Substrate assembling device and substrate assembling method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTakeshi Hashimoto, Keita Sasaki
Life of this patent
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Abstract
A substrate assembling device includes a first end effector attached to a first arm, a second end effector attached to a second arm, and a controller. The second end effector includes a pair of grippers configured to grip a second substrate, and a placing part where threaded elements are placed. The controller is adapted to control operations of the first arm and the second arm to position the second substrate on a first substrate while gripping the second substrate, by using the pair of grippers of the second end effector, and hold the threaded element placed on the placing part of the second end effector and fasten the held threaded element, by using the first end effector, to join the first substrate and the second substrate together.
Claims20
A substrate assembling device configured to join a first substrate and a second substrate together to assemble a substrate, comprising:
- a base;
- a first arm attached to the base;
- a second arm attached to the base;
- a first end effector detachably attached to a tip end of the first arm, and configured to hold and fasten a threaded element;
- a second end effector detachably attached to a tip end of the second arm;
- and
- a controller configured to control operations of the first arm and the second arm, wherein the second end effector includes a base, a pair of grippers provided to the base of the second end effector and configured to grip the second substrate, and a placing part disposed on the base of the second end effector, where the threaded element is placed, and
- wherein the controller is adapted to control the operations of the first arm and the second arm to:
- position the second substrate on the first substrate while gripping the second substrate by using the pair of grippers of the second end effector;
- and
- hold the threaded element placed on the placing part of the second end effector and fasten the held threaded element, by using the first end effector, to join the first substrate and the second substrate together and assemble the substrate.
A substrate assembling method of joining, a first substrate and a second substrate together to assemble a substrate by a substrate assembling device provided with:
- a base;
- a first arm attached to the base;
- a second arm attached to the base;
- a first end effector detachably attached to a tip end of the first arm, and configured to hold and fasten a threaded element;
- a second end effector detachably attached to a tip end of the second arm;
- and
- a controller configured to control operations of the first arm and the second arm,
- wherein the second end effector includes a base, a pair of strippers provided to the base of the second end effector and configured to grip the second substrate, and a placing part disposed in the base of the second end effector, where the threaded element is placed, and
- wherein the controller is adapted to control the operations of the first arm and the second arm to:
- position the second substrate on the first substrate while gripping the second substrate, by the pair of grippers of the second end effector;
- and
- hold the threaded element placed on the placing part of the second end effector and fasten the held threaded element, by the first end effector, to join the first substrate and the second substrate together and assemble the substrate.
Dependencies are inferred from the claim text.