is placed on the top, places the held workpiece W
on the stage 102 with a surface to be processed of the workpiece W
facing upward, and releases the suctioning by the suction members
23A.
[0066] After the workpiece W is placed on the stage 102, the
movable members 102B and 102C are actuated to press the workpiece W
against the positioning wall 102A, and whereby the operation for
positioning the workpiece W on the stage 102 is completed.
[0067] In parallel with the operation for positioning the workpiece
W on the stage 102, the first arm 3L is actuated, and one of the
winding roller mechanisms 38 that has been set is mounted to the
detachment mechanism 37 from the winding roller container 105.
[0068] Then, as shown in FIG. 4, the first arm 3L and the second
arm 3R are moved to previously set positions (hereinafter referred
to as standby positions) and in postures. As initial positions,
offset positions are set such that the right hand unit 11 and the
left hand unit 12 do not interfere with each other and the right
hand unit 11 is positioned sufficiently forward from the left hand
unit 12 (taking a direction moving away from the body 2 as
"forward", and a direction moving toward the body 2 as
"backward").
[0069] Subsequently, the second arm 3R is operated, and in a state
in which the second gripping mechanism 21 is open, as shown in FIG.
7, the gripper 21A goes into between the first gripping mechanism
31 and the driven roller 33 from the standby position, and then
closes the second gripping mechanism 21 to sandwich and grip the
masking tape T by the gripper 21A.
[0070] Upon completion of the gripping operation by the gripper
21A, the first gripping mechanism 31 is opened and the first
gripping mechanism 31 ungrips the masking tape T.
[0071] The second arm 3R is moved to a side of the tip end of the
masking tape T in a state in which the first arm 3L is fixed so as
not to move, and the masking tape T is fed by a previously set
length (by the length of application). At this time, the gripper
21A of the second gripping mechanism 21 passes between the grippers
of the first gripping mechanism 31 that are opened without making
contact with them.
[0072] After the masking tape T is fed, the first gripping
mechanism 31 grips the masking tape T, and the masking tape T is
released from the gripping by the second gripping mechanism 21.
[0073] Then, as shown in FIG. 3, the first arm 3L is moved to a
previously set masking starting position, and subsequently, as
shown in FIG. 8, the second arm 3R is operated to press an adhesive
face of a tip end portion of the masking tape T that has been fed
to the previously set position of the workpiece W using the
pressing claw 20A.
[0074] It should be noted that the masking tape T is pressed
against the workpiece W using the pressing claw 20A as this
operation is for applying the masking tape T along the
right-and-left direction (the direction in which the pressing
mechanism 20 extends) in this example. However, when applying the
masking tape T along the back-and-forth direction, the masking tape
T is pressed against the workpiece W using the pressing claw
20B.
[0075] With this, whether a direction for applying the masking tape
T is the right-and-left direction or the back-and-forth direction,
it is possible to carryout the application operation while keeping
the direction of the right hand unit 11 substantially the same.
[0076] Thus, without positioning both of the first arm 3L and the
second arm 3R in the back-and-forth direction where the space is
tight, it is possible to apply the masking tape T in the
back-and-forth direction by positioning only the first arm 3L
forward, and whereby a region in which the first arm 3L and the
second arm 3R interfere with each other is limited to a small
region.
[0077] Upon completion of the pressing operation of the masking
tape T, as shown in FIG. 9, the first arm 3L and the second arm 3R
are moved toward the right-and-left direction by a previously set
length. At this time, the masking tape T is fed from the winding
roller 36 along with the movement of the first arm 3L, and the fed
masking tape T is pressed against the workpiece W by the pressing
claw 20A and the driven roller 20D under the pressing claw 20A.
With this, the masking tape T is applied to the workpiece W in a
state in which the masking tape T is applied with a constant
tensile force, and whereby it is possible to more effectively
prevent wrinkles and such from occurring in the masking tape T.
[0078] Upon movement of the first arm 3L and the second arm 3R by
the previously set length, the first gripping mechanism 31 is
closed, the cutting mechanism 32 is actuated, and the cutting blade
32A cuts the masking tape T. Then, the first arm 3L retracts in the
right-and-left direction.
[0079] Upon cutting of the masking tape T by the cutting blade 32A,
as shown in FIG. 10, the second arm 3R moves toward the
right-and-left direction by a previously set length and presses the
masking tape T to its cut end against the workpiece W.
Subsequently, the second arm 3R moves to at least the start of
application of the masking tape T in a state in which a
predetermined pressure is applied to the masking tape T by the
pressing claw 20A, and sufficiently fixes the masking tape T to the
workpiece W.
[0080] Upon completion of application of the masking tape T, the
first arm 3L and the second arm 3R move to the standby
positions.
[0081] Then, if it is necessary to exchange the winding roller
mechanism 38, the winding roller mechanism 38 that is currently
loaded is placed in the winding roller container 105, and one of
the winding roller mechanisms 38 that is previously set is loaded.
Then, the application operation to the previously set position of
the masking tape T is again carried out.
[0082] Upon completion of the application operation of the masking
tape T to all of the predetermined positions of the workpiece W,
the workpiece W is held by engaging a hole in the workpiece W that
is not shown with the engagement section 24A of the post-processed
workpiece gripping mechanism 24, and the workpiece W to which the
masking tape T is applied is contained in an empty slot of the
post-processed workpiece cartridge 104.
[0083] Then, again, a new workpiece (pre-processed workpiece) W is
picked out from the pre-processed workpiece cartridge 103, and the
application operation of the masking tape T is carried out.
[0084] After the application process of the masking tape T to the
workpiece W has been carried out and a previously set number of the
workpieces W are contained in the post-processed workpiece
cartridge 104, the post-processed workpiece cartridge 104 is
gripped by the engagement section 24A of the right hand unit 11 and
the engagement section 39A of the left hand unit 12, and
transferred to the gate 100B side.
[0085] As described above, according to the robot system of the
embodiment, it is not only possible to carry out the application
operation of the masking tape T to the predetermined positions of
the workpiece W without a human work at a high accuracy, but also
possible to carry out the application operation in various modes by
changing the content of the instruction to the controller 107.
[0086] Further, as the robot main body 101 takes a shape similar to
that of a human body in which the base 1 and the body 2 correspond
to a trunk of the human body and a pair of arms (arms) are provided
on both sides of the trunk, it is possible to use existing
facilities by placing the robot main body 101 in an existing work
space for a human work, and whereby facility cost relating to the
automation of the work can be reduced.
[0087] While the above described the embodiment according to the
present invention, the robot system and the method of manufacturing
a processed product according to the present invention is not
limited to the above embodiment, and can be appropriately modified
without departing the spirit of the present invention.
[0088] The target object according to the present invention is not
limited to the substrate of the electronic device, and the present
invention can be applied to various target objects. Further, as for
the supply material, not limiting to the adhesive tape such as the
masking tape, the present invention can be applied to any supply
material, for example, a spacer such as a wire in a string and a
fabric as long as it is possible to feed from the first arm.
[0089] Further, according to the embodiment, the robot main body is
configured to serve both as the carry-in device and as the
carry-out device. However, the carry-in device and the carry-out
device for carrying the target object in and out of the stage can
be independently provided.
* * * * *