Patent Publication Number: US-2020297174-A1

Title: Robot, dust collection device, and dust collection method

Description:
CROSS-REFERENCES TO RELATED APPLICATIONS 
     This application claims the benefit of Japan Patent Application No. 2019-050135 filed on 18 Mar. 2019, which is hereby incorporated by reference herein in its entirety. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a robot, a dust collection device, and a dust collection method. 
     2. Description of the Related Art 
     Japanese Unexamined Patent Application Publication No. 2002-36182 discloses a printed circuit board dividing apparatus. In this printed circuit board dividing apparatus, a flat plate parallel to a printed circuit board is disposed in a receiving jig configured to hold a printed circuit board. An air emission port is provided in one side of a gap formed by the printed circuit board and the flat plate, and an air suction port is formed in a portion of the flat plate near the other side of the gap facing the air emission port. 
     In the printed circuit board dividing apparatus configured as described above, the emission of air and the suction of air are simultaneously performed, and thus the chips generated when a printed circuit board is cut can be effectively removed. Furthermore, the sufficient holding force of the receiving jig used to hold a printed circuit board can be secured. 
     BRIEF SUMMARY OF THE INVENTION 
     The above-described printed circuit board dividing apparatus includes the flat plate having at least a size comparable to the planar size of a printed circuit board, and thus the configuration of a device for collecting chips becomes large. For example, when the printed board dividing apparatus is mounted on a desktop robot functioning as an industrial robot, an overall system including the desktop robot becomes large. For this reason, there is a need for improvement. 
     In light of the above facts, the present invention provides a robot, a dust collection device, and a dust collection method that may improve dust collection efficiency and achieve a reduction in size. 
     In order to accomplish the above object, according to a first embodiment of the present invention, there is provided a robot including: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; and a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut. 
     According to a second embodiment of the present invention, there is provided the robot of the first embodiment, wherein the dust collection part moving mechanism moves the dust collection part to the first position upon the cutting of the workpiece to be cut using the cutting body. 
     According to a third embodiment of the present invention, there is provided the robot of the first or second embodiment, wherein the dust collection part moving mechanism moves the dust collection part to the second position before or after the cutting of the workpiece to be cut using the cutting body. 
     According to a fourth embodiment of the present invention, there is provided the robot of any one of the first to third embodiments, wherein the dust collection part is formed in a tubular shape having a direction orthogonal to each of the first and second axis directions as its tube axis direction, a drive source configured to drive the cutting body is connected to the cutting body, and, when viewed in the tube axis direction, the area of the opening of the dust collection part is set to be smaller than that of the drive source and to be larger than that of the cutting body. 
     According to a fifth embodiment of the present invention, there is provided the robot of any one of the first to fourth embodiments, wherein the dust collection part moving mechanism is composed of an actuator connected to the dust collection part and configured to reciprocate the dust collection part in a third axis direction orthogonal to each of the first and second axis directions. 
     According to a sixth embodiment of the present invention, there is provided the robot of the fifth embodiment, wherein the dust collection part is disposed below the cutting body in the third axis direction. 
     According to a seventh embodiment of the present invention, there is provided the robot of the first embodiment, further including a following structure configured to support the dust collection part moving mechanism and to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut. 
     According to an eighth embodiment of the present invention, there is provided the robot of the seventh embodiment, wherein the one end part of the following structure supports the dust collection part via the dust collection part moving mechanism, and the remaining end part of the following structure is mounted on the second moving mechanism. 
     According to a ninth embodiment of the present invention, there is provided the robot of the seventh or eighth embodiment, wherein the intermediate part of the following structure is formed in a shape that bypasses the workpiece to be cut. 
     According to a tenth embodiment of the present invention, there is provided a robot including: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; and a following structure configured to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut. 
     According to an eleventh embodiment of the present invention, there is provided a dust collection device including: a dust collection part disposed to face a cutting body and configured to collect cutting chips generated by the cutting of a workpiece to be cut using the cutting body; and a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut upon cutting and a second position remote from the workpiece to be cut before or after cutting. 
     According to a twelfth embodiment of the present invention, there is provided a dust collection device for a robot, the robot including a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction and a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction, the dust collection device including: a dust collection part configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut; and a following structure configured to support the dust collection part moving mechanism and to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut. 
     According to a thirteenth embodiment of the present invention, there is provided a dust collection method including: moving a workpiece to be cut in a first axis direction; moving a cutting body in a second axis direction orthogonal to the first axis direction; cutting the workpiece to be cut with the cutting body; disposing a dust collection part to face the cutting body, moving the dust collection part to a first position close to the workpiece to be cut, and collecting cutting chips generated by cutting; and moving the dust collection part to a second position remote from the workpiece to be cut. 
     According to a fourteenth embodiment of the present invention, there is provided the robot of the thirteenth embodiment, wherein collecting the cutting chips includes placing the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut and collecting the cutting chips. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other objects, features, and advantages of the present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which: 
         FIG. 1  is a front perspective view showing the overall configuration of a robot and the configurations of main parts of a dust collection device according to an embodiment of the present invention when viewed obliquely upward from the front side to the right; 
         FIG. 2  is a right side view showing the configurations of the robot and the dust collection device shown in  FIG. 1  when viewed from the right side; 
         FIG. 3  is a rear perspective view showing the partial configuration of the robot and the configurations of the main parts of the dust collection device shown in  FIGS. 1 and 2  when viewed obliquely upward from the rear side; 
         FIG. 4  is an enlarged rear perspective view showing the configurations of the main parts of the dust collection device shown in  FIGS. 1, 2 and 3  when viewed obliquely upward from the rear side to the left; 
         FIG. 5  is an enlarged rear perspective view showing the configurations of a dust collection part and a moving mechanism in a remote operation state, i.e., main parts of the dust collection device shown in  FIGS. 1, 2, 3 and 4 , when viewed obliquely upward from the rear side; 
         FIG. 6  is an enlarged rear perspective view showing the configurations of the dust collection part and the moving mechanism, shown in  FIG. 5 , in a close operation state when viewed obliquely upward from the rear side, which corresponds to  FIG. 5 ; 
         FIG. 7  is an enlarged front sectional view showing the cutting body of the robot shown in  FIGS. 1 and 2  and the section of the dust collection part of the dust collection device, shown in  FIGS. 1 to 5 , in a remote operation state, in a more enlarged form; 
         FIG. 8  is an enlarged front sectional view showing the cutting body of the robot shown in  FIGS. 1 and 2  and the section of the dust collection part of the dust collection device, shown in  FIGS. 1 to 4 and 6 , in a close operation state, in a more enlarged form, which corresponds to  FIG. 7 ; 
         FIG. 9A  is a table showing the relationships between the clearance between the dust collection part of a dust collection device and a workpiece to be cut and dust collection efficiency according to the present embodiment, and  FIG. 9B  is a graph that is created based on the relationships shown in the table of  FIG. 9A ; and 
         FIG. 10A  is a table showing the relationships between the suction diameter of the dust collection part of a dust collection device and dust collection efficiency according to the present embodiment, and  FIG. 10B  is a graph that is created based on the relationships shown in the table of  FIG. 10A . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     A robot, a dust collection device, and a dust collection method according to embodiments of the present invention will be described below with reference to  FIGS. 1 to 10B . 
     In the drawings, each of the arrows X appropriately shown indicates the X-axis direction of a corresponding three-dimensional( 3 D) coordinate system, each of the arrows Y indicates the Y-axis direction thereof, and each of the arrows Z indicates the Z-axis direction thereof. The Y-axis direction is orthogonal to the X-axis direction on a corresponding plane, and the Z-axis direction is orthogonal to each of the X-axis direction and the Y-axis direction. Furthermore, each of these directions is a direction used for convenience in the description of a corresponding embodiment, and is not intended to limit the corresponding direction in the present invention. 
     (Overall Configurations of Robot  1  and Dust Collection Device  7 ) 
     As shown in  FIG. 1 , a robot  1  according to the present embodiment is configured as a tabletop robot having a three-axis specification and a board division specification. In other words, the robot  1  includes a first moving mechanism 3  configured to move in the X-axis direction functioning as a first axis direction, a second moving mechanism  4  configured to move in the Y-axis direction functioning as a second axis direction, and a third moving mechanism  5  configured to move in the Z-axis direction functioning as a third axis direction. The first moving mechanism  3 , the second moving mechanism  4 , and the third moving mechanism  5  are disposed on a base body  2 . 
     Furthermore, a dust collection device  7  is disposed in the robot  1 . This dust collection device  7  is assembled and fastened to the robot  1 . The individual elements of the present invention will be described in detail below. 
     (Configuration of Robot  1 ) 
     (1) Configuration of Base Body  2   
     As shown in  FIGS. 1 and 2 , the base body  2  of the robot  1  is composed of a rectangular parallelepiped housing  21  in which, when viewed on a plane, the length thereof in the Y-axis direction is set to be the same or approximately the same as the length thereof in the X-axis direction and the Z-axis direction is set as the thickness direction thereof (in this case, the height direction thereof). The top surface of the housing  21  is formed as a base surface  21 Acomposed of a flat horizontal surface. 
     In this case, in  FIG. 2 , the left side of the base body  2  is the front side of the robot  1  on which an operator performs operation or the like in order to perform workpiece work. Meanwhile, the right side of the base body  2  is the rear side of the robot  1 . 
     Returning to FIGS. land  2 , the front end of the housing  21 includes an operation surface  21 B inclined obliquely downward from the base surface  21 A and a signal port surface  21 C extended downward from the front side end of the operation surface  21 B. An operation part  22  is disposed on the right side of the operation surface  21 B when viewed from the front side. The operation part  22  is connected to a control unit that is disposed inside the base body  2  and not shown in the drawings. 
     Various types of connection ports configured to connect to the control unit are disposed on the signal port surface  21 C. In this case, the connection ports include a memory port, a local area network (LAN) port, a teaching pendant connection port, and a communication (COM) port. The connection ports connect the control unit with external devices of the robot  1 . 
     Furthermore, a signal port surface is also disposed on the rear side of the housing  21  that is not shown in the drawings. Various types of connection ports, including a COM port, and an input/output (I/O) port, are disposed on this signal port surface. 
     (2) Configuration of First Moving Mechanism  3   
     The first moving mechanism  3  is disposed on the base surface  21 A of the base body  2 . The first moving mechanism  3  includes a slide rail  31  and a slider (X-axis moving part)  32 . 
     The slide rail  31  is disposed on the base surface  21 A to protrude from the base surface  21 A in the middle of the base surface  21 A in the Y-axis direction, and extends using the X-axis direction as its longitudinal direction. The slide rail  31  is formed as a structure fixed to the base surface  21 A. 
     The slider  32  is formed along the top surface and both the side surfaces of the slide rail  31 , and is slidably disposed on the slide rail  31 . In other words, the slider  32  is configured to reciprocate in the forward and reverse directions of the X-axis direction in the longitudinal direction of the slide rail  31 . The slider  32  is configured to be moved at high speed by a moving mechanism into which an electric motor disposed below the slide rail  31  or inside the housing  21 and not shown in the drawings and a belt mechanism configured to move the slider  32 through the rotation of the electric motor and not shown in the drawings are combined. 
     As shown in  FIG. 2 , a workpiece  8  to be cut on which workpiece work is performed in the robot  1  is held on the slider  32  via a holding jig that is not shown in the drawings. In other words, the first moving mechanism  3  is configured to move the workpiece  8  to be cut in the X-axis direction. 
     In this case, although a detailed description of a configuration is omitted, a printed circuit board (PCB) is used as the workpiece  8  to be cut as an example. Such a PCB uses a glass epoxy-based resin substrate as an insulating substrate, and copper wirings configured to connect circuits are formed on the insulating substrate. Furthermore, electronic parts such as an integrated circuit, a resistor, and a capacitor are mounted on the PCB. 
     A plurality of printed circuit boards (PCBs) having the same function is repeatedly formed as a pattern in the PCB functioning as the workpiece  8  to be cut, and the robot  1 performs the workpiece work of dividing and subdividing the workpiece  8  to be cut by cutting it. Accordingly, a plurality of subdivided PCBs may be manufactured from the workpiece  8  to be cut. 
     Furthermore, the robot  1  may perform not only the subdivision of the workpiece  8  to be cut, i.e., the division of the substrate, but also cutting work, such as straight cutting, curved cutting, right-angle cutting, and corner chamfering, on the workpiece  8  to be cut. 
     (3) Configuration of Second Moving Mechanism  4   
     As shown in  FIGS. 1 and 2 , the second moving mechanism  4  is disposed above the base surface  21 A of the base body  2 and above the first moving mechanism  3 . More specifically, the second moving mechanism  4  includes a pair of support portions  41 and 42 , a slide rail (horizontal arm)  43 , and a slider (Y-axis moving part)  44 . 
     One support portion  41  of the pair of support portions  41  and  42  is disposed on the rear end portion of the left surface of the housing  21  of the base body  2  when viewed from the front side, and is formed in a rectangular column shape that stands upward from the base body  2  in the Z-axis direction. The other support portion  42  of the pair of support portions  41  and  42  is disposed on the rear end portion of the right surface of the housing  21  of the base body  2  when viewed from the front side, and is formed in a rectangular column shape that stands upward from the base body  2  in the Z-axis direction, like the one support portion  41 . 
     The slide rail  43  is formed in a rectangular column shape extending using the Y-axis direction as its longitudinal direction, and is installed across a space from the one support portion  41  to the other support portion  42 . In other words, one end of the slide rail  43  is connected to the upper end of the support portion  41 , and the other end of the slide rail  43  is connected to the upper end of the support portion  42 . 
     A structure into which the pair of left and right support portions  41 and  42  and the slide rail  43  installed across the space from the upper end of the support portion  41  to the upper end of the support portion  42  are assembled is formed such that when viewed from the front side, the lower side thereof, which is a base body side, is opened and the upper side thereof is connected. When the bottom surface of the slide rail  43  is set as the start position of the downward movement of the third moving mechanism  5 , the bottom surface of the slide rail  43  is disposed at a position that is spaced apart from the slider  32  in the Z-axis direction by at least a distance corresponding to the stroke of the third moving mechanism  5  in the Z-axis direction. 
     The slider  44  is formed along the side surface of the front side of the slide rail  43  and the top surface of the slide rail  43 , and is disposed to is slidable along the slide rail  43 . In other words, the slider  44  is configured to reciprocate in the forward and reverse directions of the Y-axis direction along the longitudinal direction of the slide rail  43 . The slider  44  is configured to be moved at high speed by a moving mechanism into which an electric motor disposed inside the slide rail  43  and not shown in the drawings and a belt mechanism configured to move the slider  44  through the rotation of the electric motor are combined. The slider  44  contains the third moving mechanism  5  therein, and is thus formed in a rectangular column shape having the Z-axis direction as its longitudinal direction. 
     In the second moving mechanism  4  configured as described above, the slide rail  43  is supported on the base body  2  in a clamped beam structure via the pair of support portion  41 and support portion  42 . Furthermore, the second moving mechanism 4  is disposed on the base body  2  independently of and separately from the first moving mechanism  3 . 
     As shown in  FIG. 1 , one end of a cable bear  45  is connected to the upper end of the slider  44 . The other end of the cable bear  45  extends on the slide rail  43  in the Y-axis direction. Although a detailed description of a structure is omitted, signal wirings and power supply wirings are arranged in the cable bear  45 . The signal wirings are configured to connect the control unit to each of the second moving mechanism  4  and the third moving mechanism  5 . The power supply wirings are configured to connect a power supply circuit (not shown) to each of the second moving mechanism  4  and the third moving mechanism  5 . 
     (4) Configuration of Third Moving Mechanism  5   
     The third moving mechanism  5  is disposed in the slider  44  of the second moving mechanism  4 . The third moving mechanism  5  includes a slide rail disposed in the slider  44  and not shown in the drawings and a slider (Z-axis moving part)  51 . The slider  51  is disposed to be slidable along the slide rail, and is configured to reciprocate in the forward and reverse directions of the Z-axis direction. In other words, the slider  51  is configured to be selectively lifted and lowered in an upward or downward direction. 
     (5) Configuration of Cutting Body  6   
     The third moving mechanism  5  is equipped with a cutting body  6  configured to subdivide the workpiece  8  to be cut as a tool that performs workpiece work. The cutting body  6  is mounted below the slider  51 . 
     In the present embodiment, the cutting body  6  uses router bits as a cutting tool. More specifically, in this case, there are used straight router bits in which bits are formed in the Z-axis direction on the circumferential surface of a cylindrical shape extending in the Z-axis direction. A drive source  62  configured to rotate the cutting body  6  is connected to the cutting body  6  via a collet chuck that is not shown in the drawings. A router is used as the drive source  62 . The router rotates the cutting body  6  by rotating the rotating shaft of an electric motor having a direction parallel to the Z-axis direction as its axial direction. 
     The cutting body  6  is held by a holding part  61  via the drive source  62 , and the cutting body  6 andthe drive source  62  are mounted on the slider  51  via the holding part  61 . 
     Furthermore, the cutting body  6  is not limited to the router bits, but may be a cutting tool, such as a drill, or a bite, in accordance with the type of workpiece work regarding the workpiece  8  to be cut. For example, when a drill is used as the cutting body  6 , drilling work may be performed on the workpiece  8  to be cut as workpiece work. Furthermore, when a bite is used as the cutting body  6 , grooving work may be performed on the workpiece  8  to be cut as workpiece work. 
     Furthermore, the workpiece  8  to be cut is not limited to a PCB. For example, the workpiece  8  to be cut may be a paper phenolic board formed by infiltrating phenolic resin into paper, which is an insulator. Alternatively, the workpiece  8  to be cut may be a workpiece work material made of resin or metal and having a block shape. 
     In the present embodiment, although the cutting body  6  (and the drive source  62 ) is moved in the Z-axis direction because it is mounted on the third moving mechanism  5 , the third moving mechanism  5  is disposed on the slider  44  of the second moving mechanism  4 , with the result that the second moving mechanism  4  moves the cutting body  6  in the Y-axis direction. 
     (Configuration of Dust Collection Device  7 ) 
     As shown in  FIGS. 1 to 3 , the robot  1  includes the dust collection device  7 . The dust collection device  7  has the function of collecting cutting chips that are generated from the workpiece  8  to be cut by using the cutting body  6 . For example, when the workpiece  8  to be cut is a PCB, as described above, cutting chips are generated from a glass epoxy-based resin substrate and copper wirings by sub division, and thus these cutting chips are collected by the dust collection device  7 . 
     Although the dust collection device  7  is assembled and mounted to the robot  1  in an integrated manner by using, for example, a coupling member, the dust collection device  7  may be mounted to the robot  1  in advance when a product is shipped, or may be mounted to the robot  1  later as an option kit after a product has been shipped. 
     The dust collection device  7  includes a dust collection part  71 , a dust collection part moving mechanism  72 , and a following structure  73  as its main components. Furthermore, the dust collection device  7  has a suction device, a filter, and a dust collector with dust collection hoses disposed therebetween. The dust collection device  7  is configured to be connected to an external dust collection device that is separate from the robot  1  and is not shown in the drawings. A description of this external dust collection device is omitted. 
     The components of the dust collection device  7  will be described in detail below. 
     (1) Configuration of Dust Collection Part  71   
     The dust collection part  71  is disposed below the cutting body  6  to face the cutting body  6  in the Z-axis direction, as shown in  FIGS. 1 and 2 , and is disposed relative to the cutting body  6  with the workpiece  8  to be cut interposed therebetween, as shown in  FIGS. 2 and 7 . In other words, in the present embodiment, the dust collection part  71  is disposed directly below the cutting body  6 . 
     As shown in  FIGS. 1 to 4, 5 and 7 , the dust collection part  71  is formed in a tubular shape made of metal or resin having the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction as a tube axis direction. The dust collection part  71  sucks cutting chips from the opening of the upper end thereof into the inside  71 A (see  FIG. 8 ) thereof. 
     In the present embodiment, the dust collection part  71  is formed in a circular tube shape. In the dust collection part  71  configured as described above, the distance between a position at which the workpiece  8  is cut and the opening edge of the upper end of the dust collection part  71  is constant in any direction on the horizontal XY-plane, thereby effectively suppressing the non-uniformity of dust collection efficiency. 
     As shown in  FIG. 7 , in the dust collection part  71 , the opening area A 3  of the upper end opening of the tube shape is set to be smaller than the area A 1  of the drive source  62  projected onto a plane (a plane that is allocated a symbol S for convenience sake, is indicated by the alternate long and short dash line, and is parallel to the XY-plane) that is the same as the upper end opening. Additionally, the opening area A 3  of the dust collection part  71  is set to be larger than the area A 2  of the cutting body  6  projected onto the plane S. In other words, when viewed from the tube axis direction of the dust collection part  71 , the opening area A 3  is set to be smaller than the area A 1  and to be larger than the area A 2 . In other words, in a side view, the opening size (diameter size) of the dust collection part  71  is set within the range from the outer diameter size (diameter size) of the cutting body  6  to the outer diameter size (diameter size) of the drive source  62 . 
     In the present embodiment, the opening size of the dust collection part  71  is set to 4 to 8 mm, preferably 6 mm. In this case, router bits having a diameter size of 0.6 to 1.0 mm are used as the cutting body  6 . Accordingly, in an area considerably smaller than the overall planar size of the workpiece  8  to be cut and slightly larger than the cutting portion of the workpiece  8  to be cut, the dust collection device  7  may collect cutting chips by using the dust collection part  71  in a pinpoint manner. 
     The dust collection part  71  is disposed on a dust collection part base  711  formed in a rectangular parallelepiped shape made of metal or resin, as shown in  FIGS. 4 and 5 . The dust collection part  71  is disposed from the upper end of the dust collection part base  711  to the lower end thereof across the inside of the dust collection part base  711 . The upper portion of the dust collection part  71  protrudes from the top surface of the dust collection part base  711 , and the lower portion of the dust collection part  71  protrudes from the bottom surface of the dust collection part base  711 . A joint  712  is mounted on the lower portion of the dust collection part  71 . For example, a coupler socket is used as the joint  712 . 
     Furthermore, a connection part  710  configured to protrude to the front side of the robot  1  in the X-axis direction is integrated with the dust collection part base  711 . This connection part  710  is used for connection with the dust collection part moving mechanism  72 . 
     (2) Configuration of Dust Collection Part Moving Mechanism  72   
     As shown in  FIGS. 4 to 6 , the dust collection part moving mechanism  72  is disposed below the connection part  710  of the dust collection part  71  and connected to the connection part  710 . The dust collection part moving mechanism  72  is constructed as an actuator configured to move the dust collection part  71  in upward and downward directions via the connection part  710  in the direction of arrow Z 1  (see  FIG. 6 ) along the Z-axis direction. 
     As shown in  FIGS. 5 and 6 , in the present embodiment, the dust collection part moving mechanism  72  includes piston rods  72 P and a cylinder  72 C. The piston rods  72 P are formed in circular column shapes (circular rod shapes) having the Z-axis direction as their axial direction. The tops of the piston rods  72 P are connected to the connection part  710 . The bottoms of the piston rods  72 P are connected to pistons not shown in the drawings. The pistons are disposed in the cylinder  72 C, and are thus slidable in the Z-axis direction. In this case, a plurality of piston rods  72 P, more specifically three piston rods  72 P, are disposed in the X-axis direction. 
     Meanwhile, the cylinder  72 C is composed of a block having a rectangular parallelepiped shape. A cylindrical internal space (not shown) configured to allow for the pistons to be slidable in upward and downward directions is formed inside the cylinder  72 C. A first fluid port  722 A connected to the internal space above the pistons is disposed in the upper portion of one side of the cylinder  72 C, and a joint  723  is mounted into the first fluid port  722 A. A second fluid port  722 B connected to the internal space below the pistons is disposed in the lower portion of the one side of the cylinder  72 C, and a joint  724  is mounted into the second fluid port  722 B. For example, coupler sockets are used as the joints  723  and  724 . 
     When a fluid enters from the first fluid port  722 A into the internal space of the cylinder  72 C, the pistons are pressed downward, and thus the piston rods  72 P are lowered. Furthermore, when the fluid enters from the second fluid port  722 B into the internal space of the cylinder  72 C, the pistons are pressed upward, and thus the piston rods  72 P are raised. 
     In this case, compressed air is used as the fluid. In other words, in the present embodiment, the dust collection part moving mechanism  72  is composed of an air cylinder mechanism. The compressed air is supplied by a compressor that is disposed outside the robot  1  and not shown in the drawings. 
     For example, an electromagnetic valve is used for switching between the supply of the fluid to the first fluid port  722 A and the supply of the fluid to the second fluid port  722 B. Although only the cover  729  that covers the electromagnetic valve is shown in  FIG. 1 , the electromagnetic valve is mounted onto the support portion  42  and covered with the cover  729 . 
     In the dust collection part moving mechanism  72  configured as described above, the top surface of the dust collection part  71  may be moved between a second position remote from the lower surface of the workpiece  8  shown in  FIGS. 5 and 7  and a first position close to the lower surface of the workpiece  8  shown in  FIGS. 6 and 8 . 
     As shown in  FIG. 8 , at the first position, the distance (clearance) L 1  from the bottom surface of the workpiece  8  to be cut to the top surface of the dust collection part  71  is 1 to 2 mm, preferably 1 mm in the present embodiment. Furthermore, the movement distance (the vertical stroke of the dust collection part  71 ) L 2  from the first position to the second position is set to 10 mm in this case. 
     (3) Configuration of Following Structure  73   
     As shown in  FIGS. 1 to 4 , the following structure  73  includes one end part  731 , a remaining end part  732 , and an intermediate part  733 . 
     As shown in  FIG. 4 , the one end part  731  is configured in such a manner that a housing  731 A having a rectangular box shape, the top surface of which is open, and a lid  731 B having a rectangular box shape, the size of which is slightly larger than that of the housing  731 A and the bottom surface of which is open, are superimposed on each other. Each of the housing  731 A and the lid  731 B is formed using the X-axis direction as its longitudinal direction, the Y-axis direction as its widthwise direction, and the Z-axis direction as its thickness direction. Both the housing  731 A and the lid  731 B are made of, e.g., metal having high mechanical strength. 
     In one end portion of the front side of the one end part  731 , an opening  731 C is formed in the lid  731 B toward the rear side in the X-axis direction. In the opening  731 C (or in an area corresponding to the opening  731 C), the dust collection part moving mechanism  72  is assembled in the housing  731 A of the one end part  731 . Furthermore, in the housing  731 A, the dust collection part  71  protruding upward from the opening  731 C is supported through the dust collection part moving mechanism  72 . The dust collection part  71  is disposed directly below the cutting body  6 , as described above. 
     A shared inside  731 D is formed in the one end part  731  by superimposing the housing  731 A and the lid  731 B on each other, and a dust collection hose  713 , a fluid supply hose  725  and a fluid supply hose  727  are arranged in the inside  731 D. 
     One end of the dust collection hose  713  is connected to the joint  712  mounted at the lower end of the dust collection part  71 ,and the other end of the dust collection hose  713  is connected to a joint  714  disposed on the rear side of the one end part  731 . The joint  714  is connectable to the external dust collection device through a dust collection hose that is not shown in the drawings. 
     One end of the fluid supply hose  725  is connected to the joint  723  mounted on the cylinder  72 C of the dust collection part moving mechanism  72 , and the other end of the fluid supply hose  725  is connected to a joint  726  disposed on the rear side of the one end part  731 . One end of the fluid supply hose  727  is connected to the joint  724  mounted on the cylinder  72 C, and the other end of the fluid supply hose  727  is connected to a joint  728  disposed on the rear side of the one end part  731 . Each of the joints  726  and  728  is adapted to be connectable to a compressor via the electromagnetic valve. 
     As shown in  FIGS. 1 to 3 , the remaining end part  732  is mounted on the slider  44  of the second moving mechanism  4 . The remaining end part  732  includes a pair of remaining end part members at both ends of the slider  44  in the Y-axis direction, and is composed of plate-shaped members made of metal having the Z-axis direction as their longitudinal direction and the Y-axis direction as their thickness direction. Furthermore, in order to enhance mechanical strength, the remaining end part  732  may be made of an angle material. The remaining end part  732  is assembled to the slider  44  by using coupling members. 
     The intermediate part  733  is configured such that the upper one end thereof is integrated with the lower portion of the remaining end part  732  or the upper one end thereof is connected to the lower portion of the remaining end part  732  in an integrated manner and the lower remaining end thereof is connected to the rear side of the one end part  731 . The intermediate part  733  includes a pair of intermediate part members that correspond to the pair of remaining end part members and are spaced apart from each other in the Y-axis direction. 
     In this case, the phrase “is integrated with” is used to mean that the remaining end part  732  and the intermediate part  733  are formed in the state of having been connected to each other via the same material. Furthermore, the phrase “is connected to . . . in an integrated manner” is used to mean that the remaining end part  732  and the intermediate part  733  are made of the same material or different materials and connected to each other by a bonding means such as welding or a fastening means such as a bolt and nut. 
     As shown in  FIG. 2 , the intermediate part  733  is formed in a shape that extends from a position where the intermediate part  733  is connected to the remaining end part  732  toward the rear side of the robot  1  in the X-axis direction and then extends downward from the rear end of the above extension in the Z-axis direction. This intermediate part  733  is composed of plate members made of metal having the Y-axis direction as their thickness direction. In other words, each of the intermediate part members of the intermediate part  733  is formed in an inverted and inversed “L” shape formed by rotating an L-shape plate member by  180  degrees by using the Y-axis direction as its rotating shaft direction. 
     The intermediate part  733  configured as described above is formed in a shape that bypasses the workpiece  8  to be cut toward the rear side of the robot  1  along the surface (top surface) of the workpiece  8  to be cut on a cutting body side. 
     As shown in  FIGS. 1 and 3 , a connection part  734  is disposed across the pair of intermediate part members of the intermediate part  733  on the top of a portion extending toward the rear side of the pair of intermediate part members of the intermediate part  733 . The connection part  734  is formed in a rectangular shape when viewed in a plan view, and is composed of a plate member made of metal or resin having the Z-axis direction as its thickness direction. The connection part  734  connects the pair of intermediate part members of the intermediate part  733 , thereby improving mechanical strength. 
     The following structure  73  configured as described above supports the dust collection part moving mechanism  72  and dust the collection part  71  on the one end part  731 , and connects the remaining end part  732  to the second moving mechanism  4 . For this reason, in the following structure  73 , the dust collection part  71  may always be placed at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut. 
     (Dust Collection Method of Robot  1 ) 
     The dust collection method of the robot  1  according to the present embodiment will be described in brief with reference to  FIGS. 1 to 8 . 
     First, the workpiece  8  to be cut is held on the slider  32  of the first moving mechanism  3  via the holding jig not shown in the drawings (see  FIGS. 1 and 2 ). When the slider  32  is moved in the X-axis direction by the first moving mechanism  3 , the workpiece  8  to be cut is moved in the X-axis direction to follow the movement of the slider  32 . 
     Meanwhile, the drive source  62  functioning as a tool is mounted on the slider  51  of the third moving mechanism  5  via the holding part  61 . The cutting body  6  is connected to the drive source  62 . Since the third moving mechanism  5  is disposed on the slider  44  of the second moving mechanism  4 , the cutting body  6  is moved in the Y-axis direction to follow the movement of the slider  44  when the slider  44  is moved in the Y-axis direction. 
     By moving the cutting body  6  in the Y-axis direction before, after or upon the movement of the workpiece  8  to be cut in the X-axis direction, the cutting body  6  may be moved to a place where the workpiece  8  is cut on the XY-plane. 
     When the workpiece  8  to be cut or cutting body  6  is moved, the dust collection part moving mechanism  72  of the dust collection device  7  moves the top surface of the dust collection part  71  to a second position, as shown in  FIGS. 5 and 7 . In other words, the dust collection part  71  is remote from the surface of the workpiece  8  to be cut. 
     Although not shown in  FIG. 7 , a PCB is used as the workpiece  8  to be cut in this case. In practice, electronic parts such as an integrated circuit, a resistor, and a capacitor are mounted on the PCB. When the top surface of the dust collection part  71  is disposed at the second position remote from the workpiece  8  to be cut, contact or interference between the electronic parts and the dust collection part  71  is effectively eliminated when the dust collection part  71  is moved relative to the workpiece  8  to be cut. 
     The cutting body  6  is moved toward the workpiece  8  to be cut by moving the slider  51  of the third moving mechanism  5  downward in the Z-axis direction. Before, after or upon the movement of the cutting body  6 , the top surface (opening) of the dust collection part  71  is moved to the first position, as shown in  FIGS. 6 and 8 , and then dust collection is started using the dust collection device  7 . In other words, the dust collection part  71  is brought close to the workpiece  8  to be cut in the start of the cutting of the workpiece  8  to be cut using the cutting body  6 . 
     When the cutting of the workpiece  8  to be cut using the cutting body  6  is started, the cutting chips generated by cutting are collected in the inside  71 A of the dust collection part  71 , as indicated by the arrows in  FIG. 8 . Even when a position at which the workpiece  8  is cut is moved, the dust collection part  71  is always disposed directly below the cutting body  6  in a pinpoint manner by the following structure  73  in the dust collection device  7 , and thus dust collection continues to be performed. 
     When the cutting work of the workpiece  8  to be cut is finished, i.e., in this case, the workpiece  8  to be cut has been subdivided into a plurality of PCBs, the slider  51  of the third moving mechanism  5  is moved upward in the Z-axis direction, and thus the cutting body  6  is moved from the position at which the cutting of the workpiece  8  is finished. Before, after and upon the movement of the cutting body  6 ,the dust collection part moving mechanism  72  of the dust collection device  7  moves the top surface of the dust collection part  71  to the second position, as shown in  FIGS. 5 and 7 . In other words, the dust collection part  71  is moved remote from the surface of the workpiece  8  to be cut. In this state, the cutting body  6 andthe dust collection part  71  are moved relative to the workpiece  8  to be cut. Thereby, the dust collection method of the robot  1  is completed. 
     (Operation and Effects) 
     As described above, the robot  1  according to the present embodiment includes the first moving mechanism  3  and the second moving mechanism  4 , as shown in  FIGS. 1 and 2 . The first moving mechanism  3  is disposed on the base body  2 , and moves the workpiece  8  to be cut (see  FIG. 2 ) in the X-axis direction functioning as the first axis direction. The second moving mechanism  4  is supported on the base body  2  via the support portion  4 landthe support portion  42 , and moves the cutting body  6  in the Y-axis direction functioning as the second axis direction, which is orthogonal to the X-axis direction. 
     In this case, the robot  1  further includes the dust collection device  7 . The dust collection device  7  includes the dust collection part  71  and the dust collection part moving mechanism  72 , as shown in  FIGS. 1 to 8 . As shown in  FIGS. 2, 7 and 8 , the dust collection part  71  is disposed to face the cutting body  6  with the workpiece  8  to be cut interposed therebetween, and collects the cutting chips generated by the cutting of the workpiece  8  to be cut using the cutting body  6 . As shown in  FIGS. 5 to 8 , the dust collection part moving mechanism  72  moves the dust collection part  71  between the first position close to the workpiece  8  to be cut and the second position remote from the workpiece  8  to be cut. 
     In the robot  1  configured as described above, cutting chips are collected by the dust collection part  71  in the state of having been brought close to the workpiece  8  to be cut by the dust collection part moving mechanism  72 , and thus dust collection efficiency may be improved by improving the suction force of the dust collection part  71  used to suck cutting chips. 
       FIG. 9A  shows the actually measured values of the distance (clearance) L 1  [mm] (see  FIG. 8 ) from the bottom surface of the workpiece  8  to be cut to the top surface of the dust collection part  71  and dust collection efficiency [%] in the collection of cutting chips. A graph that is created based on these actually measured values is shown in  FIG. 9B . In  FIG. 9B , the horizontal axis indicates the distance L 1  [mm], and the vertical axis indicates the dust collection efficiency [%]. 
     As shown in  FIGS. 9A and 9B , the dust collection efficiency is 82.5 [%] when the distance L 1  is 4 [mm], the dust collection efficiency is 90.1 [%] when the distance L 1  is 3 [mm], and the dust collection efficiency is 96.7 [%] when the distance L 1  is 2 [mm]. In other words, when the distance L 1  is reduced during cutting, the dust collection efficiency is increased in inverse proportion to the distance L 1 . When the distance L 1  is 1 [mm], the dust collection efficiency reaches the highest 99.5 [%], which is highest within the range of the actually measured values. 
     As described above, in the robot  1 , the dust collection efficiency may be improved by bringing the dust collection part  71  close to the workpiece  8  to be cut. Accordingly, when the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part  71 . For this reason, the size of the dust collection part  71 , i.e., the size of the dust collection device  7 , may be made small, and thus a reduction in the size of the robot  1  may be achieved. 
     Furthermore, in the robot  1 ,the dust collection part  71  may be moved to the second position remote from the workpiece  8  to be cut by using the dust collection part moving mechanism  72  before or after cutting. For example, even when a protrusion is present on the bottom surface of the workpiece  8  to be cut, e.g., an electronic part is mounted on a PCB, contact or interference between the electronic part and the dust collection part  71  may be effectively suppressed or prevented. 
     For this reason, the dust collection part  71  may be moved without bypassing a mounted part, and thus the time required for a cutting process, including the movement time of the dust collection part  71 , may be reduced. 
     Furthermore, in the robot  1 , the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, and thus a load attributable to the driving of the first moving mechanism  3  may be reduced compared to a case where suction is performed over the overall surface of the workpiece  8  to be cut. Accordingly, the driving force of the first moving mechanism  3  may be made small, and thus a reduction in the size of the robot  1  may be achieved in this point. 
     Furthermore, in the robot  1 , the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, and thus suction loss attributable to the suction of surrounding extra air may be effectively reduced compared to a case where suction is performed over the overall surface of the workpiece  8  to be cut. For this reason, the suction capability of the external dust collection device may be made small, and thus a reduction in the size of an overall system, including the robot  1  and the external dust collection device, may be achieved. 
     Furthermore, in the robot  1 , the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, and thus a dust collection box configured to surround the overall workpiece  8  to be cut and to increase the degree of sealing is not required. For this reason, a reduction in the size of the robot  1  may be further achieved. 
     Furthermore, in the robot  1  according to the present embodiment, as shown in  FIGS. 4 to 8 , the dust collection part  71  is formed in a tubular shape having the Z-axis direction, orthogonal to the X-axis direction and the Y-axis direction, as its tube axis direction. As shown in  FIGS. 1, 2 and 7 , the drive source  62  configured to drive the cutting body  6  is connected to the cutting body  6 . Furthermore, as shown in  FIG. 7 , when viewed in the tube axis direction, the opening area A 3  of the dust collection part  71  is set for convenience, and is set to be smaller than the area A 1  of the drive source  62  projected onto a plane S that is the same as that of the opening and is also set to be larger than the area A 2  of the cutting body  6 . In other words, these areas have the following inequality relationship: 
       The area A1 of the drive source 62&gt;the opening area A3 of the dust collection part 71&gt;the area A2 of the cutting body 6 
       FIG. 10A  shows the actually measured values of the opening diameter, i.e., suction diameter [mm] (corresponding to a width size indicated as the opening area A 3  in  FIG. 7 ), of the dust collection part  71  and dust collection efficiency [%] in the collection of cutting chips. A graph that is created based on these actually measured values is shown in  FIG. 10B . In  FIG. 10B , the horizontal axis indicates the suction diameter [mm], and the vertical axis indicates the dust collection efficiency [%]. 
     As shown in  FIGS. 10A  and  FIG. 10B , the dust collection efficiency is 97.3 [%] when the suction diameter is 2 [mm], and the dust collection efficiency is 96.7 [%] when the suction diameter is 4 [mm]. When the suction diameter is increased from 2 [mm] to 4 [mm], the dust collection efficiency is slightly decreased. However, when the suction diameter is 6 [mm], the dust collection efficiency is 99.5 [%], which the highest within the range of the actually measured values. When the suction diameter is 8 [mm], the dust collection efficiency is 98.8 [%], which is slightly lower than that of a case where the suction diameter is 6 [mm]. 
     For this reason, the dust collection part  71  may be constructed in a size smaller than that of the drive source  62  functioning as a tool, i.e., a router in this case, compared to that of a case where suction is performed over the overall surface of the workpiece  8  to be cut, and thus a reduction in the size of the robot  1  may be further achieved. 
     Furthermore, in the robot  1  according to the present embodiment, the dust collection part moving mechanism  72  of the dust collection device  7  is composed of an actuator that is connected to the dust collection part  71 , as shown in  FIGS. 5 and 6 , and reciprocates the dust collection part  71  in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction. 
     For this reason, the dust collection part moving mechanism  72  may be constructed in a simple structure configured to reciprocate the dust collection part  71  only in the Z-axis direction and composed of a small-sized actuator, and thus a reduction in the size of the dust collection device  7  and also a reduction in the size of the robot  1  may be further achieved. 
     More specifically, in the present embodiment, as shown in  FIG. 6 , the dust collection part moving mechanism  72  includes the piston rods  72 P connected to the pistons not shown in the drawings and the cylinder  72 C configured to slide the piston rods  72 P in the Z-axis direction by fluid via the pistons. In other words, the dust collection part moving mechanism  72  is composed of a small-sized pneumatic cylinder mechanism having a simple structure. Accordingly, a reduction in the size of the dust collection device land also a reduction in the size of the robot  1  may be further achieved. 
     Furthermore, in the robot  1  according to the present embodiment, as shown in  FIGS. 2, 7 and 8 , the third axis direction is the Z-axis direction, i.e., upward and downward directions, the cutting body  6  is disposed on an upper side in the Z-axis direction, and the dust collection part  71  of the dust collection device  7  is disposed below the cutting body  6  in the Z-axis direction. In other words, the robot  1  employs a downward suction-type dust collection method designed to suck cutting chips from a position below the workpiece  8 . 
     For this reason, the cutting chips generated by the cutting of the workpiece  8  to be cut fall downward in conformity with gravity without defying gravity, and thus cutting chips may be efficiently collected using the dust collection part  71 . 
     Furthermore, the robot  1  employs the downward suction-type dust collection method, as described above, but does not employs an upward suction-type dust collection method designed to collect cutting chips by sucking the cutting chips from a position above a place where the workpiece  8  is cut, thereby effectively suppressing or preventing the lifting of the workpiece  8  to be cut attributable to suction. Although a jig configured to press the workpiece  8  to be cut downward is required to prevent the workpiece  8  to be cut from being lifted, the robot  1  according to the present embodiment does not require such as jig, and thus a reduction in size may be further achieved. Moreover, the robot  1  does not require a special cutting tool configured to guide cutting chips upward. 
     Furthermore, the robot  1  may prevent the workpiece  8  to be cut from being lifted, thereby effectively suppressing or preventing the occurrence of the bending or stress of the workpiece  8  to be cut. 
     Furthermore, the robot  1  according to the present embodiment includes the following structure  73  in the dust collection device  7 , as shown in  FIGS. 1 to 3 . The following structure  73  supports the dust collection part moving mechanism  72 , and places the dust collection part  71  at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut. 
     For this reason, the dust collection part  71  may always be placed at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency. 
     As described above, the robot  1  may always locate the dust collection part  71  in a place where the workpiece  8  is cut, thereby improving dust collection efficiency. Accordingly, when the dust collection part  71  is located in a place where the workpiece Bis cut in a pinpoint manner, cutting chips may reliably be collected using the dust collection part  71 . For this reason, the size of the dust collection part  71 , i.e., the size of the dust collection device  7 , may be reduced, and thus a reduction in the size of the robot  1  may be achieved. 
     Furthermore, in the robot  1  according to the present embodiment, particularly as shown in  FIG. 2 , the one end part  731  of the following structure  73  supports the dust collection part  71  via the dust collection part moving mechanism  72 , and the remaining end part  732  of the following structure  73  is mounted on the second moving mechanism  4 . More specifically, the remaining end part  732  is mounted on the slider  44  of the second moving mechanism  4 . 
     In other words, since the remaining end part  732  of the following structure  73  is mounted on the second moving mechanism  4 , the dust collection part  71  may be moved to follow the movement of the second moving mechanism  4 , and the dust collection part  71  may always be placed at a position facing the cutting body  6 . As a result, in the robot  1 , dust collection efficiency may be improved, and also a reduction in size may be achieved. 
     Furthermore, in the robot  1  according to the present embodiment, the intermediate part  733  of the following structure  73  is formed in a shape that bypasses the workpiece  8  to be cut along the surface of the workpiece  8  to be cut on a cutting body side, as shown in  FIGS. 1 to 3 . 
     For this reason, even when the cutting body  6  is moved relative to the workpiece  8  to be cut, contact or interference between the workpiece  8  to be cut and the following structure  73  may be avoided, and the dust collection part  71  may always be placed at a position facing the cutting body  6 . 
     Furthermore, the robot  1  according to the present embodiment includes the first moving mechanism  3  and the second moving mechanism  4 , as shown in  FIGS. 1 and 2 . The first moving mechanism  3  is disposed on the base body  2 , and moves the workpiece  8  to be cut (see  FIG. 2 ) in the X-axis direction. The second moving mechanism  4  is supported on the base body  2  via the support portion  41 andthe support portion  42 , and moves the cutting body  6  in the Y-axis direction orthogonal to the X-axis direction. 
     In this case, the robot  1  further includes the dust collection device  7 . As shown in  FIGS. 1 to 8 , the dust collection device  7  includes the dust collection part  71  and the following structure  73 . The dust collection part  71  is disposed to face the cutting body  6  with the workpiece  8  to be cut interposed therebetween, as shown in  FIGS. 2, 7 and 8 , and collects the cutting chips generated by the cutting of the workpiece  8  using the cutting body  6 . The following structure  73  places the dust collection part  7 l at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut, as shown in  FIGS. 1 to 3 . 
     For this reason, the dust collection part  71  may always be placed at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency. 
     As described above, in the robot  1 , dust collection efficiency may be improved by always locating the dust collection part  71  in a place where the workpiece  8  is cut. Accordingly, when the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part  7 l. For this reason, the size of the dust collection part  71 , i.e., the size of the dust collection device  7 , may be made small, and thus a reduction in the size of the robot  1  may be achieved. 
     Furthermore, the dust collection device  7 according to the present embodiment may be used as the dust collection device of the robot  1  including the first moving mechanism  3  and the second moving mechanism  4  shown in  FIGS. 1 and 2 . In other words, the dust collection device  7  is configured as a dust collection device that is mountable on the robot  1 . In the robot  1 , the first moving mechanism  3  is disposed on the base body  2 , and moves the workpiece  8  to be cut (see  FIG. 2 ) in the X-axis direction. The second moving mechanism  4 is supported on the base body  2  via the support portion  41  and the support portion  42 , and moves the cutting body  6  in the Y-axis direction orthogonal to the X-axis direction. 
     As shown in  FIGS. 1 to 8 , the dust collection device  7  includes the dust collection part  71  and the dust collection part moving mechanism  72 . The dust collection part  71  is disposed to face the cutting body  6  with the workpiece  8  to be cut interposed therebetween, as shown in  FIGS. 2, 7 and 8 , and collects the cutting chips generated by the cutting of the workpiece  8  using the cutting body  6 . The dust collection part moving mechanism  72  moves the dust collection part  71  between the first position close to the workpiece  8  to be cut and the second position remote from the workpiece  8  to be cut, as shown in  FIGS. 5 to 8 . 
     In the dust collection device  7  configured as described above, cutting chips are collected by the dust collection part  71  in the state of having been brought close to the workpiece  8  to be cut by the dust collection part moving mechanism  72 , and thus dust collection efficiency may be improved by improving the suction force of the dust collection part  71  used to suck cutting chips. 
     As described above, in the dust collection device  7 , dust collection efficiency may be improved by bringing the dust collection part  71  close to the workpiece  8  to be cut. When the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, cutting chips may be reliably collected by the dust collection part  71 . For this reason, the size of the dust collection part  71 , i.e., the size of the dust collection device  7 , may be reduced. The dust collection device  7  is used in the robot  1 , and thus a reduction in the size of the robot  1  may be achieved. 
     Furthermore, in the dust collection device  7 , the dust collection part  71  may be moved to the second position remote from the workpiece  8  to be cut by using the dust collection part moving mechanism  72 , and thus contact or interference between the dust collection part  71  and a protrusion of the workpiece  8  to be cut may be effectively suppressed or prevented. 
     Furthermore, in the dust collection device  7 according to the present embodiment, the dust collection device  7  includes the following structure  73 , as shown in  FIGS. 1 to 3 . The following structure  73  supports the dust collection part moving mechanism  72 , and displays the dust collection part  71  at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut. 
     For this reason, the dust collection part  71  may always be placed at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency. 
     As described above, in the dust collection device  7 , dust collection efficiency can be improved by always locating the dust collection part  71  in a place where the workpiece  8 is cut. When the dust collection part  71  is located in a place where the workpiece  8  is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part  71 . For this reason, the size of the dust collection part  71 , i.e., the size of the dust collection device  7 , may be reduced. The dust collection device  7  is used in the robot  1 , and thus a reduction in the size of the robot  1  may be achieved. 
     Furthermore, the dust collection method according to the present embodiment moves the workpiece  8  to be cut in the X-axis direction by the first moving mechanism  3  shown in  FIGS. 1 and 2 , and moves the cutting body  6  in the Y-axis direction orthogonal to the X-axis direction by the second moving mechanism  4 . Furthermore, the workpiece  8  is cut using the cutting body  6 . 
     In this case, in the dust collection method, the dust collection part  71  is disposed to face the cutting body  6  with the workpiece  8  to be cut interposed therebetween, as shown in  FIG. 2 , the dust collection part  71  is moved to the first position close to the workpiece  8  to be cut, as shown in  FIGS. 7 and 8 , and cutting chips generated by cutting are collected using the dust collection part  71 . Furthermore, the dust collection part  71  is moved to the second position remote from the workpiece  8  to be cut. 
     According to this dust collection method, cutting chips are collected using the dust collection part  71  in the state of having been brought close to the workpiece  8  to be cut by the dust collection part moving mechanism  72  of the dust collection device  7 , and thus dust collection efficiency may be improved by improving the suction force of the dust collection part  71  used to suck cutting chips. 
     Furthermore, in the dust collection method according to the present embodiment, the dust collection part  71  is placed at a position facing the cutting body  6  to follow the movement of the cutting body  6  relative to the workpiece  8  to be cut, as shown in  FIGS. 1, 2, 7 and 8 , and cutting chips are collected using the dust collection part  71 . 
     According to this dust collection method, the dust collection part  71  may always be placed at a position facing the cutting body  6  to follow the movement of the cutting body  6 relative to the workpiece  8  to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency. 
     Other Embodiments 
     The present invention is not limited to the above-described embodiments, but may be modified in various manners without departing from the gist of the present invention. For example, the present invention may be applied to a robot having a four or more-axis specification. A robot having a four-axis specification includes a rotation mechanism configured to rotate a tool (a cutting body) with a rotating shaft having a direction, which is the same as the Z-axis direction, as its rotation axis direction on the slider of a third moving mechanism. Furthermore, a robot having a five-axis specification includes a tilting mechanism configured to tilt a tool with a tilting shaft having a direction, which is the same as the X-axis direction, as its tilting axis direction on a rotation mechanism. Furthermore, the present invention may be applied to a robot having a cantilever support structure in which the slide rail of a second moving mechanism is supported by one support part. 
     Furthermore, in the present invention, the dust collection part of the dust collection device may be formed to have an opening shape such as a rectangular tube shape, a pentagonal or higher polygonal tube shape, or an elliptical tube shape. 
     Furthermore, in the present invention, the dust collection part moving mechanism of the dust collection device may be constructed using an actuator such as a hydraulic cylinder mechanism, an electric cylinder mechanism, or an electromagnetic solenoid. 
     Furthermore, in the present invention, the following structure of the dust collection device may be formed in a shape that performs by passing along the Y-axis direction. 
     Furthermore, the present invention may be applied to the dust collection device of a robot, including a horizontal plane moving mechanism (a first moving mechanism) configured to move a workpiece to be cut in a horizontal plane direction (a first axis direction) composed of the X-axis direction and the Y-axis direction and a vertical moving mechanism (a second moving mechanism) configured to move a cutting body in the Z-axis direction (a second axis direction). In addition, the present invention may be applied to the dust collection device of a machine tool, including the same mechanisms as the robot including the horizontal plane moving mechanism and the vertical moving mechanism. 
     Furthermore, the present invention may be applied to the dust collection device of a robot, including a vertical surface moving mechanism (a first moving mechanism) configured to move a workpiece to be cut in a vertical surface direction (a first axis direction) composed of the X-axis direction and the Z-axis direction and a horizontal moving mechanism (a second moving mechanism) configured to move a cutting body in the Y-axis direction (a second axis direction). In the same manner, the present invention may be applied to the dust collection device of a machine tool, including the same mechanisms as the robot including the vertical surface moving mechanism and the horizontal moving mechanism. 
     According to the present invention, there are provided the robot, the dust collection device, and the dust collection method that may improve dust collection efficiency and achieve a reduction in size. 
     Although the specific embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions may be made without departing from the scope and spirit of the invention as disclosed in the accompanying claims.