Device for cutting substrate and robot

Provided is a cutting device that prevents a variation of shocks or impacts applied to a substrate during a cutting operation. The cutting device includes a pressing part; a cutting part disposed so as to move with respect to the pressing part so as to contact the substrate on an opposite side of the pressing part to thereby sandwich the substrate between the cutting part and the pressing part to shear the substrate; a first force generation part for generating pressing force to press the pressing part against the substrate; and a first adjustment part for adjusting the pressing force in response to the force applied from the substrate to the pressing part when the pressing part presses the substrate with the first force generation part.

BACKGROUND ART

1. Technical Field

The invention relates to a device for cutting substrates, and a robot.

2. Description of the Related Art

Certain known device for cutting substrates includes a pressing part for pressing a substrate, a first cutter that contacts the substrate on one side thereof, and a second cutter that contacts the substrate on the other side thereof to sandwich and shear the substrate between the first cutter and the second cutter (for example, Japanese Laid-open Patent Publication No. 2001-315023).

A conventional cutting device is undesirably liable to press each substrate with inconsistent pressing force during a cutting process of substrates, caused by the substrates having different thickness. Inconsistent pressing force applied to the substrates causes the substrates to receive various shocks or impacts during the cutting process, adversely affecting the performance of components mounted on the substrates.

SUMMARY OF THE INVENTION

According to an aspect of the invention, a cutting device for cutting a substrate includes a pressing part and a cutting part. The cutting part is provided so as to be movable with respect to the pressing part, and contact the substrate from a side opposite the pressing part. The cutting part sandwiches the substrate between the cutting part and the pressing part so as to shear the substrate.

The cutting device further includes a first force generation part which generates a pressing force for pressing the pressing part against the substrate at the pressing part; and a first adjustment part which adjusts the pressing force in response to a force applied from the substrate to the pressing part when the pressing part is pressed against the substrate by the first force generation part.

The cutting device may further include a force sensor which measures the force applied from the substrate. The first adjustment part may control the first force generation part so as to adjust the pressing force based on the force applied from the substrate, measured by the force sensor.

The cutting device may further include a displacement sensor which measures a position of the pressing part with respect to the substrate. The first adjustment part may control the first force generation part so as to adjust the pressing force based on the position measured by the displacement sensor. The first force generation part may include an air cylinder which generates the pressing force. The first adjustment part may adjust a pressure of an air supplied to the air cylinder.

The first force generation part may include a spring which generates the pressing force; and a moving part which is movable in directions toward and away from the substrate. The pressing part may be connected to the moving part via the spring. The first adjustment part may adjust a position of the moving part with respect to the substrate.

The cutting device may further include a second force generation part which generates a driving force for shearing the substrate at the cutting part; and a second adjustment part which adjusts the driving force. The second force generation part may include an air cylinder. The second adjustment part may control the pressure of an air supplied to the air cylinder.

The second force generation part may include a servomotor. The second adjustment part may control the torque of the servo motor. The second adjustment part may adjust the driving force in response to the thickness of the substrate. The cutting part may include a saw blade.

According to another aspect of the invention, a robot includes a robot arm and the cutting device described above. The pressing part is provided at the robot arm. The first force generation part moves the pressing part in directions toward and away from the substrate by an operation of the robot arm. According to still another aspect of the invention, a robot system includes the robot described above and a controller which controls the robot.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the invention will be described in detail below with reference to the drawings. First, referring toFIGS. 1 and 2, a robot system10according to an embodiment of the invention will be described. For the sake of easier understanding of the following description, x-axis, y-axis and z-axis are defined as shown inFIGS. 1 and 2. In addition, for convenience, the x-axis positive direction is referred as a right direction, the y-axis positive direction is referred as a frontward direction, and the z-axis positive direction is referred as an upward direction.

The robot system10is for cutting a substrate A. The robot system10includes a robot12and a controller14which controls the robot12. The controller14directly or indirectly controls each of components which constitute the robot12.

In the present embodiment, the robot12is a vertical articulated robot having multiple axes. Specifically, the robot12comprises a robot arm22including a lower arm18attached to a revolving drum16and a front arm20attached to the lower arm18; and a cutting device30.

The cutting device30is attached to the front arm20via a wrist24attached to a distal end of the front arm20. Specifically, the cutting device30includes an attachment plate32, a pedestal plate34, support shafts36, a movable part38, and a first air cylinder40.

The attachment plate32is attached to the wrist24. The pedestal plate34is disposed below the attachment plate32so as to be separated away from the attachment plate32, and is fixed relative to the attachment plate32. The support shafts36vertically extend between the attachment plate32and the pedestal plate34. The support shafts36are fixed to the attachment plate32at their upper ends, while the support shafts36support the pedestal plate34at their lower ends. In the present embodiment, a total of two support shafts36are provided.

The movable part38is slidably fitted to the support shafts36. Specifically, the movable part38includes a main plate38aand two cylindrical parts38bprovided at the main plate38a. Each of the support shafts36is inserted into each of the cylindrical parts38b, whereby the movable part38is slidable along the support shafts36in the vertical direction.

The first air cylinder40is disposed on the movable part38, and includes a cylinder shaft (not shown) mechanically connected to the pedestal plate34. The first air cylinder40pushes the pedestal plate34in the lower direction via the cylinder shaft by increasing the pressure of the air supplied to the first air cylinder40.

The cutting device30further includes a pressing part42, a cutting part44, and a second air cylinder46. The proximal end of the pressing part42is fixed to the lower side of the pedestal plate34. The pressing part42curvedly extends in the frontward and downward from the proximal end thereof, and has at a distal end thereof a cutting surface42a(FIG. 7) arranged to face downward. In the present embodiment, the cutting surface42ais a plane arranged to be substantially parallel to the x-y plane.

The cutting part44is supported by the movable part38via a support48(FIG. 7) fixed to the movable part38. Specifically, the cutting part44is pivotally supported by a pin50(FIG. 7) provided at a distal end of the support48, and is arranged adjacent to the pressing part42at right side of the pressing part42.

The cutting part44curvedly extends in a substantially L-shape, and includes a proximal part44aand a distal part44bextending from the distal end of the proximal part44aso as to be slanted with respect to the proximal part44a. The distal part44bis formed with a cutting surface44c(FIG. 7) arranged to face upward. In the present embodiment, the cutting surface44cis substantially a plane. The cutting surface44cmay have a saw blade.

The second air cylinder46is attached to the movable part38via an attachment52fixed to the movable part38. The second air cylinder46includes a cylinder shaft54. The cylinder shaft54moves in an axial direction thereof, in response to the increase or decrease in the pressure of the air supplied into the second air cylinder46.

A cam58is rotatably attached to the distal end of the cylinder shaft54via a pin56. The cam58is pivotally supported by the pin56fixed to the distal end of the cylinder shaft54so as to be rotatable about the pin56. The above-mentioned proximal part44aof the cutting part44is fixed to the cam58via bolts60.

The cutting part44rotates about the pin50by the action of the second air cylinder46and the cam58. Such operation of the cutting part44will be described below. When the air pressure inside the second air cylinder46is increased, the cylinder shaft54is pushed downward in the axial direction thereof.

The downward movement of the cylinder shaft54is transmitted to the cutting part44through the cam58. On the other hand, the cutting part44is pivotally supported by the pin50fixed to the support48, so the downward movement of the cutting part44is restricted by the pin50. As a result, the cam58rotates about the pin56, whereby the cutting part44rotates about the pin50.

The cutting device30further includes a force sensor62; a first force generation part which generates a pressing force for pressing the pressing part42against a substrate A at the pressing part42; and a first adjustment part which adjusts the pressing force.

In the present embodiment, the force sensor62is disposed between the attachment plate32and the wrist24, and measures the force applied between the attachment plate32and the wrist24. The force sensor62is connected to the controller14, and transmits a signal of the measured force to the controller14. The functions of the force sensor62, the first force generation part, and the first adjustment part will be described later.

Next, referring toFIG. 2, the substrate A will be described briefly. The substrate A is placed on a jig (not shown) during a cutting operation. At the substrate A, elongated openings A1and A2extending in a direction are formed in advance. The cutting device30according to the present embodiment cuts parts A3of the substrate A, each of which is located between the openings A1and A2. When cutting the substrate A by the cutting device30, the substrate A is placed on the jig so that the longitudinal directions of openings A1and A2match with the y-axial direction.

Next, referring toFIGS. 1 to 10, the operation of the robot system10will be described below. Note that, inFIGS. 7 to 10, the substrate A is shown by a dotted line in view of easy understanding. The flow shown inFIG. 3starts when the controller14receives a command to start a cutting operation on the substrate A from an operator.

At step S1, the controller14presses the pressing part42against the substrate A. This step S1will be described below with reference toFIG. 4. When step S1is started, at step S11, the controller14positions the pressing part42above the substrate A.

Specifically, the controller14operates the robot arm22in accordance with a robot program so as to move the pressing part42to a predetermined pre-operation position above the substrate A. This state where the pressing part42is positioned at the pre-operation position is shown inFIG. 7. In this state, the cutting surface42aof the pressing part42is arranged so as to be separated upward from the substrate A by a predetermined distance “d”.

At step S12, the controller14operates the robot arm22to move the pressing part42downward so as to approach the substrate A. At step S13, the controller14determines whether or not the pressing part42contacts the substrate A.

As an example, the controller14may determine that the pressing part42contacts the substrate A when the load torque of the servomotor (not shown) built in the robot arm22exceeds a predetermined value.

As another example, the controller14may include a storage (not shown) therein, which pre-store the distance “d” between the pressing part42at the pre-operation position and the substrate A. In this case, the controller14may determine that the pressing part42contacts the substrate A when moving the pressing part42downward by the distance “d” (or a predetermined distance longer than the distance “d”).

When determined that the pressing part42contacts the substrate A (i.e., determined “YES” at step S13), the controller14proceeds to step S14. The state at this time is shown inFIGS. 2 and 8. In this state, the cutting surface42aof the pressing part42contacts an upper surface of the substrate A, and is pressed against the substrate A with a pressing force of a predetermined magnitude.

At this time, as shown inFIG. 2, the pressing part42is arranged adjacent to the left side of the part A3to be cut, and the distal part44bof the cutting part44is inserted into the opening A1formed at front side of the part A3.

Thus, in the present embodiment, the pressing part42is pressed against the substrate A with the pressing force of the predetermined magnitude by the operation of the robot arm22. Accordingly, the robot arm22functions as a first force generation part which generates the pressing force at the pressing part42. On the other hand, when determined that the pressing part42does not contact the substrate A (i.e., determined “NO”) at step S13, the controller14loops step S13.

At step S14, the controller14determines whether or not the force applied from the substrate A to the pressing part42is within a predetermined range. Specifically, the controller14determines whether or not the value of the force measured by the force sensor62is within a predetermined range.

This operation will be described more specifically below. When pressing the substrate A by the pressing part42with the predetermined pressing force, the pressing part42is pushed back from the substrate by a reaction force of the pressing force. The reaction force applied from the substrate A to the pressing part42acts on a section between the attachment plate32and the wrist24, so the force sensor62can measure this reaction force.

Thus, the pressing force and the reaction force correlate with each other, and the value of the force measured by the force sensor62correlates with the pressing force and the reaction force. In the present embodiment, the controller14determines whether or not the pressing part42presses the substrate A with the pressing force of the magnitude within the predetermined range, by judging whether the value of the force obtained by the force sensor62is within the predetermined range.

The predetermined range set for the value of the force obtained by the force sensor62can be acquired by an experimental method, and is pre-stored in the storage built in the controller14, for example.

When the value of the force obtained by the force sensor62is within the predetermined range, the controller14determines “YES”, and ends the flow shown inFIG. 4, and then proceeds to step S3shown inFIG. 3. On the other hand, when the value of the force obtained by the force sensor62is out of the predetermined range, the controller14determines “NO”, and proceeds to step S15.

At step S15, the controller14adjusts the pressing force applied to the substrate A from the pressing part42. Specifically, when the value of the force obtained by the force sensor62is determined to be larger than the upper limit of the predetermined range at the step S14, the controller14operates the robot arm22so as to move the pressing part42slightly upward. By this operation, the pressing force by which the pressing part42presses the substrate A can be reduced.

On the other hand, when the value of the force obtained by the force sensor62is determined to be smaller than the lower limit of the predetermined range at step S14, the controller14operates the robot arm22so as to move the pressing part42slightly downward.

By this operation, the pressing force by which the pressing part42presses the substrate A can be increased. In this manner, the controller14loops step S14and step S15until the value of the force obtained by the force sensor62falls within the predetermined range.

Thus, in the present embodiment, the controller14controls the operation of the robot arm22so as to adjust the pressing force for pressing the substrate A by the pressing part42, in response to the force obtained by the force sensor62, i.e., the reaction force applied from the substrate A to the pressing part42. Accordingly, the controller14functions as a first adjustment part which adjusts the pressing force in response to the force applied from the substrate A to the pressing part42.

Referring toFIG. 3again, at step S2, the controller14arranges the cutting part44to a pre-cut position. This step S2will be described below with reference toFIG. 5. When step S2is started, at step S21, the controller14drives the second air cylinder46.

Specifically, the controller14makes an air supply device (not shown) externally installed to supply an air into the first air cylinder46so as to increase the air pressure inside the first air cylinder46, whereby pushes out the cylinder shaft downwardly. The movement of the cylinder shaft54is transmitted to the cutting part44via the cam58, whereby the cutting part44is rotated about the pin50in a counter clockwise direction when seen from obverse side ofFIG. 8, in the opening A1of the substrate A.

At step S22, the controller14determines whether or not the cutting part44is arranged at the predetermined pre-cut position. For example, the controller14determines whether the cutting part44is arranged at the pre-cut position, based on the air pressure inside the second air cylinder46or the amount of movement of the cylinder shaft54.

When determined that the cutting part44is properly arranged at the pre-cut position (i.e., determined “YES”), the controller14proceeds to step S23. The state at this time is shown inFIG. 9. As shown inFIG. 9, when the cutting part44is arranged at the pre-cut position, the distal part44bof the cutting part44is arranged just below the part A3of the substrate A.

In this stage, the cutting surface44cof the cutting part44is arranged to be separated downward from the cutting surface42aof the pressing part42by a predetermined distance, so that the cutting surface44cis substantially parallel to the cutting surface42a(i.e., to the substrate A). On the other hand, when determined that the cutting part44is not properly arranged at the pre-cut position (i.e., when determined “NO”) at step S22, the controller14loops step S22.

At step S23, the controller14determines whether or not the force applied from the substrate A to the pressing part42is within a predetermined range, similar as above-mentioned step S14. When determined “YES”, the controller14ends the flow shown inFIG. 5, and proceeds to step S3shown inFIG. 3. On the other hand, when determined “NO”, the controller14proceeds to step S24. At step S24, the controller14adjusts the pressing force applied from the pressing part42to the substrate A, similar as above-mentioned step S15.

Referring toFIG. 3again, at step S3, the controller14cuts the substrate A. This step S3will be described below with reference toFIG. 6. When step S3is started, at step S31, the controller14drives the first air cylinder40. Specifically, the controller14makes the air pressure inside the first air cylinder40to increase.

By this operation, the first air cylinder40pushes the pedestal plate34downward via the cylinder shaft. At this time, the pressing part42contacts the substrate A, while the substrate A is supported by the jig, so the pressing part42and the pedestal plate34are prevented from moving downward.

Therefore, the first air cylinder40is pushed back by the pedestal plate34, whereby the first air cylinder40and a movable part38move upward along the support shafts36. As the movable part38moves upward, the cutting part44, which is supported by the movable part38via the support48, also moves upward together with the movable part38.

Then, as shown inFIG. 10, the cutting part44contacts the lower surface of the part A3of the substrate A so as to sandwich the part A3between the cutting part44and the pressing part42which presses the upper surface of the part A3. As a result, a shearing force is applied to the part A3so as to shear it.

Thus, in the present embodiment, the cutting part44is moved upward by the operation of the first air cylinder40, whereby the substrate A is sheared. Accordingly, the first air cylinder40functions as a second force generation part which generates a driving force for shearing the substrate A at the cutting part44.

At step S32, the controller14determines whether or not the force applied from the substrate A to the pressing part42is within the predetermined range, similar as above-mentioned step S14. When determined “YES”, the controller14proceeds to step S33. On the other hand, when determined “NO”, the controller14proceeds to step S34.

At step S33, the controller14determines whether or not the substrate A is properly cut. For example, the controller14may determine whether the part A3of the substrate A is properly sheared, based on the air pressure inside the first air cylinder40, the amount of movement of the cylinder shaft, or the amount of movement of the cutting part44.

When determined “YES”, the controller14ends the flow shown inFIG. 6, and proceeds to step S4inFIG. 3. On the other hand, when determined “NO”, the controller14returns to step S32. Meanwhile, when determined “NO” at step S32, at step S34, the controller14adjusts the pressing force applied from the pressing part42to the substrate A, similar as above-mentioned step S15.

Referring toFIG. 3again, at step S4, the controller14moves the cutting part44to the initial position. Specifically, the controller14makes the air pressure inside the second air cylinder46to decrease, so as to move the cylinder shaft54upward. As a result, the cutting part44is rotated about the pin50in a direction opposite to that in step S21(i.e., a clockwise direction when seen from obverse side ofFIG. 8).

At step S5, the controller14determines whether or not the movement of the cutting part44is properly finished. For example, the controller14determines whether the movement of the cutting part44has properly completed, based on the air pressure inside the second air cylinder46, the amount of movement of the cylinder shaft54, or the amount of movement of the cutting part44.

When determined “YES”, the controller14proceeds to step S6. At this time, the cutting part44is arranged at the position as shown inFIG. 7(orFIG. 8) with respect to the pressing part42, whereby the cutting part44returns to the initial position. On the other hand, when determined “NO”, the controller14loops step S5.

At step S6, the controller14moves the pressing part42away from the substrate A. Specifically, the controller14operates the robot arm22so as to move the pressing part42upward, whereby move the pressing part42away from the substrate A.

At step S7, the controller14determines whether or not the all cutting operations received from the operator has completed. When determined “YES”, the controller14ends the flow shown inFIG. 3. On the other hand, when determined “NO”, the controller14returns to step S1, and executes a subsequent cutting operation on another substrate A.

As described above, in the present embodiment, the controller14adjusts the pressing force for pressing the substrate A by the pressing part42, in response to the reaction force which the pressing part42receives from the substrate A when the pressing part42is pressed against the substrate A.

Due to this configuration, it is possible to press substrates having different thicknesses with constant pressing force. As a result, it is possible to make the impact applied to each substrate during a cutting operation constant, thereby maintain the performance of components mounted on the substrates.

In addition, in the present embodiment, the pressing part42is moved by the robot arm22. Due to this, it is possible to flexibly adapt to a cutting operation on substrates of various shapes. Furthermore, the pressing part42is pressed against the substrate A by means of the robot arm22, so it is possible to precisely control the pressing force on the substrate A.

Moreover, in the present embodiment, the reaction force applied from the substrate A to the pressing part42is measured by the force sensor62. Due to this, the reaction force can be accurately measured, so it is possible to make the pressing force constant more efficiently.

Next, referring toFIG. 11, a cutting device70according to another embodiment of the invention will be described. Note that, in various embodiments described below, elements similar to those in the above-mentioned embodiment are assigned the same reference numerals, and detailed descriptions thereof will be omitted.

The cutting device70according to the present embodiment may be incorporated in the robot system10, instead of the cutting device30described above. The cutting device70differs from the cutting device30in that the cutting device70further includes a spring72arranged between the pedestal plate34and the pressing part42.

The spring72elastically deforms when the pressing part42is pressed against the substrate A by an operation of the robot arm22, and presses the pressing part42against the substrate A with a predetermined pressing force derived from the elastic restoring force generated at the spring72. The pressing force applied from the pressing part42to the substrate A depends on the amount of deformation of the spring72.

In this embodiment, in order to adjust the pressing force applied from the pressing part42to the substrate A, the controller14operates the robot arm22so as to move the pedestal plate34and the robot arm22in a direction toward or away from the substrate A. By this operation, the amount of deformation of the spring72can be adjusted, whereby the pressing force by the pressing part42can be adjusted.

Thus, in the present embodiment, the pressing part42is pressed against the substrate A with a pressing force of a predetermined magnitude by the operations of the robot arm22as a moving part and the spring72. Accordingly, the robot arm22and the spring72function as a first force generation part which generates the pressing force at the pressing part42.

Next, referring toFIG. 12, a cutting device80according to still another embodiment of the invention will be described. The cutting device80according to the present embodiment differs from the above-mentioned cutting device70in that the cutting device80includes a third air cylinder82arranged between the pedestal plate34and the pressing part42, instead of the spring72.

The third air cylinder82includes a cylinder shaft84which is mechanically connected to the pressing part42. The third air cylinder82moves the cylinder shaft84downward and upward in response to a command from the controller14.

In this embodiment, in order to adjust the pressing force applied from the pressing part42to the substrate A, the controller14moves the pressing part42upward or downward by adjusting a pressure of an air supplied to the third air cylinder82. Due to this operation, the pressing force by the pressing part42can be adjusted. Thus, in the present embodiment, the third air cylinder82functions as a first force generation part which generates the pressing force at the pressing part42.

Next, referring toFIG. 13, a cutting device90according to still another embodiment of the invention will be described. The cutting device90according to the present embodiment differs from the above-mentioned cutting device30in that the cutting device90includes a displacement sensor92, instead of the force sensor62. The displacement sensor92is e.g. an optical-type displacement sensor, and is attached to the robot arm22. The displacement sensor92measures the position of the pressing part42with respect to the substrate A.

Next, the operation of the robot system10provided with the cutting device90will be described below. The operation of the robot system10according to the present embodiment differs from the above-mentioned embodiment shown inFIG. 1in the process at step S14. In particular, at step S14, the controller14in this embodiment determines whether or not the force applied from the substrate A to the pressing part42is within the predetermined range, based on the position of the pressing part42with respect to the substrate A, which is measured by the displacement sensor92.

As an example, the displacement sensor92measures a distance between the displacement sensor92and the substrate A, and transmits the measured distance to the controller14. On the other hand, the controller14pre-stores a relative coordinate between the cutting surface42aof the pressing part42and the displacement sensor92. The controller14calculates the position of the cutting surface42awith respect to the substrate A, based on the distance between the displacement sensor92and the substrate A, which is measured by the displacement sensor92, and the relative coordinate.

The position of the cutting surface42awith respect to the substrate A correlates with the reaction force applied from the substrate A to the pressing part42when pressing the substrate A by the pressing part42, because it is considered that, when the cutting surface42ais measured to be arranged further downward with respect to the upper surface of the substrate A, the pressing part42presses the substrate A with a larger pressing force, as a result of which a larger reaction force would be generated.

According to the present embodiment, the controller14determines whether or not the reaction force applied from the substrate A to the pressing part41, i.e., the pressing force by the pressing part42, is appropriate, by judging whether the position of the cutting surface42ameasured by the displacement sensor92is within a predetermined range.

This predetermined range set for the position of the cutting surface42awith respect to the substrate A can be acquired by an experimental method, and pre-stored in the storage built in the controller14, for example.

The controller14determines “YES” when the position of the cutting surface42awith respect to the substrate A is within the predetermined range, and ends the flow shown inFIG. 4, and then proceeds to step S3inFIG. 3. On the other hand, the controller14determines “NO” when the position of the cutting surface42awith respect to the substrate A is out of the predetermined range, and proceeds step S15inFIG. 4.

Further, in this embodiment, the controller14may adjust the driving force supplied from the first air cylinder40to the cutting part44, in response to the thickness of the substrate A. In this case, at step S11, the controller14sends a command to the displacement sensor92so as to measure a distance between the pressing part42and the substrate A, when arranging the pressing part42at the predetermined pre-operation position.

On the other hand, the controller14pre-stores in the storage a distance between the displacement sensor92at the pre-operation position and a jig (not shown) on which the substrate A is placed. The controller14can calculate the thickness of the substrate A based on the measured distance between the displacement sensor92and the substrate A and on the pre-stored distance between the displacement sensor92and the jig.

Then, at step S31, the controller14adjusts the air pressure for driving the first air cylinder40, in order to drive the cutting part44with a driving force corresponding to the thickness of the substrate A. Specifically, the controller14pre-stores a data table indicating the relationship between the thickness of the substrate A and the air pressure inside the first air cylinder40.

For example, the air pressure for driving the first air cylinder40is set to be proportional to the thickness of the substrate A. In other words, when cutting a substrate of a smaller thickness, the air pressure for driving the cylinder is set to be smaller in order to shear the substrate by the cutting part44with a smaller force.

The controller14compares the thickness of the substrate A calculated at step S11with the above data table, and controls the pressure of the air supplied to the first air cylinder40so as to drive the first air cylinder40with the pressure corresponding to the calculated thickness.

Due to this operation, it is possible to adjust the force for cutting the substrate A in response to the thickness of the substrate A. Thus, in this embodiment, the controller14functions as a second adjustment part which adjusts the driving force supplied from the first air cylinder40to the cutting part44.

In addition, in this embodiment, the reaction force applied from the substrate A to the pressing part42is measured by the displacement sensor92. Due to this, the reaction force can be precisely measured, so it is possible to make the pressing force constant more efficiently.

Furthermore, according to this embodiment, the force for cutting the substrate A is adjusted in response to the thickness of the substrate A. Therefore, the impact applied to the substrate A can be reduced more efficiently, so it is possible to maintain the performance of components mounted on the substrates.

Note that, in this embodiment, a case is described where the first air cylinder40is applied as a second force generation part for driving the cutting part44to cut the substrate A. However, a servo motor may be applied instead of the first air cylinder40.

In this case, at step S31, the controller14may adjust the torque of the servo motor in order to drive the cutting part44with a driving force corresponding to the thickness of the substrate A. Due to this, the driving force of the cutting part44can be precisely adjusted in response to the thickness of the substrate A, so it is possible to reduce the impact on the substrate A more effectively.

Further, a cutting device may be configured by combining the features of the various embodiments described above. For example, the displacement sensor92of the cutting device90shown inFIG. 13may be incorporated in the cutting device70shown inFIG. 11. In this case, the controller14may calculate the distance between the pedestal plate34and the substrate A based on the signal transmitted from the displacement sensor92.

Then, at step S14, the controller14may determine whether the force applied from the substrate A to the pressing part42is within the predetermined range, based on the calculated distance. Further, the displacement sensor92may be adapted to directly measure the distance between the pedestal plate34and the substrate A.

Further, in the above embodiments, the cutting device30,70,80or90is incorporated in the robot system10. However, the invention is not limited to such arrangement. Next, a cutting device100according to still another embodiment of the invention will be described below with reference toFIG. 14.

The cutting device100includes a pressing part42, a cutting part44, a first force generation part102, and a first adjustment part104. The first force generation part102generates a pressing force for pressing the pressing part42against a substrate at the pressing part42. The robot arm22in the embodiment shown inFIG. 1corresponds to the first force generation part102.

The first adjustment part104adjusts the pressing force in response to the reaction force applied from the substrate to the pressing part42when the pressing part42is presses against the substrate by the first force generation part102. The controller14shown inFIG. 1corresponds to the first adjustment part104.

According to the cutting device100of this embodiment, it is possible to press substrates having different thicknesses with constant pressing force. As a result, it is possible to make the impact applied to each substrate during a cutting operation constant, thereby maintain the performance of components mounted on the substrates.

The invention described above with the multiple embodiments does not intend to limit the scope of the invention described in the claims. In addition, any combinations of the features described in the present embodiments may be included in the scope of the invention, however, not all the combinations of the features are necessarily essential for a means to solve the problem of the invention. Furthermore, it would be obvious to the person skilled in the art that the embodiments described above may include various modifications or reformations.

Moreover, it is understood that an execution procedure of each processing such as an operation, process, step, course and stage in the device, system, program and method described in the claims, the description and the drawings may be carried out in any order of sequence, unless specified by “before”, “prior to” or the like, and unless an output in a preceding process is used in a following process. An operation flow in the claims, the description and the drawings might include “first”, “next”, “then” or the like, however, such expressions do not mean to restrict any sequence in that order.