Orthogonal type three-axis robot and a control method thereof
AssigneeOki Electric Industry Co., Ltd.
InventorsMasashi Yamada, Takashi Abe, Taro Amano
Life of this patent
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Abstract
In an orthogonal type three-axis robot for mounting a part on or removing a part from a board, a hand element placed on a supporting element for holding a part is moved by an X-axis step motor, a Y-axis step motor, and a Z-axis step motor, and heights or Z coordinates of four reference points formed on the board are previously measured. When mounting a part to or removing a part from a specified position by utilizing the hand element, a height or Z coordinate of the hand in the direction of Z axis is corrected for the specified position by using the heights or Z coordinates of three of the four reference points.
Claims28
A method of controlling an orthogonal type three-axis robot having
- (i) a holding device to hold a part to be mounted onto or removed from a board fixed on a base,
- (ii) a driving system to support the holding device relative to the base and move the holding device along a direction of an X axis which corresponds to a lateral direction of the board, move the holding device along a direction of a Y axis which corresponds to a longitudinal direction of the board, and move the holding device along a direction of a Z axis which corresponds to a thickness direction of the board, and
- (iii) a measuring device to determine a Z axis coordinate of a surface of the board, wherein said driving system is to move said holding device along the direction of the X axis, Y axis and Z axis according to the determined Z axis coordinate in order to position said holding device such that at a specified position a part can be mounted onto the board or such that at a specified position a part can be removed from the board,
- said method comprising, when said holding device is moved by said driving system, correcting for the specified position a moving distance of said holding device along the direction of the Z axis based on a location of the specified position.
An orthogonal type three-axis robot comprising:
- a holding device to hold a part to be mounted onto or removed from a board fixed on a base,
- a driving system to support the holding device relative to the base and move the holding device along a direction of an X axis which corresponds to a lateral direction of the board, move the holding device along a direction of a Y axis which corresponds to a longitudinal direction of the board, and move the holding device along a direction of a Z axis which corresponds to a thickness direction of the board, and
- a measuring device to determine a Z axis coordinate of a surface of the board, wherein said driving system is to move said holding device along the direction of the X axis, Y axis and Z axis according to the determined Z axis coordinate in order to position said holding device such that a part can be mounted at a specified position on the board or such that a part can be removed from a specified position on the board,
- wherein when said holding device is moved by said driving system, said driving system is to correct for the specified position a moving distance of said holding device along the direction of the Z axis based on a location of the specified position.
Dependencies are inferred from the claim text.