CN100479639C - Positioning device - Google Patents
Positioning device Download PDFInfo
- Publication number
- CN100479639C CN100479639C CNB2005800013034A CN200580001303A CN100479639C CN 100479639 C CN100479639 C CN 100479639C CN B2005800013034 A CNB2005800013034 A CN B2005800013034A CN 200580001303 A CN200580001303 A CN 200580001303A CN 100479639 C CN100479639 C CN 100479639C
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- CN
- China
- Prior art keywords
- supporting arm
- bearing
- positioner
- motion
- linear motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Linear Motors (AREA)
- Machine Tool Units (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
The invention relates to a positioning device (1) in particular for the assembling head (2) of an assembling machine (3) which makes it possible to fit the substrates (4) with electric componenets. The inventive device comprises a support arm (7) which is displaceable by a driving device in a displacement direction with respect to the chassis (5) of the positioning device, extends in a vertical direction with respect the displacement direction, is movably mounted in the displacement direction by a fixed bearing (8) in the end area and by a support bearing (9) in the opposite end area, wherein said support arm (7) rests on the support bearing (9) guide surface (14) which is parallel to the displacement direction and sloping with respect to a surface fixed by the displacement direction and the longitudinal axis of said support arm (7). A device produces a force acting on the support arm (7) in such a way that it is driven on the support bearing (9) side by the reaction of an additional bearing in a perpendicular direction to the guide surface (14) of the support bearing (9).
Description
The present invention relates to a kind of positioner, be particularly useful for assembly head with the automatic assembling machine of electronic component assembling substrate.
Comprise a supporting arm by WO 99/44407 known positioner, it is guided movably along a line slideway.This supporting arm supports by a rigid bearing on an end, and fixes the rotor of a linear motor on its opposed end, and this rotor is fixed on linear motor stator on the positioner framework, U-shaped by one and surrounds.A guide rail is placed on the framework, this guide rail be positioned on the supporting arm guide wheel in the above with following encirclement.But there is defective in this positioner, causes the strain of supporting arm on the direction of motion when violent acceleration and braking in supporting arm, therefore only sufficiently could guarantee accurate localization after the decay in the supporting arm vibration.Gap in rigid bearing also causes the inexactness of location.
Therefore the objective of the invention is, a kind of positioner is provided, this device can move to desired position quickly and accurately.
This purpose is by being achieved as independent claims 1 described positioner.
According to the present invention, the supporting arm of this positioner is passing through a rigid bearing and is passing through supporting movably on the direction of motion of block bearing at supporting arm of an activity on the opposed end on the end.Be bearing on the guiding face at this supporting arm of live bearing side, this guiding face is designed to be parallel to the direction of motion and favours a surface of launching by the direction of motion and the extension axis of supporting arm.Be provided with one in addition and be used to produce the mechanism that acts on the active force on the supporting arm, make this supporting arm on the block bearing side, load by the guiding face of additional bearing perpendicular to block bearing.Understand " additional bearing " like this at this, this bearing additionally acts on the supporting arm for the bearing that the gravity by supporting arm causes.This supporting arm also obtain one the power effect on the guiding face direction and thus the traction or roof pressure on this guiding face.Produce many advantages thus.Make this supporting arm extend pretension on the axis direction at it on the one hand, absorb a gap that may exist from opposed rigid bearing thus, this will improve positioning accuracy.The incline structure of the guiding face of live bearing allows the thermal expansion of supporting arm on the other hand.Avoid crooked in bearing of the material stress of the heat in the supporting arm or supporting arm thus.Not only obtain vertical supporting but also mainly also obtain good lateral-supporting for supporting arm by the guiding face that tilts in addition, wherein supporting role is obviously strengthened by the active force that is produced by said mechanism.Obviously reduce the strain and the bending of supporting arm on the direction of motion of supporting arm by this lateral-supporting, they especially quicken or produce during braking in that supporting arm is violent.Therefore by moving to desired position quickly and accurately according to positioner of the present invention.
According to claim 2 described according to positioner of the present invention in, described supporting arm is by a linear motor driven, its rotor and stator are set, make linear motor bear drive unit and the function that produces the mechanism that acts on the active force on the supporting arm simultaneously.Not only can make full use of the high position precision of a linear motor thus but also can make full use of the powerful magnetic force that acts between stator and the rotor.
Improvement project according to claim 3, the rotor of described linear motor is positioned on the end of supporting arm, the block bearing of described activity is positioned on this end, special thus booster action on supporting arm, the active force that points to perpendicular to guiding face and the lateral-supporting of strengthening supporting arm thus especially.
Constitute like this according to positioner of the present invention according to claim 4 is described, make described rigid bearing be parallel to the direction of motion and favour one by the direction of motion of supporting arm with extend the surface that axis launches.Can further improve the intensity and the stability of supporting arm thus.
Below by means of two embodiments of accompanying drawing detailed description, wherein according to positioner of the present invention:
Fig. 1 illustrates the end view of first embodiment on the supporting arm direction of motion according to positioner of the present invention,
Fig. 2 illustrates according to positioner of the present invention with the vertical view of first embodiment shown in Figure 1,
Fig. 3 illustrates the end view according to second embodiment of positioner of the present invention.
Shown in Fig. 1 and 2 according to first embodiment of positioner 1 of the present invention.Wherein relate to a positioner 1 that is used for the assembly head 2 of an automatic assembling machine 3, this assembly head assembles substrate 3 with electronic component.This automatic assembling machine 3 has a framework 5, constitutes a working face on its end face.Core at working face has a transportation section 6, and the substrate that will assemble is transported to a rigging position and transports after assembling again and leave this position thereon.Described working face covers substrate 4 by positioner 1 perpendicular to transporting direction.This positioner 1 comprises a supporting arm 7, and it is supporting at the framework 5 with respect to automatic assembling machine 3 on a direction of motion x who is parallel to substrate 4 transporting directions of the block bearing 9 by an activity on its opposed end movably by a rigid bearing 8 on the one end thereof.This supporting arm 7 also extends perpendicular to direction of motion x.Drive unit as positioner 1 uses a linear motor 10 that is positioned on movable block bearing 9 one sides.At the stator 12 of the rotor 11 of this this linear motor 10 and linear motor 10 to be positioned on the framework 5 of automatic assembling machine 3 with the small spacing of framework.Assembly head 2 is positioned on the supporting arm 7 in addition, and this assembly head can be by self a drive unit (not shown) at the extension axis direction y of supporting arm 7, promptly move on the direction vertical with the direction of motion x of supporting arm 7.
The block bearing 9 of the activity of described positioner 1 is made up of the bogie wheel 13 (not shown this embodiment) that at least one is positioned on the supporting arm 7, and it is along 14 supportings of a guiding face that constitutes on the framework 5 of automatic assembling machine 3.The rotating direction of this bogie wheel 13 is aimed at the direction of motion x of supporting arm 7.When only using a bogie wheel 13 as live bearing 9, this bogie wheel is preferably with the neutral state of supporting arm 7, promptly be arranged on the supporting arm 7 in the centre of direction of motion x.In order to prevent that supporting arm 7 from tumbling on direction of motion x, can on direction of motion x, be provided with air bearing or sliding bearing in this case in the front and back of single bogie wheel 13.
Have two bogie wheels 13 in the present embodiment.Said bogie wheel 13 ground before and after the direction of motion be provided with and its rotating direction along the direction of motion x of supporting arm 7.The air bearing or the sliding bearing of stabilization can have been abandoned in this case.The guiding face 14 of described block bearing 9 is designed to be parallel to the direction of motion of supporting arm 7 and favours a plane of launching by the direction of motion and the extension axis of supporting arm 7.The all-moving surface of described linear motor 10 favours by the direction of motion of supporting arm 7 in this embodiment equally and extends the plane that axis launches.The magnetic tractive effort F that between rotor 11 and stator 12, produces
MWork, make supporting arm 7 by a directed force F perpendicular to the guiding face 14 of block bearing 9
LTraction.In other words, linear motor 10 is set, by magnetic tractive effort F
MMake directed force F perpendicular to guiding face 14 directions of block bearing 9
LAct on supporting arm 7.This is generally changed in the scope of thousands of newton (kN) by the active force that permanent magnet produces.By this additional realizing transverse to direction of motion x, the i.e. supporting of the positioner 1 on supporting arm 7 extension axis directions in the supporting force on block bearing 9 guiding faces 14 that tilt.This stability of this positioner 1 just in time plays the effect that obviously reduces supporting arm 7 elastic bending and vibration on direction of motion x when linear motor 10 quickens fast or brakes suddenly.Thus can be during assembling process quicker and especially accurately regulate corresponding rigging position.Another advantage according to positioner 1 of the present invention is that the guiding face of the block bearing 9 of inclination allows supporting arm 7 in the thermal deformation of extending on the axis direction.Supporting arm 7 is for example expanded, because described bogie wheel 13 is moved up along the guiding face 14 of block bearing 9 when heating on its extension axis direction.Do not produce the crooked of hot material stress or bearing thus.Described in addition supporting arm 7 extends pretension on the axis direction by magnetic force at it, accepts the gap from opposed rigid bearing 8 thus.Further improve positioning accuracy thus.As represented by the end view of Fig. 1, described rigid bearing 8 is also to be designed to the being parallel to direction of motion with the similar mode of live bearing and to favour a plane of being launched by the direction of motion and the extension axis of supporting arm 7.This brings additional rigidity to this system.As what see by means of Fig. 2, described supporting arm 7 is widened at bearing portion.Improve rigidity thus, obviously reduce the tendency of reversing when braking and acceleration.
As above-mentioned embodiment is represented, the present invention is based on this principle, described positioner 1 has and is used to produce an active force that acts on the supporting arm 7 and (is magnetic force F in the present embodiment
M) mechanism's (being linear motor 10 in the present embodiment), make an active force (in this case for directed force F thus
L) on the direction of the guiding face 14 of the block bearing 9 of activity, act on the supporting arm 7 and make traction or roof pressure on the guiding face 14 of supporting arm at block bearing 9.This means also that in the case of the above embodiments the all-moving surface of described linear motor 10 also not necessarily must be in inclination, as long as but can make the magnetic force F that acts between stator 2 and the rotor 11
MAt least one component supporting arm 7 is drawn on the guiding face 14 of block bearing 9.Realize above-mentioned lateral-supporting effect thus.But be noted that in this case when the all-moving surface of block bearing 9 and guiding face 14 be arranged in parallel at this and just reach maximum supporting force.Parallel misalignment is big more, makes supporting arm 7 be drawn to magnetic force F on the guiding face 14
MComponent is just more little.
Although the drive unit of described in the above-described embodiments positioner 1 is a linear motor 10, its magnetic force F by working
MBear simultaneously and be used to produce the bearing F that acts on the supporting arm 7
LThe function of mechanism, but also can expect other embodiments of the invention.Therefore the drive unit of described positioner 1 also can be realized by belt drive or spiro driving device, wherein must have separately in these cases to be used to produce the mechanism that acts on the supporting force on the supporting arm 7.For this mechanism for example can be a permanent magnet 15 (as shown in Figure 3) that correspondingly is positioned on the supporting arm 7, and it is to be in reciprocation with the fine pitch that is positioned at the ferromagnetic plate on the framework 5.Another is used to produce the method that acts on the active force on the supporting arm 7, also can settle the aspirator (reverse air bearing) of a permanent magnetism on supporting arm 7, it makes supporting arm 7 draw or roof pressure on guiding face 14 directions of block bearing 9 corresponding to operation principle of the present invention.Also to point out, replace rolling bearing also can constitute movable block bearing 9 by air bearing.No frictional property by air bearing makes positioner 1 obtain other advantage.
For the embodiment at the positioner shown in Fig. 1 and 21, described linear motor 10 is positioned on supporting arm 7 one sides, and movable block bearing 9 also is positioned on this supporting arm.The advantage of this version is to help making active force to be delivered to together on the supporting arm 7 on guiding face 14 directions of block bearing 9.But from can seeing at second embodiment shown in Fig. 3, described linear motor 10 or be used to produce the mechanism that acts on the active force on the supporting arm and also can be positioned at rigid bearing 8 one sides in principle.Described in this case linear motor 10 on the extension axis direction of supporting arm 7 between rigid bearing 8 and opposed expansion bearing bearing 9.Guarantee thus, by the magnetic force F of linear motor 10 existence
MAct on the supporting arm 7, make obtaining one on the supporting arm 7 perpendicular to the additional shaft load F on guiding face 14 directions of block bearing 9
L, that is, described supporting arm is by an additional shaft load F
LOn block bearing one side, load.For the lateral-supporting power of strengthening working thus, can on a side of block bearing 9, have additional permanent magnet 15 or corresponding permanent magnetic device.
Claims (4)
1. a positioner (1), be used for assembly head (2) with the automatic assembling machine (3) of electronic component assembling substrate (4), this positioner has a supporting arm (7), it can be on a direction of motion moves and perpendicular to the direction of motion with respect to the framework (5) of positioner by a drive unit, it is characterized in that, described supporting arm (7) supports on the direction of motion by the block bearing (9) of an activity by a rigid bearing (8) and at another place, opposed end movably at the one end thereof place, wherein this supporting arm (7) is bearing on the guiding face (14) of block bearing (9), this guiding face is parallel to the direction of motion and favours a surface extension that launches by the direction of motion and the extension axis of supporting arm (7), this positioner has one and is used for producing the mechanism that acts on the active force on the supporting arm (7), makes this supporting arm (7) load by the guiding face (14) of an additional bearing perpendicular to block bearing (9) on block bearing (9) side.
2. positioner as claimed in claim 1 (1), it is characterized in that, drive unit is linear motor (10), a rotor (11) and a stator (12) that is positioned at the linear motor (10) on the framework (5) that is positioned at the linear motor (10) on the supporting arm (7) wherein is set, make the magnetive attraction that between rotor (11) and stator (12), produces act on the supporting arm (7), make this supporting arm (7) on block bearing (9) side, load by the guiding face (14) of an additional bearing perpendicular to block bearing (9).
3. positioner as claimed in claim 2 (1) is characterized in that, the rotor (11) of described linear motor (10) is positioned on the end at the described expansion bearing bearing of supporting arm (7) (9) place.
4. as each described positioner (1) in the claim 1 to 3, it is characterized in that described rigid bearing (8) is designed to be parallel to the direction of motion and favours a surface of being launched by the direction of motion and the extension axis of supporting arm (7).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200410042355 DE102004042355B4 (en) | 2004-09-01 | 2004-09-01 | positioning |
| DE102004042355.5 | 2004-09-01 | ||
| PCT/EP2005/054047 WO2006024605A1 (en) | 2004-09-01 | 2005-08-17 | Positioning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1899007A CN1899007A (en) | 2007-01-17 |
| CN100479639C true CN100479639C (en) | 2009-04-15 |
Family
ID=35276988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005800013034A Expired - Fee Related CN100479639C (en) | 2004-09-01 | 2005-08-17 | Positioning device |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1785021A1 (en) |
| JP (1) | JP4204617B2 (en) |
| CN (1) | CN100479639C (en) |
| DE (1) | DE102004042355B4 (en) |
| WO (1) | WO2006024605A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006045301B4 (en) * | 2006-09-26 | 2008-08-21 | Siemens Ag | Positioning system with magnetically preloaded linear axis |
| JP4788621B2 (en) * | 2007-02-09 | 2011-10-05 | パナソニック株式会社 | Linear motion device and electronic component mounting device |
| JP5970233B2 (en) * | 2012-05-21 | 2016-08-17 | ヤマハ発動機株式会社 | Component mounting equipment |
| WO2019193659A1 (en) * | 2018-04-03 | 2019-10-10 | 株式会社Ｆｕｊｉ | Linear motor |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL8701139A (en) * | 1987-05-13 | 1988-12-01 | Philips Nv | GUIDING DEVICE. |
| US5699621A (en) * | 1996-02-21 | 1997-12-23 | Massachusetts Institute Of Technology | Positioner with long travel in two dimensions |
| JP3697867B2 (en) * | 1997-11-28 | 2005-09-21 | 松下電器産業株式会社 | Electronic component mounting apparatus and electronic component mounting method |
| US5994799A (en) * | 1998-02-25 | 1999-11-30 | Siemens Aktiengesellschaft | Positioning apparatus for a positioning head |
| EP1076357A1 (en) * | 1999-08-11 | 2001-02-14 | SiMoTec GmbH | Mounting apparatus for processing microsystem products |
| JP4610125B2 (en) * | 2001-06-14 | 2011-01-12 | Ｊｕｋｉ株式会社 | Electronic component mounting device |
-
2004
- 2004-09-01 DE DE200410042355 patent/DE102004042355B4/en not_active Expired - Fee Related
-
2005
- 2005-08-17 WO PCT/EP2005/054047 patent/WO2006024605A1/en active Application Filing
- 2005-08-17 JP JP2006536106A patent/JP4204617B2/en not_active Expired - Fee Related
- 2005-08-17 CN CNB2005800013034A patent/CN100479639C/en not_active Expired - Fee Related
- 2005-08-17 EP EP05771946A patent/EP1785021A1/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| DE102004042355A1 (en) | 2006-03-09 |
| JP2007514295A (en) | 2007-05-31 |
| EP1785021A1 (en) | 2007-05-16 |
| CN1899007A (en) | 2007-01-17 |
| DE102004042355B4 (en) | 2009-08-13 |
| WO2006024605A1 (en) | 2006-03-09 |
| JP4204617B2 (en) | 2009-01-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: SIEMENS ELECTRONICS ASSEMBLY SYSTEMS LIMITED PARTN Free format text: FORMER OWNER: SIEMENS AG Effective date: 20090925 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20090925 Address after: Munich, Germany Patentee after: SIEMENS ELECTRONICS ASSEMBLY SYSTEMS GmbH & Co.KG Address before: Munich, Germany Patentee before: Siemens AG |
|
| C56 | Change in the name or address of the patentee |
Owner name: ADVANCED ASSEMBLY SYSTEMS GMBH + CO. KG Free format text: FORMER NAME: SIEMENS AG (DE) |
|
| CP01 | Change in the name or title of a patent holder |
Address after: Munich, Germany Patentee after: ASM Assembly Systems GmbH & Co. KG Address before: Munich, Germany Patentee before: SIEMENS ELECTRONICS ASSEMBLY SYSTEMS GmbH & Co.KG |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090415 Termination date: 20150817 |
|
| EXPY | Termination of patent right or utility model |