JP7320721B2 - Mounting equipment - Google Patents

Description

The present disclosure relates to a mounting device. More particularly, the present disclosure relates to mounting apparatus with linear motors.

Patent Literature 1 describes an electronic component mounting apparatus (mounting apparatus) for mounting electronic components on a board. The electronic component mounting apparatus described in Patent Document 1 includes a Y linear motion mechanism driven by a linear motor (linear motor) and a moving beam incorporating an X linear motion mechanism driven by the linear motor. The Y linear motion mechanism linearly drives the moving beam in the Y direction by means of a linear motor. The moving beam moves the mounted head in the X direction by means of the X translation mechanism.

Japanese Patent Application Laid-Open No. 2005-311157

In the electronic component mounting apparatus as disclosed in Patent Document 1, it is desired to further improve the mounting speed in the mounting work.

An object of the present disclosure is to provide a mounting apparatus capable of further improving the mounting speed in mounting work.

A mounting apparatus according to an aspect of the present disclosure includes a first moving unit and a first moving device. The first moving device moves the first moving unit along a first direction. The first mobile unit comprises a second mobile unit and a second mobile device. The second moving device moves the second moving unit along a second direction. The second direction is a direction crossing the first direction. The second mobile unit has a catch. The capture unit captures a second object mounted on the first object. At least one of the first moving device and the second moving device has a linear motor. The linear motor includes a coil block including coils, a magnet block including permanent magnets that apply a magnetic force between the coils to which excitation current is applied , and a linear guide that guides movement of the magnet blocks. have The magnet block is relatively movable with respect to the coil block while the coil block is inserted inside the magnet block. The permanent magnets are arranged in a Halbach array. The linear guide is arranged outside the magnet block and is arranged at a position where the magnetic field strength of the permanent magnets arranged in the Halbach array is weakened.

According to the present disclosure, there is an effect that the mounting speed in the mounting work can be further improved.

FIG. 1 is a schematic diagram showing the configuration of a mounting apparatus according to one embodiment. FIG. 2 is a cross-sectional view showing a main part of the mounting apparatus same as the above. FIG. 3 is a block diagram showing the configuration of the mounting apparatus of the same. FIG. 4A is a perspective view showing the appearance of a permanent magnet used in a mounting apparatus according to a comparative example; FIG. 4B is a diagram schematically showing a main part of the mounting apparatus; FIG. 5A is a perspective view showing the appearance of a permanent magnet used in the mounting apparatus according to one embodiment; FIG. 5B is a diagram schematically showing a main part of the mounting apparatus; FIG. 6 is a perspective view showing the appearance of a permanent magnet used in the mounting apparatus according to Modification 1 of the embodiment.

A mounting apparatus according to an embodiment will be described below with reference to the drawings.

1, 2, 4A, 4B, 5A, 5B, and 6 referred to in the following embodiments and the like are schematic diagrams. Therefore, the ratio of the size and thickness of each component in the drawing does not necessarily reflect the actual dimensional ratio.

(embodiment)
(1) Overview An overview of the mounting apparatus 1 according to the present embodiment will be described below with reference to FIG.

A mounting apparatus 1 according to the present embodiment is, for example, an apparatus for mounting a second object 200 on a first object 100 . That is, the mounting apparatus 1 according to this embodiment is a component mounter (chip mounter).

The first target object 100 is, for example, a rectangular printed circuit board (hereinafter also referred to as “substrate 100”). The second object 200 is, for example, an electronic component (hereinafter also referred to as “component 200”) such as a capacitor, resistor, inductor, transformer, IC (Integrated Circuit), connector, or switch. Components 200 are not limited to the electronic components described above, and may be other components as long as they can be mounted on substrate 100 .

The mounting apparatus 1 according to this embodiment includes a first moving unit 3 and a first moving apparatus 2, as shown in FIG. The first moving device 2 moves the first moving unit 3 along the first direction. The first mobile unit 3 has a second mobile unit 5 and a second mobile device 4 . The second moving device 4 moves the second moving unit 5 along the second direction. The second direction is a direction crossing the first direction. The second mobile unit 5 has a catch 51 . The capture unit 51 captures the second target object 200 mounted on the first target object 100 . At least one of the first moving device 2 and the second moving device 4 has a linear motor (first linear motor 21, second linear motor 41). The linear motor has coil blocks 22 and 42 including coils 24 (see FIG. 2) and magnet blocks including permanent magnets 25 (see FIG. 2) that apply magnetic force to the coils 24 to which an exciting current is applied. 23, 43 and . The permanent magnets 25 are arranged in a Halbach array. In this embodiment, for example, the first direction is the Y-axis direction and the second direction is the X-axis direction.

In the mounting apparatus 1 according to the present embodiment, when the permanent magnets 25 constituting a part of the linear motor are arranged in a Halbach arrangement such that the magnetic field strength toward the coil blocks 22 and 42 becomes stronger, the mounting work is performed. It is possible to further improve the mounting speed in

Here, the application target of the permanent magnets 25 arranged in the Halbach array is not limited to the mounting apparatus 1 , but can be applied to general working apparatuses including the mounting apparatus 1 . The "work device" referred to in the present disclosure is a device that performs various operations on a work object when manufacturing a product, such as mounting, painting, printing, pressing, cutting, welding, and photographing. It is a device. The "work target" referred to in the present disclosure is an object on which work such as processing is performed by a work device. 100 is a working object. In this case, the second mobile unit 5 has a tool that acts on the work piece.

(2) Details Details of the mounting apparatus 1 according to the present embodiment will be described below with reference to FIGS. 1 to 3. FIG.

(2.1) Structure of Mounting Apparatus First, the structure of a mounting apparatus 1 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. In the following description, the moving direction of the first moving unit 3 is the Y-axis direction, the moving direction of the second moving unit 5 is the X-axis direction, and both the moving direction of the first moving unit 3 and the moving direction of the second moving unit 5 is defined as the Z-axis direction. However, these directions are not meant to limit the directions in which the mounting apparatus 1 is used. Also, the arrows in the drawings are only shown for explanation and are not substantial.

The mounting apparatus 1 according to this embodiment includes a first moving device 2 and a first moving unit 3, as shown in FIG. The first moving device 2 moves the first moving unit 3 along the first direction. In this embodiment, the first direction is the Y-axis direction.

The first moving device 2 has two first linear motors 21 (linear motors), as shown in FIG. Each of the two first linear motors 21 is a so-called cylindrical linear motor. The two first linear motors 21 are arranged side by side with a predetermined gap in the X-axis direction. Each first linear motor 21 has a coil block 22 and a magnet block 23 .

The coil block 22 has an outer cylinder 221, a winding core 222, and a coil 24, as shown in FIG. The outer cylinder 221 has a cylindrical shape elongated in the Y-axis direction. The winding core 222 has a cylindrical shape elongated in the Y-axis direction and is arranged inside the outer cylinder 221 . A coil 24 is wound on the surface of the winding core 222 . Coil 24 includes a plurality of unit coils. Each of the plurality of unit coils corresponds to the U-phase, V-phase, and W-phase, respectively. Each unit coil is wound around the Y-axis. The coil 24 is accommodated in the outer cylinder 221 together with the winding core 222 while being wound around the winding core 222 .

The magnet block 23 has a permanent magnet 25 as shown in FIG. The permanent magnet 25 generates magnetic force with the coil 24 through which the excitation current is flowing. The permanent magnet 25 has a cylindrical shape elongated in the Y-axis direction. The permanent magnet 25 has a plurality of magnet pieces (first magnet piece 251, second magnet piece 252, third magnet piece 253, fourth magnet piece 254, fifth magnet piece 255, and sixth magnet piece 256). The first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256 are arranged in this order along the Y-axis direction. . The configuration of the permanent magnet 25 will be described in detail in the section "(3) Configuration of Permanent Magnet".

The magnet block 23 further has a flange portion 231 as shown in FIG. The flange portion 231 has a rectangular tubular shape that is long in the Y-axis direction (see FIG. 1). The flange portion 231 is open at both ends in the Y-axis direction. The flange portion 231 has an accommodation space 233 . The housing space 233 has a circular shape when viewed in the Y-axis direction, and is formed over the entire length of the flange portion 231 . The permanent magnet 25 is accommodated in the accommodation space 233 of the flange portion 231 .

Here, it is preferable that the outer diameter of the accommodation space 233 when viewed from the Y-axis direction is smaller than the outer diameter of the permanent magnet 25 . As a result, the permanent magnet 25 can be press-fitted into the accommodation space 233 , and the permanent magnet 25 can be held by the flange portion 231 . Further, pressing plates 232 are attached to both ends of the flange portion 231 in the Y-axis direction. The outer dimensions of each pressing plate 232 are substantially the same as the outer dimensions of the flange portion 231 when viewed in the Y-axis direction. Each pressing plate 232 has a through hole 2321 passing through in the thickness direction (Y-axis direction). The through hole 2321 has a circular shape when viewed in the Y-axis direction. The outer diameter of through hole 2321 is slightly larger than the outer diameter of outer cylinder 221 of coil block 22 . For example, if the outer diameter of the accommodation space 233 when viewed in the Y-axis direction is larger than the outer diameter of the permanent magnet 25, the permanent magnet 25 cannot be press-fitted into the accommodation space 233. unable to hold. Even in such a case, by attaching pressing plates 232 to both ends of the flange portion 231, the permanent magnets 25 can be pushed into the housing space 233, and as a result, the flange portion 231 and the pressing plate 232 are separated from each other. , the permanent magnet 25 can be held.

The first moving device 2 further has two first linear guides 28 (linear guides). Each first linear guide 28 is a so-called LM guide (registered trademark) including a first linear guide rail 26 and a first linear guide slider 27 . The first linear guide rail 26 is arranged such that its longitudinal direction is parallel to the Y-axis direction. Also, the two first linear guide rails 26 are arranged side by side with a predetermined gap in the X-axis direction. The cross-sectional shape of the first linear guide rail 26 in the Y-axis direction is, for example, an inverted T shape (see FIG. 1).

The first linear guide slider 27 is fitted to the first linear guide rail 26 . The cross-sectional shape of the first linear guide slider 27 in the Y-axis direction corresponds to the shape of the first linear guide rail 26, and the first linear guide slider 27 is fitted to the first linear guide rail 26 with almost no gap. .

The magnet block 23 of the first linear motor 21 is fixed to the first linear guide slider 27 . The first linear guide slider 27 guides the magnet block 23 when the magnet block 23 moves along the Y-axis direction with respect to the coil block 22 . That is, in the present embodiment, the coil block 22 of the linear motor 21 is the stator, and the magnet block 23 is the mover. Therefore, in this embodiment, the magnet block 23 is movable with respect to the coil block 22 .

Here, as shown in FIG. 2, the permanent magnet 25 of the magnet block 23 has a cylindrical shape elongated in the Y-axis direction. Permanent magnet 25 has an inner space 250 . The inner space 250 has a circular shape when viewed in the Y-axis direction, and is formed over the entire length of the permanent magnet 25 . When the first linear motor 21 is assembled, the coil block 22 is passed through the inner space 250 of the permanent magnet 25 as shown in FIG. Then, the magnet block 23 moves along the Y-axis direction with respect to the coil block 22 by applying an exciting current to the coil 24 of the coil block 22 . That is, the coil block 22 and the magnet block 23 (permanent magnet 25) are relatively movable along the Y-axis direction.

The first mobile unit 3 has a second mobile device 4 and a second mobile unit 5 . The second moving device 4 moves the second moving unit 5 along the second direction. The second direction is a direction crossing the first direction, and in this embodiment, the second direction is the X-axis direction. The first moving unit 3 is linearly movable along the Y-axis direction by the two magnet blocks 23 being guided by the two first linear guides 28 .

The second moving device 4 has two second linear motors 41 (linear motors), as shown in FIG. Each of the two second linear motors 41 is a so-called cylindrical linear motor. The two second linear motors 41 are arranged side by side with a predetermined interval in the Y-axis direction. Each second linear motor 41 has a coil block 42 and a magnet block 43 . Here, the second linear motor 41 is the same cylindrical linear motor as the first linear motor 21 . Therefore, the coil block 42 has the same configuration as the coil block 22 and the magnet block 43 has the same configuration as the magnet block 23 . Therefore, description of the second linear motor 41 is omitted here. In this embodiment, of the second linear motor 41, the coil block 42 is the stator and the magnet block 43 is the mover. Then, the magnet block 43 moves along the X-axis direction with respect to the coil block 42 .

The second moving device 4 further has two second linear guides 48 (linear guides). Each second linear guide 48 is a so-called LM guide (registered trademark) including a second linear guide rail 46 and a second linear guide slider 47 . Here, the second linear guide rail 46 is the same as the first linear guide rail 26 and the second linear guide slider 47 is the same as the first linear guide slider 27 . Therefore, description of the second linear guide 48 (the second linear guide rail 46 and the second linear guide slider 47) is omitted here.

The second moving unit 5 is, for example, a mounting head unit. The second mobile unit 5 has a catch 51 . The catching unit 51 is, for example, a suction nozzle that sucks (captures) the component 200 as the second object. The second moving unit 5 is fixed to two magnet blocks 43, 43 from both sides in the Y-axis direction. The second moving unit 5 moves along the X-axis direction together with the two magnet blocks 43 as the two magnet blocks 43 move along the X-axis direction. In addition, the second moving unit 5 can move linearly along the X-axis direction by guiding the two magnet blocks 43 by the two second linear guides 48 .

(2.2) Configuration of Mounting Apparatus Next, the configuration of the mounting apparatus 1 according to this embodiment will be described with reference to FIG.

As shown in FIG. 3, the mounting apparatus 1 according to this embodiment includes a control circuit 11, a first drive circuit 12, a second drive circuit 13, a first linear motor 21, and a second linear motor 41. And prepare. Note that the first linear motor 21 and the second linear motor 41 have already been described in the section "(2.1) Structure of the Mounting Apparatus", and the description will be omitted here.

The control circuit 11 is configured to control the first drive circuit 12 and the second drive circuit 13 separately. Specifically, the control circuit 11 issues a first control signal to the first drive circuit 12 so that the catching portion (suction nozzle) 51 of the second moving unit (mounting head unit) 5 reaches the target position. and outputs the second control signal to the second drive circuit 13 . The target position is the mounting position of the component 200 as the second object on the substrate 100 as the first object. The first control signal includes position information in the Y-axis direction among the position information of the target position. The second control signal includes the position information in the X-axis direction among the position information of the target position.

The control circuit 11 is mainly composed of a computer system having, for example, one or more processors and one or more memories. The functions of the control circuit 11 are realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be prerecorded in a memory, or may be provided by being recorded in a non-temporary recording medium such as a memory card or through an electric communication line such as the Internet.

The first drive circuit 12 is in one-to-one correspondence with the first linear motor 21, creates a first drive signal based on the first control signal from the control circuit 11, and sends the created first drive signal to the first drive signal. 1 to the linear motor 21 . The first linear motor 21 moves along the Y-axis direction according to the first drive signal from the first drive circuit 12 . Then, the first moving unit 3 including the second moving unit 5 moves along the Y-axis direction by the driving force from the first linear motor 21, and the catching part 51 reaches the target position in the Y-axis direction.

The second drive circuit 13 is in one-to-one correspondence with the second linear motor 41, creates a second drive signal based on the second control signal from the control circuit 11, and sends the created second drive signal to the second drive signal. 2 Output to the linear motor 41 . The second linear motor 41 moves along the X-axis direction according to the second drive signal from the second drive circuit 13 . Then, the second moving unit 5 moves along the X-axis direction by the driving force from the second linear motor 41, and the catching part 51 reaches the target position in the X-axis direction.

(3) Structure of Permanent Magnet Next, the structure of the permanent magnet 25 that constitutes a part of the first linear motor 21 will be described with reference to FIGS. 4A to 5B. Below, it demonstrates, comparing with the permanent magnet 65 which concerns on a comparative example. Also, the permanent magnets that form part of the second linear motor 41 have the same configuration as the permanent magnets 25 that form part of the first linear motor 21, so the description thereof is omitted here. . In FIGS. 4A to 5B, the S pole portion of each magnet piece is dotted so that the S pole and N pole of each magnet piece can be distinguished.

As shown in FIG. 4A, the permanent magnet 65 according to the comparative example includes a plurality of (six in FIG. 4A) magnet pieces (a first magnet piece 651, a second magnet piece 652, a third magnet piece 653, and a fourth magnet piece. 654, a fifth magnet piece 655, and a sixth magnet piece 656). Each of the first magnet piece 651, the second magnet piece 652, the third magnet piece 653, the fourth magnet piece 654, the fifth magnet piece 655, and the sixth magnet piece 656 has a cylindrical shape whose axial direction is the Y-axis direction. is. The first magnet piece 651, the second magnet piece 652, the third magnet piece 653, the fourth magnet piece 654, the fifth magnet piece 655, and the sixth magnet piece 656 are arranged in this order along the Y-axis direction. . Thereby, the permanent magnet 65 is formed in a cylindrical shape whose longitudinal direction is parallel to the Y-axis direction (see FIG. 4A).

In the permanent magnet 65 according to the comparative example, the S pole of the first magnet piece 651 and the S pole of the second magnet piece 652 face each other in the Y-axis direction, and the N pole of the second magnet piece 652 and the third magnet piece 653 face each other. are facing each other. In the permanent magnet 65, the S pole of the third magnet piece 653 and the S pole of the fourth magnet piece 654 face each other in the Y-axis direction, and the N pole of the fourth magnet piece 654 and the N pole of the fifth magnet piece 655 poles are facing each other. In the permanent magnet 65, the S pole of the fifth magnet piece 655 and the S pole of the sixth magnet piece 656 face each other in the Y-axis direction. In other words, the permanent magnet 65 according to the comparative example is a so-called NS arrangement permanent magnet in which the same poles of adjacent magnet pieces face each other.

FIG. 4B is a schematic diagram showing the positional relationship between the permanent magnet 65, the coil block 22, and the first linear guide rail 26. As shown in FIG. In the permanent magnet 65 of the NS arrangement, as shown in FIG. 4B, the magnetic poles of each magnet piece are aligned along the Y-axis direction, so the magnetic flux from each magnet piece is almost evenly distributed on both sides in the Z-axis direction. spreading. In this case, the leakage magnetic flux from the permanent magnet 65 to the first linear guide rail 26 side increases, and as a result, the frictional resistance generated between the first linear motor 21 and the first linear guide 28 increases, and the mounting work becomes difficult. There is a possibility that the mounting accuracy in In addition, since the leakage magnetic flux from the permanent magnet 65 to the first linear guide rail 26 side increases, the magnetic flux density to the coil block 22 side becomes relatively small. The propulsive force generated between them becomes smaller.

As shown in FIG. 5A, the permanent magnet 25 according to the present embodiment includes a plurality of (six in FIG. 5A) magnet pieces (first magnet piece 251, second magnet piece 252, third magnet piece 253, fourth magnet piece). It has a piece 254, a fifth magnet piece 255, and a sixth magnet piece 256). Each of the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256 has a cylindrical shape whose axial direction is the Y-axis direction. is. The first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256 are arranged in this order along the Y-axis direction. . Thereby, the permanent magnet 25 is formed in a cylindrical shape whose longitudinal direction is parallel to the Y-axis direction (see FIG. 5A). In this embodiment, the arrangement direction of the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256 is the Y-axis direction. .

The first magnet piece 251 has an S pole on a first surface 2511 that is an inner surface and an N pole on a first back surface 2512 that is an outer surface when viewed from the Y-axis direction. In other words, the first magnet piece 251 has a first surface 2511 facing the coil block 22 as the south pole, and a first back surface 2512 opposite to the first surface 2511 as the north pole. The second magnet piece 252 has a second surface 2521 on the first magnet piece 251 side as viewed from the Y-axis direction, and a second back surface 2522 opposite to the second surface 2521 as an N pole. is. The third magnet piece 253 has an inner third surface 2531 as an N pole and an outer third back surface 2532 as an S pole when viewed in the Y-axis direction. In other words, in the third magnet piece 253, the third surface 2531 facing the coil block 22 is the N pole, and the third back surface 2532 opposite to the third surface 2531 is the S pole. The fourth magnet piece 254 has a fourth surface 2541 on the side of the third magnet piece 253 as viewed from the Y-axis direction, and a fourth back surface 2542 opposite to the fourth surface 2541 as an S pole. is.

Here, the fifth magnet piece 255 is the same magnet piece as the first magnet piece 251 described above. Also, the sixth magnet piece 256 is the same magnet piece as the second magnet piece 252 described above. That is, the permanent magnet 25 according to the present embodiment has at least the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, and the fourth magnet piece 254, which are magnetized in different directions (orientation of the magnetic field). It's fine if you do. In addition, in the permanent magnet 25 according to the present embodiment, the second magnet piece 252 and the fourth magnet piece 254 have the S pole and the N pole opposite to each other in the Y-axis direction. It's a piece of magnet.

5B is a schematic diagram showing the positional relationship between the permanent magnet 25, the coil block 22 and the first linear guide rail 26. FIG. In the permanent magnet 25, as shown in FIG. 5B, the magnetic field concentrates on one side in the Z-axis direction orthogonal to the Y-axis direction in which the plurality of magnet pieces are arranged. As shown in FIG. 5B, when the permanent magnet 25 is cylindrical, the magnetic flux directed inward from the inner peripheral surface of the inner space 250 of the permanent magnet 25 increases, and the magnetic flux directed outward from the outer peripheral surface of the permanent magnet 25 increases. becomes smaller. Therefore, as shown in FIG. 5B, by passing the coil block 22 through the inner space 250 of the permanent magnet 25, the magnetic flux density toward the coil block 22 can be increased. Thereby, the driving force generated between the coil block 22 and the magnet block 23 can be increased. As the driving force generated between the coil block 22 and the magnet block 23 increases, the acceleration of the magnet block 23 with respect to the coil block 22 increases, and as a result, the mounting speed in the mounting work can be further improved.

Further, as shown in FIG. 5B, by arranging the first linear guide rail 26 along the outer peripheral surface of the permanent magnet 25, it is possible to reduce the leakage magnetic flux to the first linear guide rail 26 side. As a result, the frictional resistance generated between the magnet block 23 of the first linear motor 21 and the first linear guide rail 26 of the first linear guide 28 can be reduced, so that mounting accuracy in the mounting work can also be improved. be able to.

In the mounting apparatus 1 according to the present embodiment, the permanent magnets 25 are arranged in a Halbach array such that the magnetic field strength toward the coil block 22 side is increased, as described above. A "Halbach array" as used in this disclosure refers to a magnetic circuit that maximizes the magnetic field strength in a particular direction by optimizing the orientation of the magnetic poles (South and North poles). In this embodiment, the specific direction is the direction of coil block 22 . Further, in the mounting apparatus 1 according to the present embodiment, the first linear guide 28 is arranged at a position where the magnetic field strength of the permanent magnets 25 arranged in the Halbach array is weakened, as shown in FIG. 5B.

Here, it is assumed that each magnet piece constituting the permanent magnets 25 and 65 has an inner diameter of 26 mm, an outer diameter of 36 mm, and a length of 30 mm in the Y-axis direction. Under this condition, when the permanent magnet 65 is used for the first linear motor 21, the driving force generated between the coil block 22 and the magnet block 23 is, for example, 31.6 N/A. Moreover, when the permanent magnet 25 is used for the first linear motor 21, the driving force generated between the coil block 22 and the magnet block 23 is, for example, 43.7 N/A. By using the permanent magnets 25 arranged in the Halbach arrangement in the first linear motor 21 in this way, it is possible to obtain about 1.38 times the propulsive force of the permanent magnets 65 arranged in the NS arrangement.

In the mounting apparatus 1 according to the present embodiment, the permanent magnets 25 are arranged in a Halbach array such that the magnetic field intensity toward the coil block 22 side is increased. As a result, since the driving force generated between the coil block 22 and the magnet block 23 can be increased, the acceleration of the magnet block 23 with respect to the coil block 22 can be increased. can be further improved. In addition, since the first linear guide 28 is arranged at a position where the leakage magnetic flux from the permanent magnet 25 is small, the frictional resistance generated between the first linear motor 21 and the first linear guide 28 can be reduced. As a result, it is possible to improve mounting accuracy in the mounting work. Furthermore, by reducing the leakage magnetic flux to the first linear guide 28 side, the influence of the leakage magnetic flux on the component 200 can be reduced.

(4) Modifications The above-described embodiment is just one of various embodiments of the present disclosure. The above-described embodiments can be modified in various ways according to design and the like as long as the object of the present disclosure can be achieved. Modifications of the above-described embodiment are listed below. Modifications described below can be applied in combination as appropriate.

The mounting apparatus 1 in the present disclosure includes a computer system in the control circuit 11, for example. A computer system is mainly composed of a processor and a memory as hardware. The function of the mounting device 1 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuit such as IC or LSI referred to here is called differently depending on the degree of integration, and includes integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, a field-programmable gate array (FPGA) that is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit partitions inside the LSI may also be adopted as the processor. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration of the mounting apparatus 1 that a plurality of components of the mounting apparatus 1 are integrated in one housing, and the components of the mounting apparatus 1 are provided dispersedly in a plurality of housings. may have been Furthermore, at least part of the functions of the mounting apparatus 1 (for example, the control circuit 11) may be realized by a cloud (cloud computing) or the like.

(4.1) Modification 1
In the above-described embodiment, each of the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256 that constitute the permanent magnet 25 has a cylindrical shape whose axial direction is the Y-axis direction. On the other hand, as shown in FIG. 6, each of the first magnet piece 251A, the second magnet piece 252A, the third magnet piece 253A, and the fourth magnet piece 254A that constitute the permanent magnet 25A is plate-shaped. may The configuration other than the permanent magnet 25A is the same as that of the above-described embodiment, and the same components are denoted by the same reference numerals and description thereof is omitted.

The first magnet piece 251A, the second magnet piece 252A, the third magnet piece 253A, and the fourth magnet piece 254 are arranged in this order along the Y-axis direction. That is, the arrangement direction of the first magnet piece 251A, the second magnet piece 252A, the third magnet piece 253A, and the fourth magnet piece 254A is the Y-axis direction.

The first magnet piece 251A has an S pole on one surface (upper surface) and an N pole on the other surface (lower surface) in the thickness direction. The second magnet piece 252A has an S pole on the first magnet piece 251A side in the Y-axis direction (arrangement direction) and an N pole on the side opposite to the first magnet piece 251A. The third magnet piece 253A has an N pole on one surface (upper surface) and an S pole on the other surface (lower surface) in the thickness direction. The fourth magnet piece 254A has an N pole on the side of the third magnet piece 253A in the Y-axis direction (arrangement direction) and an S pole on the side opposite to the third magnet piece 253A.

By arranging the permanent magnet 25A configured in this way between the coil block 22 and the first linear guide rail 26 in the Z-axis direction, the magnetic field intensity toward the coil block 22 is increased while the first linear magnet 25A is arranged. The magnetic field strength toward the guide rail 26 side can be weakened. In other words, the permanent magnets 25A according to Modification 1 are also arranged in a Halbach array such that the magnetic field strength toward the coil block 22 side is increased. In addition, by arranging the permanent magnet 25A between the coil block 22 and the first linear guide rail 26 in the Z-axis direction, the first linear guide 28 (first linear guide A rail 26) will be placed.

In the mounting apparatus 1 according to Modification 1, the permanent magnets 25A are arranged in a Halbach arrangement that increases the magnetic field strength toward the coil block 22 side, and the magnetic flux density toward the coil block 22 side can be increased. As a result, the driving force generated between the coil block 22 and the magnet block 23 can be increased, so that the mounting speed in the mounting work can be further improved. In addition, since the leakage magnetic flux to the first linear guide 28 side by the permanent magnet 25A can be reduced, the frictional resistance generated between the magnet block 23 and the first linear guide 28 can be reduced. As a result, the magnet block 23 can be smoothly moved with respect to the first linear guide 28, so that the mounting accuracy in the mounting work can be improved. Further, like the mounting apparatus 1 according to Modification 1, the height of the mounting apparatus 1 is reduced by arranging the permanent magnet 25A between the coil block 22 and the first linear guide rail 26 in the Z-axis direction. can do.

The Halbach arrangement shown in FIG. 6 is an example, and another Halbach arrangement may be used as long as the Halbach arrangement increases the magnetic field intensity toward the coil block 22 side.

Further, in Modification 1, the permanent magnet 25A is arranged between the coil block 22 and the first linear guide rail 26 in the Z-axis direction. A permanent magnet 25A may be arranged on the opposite side. Furthermore, the permanent magnets 25A may be arranged both between the coil block 22 and the first linear guide rail 26 and on the opposite side of the coil block 22 from the first linear guide rail 26 .

(4.2) Other Modifications Other modifications are listed below.

In the above-described embodiment, each of the first linear motor 21 and the second linear motor 41 is a cylindrical linear motor, but at least one of the first linear motor 21 and the second linear motor 41 is For example, it may be a tubular linear motor instead of a cylindrical one. Furthermore, at least one of the first linear motor 21 and the second linear motor 41 may be, for example, a planar linear motor.

In the above-described embodiment, each of the first linear guide 28 and the second linear guide 48 is an LM guide (registered trademark), but each of the first linear guide 28 and the second linear guide 48 is an LM guide (registered trademark). is not limited to That is, each of the first linear guide 28 and the second linear guide 48 may have a different configuration as long as it can guide each of the first linear motor 21 and the second linear motor 41 .

In the embodiments described above, the first moving device 2 has a first linear motor 21 and the second moving device 4 has a second linear motor 41 . Alternatively, only the first moving device 2 may have the first linear motor 21 , or only the second moving device 4 may have the second linear motor 41 . That is, at least one of the first moving device 2 and the second moving device 4 should have a linear motor. Also, one of the first moving device 2 and the second moving device 4 may have a mechanism composed of a rotary motor and a ball screw instead of a linear motor.

In the above-described embodiment, the coil blocks 22 and 42 are the stators and the magnet blocks 23 and 43 are the movers. good. That is, the coil blocks 22 and 42 may be configured to move with respect to the magnet blocks 23 and 43 .

In the above-described embodiment, the permanent magnet 25 is composed of the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, the fourth magnet piece 254, the fifth magnet piece 255, and the sixth magnet piece 256. there is Here, as shown in FIG. 5B, the fifth magnet piece 255 is the same magnet piece as the first magnet piece 251 and the sixth magnet piece 256 is the same magnet piece as the second magnet piece 252 . Therefore, the permanent magnet 25 should be composed of at least the first magnet piece 251 , the second magnet piece 252 , the third magnet piece 253 and the fourth magnet piece 254 . As shown in FIG. 5B, the first magnet piece 251, the second magnet piece 252, the third magnet piece 253, and the fourth magnet piece 254 are magnet pieces having different magnetic field directions.

Although the permanent magnet 25 has a cylindrical shape in the above-described embodiment, the permanent magnet 25 may have, for example, a rectangular tubular shape. In this case, the accommodation space 233 of the flange portion 231 has a rectangular shape when viewed in the Y-axis direction. That is, the shape of the housing space 233 of the flange portion 231 corresponds to the shape of the permanent magnet 25 that is housed in the housing space 233 .

In the above-described embodiment, the permanent magnet 25 is configured by combining a plurality of magnet pieces with different magnetic field directions. The permanent magnet 25 may be configured with

The Halbach array shown in FIGS. 5A and 5B described in the above embodiment is an example, and another Halbach array may be used as long as the Halbach array increases the magnetic field intensity toward the coil block 22 side.

(summary)
As described above, the mounting apparatus (1) according to the first aspect includes the first moving unit (3) and the first moving apparatus (2). The first moving device (2) moves the first moving unit (3) along a first direction (eg Y-axis direction). The first mobile unit (3) comprises a second mobile unit (5) and a second mobile device (4). A second moving device (4) moves a second moving unit (5) along a second direction (eg, the X-axis direction). The second direction is a direction crossing the first direction. The second mobile unit (5) has a catch (51). A capture unit (51) captures a second object (200) mounted on a first object (100). At least one of the first moving device (2) and the second moving device (4) has a linear motor (21, 41). A linear motor (21, 41) includes permanent magnets (25, 25A) that apply magnetic force between a coil block (22, 42) including a coil (24) and the coil (24) to which an exciting current is applied. ) and magnet blocks (23, 43). The permanent magnets (25, 25A) are arranged in a Halbach array.

According to this aspect, when the permanent magnets (25, 25A) are arranged in a Halbach arrangement that increases the magnetic field intensity toward the coil block (22, 42) side, the mounting speed in the mounting work can be further improved. can be done.

In the mounting apparatus (1) according to the second aspect, in the first aspect, the permanent magnets (25, 25A) are arranged in a Halbach array such that the magnetic field intensity toward the coil blocks (22, 42) is increased. be.

According to this aspect, it is possible to further improve the mounting speed in the mounting work.

In the mounting apparatus (1) according to the third aspect, in the first or second aspect, the magnet blocks (23, 43) further include a flange portion (231) provided with an accommodation space (233). Permanent magnets (25, 25A) are arranged in the accommodation space (233).

According to this aspect, the permanent magnets (25, 25A) can be aligned simply by arranging the permanent magnets (25, 25A) in the accommodation space (233).

In the mounting apparatus (1) according to the fourth aspect, in the third aspect, the permanent magnet (25, 25A) has a plurality of magnet pieces (251-256, 251A-254A). The flange portion (231) has a pressing plate (232) that pushes the plurality of magnet pieces (251-256, 251A-254A) arranged in the accommodation space (233) toward the accommodation space (233).

According to this aspect, the permanent magnets (25, 25A) can be held by the flange (231) and the pressing plate (232).

In the mounting apparatus (1) according to the fifth aspect, in any one of the first to fourth aspects, the permanent magnet (25) is tubular. The coil blocks (22, 42) and the permanent magnet (25) are relatively movable with the coil blocks (22, 42) passing through the inner space (250) of the permanent magnet (25).

According to this aspect, the coil blocks (22, 42) and the permanent magnet (25) can be moved relatively.

In the mounting apparatus (1) according to the sixth aspect, in any one of the first to fifth aspects, at least one of the first moving device (2) and the second moving device (4) includes a linear guide (28, 48). Linear guides (28, 48) guide linear motors (21, 41). The linear guides (28, 48) are arranged at positions where the strength of the magnetic field generated by the permanent magnets (25, 25A) arranged in the Halbach array is weakened.

According to this aspect, it is possible to reduce the frictional resistance generated between the linear guides (28, 48) and the linear motors (21, 41), thereby improving the mounting accuracy in the mounting work.

In the mounting apparatus (1) according to the seventh aspect, in any one of the first to sixth aspects, the permanent magnets (25, 25A) are composed of first magnet pieces (251, 251A) and second magnet pieces (252, 251A). 252A), the third magnet pieces (253, 253A), and the fourth magnet pieces (254, 254A) are arranged along the arrangement direction. The arrangement direction is at least one of a first direction (eg, Y-axis direction) and a second direction (eg, X-axis direction). The first magnet piece (251, 251A) has a first surface (2511) facing the coil block (22, 42) that is the south pole, and a first back surface that is the surface opposite to the first surface (2511). (2512) is the N pole. The second magnet piece (252, 252A) has a second surface (2521) on the side of the first magnet piece (251, 251A) in the arrangement direction that is the S pole, and a second surface (2521) in the arrangement direction. The opposite surface, the second back surface (2522), is the north pole. The third magnet piece (253, 253A) has a third surface (2531) that faces the coil block (22, 42) as the N pole, and a third back surface that is the surface opposite to the third surface (2531). (2532) is the south pole. The fourth magnet piece (254, 254A) has a fourth surface (2541), which is a surface on the side of the third magnet piece (253, 253A) in the arrangement direction, as the N pole, and a fourth surface (2541) in the arrangement direction. The opposite surface, the fourth rear surface (2542), is the south pole.

According to this aspect, the magnetic field strength toward the coil block (22, 42) side can be increased, thereby further improving the mounting speed in the mounting work.

In the mounting apparatus (1) according to the eighth aspect, in the seventh aspect, the second magnet pieces (252, 252A) and the fourth magnet pieces (254, 254A) are the same magnet pieces.

According to this aspect, the number of types of magnet pieces constituting the permanent magnets (25, 25A) can be reduced.

In the mounting apparatus (1) according to the ninth aspect, in any one of the first to eighth aspects, the magnet blocks (23, 43) are movable with respect to the coil blocks (22, 42).

According to this aspect, there is an advantage that the degree of freedom of arrangement is improved compared to the case where the coil blocks (22, 42) are moved with respect to the magnet blocks (23, 43).

The configurations according to the second to ninth aspects are not essential to the mounting apparatus (1) and can be omitted as appropriate.

1 mounting device 2 first moving device 3 first moving unit 4 second moving device 5 second moving unit 21 first linear motor (linear motor)
22 coil block 23 magnet block 24 coils 25, 25A permanent magnet 28 linear guide 41 second linear motor (linear motor)
42 Coil block 43 Magnet block 48 Linear guide 51 Capturing part 100 First object 200 Second object 231 Flange part 232 Holding plate 233 Storage space 250 Inner space 251, 251A First magnet piece (magnet piece)
252, 252A Second magnet piece (magnet piece)
253, 253A Third magnet piece (magnet piece)
254, 254A Fourth magnet piece (magnet piece)
2511 First surface 2512 First back surface 2521 Second surface 2522 Second back surface 2531 Third surface 2532 Third back surface 2541 Fourth surface 2542 Fourth back surface

Claims (8)

a first mobile unit;
a first moving device for moving the first moving unit along a first direction;
The first mobile unit includes:
a second mobile unit;
a second moving device that moves the second moving unit along a second direction that intersects with the first direction;
The second mobile unit has a capture section that captures a second object mounted on the first object,
at least one of the first moving device and the second moving device having a linear motor;
The linear motor is
a coil block containing a coil;
a magnet block including a permanent magnet that exerts a magnetic force between itself and the coil to which an excitation current is applied;
a linear guide that guides movement of the magnet block,
The magnet block is movable relative to the coil block while the coil block is inserted inside the magnet block,
The permanent magnets are arranged in a Halbach array ,
The linear guide is arranged outside the magnet block and is arranged at a position where the magnetic field strength of the permanent magnets arranged in the Halbach array is weakened.
mounting equipment. The permanent magnets are arranged in the Halbach array such that the magnetic field strength toward the coil block is strong.
The mounting apparatus according to claim 1. The magnet block further includes a flange portion provided with a housing space,
The permanent magnet is arranged in the accommodation space,
The mounting apparatus according to claim 1 or 2. The permanent magnet has a plurality of magnet pieces,
The flange portion has a pressing plate that pushes the plurality of magnet pieces arranged in the accommodation space toward the accommodation space,
The mounting apparatus according to claim 3. The permanent magnet is cylindrical,
The coil block and the permanent magnet are relatively movable in a state in which the coil block is passed through the inner space of the permanent magnet.
The mounting apparatus according to any one of claims 1 to 4. The permanent magnet has a first magnet piece, a second magnet piece, a third magnet piece, and a fourth magnet piece arranged along an arrangement direction,
The arrangement direction is at least one of the first direction and the second direction,
The first magnet piece has an S pole on a first surface facing the coil block, and an N pole on a first back surface opposite to the first surface,
The second magnet piece has a second surface on the side of the first magnet piece in the arrangement direction that is the south pole, and a second back surface that is the surface opposite to the second surface in the arrangement direction is the north pole. ,
The third magnet piece has an N pole on a third surface facing the coil block, and an S pole on a third back surface opposite to the third surface,
The fourth magnet piece has a fourth surface, which is the surface on the third magnet piece side in the arrangement direction, as an N pole, and a fourth back surface, which is a surface opposite to the fourth surface in the arrangement direction, as an S pole. ,
The mounting apparatus according to any one of claims 1 to 5. The second magnet piece and the fourth magnet piece are the same magnet piece,
The mounting apparatus according to claim 6. The permanent magnet is plate-shaped,
The permanent magnet is arranged between the coil block and the linear guide,
The mounting apparatus according to any one of claims 1 to 4.

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