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    Electronic parts positioning apparatus
    6.
    发明公开
    Electronic parts positioning apparatus 失效
    电子邮件地址

    公开(公告)号：EP0325216A2

    公开(公告)日：1989-07-26

    申请号：EP89100741.1

    申请日：1989-01-17

    申请人： SANYO ELECTRIC CO., LTD.

    发明人： Tsuruta, Shigeru ,  Masuda, Sadao

    IPC分类号： H05K13/00 ,  H05K13/08

    CPC分类号： H05K13/08 ,  G05B2219/39466 ,  G05B2219/43152 ,  H05K13/0413 ,  H05K13/043 ,  Y10T29/53178

    摘要： In order to horizontally position a chip part held by a holding unit by a closing operation caused by relative movement of at least two pairs of opposing positioning pawls, a setting unit sets information concerning an interval between opposing positioning pawls of each of the two pairs and information of a size of the chip part, a memory unit stores the information set by the setting unit, a calculating unit calculates a distance for increasing a relative moving speed of the positioning pawls at the start of the closing operation and a distance for reducing the relative moving speed at the end of the closing operation on the basis of the information stored in the memory unit, and a control unit controls a driving source for driving the positioning pawls on the basis of the calculation result of the calculating unit, thereby variably controlling the moving speed at the high-­speed moving distance of the positioning pawls in accordance with the size of the chip part to reduce a moving time of the positioning pawls required for positioning, performing a positioning operation at high speed.

    摘要翻译： 为了通过由至少两对相对的定位爪的相对运动引起的关闭操作使由保持单元保持的芯片部分水平定位，设置单元设置关于两对中的每一对的相对的定位爪之间的间隔的信息，以及 芯片部分的尺寸的信息，存储单元存储由设置单元设置的信息，计算单元计算在关闭操作开始时增加定位爪的相对移动速度的距离和用于减小定位爪的相对移动速度的距离 根据存储在存储单元中的信息，关闭操作结束时的相对移动速度，控制单元根据计算单元的计算结果控制用于驱动定位爪的驱动源，从而可变地控制 根据芯片部分的尺寸在定位爪的高速移动距离处的移动速度减小移动ti 定位所需的定位棘爪的位置，高速进行定位操作。

    Industrial robot with servo system
    10.
    发明公开
    Industrial robot with servo system 无效
    具有伺服系统的工业机器人

    公开(公告)号：EP0174619A3

    公开(公告)日：1986-04-23

    申请号：EP85111303

    申请日：1985-09-06

    申请人： SONY CORPORATION

    发明人： Ishida, Tatsuzo ,  Hori, Kazuhito ,  Nakamura, Shigeru

    IPC分类号： B25J18/06 ,  B25J09/18 ,  B25J17/00 ,  B25J03/04 ,  B25J13/06

    CPC分类号： B25J9/044 ,  B25J9/042 ,  B25J9/1025 ,  B25J9/104 ,  G05B19/4166 ,  G05B2219/39466 ,  G05B2219/43152 ,  G05B2219/45083

    摘要： @ An industrial robot has a servo system (180, 119) allowing higher-speed operation than in conventional robots. The servo system includes movable arm or arms (103, 117) pivotable about a pivot axis or axes (103a, 117a) and or movable along an axis or axes. The servo system includes at least one movable arm pivotable about a vertical axis and associated with a servo motor (104,120) for angular displacement within a substantially horizontal plane. A servo motor for driving the horizontally pivot arm is mounted on a base frame (102) of the robot. By mounting the servo motor on the base frame (102), the load of the movable arm can be reduced significantly so as to allow the movable arm (103, 117) to be operated at higher speeds. The servo system includes controller adapted to control robot operation. The controller is programmed to actuate the working end (117b), of the robot arm (117) along a predetermined non-linear trace. in which an acceleration zone is defined in the vicinity of an initial position of the working end and a deceleration zone is defined in the vicinity of the predetermined working position and a relatively longer constant speed zone is defined between the acceleration zone and the deceleration zone.