JP5084189B2 - Linear motor and component mounting device - Google Patents

Description

  The present invention relates to a linear motor and a component mounting apparatus, and more particularly to a linear motor having a double-sided stator suitable for use in a component mounting apparatus, and a component mounting apparatus including the linear motor.

  2. Description of the Related Art Component mounting apparatuses that automatically mount electronic components such as ICs, resistors, and capacitors on a printed circuit board or a ceramic substrate are known.

  As this component mounting apparatus, Patent Document 1 proposes a mounting head including a suction nozzle for sucking and holding an electronic component, which is configured to be movable along the X-axis direction by a linear motor.

  By the way, in many shaft drive systems using a linear motor, a magnet is often a stator and a coil is a mover. This is because the mass of the magnet is generally large and is not suitable for the mover.

  Also in the component mounting apparatus, a mounting head is provided on the movable coil. In this case, if one more axis is added parallel to the axis, it is necessary to install a magnet as a stator, which is very expensive.

  Patent Document 2 describes that a mover made of a magnet is provided on both sides of a stator made of a coil.

  Patent Document 3 describes that a permanent magnet is embedded in a yoke. In this case, the gap (distance from the magnet 510 to the mover 520) G shown in FIG. 1 is preferably small, and the thickness C from the magnet 510 to the surface of the stator 500 shown in FIG. For example, 1 mm or less). When only one side of the stator 500 is used, as shown in FIG. 2, the rigidity can be maintained by increasing the thickness D on the side not to be used (C <D).

JP 2001-309634 A JP 2000-159305 A JP 2004-215414 A

  However, when the expensive magnet 510 is embedded in the center of the stator 500 and the mover 520 is provided on both surfaces, the thickness D needs to be minimized (for example, 1 mm or less) as with the thickness C. Then, since the magnet 510 itself is a constituent element of the shaft but is not a rigid element, the strength of the shaft is lowered, and there is a possibility that the thin portion is broken as illustrated in FIG.

  The present invention has been made to solve the above-mentioned conventional problems, and when using both sides of the magnet, the gap between the magnet and the mover is reduced while maintaining the strength as the base material of the shaft of the double-sided stator. The task is to do.

The present invention is a linear motor having a stator including permanent magnets arranged in parallel along the axial direction, and a plurality of movers that respectively move along both surfaces of the stator. An axial strength member extending in the axial direction and a permanent magnet embedded in the axial strength member, the axial strength member has a flange, and the permanent magnet is formed on the axial strength member from the flange side. The above-mentioned problems are solved by inserting and arranging the holes in the axial direction from the end face on the flange side .

  Further, the side surface of the permanent magnet can be exposed.

  The present invention also provides a component mounting apparatus in which at least a component mounting head is driven by the linear motor.

  According to the present invention, when the magnet is used on both sides, the gap can be reduced while maintaining the strength of the shaft member of the double-sided stator.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 4 is a plan view showing an embodiment of the component mounting apparatus 100 to which the present invention is applied, and FIG. 5 is a block diagram showing a control system of the component mounting apparatus 100.

  As shown in FIGS. 4 and 5, the component mounting apparatus 100 according to the present embodiment supplies components in which a plurality of electronic component feeders 11 that supply the electronic components P (see FIG. 7) mounted on the substrate K are held side by side. Part 1, a mounting work part 2 for mounting the electronic component P on the substrate K, and a first head part for mounting a plurality (four shown in FIG. 4) of suction nozzles 31 for sucking and holding the electronic component P. 3A and 2nd head part 3B, XY gantry 4 which drives 1st head part 3A and 2nd head part 3B to the arbitrary positions within a predetermined range, and imaging of electronic component P held by adsorption nozzle 31 An image pickup apparatus 5 that performs the above-described operation, and a control unit 6 that performs operation control of the above-described units.

  In the following description, one direction orthogonal to each other along the horizontal plane is referred to as an X-axis direction, the other direction is referred to as a Y-axis direction, and a vertical vertical direction is referred to as a Z-axis direction.

  The mounting work unit 2 includes a clamp unit 22 that is provided in the middle of the transport path of the transport device 21 for the substrate K carried in from the outside of the apparatus and sandwiches the substrate K mounted on a substrate station (not shown). Yes.

  First, for example, the transport device 21 mounts a transport rail 211 disposed along the transport path (X-axis direction) and a substrate K that is transported from one end of the device along the transport rail 211. A belt conveyor (not shown) or the like for carrying the board K on which the predetermined electronic component P has already been mounted from the mounting work section 2 to the outside of the apparatus is provided.

  And the board | substrate K mounted in the board | substrate station conveyed to the mounting operation part 2 by the conveying apparatus 21 is hold | maintained by being clamped by the clamp part 22. FIG.

  The substrate K held by the clamp unit 22 may be driven in the X-axis direction at a predetermined timing by an X-axis direction drive unit (not shown) when the electronic component P is mounted on the substrate K.

  The component supply units 1 are provided on both sides in the Y-axis direction so as to sandwich the conveying device 21, and a plurality of electronic component feeders 11 are arranged in parallel along the X-axis direction at predetermined positions of a feeder bank (not shown). Is installed.

  The XY gantry 4 includes a linear motor 41 for moving the first head portion 3A and the second head portion 3B in the X-axis direction, and the first head 3A and the second head 3B together with the linear motor 41 in the Y-axis direction. Two Y-axis guide rails 42 for guiding in the direction, and a Y-axis motor 43 for driving the first head portion 3A and the second head portion 3B in the Y-axis direction via the linear motor 41 are provided. The XY gantry 4 is configured to be able to transport the first head portion 3A and the second head portion 3B to substantially the entire region between the two Y-axis guide rails 42.

  The electronic component P delivery section from the component supply section 1 and the mounting work area of the electronic component P on the substrate K by the mounting work section 2 are both the first head section 3A and the second head section by the XY gantry 4. It is arranged in the 3B transportable area.

  Next, the linear motor 41 will be described with reference to FIGS.

  Here, FIG. 6 is a perspective view showing the linear motor 41, and FIG. 7 is a cross-sectional view of the linear motor 41 taken along the line VII-VII in FIG.

  As shown in FIGS. 6 and 7, the linear motor 41 is connected to a stator 411 disposed so as to be long in the X-axis direction, and both ends of the stator 411 on the Z-axis direction side. X-axis disposed along the X-axis direction on both end surfaces on the Y-axis direction side of the upper support portion 412A and the lower support portion 412B that support the stator 411, and the upper support portion 412A and the lower support portion 412B. A guide rail 413, and a second mover 414A for mounting the first head part 3A, and a second head part 3B for mounting the first head part 3B, are configured to be movable in the X-axis direction while being guided and supported by the X-axis guide rail 413. A movable element 414B is provided.

The stator 411 of the linear motor 41 according to the comparative example includes a shaft on a ladder on which windows 411B are formed in an axial direction, as shown in detail in FIGS. 8 (disassembled perspective view) and FIG. 9 (three views). A strength member 411A and a magnet 411C that is inserted and arranged from the side and is cut into a flat shape on both sides of the column are inserted into the window 411B of the shaft strength member 411A. Each magnet 411C is fixed to the shaft strength member 411A by, for example, a set screw 411D or a pin.

  8 and 9, one set screw 411D or pin is provided on one side (upper side in the figure) of the shaft strength member 411A. However, as shown by a broken line in FIG. It is also possible to provide two or more on one side as in the modification shown in FIG.

  The upper support portion 412A, the lower support portion 412B, and the X-axis guide rail 413 guide and support the movement of the first movable element 414A and the second movable element 414B along the X-axis direction (the axial direction of the linear motor 41). It constitutes a guide support part.

  The first mover 414A and the second mover 414B are arranged to face each other so as to sandwich the stator 411 from the Y-axis direction side.

  Specifically, the first mover 414A is locked to each X-axis guide rail 413 and faces the slider 415A that can reciprocate in the X-axis direction and the left side surface of the stator 411 in the Y-axis direction in FIG. A first movable coil 416A for generating a magnetic field by energization and moving in the X-axis direction by magnetic interaction with the magnetic field of the stator 411, a first head portion 3A, a slider 415A, And a support plate 417A for mounting and supporting the first movable coil 416A.

  On the other hand, similarly to the first mover 414A, the second mover 414B includes a slider 415B, a second moveable coil 416B disposed opposite to the right side surface of the stator 411 in the Y-axis direction in FIG. The second head portion 3B, a slider 415B, and a support plate 417b for mounting and supporting the second movable coil 416b are provided.

  For example, the first movable coil 416A and the second movable coil 416B are electrically connected to the control unit 6, and the current value to be energized under the control of the control unit 6 varies, so The magnitude of the magnetic field generated in the first movable coil 416A and the second movable coil 416B varies.

  The first mover 414A moves in the X-axis direction by a magnetic interaction between the magnetic field generated from the front side surface of the stator 411 in the Y-axis direction and the magnetic field generated by energization of the first movable coil 416A. It is configured freely. On the other hand, the second mover 414B moves in the X-axis direction due to the magnetic interaction between the magnetic field generated from the back side surface of the stator 411 in the Y-axis direction and the magnetic field generated by energization of the second movable coil 416B. It is configured freely.

  Each of the first head portion 3A and the second head portion 3B includes four suction nozzles 31 that hold the electronic component P by air suction at the tip thereof, and each of the suction nozzles 31 in the Z-axis direction (vertical direction). And a θ-axis motor 33 that rotationally drives the electronic component P held via the suction nozzle 31 around the Z-axis direction.

  Further, the first head portion 3A is, for example, for sucking and holding the electronic component P from the plurality of molecular component feeders 11 disposed on the lower side of FIG. 3B is for attracting and holding the electronic component P from the plurality of electronic component feeders 11 disposed on the upper side of FIG.

  The plurality of suction nozzles 31 are arranged side by side in the X-axis direction, and each suction nozzle 31 is connected to the vacuum generator 7 via an intake valve (not shown) that is controlled to open and close, and has a predetermined timing. When the intake valve is opened, the tip end portion is brought into the suction state, and the electronic component P can be sucked and held.

  For example, the imaging device 5 is arranged in a transportable area of the first head unit 3A and the second head unit 3B by the XY gantry 4 and is composed of a CMOS camera, a CCD camera, or the like. Based on the photoelectric conversion, image data is generated, and the image data is output to the CPU 61.

  The control unit 6 includes a CPU (Central Processing Unit) 61, a RAM (Random Access Memory) 62, a ROM (Read Only Memory) 63, and the like.

  The CPU 61 controls the respective parts constituting the component mounting apparatus 100 in an integrated manner, reads a predetermined program stored in the ROM 63, develops it in the work area of the RAM 62, and executes various processes according to the program. .

  The CPU 61 executes a predetermined image processing program based on the image data output from the image pickup device 5 and inputs it, and recognizes the posture of the electronic component P sucked by the suction nozzle 31. Yes.

  The RAM 62 is, for example, a volatile semiconductor memory, and constitutes a storage area, a work area, and the like for programs and data read from the ROM 63 under the control of the CPU 61.

  The ROM 63 stores various programs for various processes such as control and determination, and stores various programs executed under the control of the CPU 61, data related to the processing of each program, and the like.

  Next, the mounting operation of the electronic component P on the substrate K will be described.

  First, the electronic component P is sucked and held by the suction nozzle 31. Specifically, under the control of the control unit 6, the linear motor 41 and the Y-axis motor 43 of the XY gantry 4 are driven to move the first head unit 3A and the second head unit 3B to a predetermined electronic component feeder 11. Move up. More specifically, based on the energization control for the first movable coil 416A by the control unit 6, the first head unit 3A is placed on a predetermined electronic component feeder 11 disposed on the lower side of FIG. Based on the energization control on the second movable coil 416B by the control unit 6, the second head unit 3B is moved onto a predetermined electronic component feeder 11 disposed on the upper side of FIG. .

  Then, the controller 6 controls the driving of the predetermined Z-axis motor 32 to move the predetermined suction nozzle 31 downward (Z-axis direction), and the vacuum nozzle 7 drives the suction nozzle 31. A predetermined electronic component P is sucked and held.

  Next, the electronic component P held by the suction nozzle 31 is imaged by the imaging device 5, and predetermined image processing is performed by the CPU 61 based on the image data generated by the imaging to recognize the posture of the electronic component P and the like. To do. Depending on the recognition result, the θ-axis motor 33 is driven under the control of the control unit 6 to rotate the electronic component P sucked by the suction nozzle 31 in the predetermined direction around the Z axis. Centering is performed.

  Then, the linear motor drive mechanism 41 and the Y-axis motor 43 are driven under the control of the control unit 6 to move the suction nozzle 31 holding the electronic component P to a predetermined component mounting position on the substrate K, and The electronic component P is mounted on the substrate K.

  When the mounting of one electronic component P is completed, the control unit 6 sequentially controls the mounting operation of the electronic component P on the substrate K.

In the comparative example , the rigidity as the raceway surface can be secured by a portion other than the window 411B while the magnet 411C is held by the window 411B of the shaft strength member 411A.

Note that, as in the first embodiment of the present invention shown in FIG. 11 (decomposed perspective view) and FIG. 12 (three views), the shaft strength member 411A has an H-shaped cross section, for example, and a flange 411F is provided. Can be inserted into the hole 411G formed in the shaft strength member 411A from the flange 411F from the end face of the flange and fixed by, for example, bonding.

  According to the present embodiment, sufficient strength can be secured by the flange 411F while exposing the side surface of the magnet 411C. In addition, since the magnet is cylindrical, even if the magnet 411C is attracted toward the mover as the mover passes, it has a sufficient holding force. Note that only one of the flanges 411F may be provided.

Further, the shape of the magnet is not limited to a cylindrical shape, and may be a prismatic shape as in the second embodiment shown in FIG. 13 (perspective view) and FIG. 14 (cross-sectional view).

In the above embodiment, since the side surface of the magnet 411C is exposed, high magnetic field strength can be obtained. FIG. 15 (perspective view) and FIG. 16 (plan view) show. As in the third embodiment, a part of the shaft strength member 411A may remain thin.

Further, the shaft strength member 411A is not limited to a single body, and as in the fourth embodiment (corresponding to the first embodiment) shown in FIG. 17 or the fifth embodiment (corresponding to the third embodiment) shown in FIG. The upper and lower flanges 411F and the central portion 411H can be divided and fixed with, for example, a set screw 411I.

  By installing all or part of the head that needs to move independently of the head used for suction mounting, the recognition camera, the optical unit, or the BOC (Board On Clip) camera on both sides of the magnet in this way, the magnet for the motor Can be used on both sides. Thereby, the same effect can be acquired without preparing two sets of magnets, and the cost can be reduced. In addition, the occupation length in the X direction is shorter than when these drive systems are provided on the same surface, which leads to miniaturization of the machine.

A perspective view showing a stator in which a magnet is embedded in a shaft strength member The perspective view which similarly shows a single-sided stator Similarly perspective view showing problems of double-sided stator The top view which shows the whole structure of the component mounting apparatus by which the linear motor based on this invention was employ | adopted. Block diagram showing the configuration of the control system The perspective view which similarly shows a linear motor Same sectional view Exploded perspective view showing a configuration of a comparative example of the stator of the Li linear motors Similarly three-sided view The perspective view which shows the principal part of a modification similarly The disassembled perspective view which shows the structure of 1st Embodiment of the stator of the linear motor which concerns on this invention. Similarly three-sided view The perspective view which shows the structure of 2nd Embodiment of the stator of the linear motor which concerns on this invention. Same sectional view The disassembled perspective view which shows the structure of 3rd Embodiment of the stator of the linear motor which concerns on this invention. Similarly horizontal sectional view The disassembled perspective view which shows the structure of 4th Embodiment of the stator of the linear motor which concerns on this invention. The disassembled perspective view which shows the structure of 5th Embodiment of the stator of the linear motor which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Component mounting apparatus 41 ... Linear motor 411 ... Stator 411A ... Shaft strength member 411B ... Window 411C ... Magnet 411F ... Flange 411G ... Hole 414A, 414B ... Movable child

Claims (3)

A linear motor having a stator including permanent magnets arranged side by side along an axial direction, and a plurality of movers respectively moving along both surfaces of the stator,
The stator includes an axial strength member extending in the axial direction, and a permanent magnet embedded in the axial strength member ,
The shaft strength member has a flange, and the permanent magnet is inserted and arranged from the end surface on the flange side in holes formed in the shaft strength member from the flange side and arranged in a row in the axial direction. A linear motor. The linear motor according to claim 1 , wherein a side surface of the permanent magnet is exposed. 3. A component mounting apparatus, wherein at least a component mounting head is driven by the linear motor according to claim 1.

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