JP3738982B2 - Robot origin return method, origin return device and component mounting device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an origin return method, an origin return apparatus, and a component mounting apparatus for returning a robot to an origin position.
[0002]
[Prior art]
2. Description of the Related Art In recent years, electronic devices have been mounted with high density, and a large number of electronic components such as resistors and capacitors as well as various ICs are mounted on a circuit board (printed board). The mounting of these electronic components is performed by a component mounting apparatus for reasons such as a large number of components mounted, accuracy required, and improvement in production efficiency.
Hereinafter, an example of a conventional component mounting apparatus will be described.
As shown in a perspective view in FIG. 13, the component mounting apparatus 100 is provided with a loader unit 16, a substrate fixing unit 18, an unloader unit 20, and a pair of guide rails 14 for conveying the circuit board 12 on the base 10. By synchronously driving the conveying belts provided on the pair of guide rails 14, the circuit board 12 is moved from the loader part 16 to the board fixing part 18 provided at the position where the electronic component is mounted, and further from the board fixing part 18 to the unloader part 20 It is designed to be transported.
[0003]
Further, Y-axis robots 22 and 24 are respectively provided on both upper sides of the base 10, and an X-axis robot 26 is suspended between the two Y-axis robots 22 and 24 to drive the Y-axis robots 22 and 24. By doing so, the X-axis robot 26 is configured to advance and retract in the Y-axis direction. A transfer head 28 is attached to the X-axis robot 26 so as to be movable back and forth in the X-axis direction. As a result, the transfer head 28 can freely move in the XY plane by driving the Y-axis robots 22 and 24 and the X-axis robot 26.
Each robot has a structure in which, for example, a ball screw is rotated forward and backward by a motor so that a nut member screwed to the ball screw advances and retreats along an axial direction, and a member to be advanced and retracted is fixed to the nut member. ing.
[0004]
The transfer head 28 is placed on the XY robot including the X-axis robot 26 and the Y-axis robots 22 and 24 as described above, and is an XY plane (for example, a horizontal plane or a plane substantially parallel to the upper surface of the base 10). ) Move freely on the top. The transfer head 28 includes a plurality of parts feeders 30 exemplified as a component supply unit to which electronic components such as a resistor chip and a chip capacitor are supplied, or SOP (“SOP” is an abbreviation of Small Outline Package) or QFP (“QFP”). "Is an abbreviation for" Quad Flat Package "), and a desired electronic component is picked up by a suction nozzle 34 from a part tray 32 exemplified as a component supply unit to which a relatively large electronic component is supplied, such as an IC or a connector. It is configured so that it can be mounted at the component mounting position of the substrate 12.
The mounting operation of the electronic component is controlled by the control unit 36 based on a preset mounting program stored in the storage unit of the control unit 36.
[0005]
By the way, when component mounting is performed by the component mounting apparatus 100 described above, it is necessary to return the transfer head 28 to the origin position and start from the origin position before mounting. Such an origin return operation is performed by the origin return device 1 conceptually shown in FIG.
The origin return device 1 can be applied to any of the Y-axis robots 22 and 24 or the X-axis robot 26 in the component mounting apparatus 100, and the moving body 2 corresponds to the transfer head 28. .
[0006]
Next, the origin return operation will be described with reference to FIGS.
As shown in FIG. 1, when the moving body 2 is at a position away from the origin detection sensor 8, the positions of the dog 6 and the origin detection sensor 8 are also separated as shown in FIG. In this state, since the origin detection sensor 8 does not detect the dog 6, the output level of the origin position detection signal S becomes Lo (T in FIG. 15). ₁ ). The moving body 2 is moved at a high speed in the direction A in FIG.
[0007]
When the moving body 2 approaches the origin detection sensor 8 and the projection (detection unit) 6a that is one end of the dog 6 approaches the position immediately above the origin detection sensor 8 as shown in FIG. T ₂ ), The origin position detection signal S changes from Lo to Hi. At this time, the motor M shifts from high-speed rotation to low-speed rotation drive, and the moving body 2 moves at a low speed in the A direction.
Then, as shown in FIG. 14 (c), when the concave portion (between detection portions) 6c of the dog 6 reaches the position immediately above the origin detection sensor 8 (T in FIG. 15). _Three ), The origin position detection signal S changes from Hi to Lo. Furthermore, since the dog 6 continues to move at a low speed in the direction of arrow A, the other protrusion 6b of the dog 6 reaches a position directly above the origin detection sensor 8 as shown in FIG. 14 (d) (T in FIG. 15). _Four ). At this time, the origin position detection signal S changes from Lo to Hi. In response to the change in the output level, the motor M temporarily stops rotating, and then the rotational drive direction is changed in the reverse direction as shown in FIG.
[0008]
Then, as shown in FIG. 14 (e), the dog 6 moves at a low speed in the direction B in the figure, and the recess 6c of the dog 6 reaches the position immediately above the origin detection sensor 8 again as shown in FIG. 14 (f). (T in FIG. 15 _Five ). At this time, the origin position detection signal S changes from Hi to Lo, and in response to this, the motor M stops rotating. Thereby, the mobile body 2 stops after the coasting operation. This stop position becomes an origin position, and the origin position is used as a starting point to drive to a component mounting position or the like.
[0009]
Note that when the origin return operation is performed, the moving body 2 may pass through the origin detection sensor 8 and be positioned on the reverse sensor 9 side. In this case, the dog 6 is detected by the reversing sensor 9, and the moving direction of the moving body 2 is changed from the A direction to the B direction. Then, when the moving body 2 moves on the origin detection sensor 8, the moving body 2 is positioned at the origin position by the positional relationship between the dog 6 and the origin detection sensor 8 as described above.
[0010]
[Problems to be solved by the invention]
In such an origin return device, in order to reliably detect the recess 6c of the dog 6, after the recess 6c once passes over the origin detection sensor 8, the motor M is driven reversely to detect the recess 6c again. In other words, it takes a long time to return to the origin. If the origin is set when the recess 6c is detected for the first time, the current position of the dog 6 is undefined when the power is turned on. Therefore, even if the origin detection sensor 8 detects the recess of the dog, this is ensured. It is not possible to determine whether it is a recess 6 or a range outside the dog 6. Therefore, there is a risk that the origin position is set erroneously.
For this reason, in a component mounting apparatus or the like having a plurality of robots, a great amount of time is required for the return to origin operation performed prior to component mounting, thereby reducing the efficiency of component mounting work.
[0011]
The present invention has been made in view of such a situation, and an object of the present invention is to provide a robot home position return method, home position return device, and component mounting device that can perform a home position return operation of a robot quickly and accurately. .
[0012]
[Means for Solving the Problems]
To achieve the above object, the robot origin return method according to the first aspect of the present invention provides an origin for detecting the dog with respect to a robot configured such that a moving body to which a position detection dog is attached is movable in the axial direction. A robot origin return method for providing a detection sensor and returning the movable body to the origin position based on the output of the origin detection sensor, wherein the origin detection sensor when the movable body is moved a predetermined amount The relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output, and the origin return operation procedure corresponding to the determined relative position is selectively executed. While the origin return operation procedure moves the movable body by a predetermined amount, the origin detection sensor detects the dog detection unit in which two detection units are arranged at regular intervals. If not, the movement of the moving body is continued, the detection unit of the dog is first detected, and then the moving body is stopped when the gap between the detection units is detected. While the position is set to the origin position, when the origin detection sensor detects the dog detection unit, the moving body is moved to one end side of the robot to reverse the moving direction, and then the dog first. This is a procedure for detecting the detection unit, and then stopping the moving body when detecting between the detecting units and setting the position where the moving body is stationary as the origin position. .
[0015]
In this robot origin return method, if no dog is detected by the origin detection sensor while the moving body is moving a predetermined amount, the dog continues to move and detects the dog. In this case, the dog detection unit is first detected, and then the moving body is stopped when the interval between the dog detection units is subsequently detected, and the position where the moving body is stationary is set as the origin position. In addition, when a dog is detected while moving a predetermined amount, the dog is reversed after continuing the movement, and then the dog is detected. In that case, after moving the moving body to one end of the robot and reversing the moving direction, first detect the detection part of the dog, and then detect the moving object when detecting between the detection parts of the dog. Stop and set the position where the moving body is stationary as the origin position. As a result, when the moving body is away from the position of the origin detection sensor, the moving body can be quickly brought closer to the origin detection sensor, and the position of the moving body can be grasped reliably and accurately.
[0016]
According to another aspect of the robot origin return method of the present invention, an origin detection sensor for detecting the dog is provided for a robot configured such that a moving body to which a position detection dog is attached is movable in the axial direction. A return-to-origin method for the robot that returns the moving body to the origin position based on the output of the moving object from a change state of the output from the origin detection sensor when the movable body is moved a predetermined amount. The relative position between the body dog and the origin detection sensor is determined, and the origin return operation procedure according to the determined relative position is selectively executed. The dog detection section in which the origin detection sensor has two detection sections arranged at regular intervals when the moving object starts moving and after a predetermined amount of movement. Is not detected, the movement of the moving body is continued, the detection unit of the dog is first detected, and then when the detection unit is detected, the moving body is stopped. While the stationary position is set as the origin position, when the origin detection sensor detects the dog detection unit, the moving body is moved to one end side of the robot and the moving direction is reversed. It is a procedure for detecting the dog detection unit, and then stopping the moving body when detecting between the detection units, and setting the position where the moving body is stationary as the origin position.
[0017]
In this robot origin return method, the output of the origin detection sensor is detected when the moving body starts moving and after a predetermined amount of movement. At that time, if the origin detection sensor does not detect the dog detection unit, the moving body continues to move, first detects the dog detection unit, and then continues between the dog detection units. When detected, the moving body is stopped, and the position where the moving body is stationary is set as the origin position. Also, when the origin detection sensor detects the dog detection part, first move the moving body to one end of the robot and reverse the direction of movement, then detect the dog detection part first, then continue The moving body is stopped when the detection unit is detected, and the position where the moving body is stationary is set as the origin position. Thus, since the output of the origin detection sensor is detected at two points separated by a predetermined distance and the position of the moving body is determined, the determination process is simplified, and the time required for the origin return operation can be further shortened. it can.
[0018]
Claim 3 In the robot origin return method described above, an encoder for detecting the amount of movement of the moving body is connected to the robot, and the moving body is stopped at a position synchronized with a pulse signal from the encoder and set to the origin position. Features.
[0019]
In this robot home position return method, the moving body is stopped at a position synchronized with the pulse signal from the encoder and the home position is set, so that the position management of the moving body becomes easy and accurate home position return can be performed. .
[0020]
Claim 4 The robot home position return device described above includes a moving body to which a dog formed by arranging two detectors at regular intervals, a guide member for supporting the moving body in an axially movable manner, and the guide member. An origin return device for a robot comprising a drive source for moving the moving body and an origin detection sensor for detecting dogs of the moving body, wherein the moving body is moved by a predetermined amount. A control unit that determines a relative position between the dog of the moving body and the origin detection sensor from a change state of an output from the origin detection sensor, and selectively executes an origin return operation procedure according to the determined relative position. It is provided with.
[0021]
In this robot origin return device, the control unit detects a change state of the output from the origin detection sensor when the movable body is moved to a predetermined amount, and from this change state, the movement body and the origin detection sensor are detected. The relative positional relationship is determined. In accordance with the determination result, the control unit selectively executes an origin return operation procedure corresponding to each relative position, thereby returning the robot to the origin position. As a result, the return to origin operation of the robot can be performed quickly and accurately regardless of the position of the moving body.
[0022]
Claim 5 The robot origin return device according to claim 1, wherein the controller 1 ~ Claim 3 The home position return operation is controlled based on the robot home position return method described in any one of the above.
[0023]
In this robot home position return device, the control unit controls the home position return operation based on the above-described robot home position return method, whereby the moving body can be returned to the home position at high speed and reliably.
[0024]
Claim 6 The component mounting apparatus described in claim 1 further includes a transfer head for transferring a mounting component onto a substrate. 4 Or claim 5 The robot is driven using the robot origin return device described above.
[0025]
In this component mounting apparatus, the robot mounted on the component mounting apparatus is claimed in claim 4 Or claim 5 By comprising the robot home position return device described, the home position return time of each robot can be greatly shortened. As a result, the mounting of electronic parts and the production preparation operation by the transfer head are performed quickly, which can contribute to a tact-up, and the production efficiency is dramatically improved.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of a robot origin return method and origin return device according to the present invention will be described below in detail with reference to the drawings.
Here, FIG. 1 is a block diagram conceptually showing the configuration of the robot origin return device according to the present invention, FIG. 2 is a flowchart showing the robot origin return method, and FIG. FIG. 4 is a timing chart illustrating the origin return operation when the origin detection sensor and the reverse sensor are within the area determination distance.
[0027]
In the origin return device 1 according to the present embodiment, as shown in FIG. 1, the moving body 2 is screwed into a rotating shaft 4 as a guide member that is rotationally driven by a motor M that is a driving source, and the rotating shaft 4 rotates. It moves in the directions of arrows A and B by switching the direction. A concave dog 6 formed by arranging two detection units at a predetermined interval for detecting the position of the moving body 2 is attached to a part of the moving body 2. An origin detection sensor 8 is disposed in the vicinity of one end of the rotary shaft 4, and when the moving body 2 approaches the origin detection sensor 8, the output level changes corresponding to the concave shape of the dog 6. An origin position detection signal S is generated and supplied to the control unit 5. The controller 5 controls the rotation direction (forward / reverse direction), the rotation speed (high speed / low speed), etc. of the motor M in response to the change in the output level of the origin position detection signal S.
[0028]
Further, a reversing sensor 9 is disposed on the end side of the rotation shaft 4 of the origin detection sensor 8. The reversing sensor 9 is for reversing the moving direction of the moving body 2 when the moving body 2 is detected, and the reversing signal R is supplied to the control unit 5 together with the origin position detection signal S. The reversing sensor 9 is disposed at a position slightly away from the origin detection sensor 8 than the width of the dog 6.
[0029]
Next, the origin return method will be described with reference to FIG.
The origin return operation is started from an area determination operation for determining the relationship between the position of the origin detection sensor 8 and the position of the moving body 2. This area determination operation is performed using the width w of the protrusions (detectors) 6a and 6b of the dog 6. _a , W _b (Where _a = W _b And the width w of the recessed portion (between detection portions) 6c _c Is done according to. Where w _a + W _c (Or w _b + W _c ) Is an area determination distance E. The area determination distance E is the width w _c The width and w of the shorter one of the protrusions 6a and 6b of the dog 6 are as described above. _c Set to less than or equal to.
First, the moving object 2 is moved by the area determination distance E at a high speed (step 1; hereinafter abbreviated as S1). When the dog 6 of the moving body 2 does not reach the origin detection sensor 8 until the movement is completed, that is, when the output level from the origin detection sensor 8 remains Lo, the movement body 2 is detected by the origin detection sensor. It is determined that the predetermined distance is more than a predetermined distance from 8, and control is performed so as to continue high-speed movement.
[0030]
On the other hand, when the moving body 2 reaches the position of the origin detection sensor 8 while moving the area determination distance E, that is, when the output level from the origin detection sensor 8 changes from Lo to Hi, It determines with existing in the vicinity of the origin detection sensor 8, and makes the moving speed low.
[0031]
Further, with reference to FIG. ₁₁ Then, as shown in FIGS. 3C and 3D, the motor M operates at a high speed. Thereby, the moving body 2 moves at a high speed in the direction of arrow A in FIG. 1 integrally with the dog 6 until it moves the area determination distance E (T ₁₁ ~ T ₁₂ Area determination operation is performed. In this case, since the origin position detection signal S remains Lo as shown in FIG. 3A, it is determined that the moving body 2 is not in the vicinity of the origin detection sensor 8, and high-speed movement in the direction of arrow A is performed. Continue (S3).
[0032]
When the dog 6 reaches the origin detection sensor 8 as shown by the dotted line in FIG. ₁₃ As shown at the point in time, the output level of the origin position detection signal S changes from Lo to Hi (S4). From this point of time, as shown in FIG. 3C, the rotational speed of the motor M is controlled from a high speed to a low speed (S5), and the dog 6 moves on the origin detection sensor 8 at a low speed (S6). At this time, if the recessed portion 6c of the dog 6 reaches the origin detection sensor 8, T in FIG. ₁₄ As shown at the time, the output level of the origin position detection signal S changes from Hi to Lo (S7). In response to this, the controller 5 stops the rotation of the motor M as shown in FIG. 3C (S8). Then, the rotation shaft 4 stops rotating, and the moving body 2 stops after coasting. This stop position becomes the origin position (S9). At this time, by keeping the rotation of the motor M at a low speed, the moving body 2 can be surely stopped within a few pulses from when the origin is detected. Note that the position of the dog 6 immediately above the origin detection sensor 8 at this time is from the region a to T ₁₃ Becomes region b at time T ₁₄ It becomes area | region c at the time of. The origin return operation is completed as described above.
[0033]
Next, an operation when it is determined in S2 that the dog 6 of the moving body 2 is within the area determination distance E will be described with reference to FIG.
In this case, T in FIG. _{twenty one} As shown in FIG. 4D, when the output level of the origin position detection signal S changes from Lo to Hi within the area determination distance E, the change in the output level is received and the motor M as shown in FIG. Is switched from high speed rotation to low speed rotation (S10), the moving body 2 is moved to the position of the reversing sensor 9 at low speed, and the moving direction is reversed (S11). That is, when one projection 6a of the dog 6 reaches directly above the reversing sensor 9, and the reversing signal R from the reversing sensor 9 changes from Lo to Ho as shown in FIG. In response, the rotation direction of the motor M is switched from the forward direction to the reverse direction as shown in FIG.
[0034]
When the rotation direction of the motor M is switched, the rotation direction of the rotary shaft 4 is switched, and the dog 6 of the moving body 2 moves backward in the direction of arrow B, that is, in the direction of the origin detection sensor 8. And T _{twenty two} When one of the protrusions 6a of the dog 6 reaches immediately above the origin detection sensor 8, the origin position detection signal S changes from Lo to Hi, and T _{twenty three} When the recessed portion 6c reaches just above the origin detection sensor 8 at the time of, the origin position detection signal S changes from Hi to Lo again. In response to the change from Hi to Lo, the motor M stops rotating as shown in FIG. Thereby, the mobile body 2 stops after coasting. This stop position is the origin position. At this time, the position of the dog 6 immediately above the origin detection sensor 8 is changed from the region c to T _{twenty one} Becomes region d at time T and ₁₂ Becomes region e at time T _{twenty two} Becomes region d at time T and _{twenty three} It becomes area | region c at the time of. The origin return operation is completed as described above.
[0035]
As described above, according to the robot origin return device 1 of the present embodiment, an area determination is performed as to whether or not the initial position of the moving body 2 at the time of origin return is a predetermined distance away from the origin position. The origin return can be performed efficiently by selectively switching and executing different origin return operations according to the operation. That is, when the moving body 2 is away from the area determination distance, it can be returned to the origin position at a high speed and without reciprocation in the vicinity of the origin position, while when the moving body 2 is within the area determination distance. The moving body 2 can be reliably returned to the origin position. Therefore, the origin return time of the moving body 2 can be greatly shortened, and the working efficiency of the robot can be improved.
[0036]
Next, a second embodiment of the robot origin return device according to the present invention will be described.
FIG. 5 is a flowchart showing the robot origin return method in this embodiment, FIG. 6 is a timing chart for explaining the origin return operation when the origin detection sensor is not within the area determination distance, and FIG. 7 is the reverse sensor within the area determination distance. FIG. 8 is a timing chart for explaining the origin return operation when the origin detection sensor is within the area determination distance and one projection of the dog passes through the origin detection sensor. It is a timing chart to do.
[0037]
In the origin return method of the present embodiment, the area determination of the moving object is performed at two points separated by the area determination distance described above. Since the configuration of the origin return device is the same as that described above, description thereof is omitted here.
As shown in FIGS. 5 and 6, first, the start time T ₃₁ At time T separated from the area determination distance E ₃₂ The output signals from the respective sensors are detected at the two points (S21). When the output from the origin detection sensor 8 remains Lo (S22) and the output from the reversing sensor 9 also remains Lo (S23), the dog 6 is moved at a high speed (S24). The movement is continued until the output becomes Hi (S25). Then, as shown in FIG. ₃₃ In response to the fact that the output from the origin detection sensor 8 has changed to Hi at the point of time, the motor M is switched to low speed rotation as shown in FIG. 6D (S26). Further, T shown in FIG. ₃₄ When the output from the origin detection sensor 8 changes from Hi to Lo at the point of time, the rotation of the motor M is stopped as shown in FIG. 6C (S28). Thereby, the mobile body 2 stops after coasting. This stop position becomes the origin position (S29). Note that the position of the dog 6 immediately above the origin detection sensor 8 at this time is from the region a to T ₃₃ Becomes region b at time T ₃₄ It becomes area | region c at the time of.
[0038]
On the other hand, in S23, as shown in FIG. ₃₂ If the output of the reversing sensor 9 has changed from Lo to Hi at the time of, the direction of rotation of the motor M is reversed as shown in FIG. 7B (S30). Thereafter, the above steps S24 to S29 are executed in the same manner.
[0039]
In S22, as shown in FIG. ₃₂ When the output of the origin detection sensor 8 changes from Lo to Hi at the point of time, that is, when one protrusion of the dog passes through the origin detection sensor 8, the motor M is turned on as shown in FIG. Switching to low speed rotation (S31), the dog 6 is moved to the position of the reverse sensor 9. And T ₃₅ In response to the fact that the output of the reversing sensor 9 has changed from Lo to Hi at the point of time, the rotational direction of the motor M is reversed as shown in FIG. 8B (S32). Further, when the dog 6 is moved at a low speed (S33), T shown in FIG. ₃₃ The output from the origin detection sensor 8 changes from Lo to Hi at the time of ₃₄ It changes from Hi to Lo at the time of (S34). At this time, the rotation of the motor M is stopped as shown in FIG. 8C (S28). Thereby, the mobile body 2 stops after coasting. This stop position becomes the origin position (S29). At this time, the position of the dog 6 immediately above the origin detection sensor 8 is changed from the region c to T ₃₂ Becomes region d at time T and ₃₆ Becomes region e at time T ₃₃ Becomes region d at time T and ₃₄ It becomes area | region c at the time of.
[0040]
As described above, in the origin return method according to the present embodiment, the area determination of the moving body 2 is performed at two points separated by the area determination distance E. Therefore, the determination process is simplified and the processing load on the control unit is reduced. . Also in this case, the moving body 2 is not always reciprocated, and the time required for the origin return operation can be shortened.
[0041]
Next, a third embodiment of the robot origin return device according to the present invention will be described.
FIG. 9 is a conceptual configuration diagram of the origin return device of the present embodiment, FIG. 10 is a timing chart for explaining the origin return operation when the origin detection sensor 8 is not within the area determination distance, and FIG. FIG. 12 is a timing chart for explaining the origin return operation when it is within the judgment distance. FIG. 12 shows the origin return when the origin detection sensor is within the area judgment distance and one of the protrusions of the dog passes the origin detection sensor. It is a timing chart explaining operation. In addition, the description which abbreviate | omits the member etc. which have the same function as the above-mentioned embodiment by providing the same code | symbol.
[0042]
The origin return device 3 of the present embodiment is equipped with an encoder 7 that detects the rotation of the motor M, and inputs a pulse signal P output from the encoder 7 to the control unit 5. In general, the pulse signal P from the encoder 7 includes two signals of A phase and B phase having a phase difference of a predetermined angle, and one Z-phase pulse signal per rotation. Origin return operation is performed using a pulse signal.
[0043]
Hereinafter, the origin return method by the origin return device 3 will be described. In this embodiment, the origin return is performed in the same procedure as in the second embodiment except that the timing for stopping the motor M in the origin return method of the second embodiment is synchronized with the pulse signal P from the encoder 7. Here, the timing for stopping the motor M will be described in detail.
[0044]
First, in the origin return operation when the origin detection sensor 8 is not within the area determination distance, the output of the origin detection sensor 8 changes from Hi to Lo as shown in FIG. ₃₄ From the point of time, the first output pulse signal P shown in FIG. 10 (f) is received, and the operation of the motor M shown in FIG. 10 (c) is stopped. As a result, the motor M stops rotating in synchronization with the pulse signal P of the encoder 7, and the origin position is set substantially coincident with the position where the pulse signal P is generated.
[0045]
Further, in the origin return operation when the reverse sensor 9 is within the area determination distance, as shown in FIG. 11A, the output of the origin detection sensor 8 changes from Hi to Lo. ₃₄ From the point of time, the first output pulse signal P shown in FIG. 11 (f) is received, and the operation of the motor M shown in FIG. 11 (c) is stopped.
Further, in the origin return operation when the origin detection sensor 8 is within the area determination distance and one protrusion of the dog passes through the origin detection sensor 8, as shown in FIG. T at which the output of the sensor 8 changes from Hi to Lo ₃₄ From the point of time, the first output pulse signal P shown in FIG. 12 (f) is received, and the operation of the motor M shown in FIG. 12 (c) is stopped.
In this way, the origin position is set substantially coincident with the position where the pulse signal P is generated.
[0046]
According to the origin return method by the origin return device 3 of the present embodiment, the origin position is set in synchronization with the pulse signal P output from the encoder 7 in response to the rotation of the motor M and the rotary shaft 4, so that the movement The position management of the body 2 is facilitated, and accurate return to origin can be performed. For this reason, the origin return device 3 can be applied to an axis that needs to be positioned with higher accuracy.
[0047]
The robot origin return device of each embodiment described above can be applied to any of the Y-axis robots 22 and 24 or the X-axis robot 26 in the component mounting apparatus 100 as shown in FIG. The return to origin time can be greatly shortened. As a result, the mounting of electronic parts and the production preparation operation by the transfer head are performed quickly, which can contribute to a tact-up, and the production efficiency is dramatically improved.
[0048]
In particular, in a configuration in which the conveyance width of the conveyor is variable according to the width of the substrate to be conveyed, the invention can be suitably applied to a robot that changes the conveyance width of the conveyor. Specifically, the conveyor width switching is performed only during production preparation, so the number of operations is low, and it is essential to realize it with the lowest possible cost. Therefore, the motor is often driven by a small capacity motor, and the configuration is different from other shafts such that a sensor for detecting a deceleration start point cannot be attached. Thus, since there is no sensor for detecting the deceleration start point in the conveyor transport width switching operation, the start of deceleration must be replaced by the origin detection, and the operation takes time. Therefore, by applying the robot origin return device of the present invention to this conveyor, the above-mentioned problems can be solved, and high-speed and accurate conveyance width switching operation can be performed.
[0049]
In each of the above-described embodiments, the description has been made using the concave-shaped dog. However, the present invention is not limited to this, and any dog may be used as long as the two detection units are arranged at regular intervals. Even a dog having a simple shape can be similarly applied.
[0050]
【The invention's effect】
According to the robot origin return method of the present invention, the relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output from the origin detection sensor when the movable body is moved a predetermined amount. Then, by selectively executing the origin return operation procedure according to the determined relative position, the origin return operation of the robot can be performed at high speed and accurately regardless of the position of the moving body.
Further, according to the origin return device of the robot according to the present invention, the relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output from the origin detection sensor when the movable body is moved a predetermined amount. And a control unit that selectively executes the home position return operation procedure according to the determined relative position, so that the home position return operation of the robot can be performed quickly and accurately regardless of the position of the moving body. be able to.
Furthermore, according to the component mounting apparatus according to the present invention, by applying the above-described robot origin return device, it is possible to greatly shorten the origin return time of each robot. Can be implemented quickly and contribute to tact-up.
[Brief description of the drawings]
FIG. 1 is a configuration diagram conceptually showing the configuration of a robot origin return device according to a first embodiment of the present invention.
FIG. 2 is a flowchart showing a robot origin return method in the first embodiment.
FIG. 3 is a timing chart for explaining an origin return operation when an origin detection sensor is not within an area determination distance.
FIG. 4 is a timing chart for explaining an origin return operation when an origin detection sensor and a reverse sensor are within an area determination distance.
FIG. 5 is a flowchart showing a robot origin return method according to the second embodiment.
FIG. 6 is a timing chart for explaining an origin return operation when the origin detection sensor is not within the area determination distance.
FIG. 7 is a timing chart for explaining an origin return operation when the reversing sensor is within an area determination distance.
FIG. 8 is a timing chart illustrating an origin return operation when the origin detection sensor is within the area determination distance and one of the dog protrusions passes through the origin detection sensor.
FIG. 9 is a conceptual configuration diagram of a robot origin return device according to a third embodiment.
FIG. 10 is a timing chart for explaining an origin return operation when the origin detection sensor is not within the area determination distance.
FIG. 11 is a timing chart for explaining an origin return operation when the reversing sensor is within an area determination distance.
FIG. 12 is a timing chart for explaining an origin return operation when the origin detection sensor is within the area determination distance and one of the protrusions of the dog passes through the origin detection sensor.
FIG. 13 is a perspective view showing a configuration of a component mounting apparatus.
FIG. 14 is an explanatory diagram showing a positional relationship between an origin detection sensor and a dog showing a conventional origin return operation.
FIG. 15 is a timing chart for explaining a conventional origin return operation.
[Explanation of symbols]
1,3 Origin return device
2 moving objects
4 Rotating shaft
5 Control unit
6 Positioning dog
7 Encoder
8 Origin detection sensor
9 Reverse sensor
M motor
A, B Movement direction

Claims (6)

An origin detection sensor for detecting the dog is provided for a robot configured to be movable in the axial direction with a movable body to which a position detection dog is attached, and the movable body is set to the origin position based on the output of the origin detection sensor. The method of returning to the origin of the robot
The relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output from the origin detection sensor when the movable body is moved a predetermined amount, and the determined relative position is determined. Selectively perform the corresponding home return operation procedure ,
The origin return operation procedure is as follows:
While moving the movable body a predetermined amount,
When the origin detection sensor does not detect the dog detection unit in which two detection units are arranged at regular intervals, the movement of the moving body is continued, and the dog detection unit is Detecting, then stopping the moving body when detecting between the detection units, and setting the position where the moving body is stationary as the origin position,
When the origin detection sensor detects the dog detection unit, the moving body is moved to one end side of the robot to reverse the moving direction, and then the dog detection unit is first detected and then detected. A method for returning to the origin of a robot, comprising: a step of stopping the moving body when detecting a space between the parts, and setting a position where the moving body is stationary as an origin position . An origin detection sensor for detecting the dog is provided for a robot configured to be movable in the axial direction with a movable body to which a position detection dog is attached, and the movable body is set to the origin position based on the output of the origin detection sensor. The method of returning to the origin of the robot
The relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output from the origin detection sensor when the movable body is moved a predetermined amount, and the determined relative position is determined. Selectively perform the corresponding home return operation procedure,
The origin return operation procedure is as follows:
At the start of movement of the moving body and after a predetermined amount of movement,
When the origin detection sensor does not detect the dog detection unit in which two detection units are arranged at regular intervals, the movement of the moving body is continued, and the dog detection unit is Detecting, then stopping the moving body when detecting between the detection units, and setting the position where the moving body is stationary as the origin position,
When the origin detection sensor detects the dog detection unit, the moving body is moved to one end side of the robot to reverse the moving direction, and then the dog detection unit is first detected and then detected. A method for returning to the origin of a robot , comprising: a step of stopping the moving body when detecting a space between the parts, and setting a position where the moving body is stationary as an origin position. Connect the encoder for detecting the amount of movement of the moving body to the robot, according to claim 1 or claim wherein the moving body is stopped by a pulse signal synchronized with the position from the encoder and sets the origin position 2. The method for returning the origin of the robot according to 2 . A moving body to which a dog formed by arranging two detection units at regular intervals, a guide member that supports the moving body in an axial direction, and a drive that moves the moving body with respect to the guide member An origin return device of a robot comprising a source and an origin detection sensor for detecting a dog of the moving body,
The relative position between the dog of the moving body and the origin detection sensor is determined from the change state of the output from the origin detection sensor when the movable body is moved a predetermined amount, and the determined relative position is determined. An origin return device for a robot, comprising a controller that selectively executes a corresponding origin return operation procedure. Wherein the control unit is, claims 1 to 4 homing device of the robot, wherein the controlling the homing operation based on homing method according to any one of the robot according to claim 3. 6. A component mounting apparatus, wherein a transfer head for transferring a mounted component onto a substrate is driven by using the robot origin return device according to claim 4 or 5 .

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