Orthogonal type three-axis robot and a control method thereof

摘要

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.