JP4450674B2 - Parts holding device - Google Patents

Description

  The present invention relates to a component holding device capable of moving a held component in the vertical direction and rotating about the vertical direction as an axis.

  2. Description of the Related Art Conventionally, there is known a component holding device that conveys a component to an accurate position by moving the held component in the vertical direction and rotating about the vertical direction as an axis. As this component holding device, a device provided in an electronic component mounting apparatus for mounting an electronic component supplied from a parts feeder on an electronic substrate is known.

  Generally, a component holding device of an electronic component mounting apparatus has a plurality of suction nozzles that suck and hold electronic components by air suction. The component holding device is mounted on the transfer head, can be moved in the Z direction (vertical direction) by a slide device, and can be rotated around the Z direction by a rotary motor. The electronic component mounting apparatus also includes an X-axis motor that moves the transfer head in the X direction (left-right direction) and a Y-axis motor that moves the transfer head in the Y direction (front-rear direction). Thus, after the transfer head is moved onto the parts feeder and the electronic component is sucked and held by the suction nozzle, the transfer head can be moved onto the electronic substrate to mount the electronic component.

This type of component holding device includes a Z-axis motor and a θ-axis motor as drive sources, and transmits the driving force of the Z-axis motor to a rotating shaft provided with a suction nozzle via a ball screw. There is known a configuration in which a driving force is transmitted to a rotating shaft via a timing belt and a vertical motion of the rotating shaft is allowed by a ball spline mechanism (see, for example, Patent Document 1). Further, as a configuration similar to this, a configuration in which a θ-axis motor is directly connected to a rotation shaft is also known (see, for example, Patent Document 2). As another slide device, a Z-axis motor is arranged immediately above a rotation shaft having a suction nozzle at the lower end, and a belt is continuously wound around each adjacent rotation shaft, and each θ-axis motor is used for each slide device. A device that rotates a rotating shaft is also known (for example, see Patent Document 3).
JP 2003-174285 A JP 2003-163493 A JP 2003-142887 A

  However, in the component holding devices described in Patent Documents 1 and 2, since the rotary shaft and the Z-axis motor are separated from each other in the horizontal direction, the Y-axis dimension of the transfer head increases, and the weight of the transfer head increases. However, there is a problem that the load on the X-axis motor and the Y-axis motor increases. If the horizontal dimension of the transfer head is increased in the electronic component mounting apparatus, the design requirements for other parts, devices, and the like are restricted in order to secure a moving space for the moving head. Further, if the weights of the X-axis motor and the Y-axis motor are increased, a large thrust is required for each motor, which is disadvantageous for precise position control of the transfer head.

  In addition, in the component holding device described in Patent Document 3, since a plurality of rotating shafts are driven by a single timing belt, there is a risk of accuracy reduction due to belt extension and backlash, and all shafts cannot be driven when the belt is cut. There was a risk of falling.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a component holding device that is small and lightweight and can move components with high accuracy.

In order to achieve the object, according to the first aspect of the present invention, there is provided a component holder that sucks and holds a component by air suction, a rotary shaft that is connected to a lower end and moves up and down, and the rotary shaft. A rotary motor that rotates, and a slide device that moves the rotary shaft up and down. The slide device includes a mover magnet that moves up and down, a stator yoke teeth made of a magnetic material, and the stator yoke teeth. A non-magnetic guide rail that guides the mover magnet, and a stator yoke that is made of a magnetic material and supports the stator yoke teeth. and the stator yoke teeth and said mover magnet with guide rails is interposed between the motor coil is characterized in that it is disposed opposite the.

  According to a second aspect of the present invention, in the component holding device according to the first aspect of the present invention, a ball spline mechanism having a spline outer cylinder to which the output shaft of the rotary motor is connected, and the rotary shaft being connected to the spline shaft. The rotary motor and the rotary shaft are connected.

  According to a third aspect of the present invention, in the component holding device according to the first aspect, the output shaft of the rotary motor is directly connected to the rotary shaft, and the rotary shaft and the rotary motor are driven by the slide device. The rotational position sensor for detecting the rotational position of the rotary motor is configured to move up and down integrally.

  According to a fourth aspect of the present invention, there is provided the component holding device according to the third aspect, wherein the rotating shaft, the rotary motor, and the rotational position sensor are included and are connected to a mover magnet of the slide device to move. A movable portion bracket; and an air tube connected to the upper side of the movable portion bracket via a joint, and the rotation shaft is formed hollow, and a suction passage is formed between the movable portion bracket and the rotation motor. The air sucked from the component holder is led out to the air tube via the inside of the rotating shaft and the suction passage.

According to a fifth aspect of the present invention, in the component holding device according to any one of the first to fourth aspects, a fixing bracket that fixes the entire sliding device by fixing the stator yoke is provided. The stator yoke is sandwiched between the fixing bracket and the mounting bracket having the same thermal expansion coefficient as that of the fixing bracket.

  According to a sixth aspect of the present invention, in the component holding device according to the fifth aspect, a plurality of the motor coils are arranged in parallel in the vertical direction, and the fastening member fixes the stator yoke to the fixed bracket. Is arranged between adjacent motor coils.

  According to a seventh aspect of the invention, in the component holding device according to any one of the first to sixth aspects, a plurality of the component holders are provided, and a plurality of the slide devices are arranged adjacent to each other in the horizontal direction. Features.

  In the invention according to claim 8, in the component holding device according to claim 7, the slide devices are arranged in two rows in the left-right direction, and the stator yoke of the slide device is shared by the slide devices adjacent to the front and rear. It is characterized by.

  According to a ninth aspect of the present invention, in the component holding device according to the seventh or eighth aspect, the slide unit of each slide device includes a mover magnet which is installed in a horizontal direction connected to the stator yoke of each slide device. A plate-like stopper for restricting the movement of the plate is provided.

According to the first aspect of the present invention, since the cross-sectional area of the slide device is reduced by interposing the guide rail between the mover magnet and the motor coil, the slide device can be reduced in size and weight. Can do. As a result, the entire component holding device can be reduced in size and weight, and the degree of freedom in the layout of the rotary motor, air suction device, etc. arranged around the slide device is increased. Can be selected relatively freely.
In addition, since it is possible to save space without driving a plurality of rotating shafts with a single rotating motor as in the prior art, when a plurality of rotating shafts are provided, a rotating motor is installed for each rotating shaft, and backlash, etc. Precise control with less is possible.

  According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, since the rotary motor and the rotary shaft are connected by the ball spline mechanism, the slide device can move the rotary shaft in the vertical direction. While allowing, the driving force of the rotary motor can be accurately transmitted to the rotary shaft.

According to the invention described in claim 3, in addition to the effect of the invention described in claim 1, since the rotary motor and the rotary shaft are directly connected, no backlash or the like occurs and the rotary shaft is The rotation can be controlled more accurately. Thereby, components can be moved with higher accuracy.
Here, the rotary motor and the rotational position sensor move up and down, but the weight of the movable part is suppressed because of the small rotary motor and the short rotary shaft, which are larger than the single rotary shaft that becomes heavy because of its high specific gravity and long. Thus, the height of the component holding device can be reduced and the overall weight can be reduced as compared with the case where the rotary motor is fixed and installed using the ball spline mechanism.

According to the invention described in claim 4, in addition to the effect of the invention described in claim 3, the rotary shaft, the rotary motor, and the rotational position sensor are arranged inside the movable part bracket, and inside the movable part bracket, Since air circulates from the lower end side toward the upper end side, the component holding device can be made small while securing an air flow passage for component suction.
Further, the circulating air can cool, for example, the bearings of the component holder, the rotary motor, the movable part of the slide device, and the like, and can prevent deterioration of the component holding accuracy and performance of the rotary motor and slide device. it can.

  According to the fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, when the motor coil generates heat when the slide device is driven, the stator yoke, the fixed bracket, and the mounting bracket Is heated. At this time, since the thermal expansion coefficients of the stator yoke and the brackets are different from each other, a deviation occurs between them, but the thermal expansion coefficients of the brackets are substantially the same, so that the brackets are similarly expanded. In other words, slippage is generated between each bracket by overcoming the frictional force with the stator yoke, and it is possible to suppress deformation such as so-called bimetal warpage that occurs in the stator yoke and each bracket due to heat generation of the motor coil. it can.

  According to the invention described in claim 6, in addition to the effect of the invention described in claim 5, the sliding device can be further reduced in size by arranging the fastening member between the adjacent motor coils. .

  According to the invention described in claim 7, in addition to the effect of the invention described in any one of claims 1 to 6, a plurality of small slide devices are arranged adjacent to each other in the horizontal direction. More parts holders and slide devices can be provided in a similar space. Of course, if the number of component holders and the number of slide devices are the same, the size can be made smaller than before.

  According to the invention described in claim 8, in addition to the effect of the invention described in claim 7, since the stator yoke is shared by the slide devices adjacent to the front and rear, the number of parts is reduced, and space saving and Manufacturing cost can be reduced. In addition, the number of parts assembling steps can be reduced, and an accumulated error caused by assembling the parts can also be reduced.

  According to the ninth aspect of the invention, in addition to the effect produced by the seventh or eighth aspect of the invention, the rigidity and strength of each stator yoke is improved by the stopper. In particular, since the stopper is provided so as to extend in the horizontal direction with respect to the vertically extending stator yoke, the sectional modulus of the stator yoke can be dramatically increased with respect to the transverse section. Can be effectively suppressed.

  1 to 9 show a first embodiment of the present invention. FIG. 1 is a front view of a component holding device, FIG. 2 is a partial sectional side view of the component holding device, and FIG. 3 is a portion of a slide device. 4 is a partially sectional side view of the sliding device, FIG. 5 is a sectional view taken along the line AA of FIG. 3, FIG. 6 is a sectional view taken along the line BB of FIG. 3, and FIG. 8 is a cross-sectional view taken along the line CC of FIG. 7, and FIG. 9 is a cross-sectional view of the rotating shaft.

  The component holding device 1 is mounted on a transfer head of an electronic component mounting apparatus that moves to the X axis and the Y axis. The electronic component mounting apparatus has the same functions and applications as those conventionally known. An X-axis motor for moving the transfer head to the X-axis and a transfer head to the Y-axis are moved above the base having a substantially rectangular parallelepiped shape. A Y-axis motor or the like to be mounted is placed. As shown in FIG. 1, the component holding device 1 rotates and drives a component holder 20 that sucks and holds electronic components by air suction, a rotary shaft 30 to which the component holder 20 is connected to the lower end, and the rotary shaft 30. A rotary motor 40 and a slide device 50 that moves the rotary shaft 30 up and down are provided. That is, the electronic component mounting apparatus drives the rotary motor 40 and the slide device 50 on the parts feeder to suck and hold the electronic components, and conveys the transfer head to the electronic substrate by the X-axis motor and the Y-axis motor, The rotary motor 40 and the slide device 50 are driven to mount electronic components on the electronic board. In the present embodiment, four component holders 20, a rotary shaft 30, a rotary motor 40, and a slide device 50 are provided side by side in a row.

  As shown in FIG. 2, the component holding device 1 has a plate-like slide device fixing bracket 60 extending vertically and horizontally, and a stator yoke 51 of the slide device 50 is fixed to the slide device fixing bracket 60. Here, the slide device 50 will be described. As shown in FIGS. 3 and 4, the slide device 50 is configured such that the two slide units 52 move freely on one guide rail 53 at a predetermined distance. A mover magnet 55 is fixed therebetween via a mover yoke 54. As shown in FIG. 3, the guide rail 53 is made of a non-magnetic material, is interposed between the mover magnet 55 and the motor coil 56, and is attached to the stator yoke 51. Further, a stator yoke tooth 57 made of an iron material that is a magnetic material is attached to the guide rail 53. Examples of the non-magnetic material constituting the guide rail 53 include ceramic, non-magnetic stainless steel, or non-magnetic sintered member.

  As shown in FIG. 4, the stator yoke teeth 57 are composed of a shaft-shaped pin and a thin plate-like member chamfered at both ends, and are vertical T-shaped parts. Further, as shown in FIG. 5, the head (end of the mover magnet 55 side) of the stator yoke teeth 57 coincides with the end of the guide rail 53 on the mover magnet 55 side, and the mover magnet 55 It is close.

Stator yoke 51 is formed of a material made of a magnetic material, and has a part with an integrated plate-like member and the columnar member with holes arranged at regular intervals. In the motor stator winding unit having the motor coil 56 and the motor coil bobbin 58, the coil end of the motor coil bobbin 58 around which the motor coil 56 is wound is connected in three phases, and the output end is connected to a driver (not shown). Is connected to the correct cable.

  The motor mover magnet unit is configured such that a mover magnet 55 is attached to a mover yoke 54 made of a ferromagnetic material, and this mover yoke 51 is fixed to another mover member.

  As shown in FIG. 6, a motor stator winding unit is attached to the columnar member with holes of the stator yoke 51. The motor coil bobbin 58 is press-fitted into the holed columnar member, and the motor stator winding unit is fixed to the stator yoke 51. A guide rail 53 is mounted on a holed columnar member of the stator yoke 51 to which the motor stator winding unit is attached, and the shaft-shaped pins of the stator yoke teeth 57 are holes of the holed columnar member of the stator yoke 51. The stator yoke 51, the guide rail 53, and the stator yoke teeth 57 are fixed.

An adhesive is applied to the contact surface between the fixture provided on the guide rail 53 and the stator yoke teeth 57 , and the stator yoke is applied even if an external force is applied to the thin plate member constituting the stator yoke teeth 57. The teeth 57 are not deformed. A motor mover magnet unit is fixed between the slide units 52 via a mover member, and a slide unit 52 in which the motor mover magnet unit is incorporated is attached to the guide rail 53.

  As shown in FIG. 2, the stator yoke 51 is fixed to the slide device fixing bracket 60 as described above. In the present embodiment, as shown in FIG. 7, a mounting yoke 61 is provided that sandwiches the stator yoke 51 together with the sliding device fixing bracket 60 and has substantially the same thermal expansion coefficient as the sliding device fixing bracket 60. In the present embodiment, the slide device fixing bracket 60 and the mounting bracket 60 are both made of a lightweight material such as an aluminum material.

  A plurality of motor coils 56 are arranged in the vertical direction, and a fastening screw 62 as a fastening member for fixing the stator yoke 51 to the slide device fixing bracket 60 is arranged between the motor coils 56 adjacent in the vertical direction. Has been. In the present embodiment, the motor coil 56 has a quadrangular shape with rounded corners, and fastening screws 62 are arranged on the left and right sides of the stator yokes 51 using spaces generated in the vicinity of the corners. That is, as shown in FIG. 8, the fastening screw 62 enters the projected portion of the motor coil 56 in a top view. In addition, the fastening screw 62 is shared by the slide devices 5 adjacent to the left and right.

  In the slide device 5 having such a configuration, a magnetic field is generated by a current supplied to the motor coil 56 from a driver (not shown). This magnetic field passes from the holed columnar member of the stator yoke 51 at the center of the motor coil 56 to the opposing surface of the mover magnet 55 via the axis of the stator yoke teeth 57, thereby forming a magnetic path. Thrust is generated by the magnetic flux generated by the magnetic force of the magnet 55 and the current supplied to the motor coil 56, and the motor movable element unit is linearly reciprocated. By controlling the current of each phase supplied to the motor coil 56 by a driver (not shown), the motor thrust is controlled to a predetermined value. A position of the slide unit 52 is detected by a linear motion sensor 66 described later, and feedback control is performed by a driver based on the detection signal.

  As shown in FIG. 2, each slide unit 52 is connected to a plate-like connection bracket 70 extending vertically, and a movable portion bracket 80 on which the rotary shaft 30 is supported is fixed to the connection bracket 70. In the present embodiment, the movable part bracket 80 is formed so as to wrap around the upper side of the rotary shaft 30, and a linear motion scale 81 extending vertically is provided on the front surface thereof. The front side of the movable part bracket 8 is covered with an upper plate 65 that is fixed to an extension part that extends forward from the left and right ends of the slide device fixing bracket 6. The upper plate 65 is provided with a linear motion sensor 66 corresponding to the linear motion scale 81, whereby the position of the slide unit 52 is detected.

  A groove 63 extending vertically is formed in the upper plate 65 corresponding to the rotation shaft 30, and a pipe joint 31 extending from the rotation shaft 30 is disposed in the groove 63. That is, when the rotary shaft 30 moves up and down by driving the slide device 50, the pipe joint 31 moves in the groove 63. An air tube that sucks air is connected to the pipe joint 31. In the present embodiment, the rotating shaft 30 and the component holder 20 are formed hollow, and the electronic component is sucked and held by sucking air from the tip of the component holder 20.

  As shown in FIG. 9, the upper side of the rotating shaft 30 is connected to a spline shaft 91 of a ball spline mechanism 90 via a coupling 32. An output shaft 41 of the rotary motor 40 is connected to a spline outer cylinder 92 that engages with a spline shaft 91 extending vertically. As shown in FIG. 1, a rotational position sensor 42 that detects a rotational position is installed immediately above the rotary motor 40. As a result, the driving force of the rotary motor 40 can be accurately transmitted to the rotary shaft 30 while allowing the slide device 50 to move the rotary shaft 30 in the vertical direction. The rotating shaft 30 is rotatably attached to the movable part bracket 80 via a bearing 82 and is kept airtight by an oil seal 83.

In the component holding device 1 configured as described above, since the cross-sectional area of the slide device 50 is reduced by interposing the guide rail 53 between the mover magnet 55 and the motor coil 56, the slide device 50 is small. And weight reduction can be achieved. As a result, the entire component holding device 1 can be reduced in size and weight, and the layout of the rotary motor 40 and the air suction device arranged around the slide device 50 can be increased. It is possible to design by selecting the arrangement position and the like relatively freely.
In addition, since it is possible to save space without driving a plurality of rotating shafts with a single rotating motor as in the prior art, when a plurality of rotating shafts 30 are provided, a rotating motor 40 is installed for each rotating shaft 30. In addition, precise control with little backlash is possible.

Further, in the component holding device 1 of the present embodiment, when the motor coil 56 generates heat when the slide device 50 is driven, the stator yoke 51, the slide device fixing bracket 60, and the mounting bracket 61 are heated. At this time, the stator yoke 51 made of iron and the brackets 60 and 61 made of aluminum have different coefficients of thermal expansion. Since the expansion coefficients are substantially the same, the brackets 60 and 61 are similarly expanded. That is, a slip is generated between the brackets 60 and 61 by overcoming the frictional force with the stator yoke 51, and a so-called bimetal generated in the stator yoke 51 and the brackets 60 and 61 due to heat generation of the motor coil 56. Deformation such as warpage can be suppressed.
Further, the slide device 50 can be further reduced in size by arranging the fastening screw 62 between the adjacent motor coils 56.

  Further, in the component holding device 1 of the present embodiment, a plurality of small slide devices 50 are arranged adjacent to each other in the horizontal direction, so that more component holders 20 and slide devices 50 are provided in the same space as in the past. Can do. Of course, if the number of component holders 20 and the number of slide devices 50 are the same, the size can be made smaller than before.

  Moreover, in the component holding device 1 of this embodiment, since the pipe joint 31 and the linear motion sensor 66 are arranged on the opposite side to each slide device 50, it is advantageous to make the device compact, and air piping or wiring Is easy to route.

  10 to 16 show a second embodiment of the present invention. FIG. 10 is a front view of the component holding device, FIG. 11 is a side view of the component holding device, and FIG. 12 is a longitudinal sectional view of the movable part bracket. FIG. 13 is a cross-sectional view of the movable part bracket.

  The component holding device 101 also includes a slide device 50 similar to the component holding device 1 of the first embodiment, and the rotation shaft 130 moves up and down by driving the slide device 50. Since the configurations of the slide device 50 and the slide device fixing bracket 60 are the same as those of the first embodiment shown in FIGS. 3 to 8, the description thereof is omitted here.

In the second embodiment, the movable part bracket 180 fixed to each slide unit 52 is formed in a cylindrical shape extending vertically. In the present embodiment, the rotating shaft 130 is formed shorter than that in the first embodiment, and is accommodated below the movable part bracket 180. Also in this embodiment, the rotating shaft 130 is pivotally supported by the movable portion bracket 180 via a bearing 181 that is inscribed in the movable portion bracket 180, and a component holding member that protrudes downward from the lower end of the movable portion bracket 180 to the lower portion of the rotating shaft 130. A tool 20 is provided.

  In addition, a rotary motor 140 in which the output shaft 141 is directly connected to the rotary shaft 130 is accommodated in the movable portion bracket 180. A rotation position sensor 142 that detects the rotation position of the rotation motor 140 is also accommodated in the movable portion bracket 180 adjacent to the rotation motor 140. That is, the rotary motor 140 and the rotation position sensor 142 are included in the hollow movable part bracket 180 that is connected to the mover magnet 55 and moves.

  As shown in FIG. 14, an air flow path 131 is formed inside the rotating shaft 130, and air flowing in from the component holder 20 side is guided upward. A support bracket 182 that supports the bearing 181 is fixed to the inner wall of the movable portion bracket 180 by a pair of fixing screws 183.

  As shown in FIG. 15, the air flow path 131 is divided into two in the horizontal direction on the upper side of the rotating shaft 130 and communicates with the inside of the movable portion bracket 180. As shown in FIG. 13, the bifurcated air flow path 131 is formed at a position shifted in the circumferential direction by about 60 degrees with respect to each fixing screw 183. The rotary motor 140 is fixed to the support bracket 182 by a pair of fixing screws 184 extending vertically. As shown in FIG. 16, a space is defined below each fixing screw 184 so that the fixing screw 184 can be screwed out with a tool or the like. As shown in FIG. 13, this space is formed at a position shifted in the circumferential direction by about 60 degrees with respect to each air circulation path 131.

  As shown in FIG. 12, a gap as a suction passage for air flow extending vertically is formed between the rotary motor 140 and the rotational position sensor 142 and the inner wall of the movable part bracket 180. An air suction passage 185 is formed above the rotational position sensor 142 of the movable part bracket 180, and an air tube 187 is connected to the upper end of the movable part bracket 180 via a pipe joint 186. That is, air is sucked from the component holder 20 side through the air flow path 131 of the rotary shaft 130, the gap between the rotary motor 140 and the rotational position sensor 142 and the inner wall of the movable part bracket 180, and the air suction passage 185 of the movable part bracket 180. It has come to be. In other words, the rotary shaft 130 is formed hollow, and a suction passage is formed between the movable part bracket 180 and the rotary motor 140, and the air sucked from the component holder 20 passes through the inside of the rotary shaft 130 and the suction passage. And led out to the air tube 187.

  As shown in FIG. 10, also in this embodiment, a linear motion scale 188 that extends vertically is provided on the front surface of the movable portion bracket 180, and the front side of the movable portion bracket 180 is forward from the left and right ends of the slide device fixing bracket 60. It is covered with the upper plate 161 fixed to the extending part that extends to. The upper plate 161 is provided with a linear motion sensor 162 corresponding to the linear motion scale 188, whereby the position of the slide unit 52 is detected. In the present embodiment, since the pipe joint 186 is arranged at the upper end of the movable part bracket 180, the groove 63 as in the first embodiment is not formed.

  Further, as shown in FIG. 11, the component holding device 101 is connected to the stator yoke 51 of each slide device 50 so as to extend in the horizontal direction, and the slide unit of each slide device 50 including a mover magnet. Plate-shaped stoppers 151 and 152 for restricting the movement of 52 are provided. In the present embodiment, the stopper 151 on the upper end side and the stopper 152 on the lower end side are each formed to be wide and perpendicular to the driving direction of the slide device 50.

Even in the component holding device 101 configured as described above, since the guide rail 53 is interposed between the mover magnet 55 and the motor coil 56, the cross-sectional area of the slide device 50 is reduced. A reduction in size and weight can be achieved. As a result, the entire component holding device 1 can be reduced in size and weight, and the layout of the rotary motor 40 and the air suction device arranged around the slide device 50 can be increased. It is possible to design by selecting the arrangement position and the like relatively freely.
In addition, space can be saved without driving a plurality of rotating shafts with a single rotating motor as in the prior art. Therefore, when a plurality of rotating shafts 130 are provided, a rotating motor 40 is installed for each rotating shaft 30. In addition, precise control with little backlash is possible.

In the component holding device 101 of this embodiment, when the motor coil 56 generates heat when the slide device 50 is driven, the stator yoke 51, the slide device fixing bracket 60, and the mounting bracket 61 are heated. At this time, since the thermal expansion coefficients of the stator yoke 51 made of iron and the brackets 60 and 61 made of aluminum are different, there is a difference in the length of the members between them, but the heat of the brackets 60 and 61 is different. Since the expansion coefficients are substantially the same, the brackets 60 and 61 are similarly expanded. That is, a slip is generated between the brackets 60 and 61 by overcoming the frictional force with the stator yoke 51, and a so-called bimetal generated in the stator yoke 51 and the brackets 60 and 61 due to heat generation of the motor coil 56. Deformation such as warpage can be suppressed.
Further, the slide device 50 can be further reduced in size by arranging the fastening screw 62 between the adjacent motor coils 56.

  Also, in the component holding device 101 of the present embodiment, since a plurality of small slide devices 50 are arranged adjacent to each other in the horizontal direction, more component holders 20 and slide devices 50 are provided in the same space as in the past. Can do. Of course, if the number of component holders 20 and the number of slide devices 50 are the same, the size can be made smaller than before.

  Furthermore, according to the present embodiment, since the rotary motor 140 and the rotary shaft 130 are directly connected, backlash or the like does not occur and the rotary shaft 130 can be controlled more accurately. Thereby, components can be moved with higher accuracy. Although the rotary motor 140 and the rotational position sensor 142 move up and down, the weight of the movable part is reduced because the rotary motor 140 and the short rotary shaft 130 are smaller than the single rotary shaft that is heavy because of its high specific gravity and long weight. Thus, the height of the component holding device 101 can be reduced and the overall weight can be reduced as compared with the case where the rotary motor is fixed and installed using the ball spline mechanism.

Further, according to the component holding device 101 of the present embodiment, the rotary shaft 130, the rotary motor 140, and the rotational position sensor 142 are arranged inside the movable part bracket 180, and the lower end side to the upper end side inside the movable part bracket 180. Since the air is circulated toward the front, the component holding device 101 can be downsized while securing a flow passage for the component suction air.
Further, the circulating air can cool the bearing 181 of the rotating shaft 130, the rotary motor 140, the movable part of the slide device 50, and the like, which can reduce the component holding accuracy and the performance of the rotary motor 140 and the slide device 50. Can be prevented.

  Further, according to the component holding device 101 of the present embodiment, the rigidity and strength of each stator yoke 51 are improved by the stoppers 151 and 152. In particular, since the stoppers 151 and 152 are provided so as to extend in the horizontal direction with respect to the vertically extending stator yoke 51, the section modulus of the stator yoke 51 can be dramatically increased with respect to the transverse section. Deformation of the stator yoke 51 during driving can be effectively suppressed.

  17 and 18 show a third embodiment of the present invention. FIG. 17 is a side view of the component holding device, and FIG. 18 is a bottom view of the component holding device.

The component holding device 201 is different from the second embodiment in that the component holders 20 are arranged in two rows. That is, as shown in FIG. 18, in this embodiment, a set of four component holders 20 and a slide device 50 arranged in a row is arranged in two front and rear rows, and the slide device 150 includes a slide device fixing bracket 260 and The stator yoke 51 is shared by the front and rear.

  Correspondingly, the stoppers 251 and 252 provided at the upper and lower ends of the stator yoke 51 are formed wide so as to correspond to the slide units 52 of all the slide devices 50. The slide device fixing bracket 260 is formed with an extending portion 261 that covers the slide device 50 in one row from the outside.

  According to the component holding device 201 configured as described above, since the stator yoke 51 is shared by the slide device 50 adjacent to the front and rear in addition to the effects of the second embodiment, the number of components can be reduced. Space saving and manufacturing cost reduction can be achieved. In addition, the number of parts assembling steps can be reduced, and an accumulated error caused by assembling the parts can also be reduced.

  Also in the component holding device 201 of this embodiment, the rigidity and strength of the stator yokes 51 are improved by the stoppers 251 and 252. In the present embodiment, as shown in FIG. 18, since the stoppers 251 and 252 are formed so as to correspond to the two rows of slide devices 50, the section modulus can be increased, and the rigidity of each stator yoke 51 can be increased. The strength can be dramatically improved.

  Moreover, according to the component holding device 201 of this embodiment, since the extension part 261 was formed, the rigidity of the slide device protection bracket 6 can be improved while protecting the component holding device 2.

  In the first to third embodiments, the electronic component mounting apparatus includes the component holding devices 1, 101, and 201. However, the electronic component mounting apparatus may be used for an apparatus that handles other than electronic components. Good.

  In addition, the shapes and the like of the movable part brackets 80 and 180 and the rotary shafts 30 and 130 in the first to third embodiments can be changed, and other specific detailed structures can be changed as appropriate. Of course.

It is a front view of the components holding | maintenance apparatus which shows the 1st Embodiment of this invention. It is a partial cross section side view of a components holding device. It is a partial cross section front view of a slide apparatus. It is a partial cross section side view of a slide apparatus. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is a partial front view of a slide device. It is CC sectional drawing of FIG. It is sectional drawing of a rotating shaft. It is a front view of the components holding | maintenance apparatus which shows the 2nd Embodiment of this invention. It is a side view of a component holding device. It is a longitudinal cross-sectional view of a movable part bracket. It is a cross-sectional view of a movable part bracket. It is DD sectional drawing of FIG. It is EE sectional drawing of FIG. It is FF sectional drawing of FIG. It is a side view of the components holding | maintenance apparatus which shows the 3rd Embodiment of this invention. It is a bottom view of a component holding device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Component holding device 20 Component holder 30 Rotating shaft 40 Rotating motor 41 Output shaft 50 Slide device 53 Guide rail 55 Movable magnet 56 Motor coil 57 Stator yoke teeth 60 Slide device fixing bracket 61 Mounting bracket 62 Fastening screw 65 Upper plate 66 Linear motion sensor 90 Ball spline mechanism 91 Spline shaft 92 Spline outer cylinder 101 Parts holding device 130 Rotating shaft 140 Rotating motor 141 Output shaft 142 Rotating position sensor 151 Stopper 152 Stopper 180 Movable bracket 185 Air suction passage 186 Pipe joint 187 Air tube 201 Parts holding device 251 Stopper 252 Stopper

Claims (9)

A component holder for adsorbing and holding components by air suction;
A rotating shaft connected to the lower end of the component holder and moving up and down;
A rotary motor that rotationally drives the rotary shaft;
A slide device that moves up and down the rotating shaft,
The sliding device includes a mover magnet that moves up and down, a stator yoke teeth made of a magnetic material, a motor coil wound around the stator yoke teeth, and a non-magnetic material that guides the mover magnet. A guide rail, and a stator yoke made of a magnetic material and supporting the stator yoke teeth, wherein a guide rail is interposed between the mover magnet and the motor coil, and the mover magnet and the motor A component holding device, wherein the stator yoke teeth are arranged at positions facing each other .   2. The rotary motor and the rotary shaft are connected by a ball spline mechanism having a spline outer cylinder to which an output shaft of the rotary motor is connected, the rotary shaft being connected to the spline shaft. The component holding device described in 1. Directly connecting the output shaft of the rotary motor to the rotary shaft;
2. The structure according to claim 1, wherein the rotation device and the rotation motor and a rotation position sensor that detects a rotation position of the rotation motor are integrally moved up and down by driving the slide device. Parts holding device. A hollow movable part bracket that includes the rotation shaft, the rotation motor, and the rotation position sensor and is connected to the mover magnet of the slide device and moves.
An air tube connected to the upper side of the movable part bracket via a joint,
The rotary shaft is formed hollow and a suction passage is formed between the movable part bracket and the rotary motor, and the air sucked from the component holder passes through the inside of the rotary shaft and the suction passage. The component holding device according to claim 3, wherein the component holding device is led out to an air tube. A fixing bracket for fixing the entire sliding device by fixing the stator yoke;
5. The component holding device according to claim 1, further comprising a mounting bracket that sandwiches the stator yoke together with the fixing bracket and has the same thermal expansion coefficient as the fixing bracket. 6. A plurality of the motor coils are arranged in the vertical direction,
The component holding device according to claim 5, wherein a fastening member for fixing the stator yoke to the fixing bracket is arranged between adjacent motor coils. A plurality of the component holders;
The component holding device according to any one of claims 1 to 6, wherein a plurality of the slide devices are arranged adjacent to each other in the horizontal direction. The slide devices are arranged in two rows in the left-right direction,
8. The component holding device according to claim 7, wherein the stator yoke of the slide device is shared by the slide devices adjacent to the front and rear.   9. A plate-like stopper provided in a horizontal direction so as to be connected to a stator yoke of each slide device and restricting movement of the slide unit of each slide device including a mover magnet is provided. The component holding device described in 1.

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