An orthogonal type three-axis robot and a control method thereof

摘要

In an orthogonal type three-axis robot for mounting or removing a part on and 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 of four reference points formed on the board are previously measured. When mounting or removing a part on or from a specified position by means of the hand element, a height of the hand in the direction of Z axis is corrected for each of specified positions by using the heights of the four reference points. <IMAGE>