JP2004328846A - Load controller, load control type actuator, and load control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To offer a load controller which is easy in setting for lessening a load added to a part by bringing a contact part into contact with it and the maintenance of its state, a load control type actuator, and a load control method. <P>SOLUTION: This load controller is equipped with a contact part 2 which contacts with a small part 11, a thrust generator 3 which is coupled with the contact part 2 and generates thrust in a direction parallel to the direction 4a of contact between the small part 11 and the contact part 2, and a control unit 5 which performs a control command to the thrust generator 3 to generate thrust equal in magnitude to energizing a load added to the small part 11 in the direction of negating it. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a load control device, a load control type actuator, and a load control method capable of controlling an urging load on a component when mounting or assembling the component.
[0002]
[Prior art]
In a handling device capable of contacting a contact portion with a component and adsorbing and holding the contacted component, and a property measuring device for measuring an electrical property of the component by contacting the contact portion with the component, etc. For example, Patent Document 1 proposes a load control type actuator for reducing a load generated when the contact member is brought into contact with the contact portion. The load control type actuator proposed in Patent Document 1 supports a contact portion (nozzle) that comes into contact with a component (work) via an elastic body such as a spring. That is, in this proposal, the impact load on the component (work) is reduced by setting the spring constant of the elastic body to an appropriate value according to the weight of the nozzle.
[0003]
[Patent Document 1]
JP-A-2002-10613
[0004]
[Problems to be solved by the invention]
In order to reduce the load on the component of the contact portion by the method of Patent Document 1, it is necessary to accurately select or adjust the spring constant of the elastic body according to the weight of the contact portion. However, it is difficult to accurately select the spring constant due to variations at the time of manufacturing and the like, and much time and effort are required for adjustment and the like. In addition, since the contact portion also varies in weight during manufacturing, the selection or adjustment of the spring constant becomes more troublesome.
[0005]
Furthermore, if the spring constant of the elastic body has changed due to aging, there is no other method of adjustment except to replace either the elastic body or the contact part. Is difficult, and when an elastic body or a contact portion is replaced, an extra cost is required.
[0006]
The present invention has been made in view of the above circumstances, and a load control device, a load control-type actuator, and a load control device that can easily set and maintain a state for reducing a load applied to a component by contacting a contact portion. An object of the present invention is to provide a load control method.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, a load control device according to a first aspect of the present invention includes a contact portion that makes contact with a contacted member, and a contact portion that is connected to the contact portion and that makes contact between the contacted member and the contact portion. A thrust generating means for generating a thrust in a direction parallel to the direction, and a thrust in a direction equal in magnitude to an urging load applied to the contacted member at the time of contact between the contact portion and the contacted member and canceling the same. And control means for issuing a control command to the thrust generating means so as to generate the thrust force.
Here, the contacted member of the first aspect corresponds to the micro component 11 in the first to fourth embodiments, and the contact part of the first aspect corresponds to the contact part 2. Further, the thrust generating means of the first aspect corresponds to the first thrust generating unit 3 and the VCM 31 of the second to fourth embodiments. Further, the control means of the first mode corresponds to the control unit 5 of the first to fourth embodiments.
[0008]
Further, in order to achieve the above object, a load control type actuator according to a second aspect of the present invention includes a contact portion that contacts a component, and a contact direction connected to the contact portion, the contact direction between the component and the contact portion. A thrust generating means for generating a thrust in a direction parallel to, and a moving means coupled to the thrust generating means for moving the thrust generating means and the contact portion in a direction parallel to the contact direction, Control means for giving a control command to the thrust generating means so as to generate a thrust in a direction in which the magnitude of the urging load applied to the part at the time of contact between the contact part and the part is equal and cancels it. Have.
Here, the component of the second mode corresponds to the micro component 11 in the first to fourth embodiments, the contact portion of the second mode corresponds to the contact portion 2, and the moving means of the second mode moves. Corresponds to part 4. Further, the thrust generating means of the second mode corresponds to the first thrust generating unit 3 and the VCM 31 of the second to fourth embodiments. Further, the control means of the second aspect corresponds to the control unit 5 of the first to fourth embodiments.
[0009]
In these first and second aspects, the control means causes the thrust generating means to instruct the thrust generating means to generate a thrust in a direction equal to and equal to the urging load applied to the contacted member such as a component. Is performed, the load at the time of contact between the contact portion and the contacted member is reduced.
[0010]
That is, since the thrust of the thrust generating means can be freely set by the control means, it is easy to set the load so as to reduce the load for each weight of the contact part even if the weight of the contact part varies. Further, there is almost no influence of the change with time, and even if the load changes due to an unexpected factor, it is easy to reset the thrust by a command from the control means. For this reason, it is also easy to maintain a state where the load is very small.
[0011]
According to a third aspect of the present invention, there is provided a load control type actuator according to the second aspect, wherein the thrust generating unit is a voice coil motor, and the control unit is Current control means for controlling a current value to be supplied to the voice coil motor so as to generate a thrust in a direction which is equal in magnitude to an urging load applied to the voice coil and cancels the same.
Here, the voice coil motor of the third aspect corresponds to the VCM 31 of the second to fourth embodiments, and the current control device 51 corresponds to a current control unit.
[0012]
In the third aspect, the current control means supplies a current of a predetermined direction and magnitude to the voice coil motor by the current control means so that the bias load applied to the component is equal to the magnitude and a thrust is generated in a direction to cancel the bias load. In addition, the impact load at the time of contact between parts at the contact portion is reduced.
[0013]
Here, the thrust generated by the voice coil motor is determined only by the current flowing through the voice coil, the magnetic flux density of the magnetic circuit, and the coil conductor length. Even if the position of the contact portion connected to the motor changes, the thrust generated by the voice coil motor is determined only by the current value. Therefore, a thrust having a magnitude equal to the weight of the contact portion can be set by adjusting the current value. That is, since the thrust of the voice coil motor can be adjusted only by the current value, the initial load at the time of contact of the contact portion with the component can be easily made as close to zero as possible, and the load at the time of contact can be reduced.
[0014]
Also, the voice coil motor has excellent responsiveness, and if the current value to be supplied to the voice coil motor is changed by the current control device in accordance with the operation of the moving means, the necessary load can be adjusted at high speed in accordance with the operation of the moving means. It is possible to set with. For this reason, more delicate load control is possible in real time.
[0015]
According to a fourth aspect of the present invention, there is provided a load control type actuator according to the second or third aspect, wherein the position detecting means detects a relative position of the contact portion with respect to the moving means. And the control unit controls the thrust generating unit or the moving unit such that the relative position detected by the position detecting unit maintains a predetermined value.
Here, the position detection means of the fourth mode corresponds to the position detection sensor 6 in the third embodiment.
[0016]
In the fourth aspect, the control means controls the thrust generating means or the moving means such that the change in the value of the position detecting means is within a predetermined value. In other words, the operation of the thrust generating means can be controlled while detecting the moment at which the contact portion contacts the component based on the value of the relative position detected by the position detecting device. And load control can be performed accurately even if the size of parts or the like varies.
[0017]
In order to achieve the above object, the load control type actuator according to a fifth aspect of the present invention, in the second to fourth aspects, includes a load detection unit configured to detect a load acting on the contact portion. Furthermore, the control means controls the thrust generating means or the moving means such that the load detected by the load detection means maintains a predetermined value.
Here, the load detecting means of the fifth mode corresponds to the load detecting section 7 of the fourth embodiment.
[0018]
In the fifth aspect, the control means controls the thrust generating means or the moving means based on the load detected by the load detecting means. In other words, the operation of the thrust generating means can be controlled while detecting the load acting between the contact part and the component based on the load detected by the load detection means. Can be directly controlled. Therefore, even if an error factor such as a dimensional change due to a temperature change occurs in a part, a contact portion, or the like, accurate load control can be performed in real time.
[0019]
In order to achieve the above object, a load control method according to a sixth aspect of the present invention provides a method for controlling a load applied to a component by the contact portion before or during contact with the component. A thrust generating step of giving a thrust generating command to the thrust generating means connected to the contact portion so as to generate a thrust in a direction in which the thrusts are equal and cancel each other, while maintaining the thrust instructed in the thrust generating step, A contact step of moving the thrust generating unit and the contact unit by a moving unit connected to the thrust generating unit to bring the contact unit into contact with the component.
Here, the thrust generation process of the sixth mode corresponds to step S1 of the first embodiment. The contact step corresponds to steps S2 to S7.
[0020]
In the sixth aspect, the thrust generating command is issued to the thrust generating means by the control means so that the thrust is generated in the direction equal to the magnitude of the biasing load applied to the component and in a direction to cancel the magnitude of the biasing load. Reduce the impact load when parts come into contact. That is, since the thrust of the thrust generating means can be freely set by the control means, it is easy to set such that the load is reduced for each weight of the contact part even if the weight of the contact part varies. Further, there is almost no influence of the change with time, and even if the load changes due to unexpected factors, it is easy to reset the load by a command from the control means. For this reason, it is also easy to maintain a state where the load is very small.
[0021]
In order to achieve the above object, in the load control method according to a seventh aspect of the present invention, in the sixth aspect, the thrust generating means is a voice coil motor, and the thrust generating step includes: The value of the current supplied to the voice coil motor is adjusted so that the applied load is equal to the applied load and a thrust is generated in a direction to cancel the applied load.
[0022]
In the seventh aspect, the current control means supplies a current of a predetermined direction and magnitude to the voice coil motor by the current control means so that the bias load applied to the component is equal to the magnitude of the load and a thrust is generated in a direction to cancel the magnitude. In addition, the impact load at the time of contact between parts at the contact portion is reduced.
[0023]
Here, the thrust generated by the voice coil motor is determined only by the current flowing through the voice coil, the magnetic flux density of the magnetic circuit, and the coil conductor length. Even if the position of the contact portion connected to the motor changes, the thrust generated by the voice coil motor is determined only by the current value. Therefore, a thrust having a magnitude equal to the weight of the contact portion can be set by adjusting the current value. That is, since the thrust of the voice coil motor can be adjusted only by the current value, the initial load at the time of contact of the contact portion with the component can be easily made as close to zero as possible, and the load at the time of contact can be reduced.
[0024]
Also, the voice coil motor has excellent responsiveness, and if the current value to be supplied to the voice coil motor is changed by the current control device in accordance with the operation of the moving means, the necessary load can be adjusted at high speed in accordance with the operation of the moving means. It is possible to set with. For this reason, more delicate load control is possible in real time.
[0025]
In order to achieve the above object, in the load control method according to the eighth aspect of the present invention, the load control method according to the sixth or seventh aspect may be such that the contact portion is moved with respect to the moving means when the thrust generating step is completed. A position detecting step of detecting a relative position by position detecting means, wherein the contacting step detects a relative position by the position detecting means, and when the relative position changes, maintains the original relative position. A position monitoring step of controlling the thrust generating means or the moving means, and in the position monitoring step, when the relative position detected by the position detection means has changed by a certain value or more from an initial value, the contact part and the component A first contact detection step for detecting as the moment of contact, and after the first contact detection step, while maintaining the thrust commanded in the thrust generation step, stabilize the contact portion with the component Contact Causes and a stable contacting step.
Here, the position monitoring step of the eighth mode corresponds to steps S14 to S18 of the third embodiment. In addition, the first contact time detection step corresponds to step S19, and the stable contact step corresponds to steps S20 to S21.
[0026]
In the eighth aspect, the operation control of the thrust generating means can be performed while detecting the moment or the like at which the contact portion comes into contact with the component based on the relative position detected by the position detecting means. Load control can be performed in accordance with the state of the contact portion, and accurate load control can be performed even if the size of components or the like varies.
[0027]
In order to achieve the above object, the load control method according to the ninth aspect of the present invention, in the sixth or seventh aspect, acts on the contact portion when the thrust generating step is completed. A load detecting step of detecting a load by load detecting means, wherein the contacting step is a load adjusting step of controlling the thrust generating means or the moving means so that the load detected in the load detecting step maintains a constant value. A second contact time detecting step of detecting when the load detected by the load detecting means has changed by a predetermined value or more from an initial value in the load adjusting step as an instant when the contact portion contacts the component. .
Here, the load adjustment step of the ninth aspect corresponds to steps S33 to S37 of the fourth embodiment. Further, the second contact time detecting step corresponds to step S38.
[0028]
In the ninth aspect, the operation of the thrust generating means can be controlled while detecting the load acting between the contact portion and the component based on the load detected by the load detecting means. The load acting between the part and the contact can be directly controlled. Therefore, accurate load control can be performed in real time even if an error factor such as a dimensional change due to a temperature change occurs in the component or the load control type actuator itself.
[0029]
In order to achieve the above object, a load control method according to a tenth aspect of the present invention provides the load control method according to the sixth or seventh aspect, wherein the contact portion is moved with respect to the moving means when the thrust generating step is completed. A position detection step of detecting a relative position by position detection means, and a load detection step of detecting by a load detection means a load acting on the contact portion when the thrust generation step is completed, wherein the contact step includes: While maintaining the thrust instructed in the thrust generation step, a stable contact step of stably bringing the contact portion into contact with the component, and at least a relative position detected by the position detection means or a load detected by the load detection means. In the case where any of them has changed, in the position and load adjusting step of controlling the thrust generating means or the moving means so as to maintain the initial value, and in the position and load adjusting step, When the detected value of the detection value or the load detecting means detecting means has changed more than a certain value from the initial value, the contact portion and a contact time detection step of detecting a moment of contact with the component.
[0030]
In the tenth aspect, more accurate load control can be performed in real time by performing load control using both the relative position detection by the position detection means and the load detection by the load detection means.
[0031]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is an external perspective view showing the configuration of the load control type actuator according to the first embodiment. That is, in the load control type actuator 1, the contact portion 2 that makes contact with the micro component 11 is connected to the moving portion 4 via the thrust generating portion 3. Here, the contact portion 2 is configured to include a holding force generating unit (not shown) capable of holding the micro component 11.
[0032]
The moving unit 4 can move in the contact direction (the contact direction 4a in the figure) between the micro component 11 and the contact unit 2, and when the moving unit 4 moves in the contact direction 4a, the contact unit 2 and the thrust generating unit 3 moves integrally with the moving unit 4 in the contact direction 4a. Further, the thrust generator 3 generates a thrust in a direction parallel to the contact direction 4a between the contact part 2 and the micro component 11. With this thrust, the contact portion 2 can move relative to the moving portion 4 in the contact direction 4a.
[0033]
Further, the thrust generating unit 3 and the moving unit 4 are connected to the control unit 5. The control unit 5 generates a thrust in a direction equal to the urging load applied to the micro component 11 and in a direction to cancel the same (in the figure, a direction opposite to gravity) when the contact unit 2 contacts the micro component 11. A thrust generation command is issued to the thrust generation unit 3 so that the thrust is generated. Further, the control unit 5 instructs the moving unit 4 about a moving amount and a moving speed.
[0034]
Next, load control of the load control type actuator 1 having such a configuration will be described with reference to the flowchart of FIG.
The control unit 5 adjusts the thrust generation command while measuring the load generated by the contact unit 2 using a load measuring device such as a push-pull gauge. That is, the urging load of the contact part 2 (= weight of the contact part 2 = initial load) is measured by the load measuring device, and a thrust is generated in a direction equal to the measured urging load and canceling the same. Then, a thrust generation command is sent to the thrust generation unit 3 (step S1). For example, in FIG. 1, a thrust is generated in the upward direction of the drawing (the direction opposite to gravity). The thrust generator 3 that has received the thrust generation command from the controller 5 generates a thrust. As described above, since the contact portion 2 is connected to the thrust generating portion 3, the thrust generated at the thrust generating portion 3 causes the biasing load generated at the contact portion 2 to have a value as close to zero as possible. . Thereafter, the thrust generator 3 maintains the commanded thrust.
[0035]
Next, the control unit 5 drives the moving unit 4 to descend in the following three different modes, and brings the contact unit 2 into contact with the micro component 11 while maintaining the thrust generated in step S1.
First, as the first descending drive, the control unit 5 causes the moving unit 4 to integrally lower the contact unit 2 and the thrust generating unit 3 (Step S2). The moving speed of the moving unit 4 at this time is arbitrary. Here, in order to shorten the operation time, the moving speed of the moving unit 4 is set to be high and the moving unit 4 is driven to descend. After starting the descent drive, the control unit 5 determines whether or not the contact unit 2 has been lowered to a first predetermined position which is a position immediately before contact with the micro component 11 (Step S3). This may be determined, for example, by determining whether the moving amount of the moving unit 4 has reached a predetermined amount. If it is determined in step S3 that the contact portion 2 has not descended to the first predetermined position, the process returns to step S3 to continue the descending drive. On the other hand, when it is determined in step S3 that the contact unit 2 has been lowered to the first predetermined position, the control unit 5 stops the lowering drive by the moving unit 4 (step S4).
[0036]
After stopping the moving unit 4, as a second descent drive, the control unit 5 switches the moving speed of the moving unit 4 to low speed, and starts the descent drive of the contact unit 2 and the thrust generating unit 3 again (step S5). Next, the control unit 5 determines whether or not the contact unit 2 has been lowered to a second predetermined position, which is a position where the contact unit 2 comes into contact with the micro component 11 set in advance (step S6). If it is determined that the contact portion 2 has not descended to the second predetermined position, the process returns to step S5 to continue the descending drive.
[0037]
On the other hand, if it is determined in step S6 that the contact portion 2 has moved down to the second predetermined position, that is, if the contact portion 2 has come into contact with the micro component 11, the control unit 5 performs the third descent drive. To start. Here, at the moment when the contact part 2 comes into contact with the micro component 11, the urging load of the contact part 2 (= apparent weight of the contact part 2 = initial load) and the moving speed of the contact part 2 (= movement of the moving part 4) The product of the velocity and the velocity) is applied to the micro component 11 as an impact load. However, the thrust generated by the thrust generating unit 3 causes the urging load of the contact unit 2 to become a value close to zero as much as possible. Therefore, the impact load at the time of contact can be reduced.
[0038]
In the third descent drive, the moving part 4 is lowered by a very small amount to lower the contact part 2 and the thrust generating part 3 in order to bring the micropart 11 and the contact part 2 into reliable contact with each other. 2 are surely touched (step S7). At this time, the contact part 2 is pushed by the micro component 11, and the relative position between the contact part 2 and the moving part 4 changes. That is, the biasing load of the contact portion 2 acts as a pushing load on the micro component 11, but the biasing load of the contact portion 2 is an infinitely close value to zero. Can be reduced.
[0039]
Finally, the micro component 11 is held by the contact portion 2 by the holding force generated by the holding force generating means (not shown) (step S8). Thereafter, the next operation is performed by, for example, driving the moving unit 4 upward while holding the micropart 11 at the contact unit 2. Here, even if the next operation involves bringing the held micropart 11 into contact with another part or the like, the same operation as described above works, and the urging load of the contact part 2 is infinitely reduced to zero. Therefore, the impact load and the pushing load on the micro component 11 and other components can be reduced. In addition, as a holding method used as the holding force generating means, vacuum suction, electrostatic suction, a gripping mechanism, or the like can be considered, but it is not necessary to specify any of them. In the case where a plurality of the same components are continuously processed, the measurement of the load may be performed only once at the beginning, or may be performed every time.
[0040]
As described above, in the first embodiment, it is possible to reduce the urging load to zero without using an elastic body.
In the first embodiment, first, the load of the contact portion 2 is measured so that the biasing load of the contact portion 2 approaches zero as much as possible, and the thrust of the thrust generating portion 3 is set so as to cancel the load. , The first descending drive is performed, but after the first descending drive, before the contact part 2 and the micro component 11 are actually brought into contact with each other, the contact part 2 is urged according to the previously measured load. The thrust of the thrust generator 3 may be controlled so that the load approaches zero.
[0041]
In the first embodiment, the case where the moving unit 4 moves in the direction of gravity is described. However, the first embodiment can be applied to a case where the moving unit 4 moves in another direction, for example, a direction orthogonal to the direction of gravity. In this case, the biasing load of the contact portion 2 is not due to gravity but is a biasing force for determining a relative position between the moving portion 4 and the contact portion 2. By generating a thrust in the direction, it is possible to reduce the impact load and the pushing load on the micro component 11. Further, in the first embodiment, a configuration in which the contact portion 2 is moved to contact the micro component 11 is described, but a configuration in which the micro component 11 is moved to contact the contact portion 2 may be used. Good.
[0042]
In addition, although the contact part 2 of 1st Embodiment has the mechanism which can hold | maintain the micro component 11, it is not limited to this naturally. For example, a structure in which the micro component 11 is moved without holding the micro component 11 by the contact portion 2 or a structure in which the contact portion 2 is brought into contact with the micro component 11 for some measurement may be used. Even in such a case, the impact load and the pushing load on the minute component 11 can be extremely reduced by using the thrust generating unit 3.
[0043]
Furthermore, it goes without saying that the shape and size of the micro component 11 and each part are not limited to those of the first embodiment.
[0044]
[Second embodiment]
Next, a second embodiment of the present invention will be described. The second embodiment uses a voice coil motor (VCM) as the thrust generating means. FIG. 3 is an external perspective view showing a configuration of a load control type actuator according to a second embodiment of the present invention, and FIG. 4 is a right side sectional view of the load control type actuator.
[0045]
Hereinafter, the description of the same configuration as that of the first embodiment will be omitted, and the VCM 31 will be described. As shown in FIG. 3, the VCM 31 includes a VCM bed 311 connecting the contact portions 2, a voice coil (coil) 312 attached to the VCM bed 311, and an iron core arranged to penetrate a hollow portion of the coil 312. 313 and a linear motion guide 314 for guiding the VCM bed 311 movably in parallel with the moving direction (contact direction) 4a of the moving unit 4. Here, the length of the contact direction 4 a of the iron core 313 is set to be longer than the sum of the movable stroke of the VCM bed 311 and the length of the coil 312.
[0046]
The control unit 5 includes a current control device 51 connected to the coil 312. The current control device 51 sets the value of the current flowing through the coil 312, that is, the direction and magnitude of the current. When a current flows through the coil 312 in the VCM 31, a thrust proportional to the product of the current value I flowing through the coil, the magnetic flux density B generated in the magnetic circuit inside the VCM, and the coil conductor length L is generated. With this thrust, the coil 312 can move in the contact direction 4a in FIG. Further, by the movement of the coil 312 (that is, the VCM bed 311), the biasing load (= the apparent weight of the contact portion 2) of the contact portion 2 attached to the VCM bed 311 can be reduced to almost zero. is there.
[0047]
Next, load control according to the second embodiment will be described. In the second embodiment, the thrust generator 3 in the first embodiment is realized by the VCM 31. That is, the load control in the second embodiment can be described with reference to the flowchart of FIG. Here, in the state where no current is flowing through the VCM 31, the contact portion 2 has been lowered to the lower end position where the linear motion guide 314 can move due to gravity. The load corresponding to the weight of the contact portion 2 generated by gravity at this time is the urging load of the contact portion 2 (= apparent weight of the contact portion 2 = initial load). That is, this state is a state in which the biasing load of the contact portion 2 is supported by the lower end component of the linear guide 314. When the biasing load at this time is brought close to zero, a current is supplied from the current control device 51 to the coil 312 so that a thrust in a direction opposite to gravity is generated in the VCM 31.
[0048]
In the load control using the VCM 31, first, the control unit 5 adjusts the current value while measuring the load generated by the contact unit 2 using a load measuring device such as a push-pull gauge. That is, the current is generated so as to generate a thrust in a direction equal to the urging load of the contact portion 2 (= apparent weight of the contact portion 2 = initial load) and in a direction to cancel the same (in FIG. 3, opposite to gravity). Set the direction and size.
[0049]
At this time, the contact portion 2 is supported by the thrust of the VCM 31 and comes into contact with or slightly floats on the lower end component of the linear guide 314. At this time, the urging load of the contact portion 2 becomes a value as close to zero as possible. The above control corresponds to step S1 in FIG.
[0050]
Next, the control unit 5 drives the moving unit 4 in three different modes, and drives the contact unit 2 downward to contact the micro component 11. This control corresponds to steps S2 to S7 in FIG.
In the first descent drive, the control unit 5 drives the contact unit 2 to descent together with the VCM 31. Then, the control unit 5 controls the moving unit 4 so that the contact unit 2 stops at the first predetermined position which is a position immediately before the contact between the micro component 11 and the contact unit 2. Command the moving speed. The moving speed of the moving unit 4 is arbitrary, but it is preferable to shorten the operation time by driving as fast as possible.
[0051]
In the next second descending drive, the control unit 5 switches the moving speed of the moving unit 4 to a low speed, and moves the contact unit to a second predetermined position which is a position where the micro component 11 and the contact unit 2 come into contact with each other. 2 is driven downward. Here, at the moment when the contact portion 2 comes into contact with the micro component 11, the product of the urging load of the contact portion 2 and the moving speed of the contact portion 2 becomes an impact load and is applied to the micro component 11. Since the biasing load of the contact portion 2 is as close as possible to zero, the impact load can be reduced.
[0052]
In the next third lowering drive, the moving unit 4 is lowered by a very small amount in order to surely bring the micro component 11 and the contact unit 2 into contact with each other. At this time, since the contact part 2 is pushed by the micro component 11, the relative position of the contact part 2 with respect to the moving part 4 changes in the direction of the linear guide 314. At this time, the biasing load of the contact portion 2 acts as a pushing load on the micro component 11, but the biasing load of the contact portion 2 is a value close to zero as much as possible. Can be reduced.
[0053]
As described above, in the second embodiment, the impact load between the contact portion and the micro component can be reduced by using the voice coil motor (VCM).
[0054]
In the VCM 31 used in the second embodiment, the shapes, arrangements, numbers, and the like of the coils and the linear motion guides are not limited to those shown in FIGS. Further, in the VCM 31 of the second embodiment, the iron core 313 is fixed and the coil 312 is moved. Alternatively, the coil 312 may be fixed and the iron core 313 may be moved. In this case, the VCM bed 311 is connected to the iron core 313.
[0055]
[Third Embodiment]
Next, a third embodiment of the present invention will be described. In the third embodiment, a position detection sensor is provided as position detection means for detecting a relative position of the contact section with respect to the moving section. Here, FIG. 5 is an external perspective view showing the configuration of the load control type actuator of the third embodiment, and FIG. 6 is a top view of the load control type actuator of the third embodiment.
[0056]
Hereinafter, the description of the same configuration as the first and second embodiments will be omitted, and the position detection sensor 6 will be described. That is, a detection head 61 of the position detection sensor 6 is installed in the moving unit 4, and a scale 62 for position measurement is connected to a side surface of the VCM bed 311. That is, the relative position can be detected by reading the scale of the scale 62 with the detection head 61. The output signal of the position detection sensor 6 is input to the control unit 5, and based on the input relative position information, the control unit 5 issues a movement command for the movement unit 4 and the direction and magnitude of the current flowing to the VCM 31. Make a command.
[0057]
Next, load control according to the third embodiment will be described with reference to FIG. First, the control unit 5 measures the load generated by the contact unit 2 by using a load measuring device such as a push-pull gauge and adjusts a current value to be supplied to the VCM 31. That is, the urging load of the contact portion 2 (= apparent weight of the contact portion 2 = initial load) is equal to the thrust generated by the VCM 31 and the direction of canceling the same (in FIG. 5, parallel to the contact direction 4a). The current value is set so that a thrust is generated in the direction opposite to gravity (step S11).
[0058]
Next, the relative position of the contact part 2 with respect to the moving part 4 when the setting of the current value is completed is detected by the position detection sensor 6, and the detected value is stored in the storage unit (not shown) of the control unit 5 (step S12). . Next, the control unit 5 drives the moving unit 4 in three different modes, and drives the contact unit 2 downward to make contact with the micro component 11 while maintaining the thrust generated in step S11.
[0059]
In the first descending drive, the contact unit 2 and the VCM 31 are driven to descend at high speed (step S13). Next, the control unit 5 determines whether or not the contact unit 2 has been lowered to a first predetermined position, which is a position immediately before contacting the micro component 11 (Step S14). In this determination, when it is determined that the position of the contact part 2 has not changed to the first predetermined position, the control unit 5 determines whether the relative position of the contact unit 2 with respect to the moving unit 4 has changed from the value of the position detection sensor 6. Is determined (step S15). In this determination, when it is determined that the relative position has changed, the control unit 5 controls the VCM 31 or the moving unit 4 so as to maintain the relative position stored in step S12 (step S16). For example, when the moving speed of the moving unit 4 is too fast and the coil of the VCM 31 cannot follow completely, the control unit 5 lowers the moving speed of the moving unit 4 to maintain the relative position. Conversely, the moving speed of the coil 312 may be increased. On the other hand, if it is determined in step S15 that the relative position has not changed, the process returns to step S14. If it is determined in step S14 that the contact unit 2 has moved down to the first predetermined position, the control unit 5 stops the moving unit 4 (step S17).
[0060]
Next, the control unit 5 drives the contact unit 2 and the VCM 31 to move down at a low speed as a second down drive (Step S18). At the time of the second downward drive, the control unit 5 determines whether or not the change in the relative position of the contact unit 2 with respect to the moving unit 4 has exceeded a predetermined value based on the detection value of the position detection sensor 6 (step S19) The moment when the change in the relative position exceeds a predetermined value is detected as the moment when the contact part 2 and the micro component 11 come into contact with each other. At this time, the control unit 5 controls the VCM 31 or the moving unit 4 so as to keep the change in the relative position between the contact unit 2 and the moving unit 4 at or below a predetermined value (Step S20). By such control, the urging load of the contact portion 2 becomes a value close to zero as much as possible, so that the impact load at the time of contact can be reduced. Then, while performing such control, the moving unit 4 is further lowered by a predetermined minute amount from the position at the time of the detection in order to make the contact part 2 and the minute part 11 surely come into contact with each other as a third descending drive ( Step S21). At this time, the contact part 2 is pushed by the micro component 11, and the relative position between the contact part 2 and the moving part 4 changes. That is, although the urging load of the contact portion 2 acts as a pushing load on the micro component 11, the current supplied to the VCM 31 by the current control device 51 of the control portion 5 is kept constant and detected by the position detection sensor 6. By controlling the moving speed and the moving amount of the moving unit 4 so that the relative position between the contacting unit 2 and the moving unit 4 is kept within a predetermined value, the urging load of the contacting unit 2 can be more accurately reduced to zero. Since the values can be kept close to each other, the pushing load applied to the micro component 11 can be surely reduced.
[0061]
Finally, the micro component 11 is held by the contact portion 2 by a holding force generated by a holding force generating unit (not shown) (step S22).
[0062]
As described above, according to the third embodiment, since the load control is performed while the relative position between the moving unit and the contact unit is detected by the position detection sensor, more accurate load control can be performed.
Note that, in the third embodiment, the position detection sensor 6 is described as a method in which the detection head 61 reads the scale of the scale 62 attached to the VCM bed 311. However, the present invention is not limited to this method.
[0063]
[Fourth embodiment]
Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, a load detecting section is provided as load detecting means for detecting a load on the contact section. Here, FIG. 8 is an external perspective view showing the configuration of the load control type actuator of the fourth embodiment, and FIG. 9 is a right side sectional view of the load control type actuator.
[0064]
Hereinafter, the description of the same configuration as that of the first and second embodiments will be omitted, and the load detection unit will be described. As shown in FIG. 8, the load detecting section 7 is connected to the contact section 2. Here, as the load detecting unit 7, for example, a load detecting element 71 such as a strain gauge formed in a beam shape is used. The load acting on the contact portion 2 can be detected by detecting a change in resistance due to the deformation of the strain gauge as an electric signal. The output signal of the load detection unit 7 is input to the control unit 5, and based on the input signal, the control unit 5 issues a drive command for the moving unit 4 and a command for the direction and magnitude of the current to be supplied to the VCM 31. Do.
[0065]
Next, load control in the fourth embodiment will be described with reference to FIG. First, the control unit 5 uses the load detection unit 7 to measure the load generated by the contact unit 2 and adjust the value of the current supplied to the VCM 31. That is, the thrust generated by the urging load of the contact portion 2 (= the apparent weight of the contact portion 2 = initial load) and the thrust generated by the VCM 31 are equal in magnitude and cancel each other (the direction opposite to gravity in the figure). The current value is set so as to generate (step S31).
[0066]
Next, the control unit 5 drives the moving unit 4 in three different modes, and lowers the contact unit 2 to contact the micro component 11 while maintaining the thrust generated in step S11.
[0067]
In the first descending drive, the contact unit 2 and the VCM 31 are driven to descend at high speed (step S33). Next, the control unit 5 determines whether or not the contact unit 2 has been lowered to a first predetermined position which is a position immediately before contacting the micro component 11 (step S33). In this determination, when it is determined that it has not yet descended to the first predetermined position, the control unit 5 determines whether the load acting on the contact unit 2 has changed from the value of the load detection unit 7. (Step S34). In this determination, when it is determined that the load has changed, the control unit 5 controls the VCM 31 or the moving unit 4 so as to maintain the load set in step S31. For example, when an unexpected increase in the load is observed due to a dimensional error of the contact portion 2 or the like, the control portion 5 controls the moving speed of the moving portion 4 to be slow. On the other hand, if it is determined in step S35 that the load has not changed, the process returns to step S32.
[0068]
If it is determined in step S33 that the contact unit 2 has moved down to the first predetermined position, the control unit 5 stops the moving unit 4 (step S36).
[0069]
Next, the control unit 5 drives the contact unit 2 and the VCM 31 to move down at a low speed as a second down drive (Step S37). At the time of the second downward drive, the control unit 5 determines whether or not the change in the load exceeds a predetermined value based on the detection value of the load detection unit 7 (step S38), and determines whether the change in the relative position exceeds the predetermined value. The moment when the contact is exceeded is detected as the moment when the contact part 2 and the micro component 11 contact. At this time, the control unit 5 controls the VCM 31 or the moving unit 4 so that the load applied to the micro component 11 by the contact unit 2 is maintained at a predetermined value or less (Step S39). As a result, even when an unexpected increase in the load is observed due to a dimensional error of the micro component 11 or the contact portion 2, appropriate load control is performed, so that the impact load applied to the micro component 11 is reliably reduced. be able to. Then, while performing such control, the moving unit 4 is further lowered by a predetermined minute amount from the position at the time of the detection in order to make the contact part 2 and the minute part 11 surely come into contact with each other as a third descending drive ( Step S40). At this time, the contact part 2 is pushed by the micro component 11, and the relative position between the contact part 2 and the moving part 4 changes. That is, although the urging load of the contact portion 2 acts as a pushing load on the micro component 11, the current supplied to the VCM 31 by the current control device 51 of the control portion 5 is kept constant and detected by the load detection portion 7. By controlling the moving speed and moving amount of the moving unit 4 so that the applied load is kept within a predetermined value, the biasing load of the contact unit 2 can be more accurately maintained at a value close to zero. The pushing load applied to the micro component 11 can be reliably reduced.
[0070]
Finally, the micro component 11 is held by the contact portion 2 by the holding force generated by the holding force generating means (not shown) (step S41).
[0071]
As described above, according to the fourth embodiment, since the load control is performed while the load is actually detected by the load detection unit, the load control can be performed more accurately and in real time.
[0072]
Although the load detection unit 7 has an example in which the load detection elements 71 are installed in a beam-like shape, the present invention is not limited to the installation position and the number of the load detection elements 71. Needless to say, the load control may be performed by combining the position detecting sensor 6 with the configuration of the fourth embodiment.
[0073]
Although the present invention has been described based on the above embodiments, the present invention is not limited to the above embodiments, and various modifications and applications are possible within the scope of the present invention. is there.
[0074]
Further, the embodiments described above include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent features. For example, even if some components are deleted from all the components shown in the embodiments, the problems described in the column of the problem to be solved by the invention can be solved and the effects described in the column of the effect of the invention can be solved. When the effect is obtained, a configuration from which this configuration requirement is deleted can be extracted as an invention.
[0075]
【The invention's effect】
As described above, according to the present invention, there is provided a load control device, a load control type actuator, and a load control method in which setting for reducing a load applied to a part by contacting a contact portion and maintaining the state thereof are easy. Can be provided.
[Brief description of the drawings]
FIG. 1 is an external perspective view illustrating a configuration of a load control type actuator according to a first embodiment of the present invention.
FIG. 2 is a flowchart illustrating a procedure of a load control method according to the first embodiment of the present invention.
FIG. 3 is an external perspective view showing a configuration of a load control type actuator according to a second embodiment of the present invention.
FIG. 4 is a right side sectional view of a load control type actuator according to a second embodiment of the present invention.
FIG. 5 is an external perspective view illustrating a configuration of a load control type actuator according to a third embodiment of the present invention.
FIG. 6 is a top view of a load control type actuator according to a third embodiment of the present invention.
FIG. 7 is a flowchart illustrating a procedure of a load control method according to a third embodiment of the present invention.
FIG. 8 is an external perspective view showing a configuration of a load control type actuator according to a fourth embodiment of the present invention.
FIG. 9 is a right side sectional view of a load control type actuator according to a fourth embodiment of the present invention.
FIG. 10 is a flowchart illustrating a procedure of a load control method according to a fourth embodiment of the present invention.
[Description of Symbols] 1 ... Load control type actuator, 2 ... Contact part, 3 ... Thrust generating part, 31 ... VCM, 311 ... VCM bed, 312 ... Coil, 313 ... Iron core, 314 ... Linear guide, 4 ... Moving part Reference numeral 5: control unit, 51: current control device, 6: position detection sensor, 61: detection head, 62: scale, 7: load detection unit, 71: load detection element, 11: minute component

Claims (10)

A contact portion that contacts the contacted member;
Thrust generating means connected to the contact portion, for generating a thrust in a direction parallel to a contact direction between the contacted member and the contact portion,
A control command is issued to the thrust generating means so that a thrust is generated in a direction equal to and equal to the urging load applied to the contacted member at the time of contact between the contact portion and the contacted member. Control means;
A load control device comprising: A contact portion for contacting the component;
Thrust generating means connected to the contact portion, for generating a thrust in a direction parallel to a contact direction between the component and the contact portion,
A moving means coupled to the thrust generating means, for moving the thrust generating means and the contact portion in a direction parallel to the contact direction;
Control means for issuing a control command to the thrust generating means, so as to generate a thrust in the direction in which the magnitude of the urging load applied to the part at the time of contact between the contact part and the part is equal and cancels it,
A load control type actuator comprising: The thrust generating means is a voice coil motor,
The control means includes current control means for controlling a current value to be supplied to the voice coil motor so as to generate a thrust in a direction equal to and equal to an urging load applied to the component and to cancel the same. The load control type actuator according to claim 2, wherein Further comprising position detecting means for detecting a relative position of the contact portion with respect to the moving means,
4. The load control according to claim 2, wherein the control unit controls the thrust generating unit or the moving unit such that the relative position detected by the position detecting unit maintains a predetermined value. Type actuator. Further comprising a load detecting means for detecting a load acting on the contact portion,
5. The apparatus according to claim 2, wherein the control unit controls the thrust generating unit or the moving unit such that the load detected by the load detecting unit maintains a predetermined value. 6. The load control type actuator according to the above. Before or at the time of contact of the contact portion with the component, a thrust generating means connected to the contact portion such that the contact portion generates a thrust in a direction equal to the urging load applied to the component and canceling the same. A thrust generating step of giving a thrust generating command to the means,
A contact step of moving the thrust generating section and the contact section by moving means connected to the thrust generating section while maintaining the thrust instructed in the thrust generating step, and contacting the contact section with the component. ,
A load control method characterized by comprising: The thrust generating means is a voice coil motor,
The said thrust generating step adjusts a current value to be supplied to the voice coil motor so as to generate a thrust in a direction equal to the biasing load applied to the component and canceling the same. 7. The load control method according to 6. Including a position detecting step of detecting the relative position of the contact portion with respect to the moving means by the position detecting means when the thrust generating step is completed,
The contacting step includes:
A position monitoring step of detecting the relative position with the position detecting means, and controlling the thrust generating means or the moving means so as to maintain the original relative position when the relative position changes;
In the position monitoring step, a first contact time detection step of detecting when the relative position detected by the position detection means has changed by a predetermined value or more from an initial value as an instant when the contact portion and the component are in contact with each other,
After the first contact detection step, a stable contact step of stably bringing the contact portion into contact with the component while maintaining the thrust commanded in the thrust generation step,
The load control method according to claim 6, further comprising: Including a load detection step of detecting the load acting on the contact portion when the thrust generating step is completed by load detection means,
The contacting step includes:
A load adjusting step of controlling the thrust generating means or the moving means so that the load detected in the load detecting step maintains a constant value,
In the load adjusting step, a second contact time detecting step of detecting when the load detected by the load detecting means has changed by a predetermined value or more from an initial value as an instant when the contact portion contacts the component,
The load control method according to claim 6, further comprising: A position detecting step of detecting a relative position of the contact portion with respect to the moving means by the position detecting means when the thrust generating step is completed,
Including a load detection step of detecting the load acting on the contact portion when the thrust generating step is completed by load detection means,
The contacting step includes:
A position and load adjusting step of controlling the thrust generating means or the moving means so as to maintain an initial value when at least one of the relative position detected by the position detecting means or the load detected by the load detecting means changes; When,
In the position and load adjustment step, at the time of contact, when the detected value of the position detecting means or the detected value of the load detecting means has changed from an initial value by a certain value or more, as the moment when the contact portion contacts the component. A detection step;
After the contact time detecting step, while maintaining the thrust commanded in the thrust generating step, a stable contact step of stably contacting the contact portion with the component,
The load control method according to claim 6, further comprising:

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