Kawasaki Jukogyo Kabushiki Kaisha

Keita Sasaki

Shuhei Kuraoka

Takeshi Hashimoto

Tatsuhiro Uto

A substrate assembling device includes a first end effector attached to a first arm, a second end effector attached to a second arm, and a controller. The second end effector includes a pair of grippers configured to grip a second substrate, and a placing part where threaded elements are placed. The controller is adapted to control operations of the first arm and the second arm to position the second substrate on a first substrate while gripping the second substrate, by using the pair of grippers of the second end effector, and hold the threaded element placed on the placing part of the second end effector and fasten the held threaded element, by using the first end effector, to join the first substrate and the second substrate together.

Substrate assembling device and substrate assembling method

A workpiece holding mechanism includes a first and second support having a first and second surface part, third support having a third surface part located closer to second than first surface part and located at a height corresponding to first surface part's lower end, fourth support having a fourth surface part located closer to first than second surface part and located at a height corresponding to second surface's part lower end, a fifth support having a fifth surface part located, at first surface part one end in first direction, closer to second than first surface part and located above third surface part, and a sixth support having a sixth surface part, at second surface part's end portion, closer to the first than second surface part and located above fourth surface part. At least one third and fourth face part includes one face or plurality of faces extending in first direction.

Growing community of inventors

Akashi, Japan

Keita Sasaki