JPH0828993B2 - Chip mounter parts supply table drive linear DC motor controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an apparatus for driving and controlling a multi-pole multi-phase coil movable linear DC motor, and is particularly suitable for a drive mechanism of a component supply table for a chip mounter. And a controller for a linear DC motor.

[Conventional technology]

A conventional linear DC motor is drive-controlled in a closed loop as described in JP-A-59-103559. In the above drive control method, since the maximum number of bits of the computer in the control device is determined, the longer the stroke of the drive motor, the worse the resolution of the length handled by the computer (the length per bit). For example, if the maximum number of bits of the computer is 16 bits,
If 300 mm, the resolution is When the stroke becomes 3000 mm, the resolution is And the resolution becomes worse in proportion to the stroke. Therefore, the positioning accuracy also deteriorates due to poor resolution.

[Problems to be Solved by the Invention] When the drive stroke of the drive motor becomes long, it is rare that high-precision positioning is required over all strokes, and precise positioning is required only in a specific area of all strokes. In many cases For example, when the linear DC motor is applied to the transfer line of the chip mounter component supply table, only the station part needs to be positioned with high accuracy, and the other parts can be moved.
In such a case, according to the conventional technique, the longer the stroke, the worse the positioning accuracy.

An object of the present invention is to cope with a case where high-precision positioning is desired only in a specific area in a long drive stroke, and a chip capable of maintaining high positioning accuracy without being influenced by the drive stroke. An object of the present invention is to provide a controller for a linear DC motor for driving a mounter parts supply table.

[Means for solving problems]

In order to achieve the above object, the gist of the present invention is to appropriately define two magnet bands in which a plurality of magnets magnetized in the thickness direction are linearly arranged so that adjacent poles are different poles. It is arranged in parallel with a space, and the opposite magnetic poles are different poles.
Magnetic space layers with equal magnetic flux width and alternating magnetic flux directions are formed between the magnet bands, and a multi-phase coil movable in the magnet band direction is arranged in this magnetic space layer. In the control device for the linear DC motor, the moving region of the multi-phase coil of the motor includes a precision drive region and a region other than the precision drive region, and the control device has a precision drive circuit and an intermittent drive circuit. The precision drive circuit is a means for detecting the position of the linear DC motor, and a voltage or current according to the deviation value obtained by comparing the detected position with the command value is applied to one or more of the multiphase coils of the motor. And means for selectively supplying to the coil of the motor, which are selectively used in the precision drive region to perform precision drive control of the motor in a closed loop. An open loop motor that is provided with means for sequentially selecting one or more coils and means for sequentially supplying voltage or current to the selected coils and is selectively used in a region other than the precision drive region. The present invention provides a control device for a linear DC motor for driving a chip mounter component supply table, characterized in that the drive control is performed.

[Action]

In the above means, since the area controlled by the closed loop is short as the controller of the linear DC motor for driving the chip mounter parts supply table, the resolution of the length handled by the computer of the controller is also small, and the positioning accuracy is affected by the stroke. The high-precision state can be maintained without being damaged.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 10.

FIG. 1 shows the basic configuration of the control device.
In the figure, 1 is a precision drive circuit, which drives a motor in a closed loop. An intermittent drive circuit 2 controls the motor in an open loop like a stepping motor. Three
Is connected to the precision drive circuit 1 and the intermittent drive circuit 2 by a command device and gives a command value of the movement amount to both circuits.

The motor coil 101 is composed of four coils of precision driving coils 110A and 111B and intermittent action coils 121A and 121B,
The coils 111A and 111B are provided in the precision drive circuit 1 and the coils 121A and 121B are provided.
Are connected to the intermittent drive circuit 2. Hall IC102 is
Precision drive Hall ICs 112A and 112B and intermittent drive Hall IC 122
It is formed by four Hall ICs A and 122B, and these Hall ICs are also connected to the drive circuit 1 or 2, respectively. 6A is a linear scale head that feeds back position information to the precision drive circuit 1. The motor coil 101, the Hall IC 102, and the linear scale head 6A are attached to the movable table 4 and move integrally with the movable table 4.

The magnet band 5 includes a plurality of magnets magnetized in the thickness direction,
Adjacent magnet bands are formed, and the magnet bands 5 are arranged at appropriate intervals so that the two magnet bands are parallel to each other and the opposite magnetic poles are different from each other.

FIG. 2 shows the overall structure of a movable table that employs a linear DC motor. The movable table 4 is a linear guide 7A.
And is guided by the linear guide rail 7B and moves in the left-right direction. 6B is a linear scale, which is attached near both ends within the movable range of the movable table 4, and the movable table 4 is
The position where the linear scale 6B is attached is detected by the linear scale head 6A, and the positioning is moved according to the configuration. Reference numeral 8 indicates a motor outer frame.

That is, since the information of the linear scale 6B is fed back to the precision drive circuit 1 of FIG. 1 and the motor can be controlled in a closed loop, the positioning of the degree of configuration becomes possible. The movement of the movable table 4 in the area where the linear scale 6B is not attached in FIG. 2 is driven in an open loop like a stepping motor by the intermittent drive circuit shown in FIG.

 FIG. 3 shows a cross section taken along the line III-III in FIG.

The motor outer frame 8 has a U-shape, and a plurality of magnets 5 are attached to both sides of the inner surface of the U-shape of the outer frame as described above, and are formed between two magnet bands. The motor coil 101 and the Hall IC 102 are arranged in the magnetic space, and the motor coil 101 and the Hall IC 102 are fixed to the movable table 4 as described above. The movable table 4 has linear guides 7A attached to both sides of the lower surface of the movable table 4 movably mounted on two rows of guide rails 7B arranged on the upper surface of the outer frame 8. The linear scale 6B is attached to one side of the outer surface of the motor outer frame 8, and the linear scale head
6A is attached to the side edge of the movable table 4 so as to be arranged outside the linear scale 6B with a small gap.

 FIG. 4 shows a cross section taken along the line IV-IV in FIG.

As described above, the two magnet bands 5 are arranged on both sides of the inner surface of the motor outer frame 8, and the motor coil 101 is provided in the magnetic space.
Is provided.

The width of the magnetic flux of the magnetic flux group of the magnetic space formed by the two magnet bands 5 is equal to the width P of the magnet 5a, and the magnets are arranged so as to alternately face in opposite directions.

 FIG. 5 shows a cross section taken along the line VV of FIG.

Each coil 111A, 111B, 121A, 121B is formed in a square ring shape, the width of the ring is 1 / 2P as shown in FIG. 4, and the outer dimension in the moving direction of the ring is 3 / 2P. The coils 111A, 111B, 121A, 121B are attached adjacent to each other in a straight line. Therefore, the width of the entire motor coil 101 in the moving direction is 6P. In FIG. 5, the Hall IC 112A is a coil
Provided at the right end of 111A, Hall IC 112B is connected to coil 111A.
The Hall IC 122A is arranged between the coils 111B and 121A, and the Hall IC 122B is arranged between the coils 121A and 121B.

Next, the driving principle of this linear DC motor will be described.

In FIG. 5, assuming that a current is applied to the coil 111A, in FIG. 4, a current flowing vertically from the top to the bottom of the paper in the wire bundle a above the coil 111A flows,
A current flows from the bottom to the top in the wire bundle b below the coil 111A. At this time, an upward force acts on the upper line bundle a of the coil 111A according to Fleming's left-hand rule, and an upward force also acts on the lower line bundle b. By this power,
The movable table 4 moves upward. When the amount of movement exceeds 1 / 2P, the coil 111A enters the boundary of the magnet, and the force generated by the Fleming left-hand rule decreases. That time,
By turning off the current of the coil 111A and flowing a counterclockwise current to the coil 111B in FIG. 5, a moving force acts on the coil 111B by the Fleming's left-hand rule similar to the above, and the coil of FIG. The upward force acts on the coil 111B. As described above, by detecting which coil is at the boundary of the magnet, selecting the coil that conducts the current, and further determining in which direction the current is conducted, the force in the direction of the coil is The movable table 4 can be operated and moved. The Hall ICs 112A, 112B, 122A, 122B detect whether the coil is at the boundary of the magnet or which direction of the magnetic flux acting on the coil is directed.

FIG. 6 shows the structure of the precision drive circuit shown in FIG. 9 is a coil switching device for precision drive, which includes transistor groups 91A, 92A, 93
A circuit is formed by A, 94A, 91B, 92B, 93B, and 94B as illustrated. A precision drive coil switching controller 10 is connected to the precision drive Hall ICs 112A and 112B, the current direction detector 13 and the precision drive coil switcher 9 as shown in the figure to form a circuit. The detection signals of the IC 112A and 112B and the detection signal of the current direction detector 13 are input to the coil switching controller 10, and the coil switching device 9 outputs an operation control signal indicating which transistor in the coil switching device is to be operated. To do.

Reference numeral 11 is a widening device, the command side 3 and the linear scale head 6A are connected to the input side, and the rectifier 12 and the current direction detector 13 are connected to the output side as shown in a circuit to form a circuit. The signal from the command unit 3 and the detection signal from the linear scale head 6A are input to the amplifier 11 and output a current corresponding to the deviation of the signal. This output current is rectified by the rectifier 12 and supplied to the coil switching device 9. The current direction of the output current is detected by the current direction detector 13, and this detection signal is input to the coil switching controller 10 as described above.

FIG. 7 shows a switching pattern of the coil switching device 9 of FIG. For example, considering that Hall ICs 112A and 112B output 1 when they are at the N pole position, At this time, since both Hall ICs 112A and 112B are 1, the coil 111A is located at the magnet of the N pole, and the coil 111B is at the boundary between the N pole and the S pole. Therefore, coil 11
Transistors 91A and 94A are turned on to pass current to 1A. The pattern is On the other hand, when a current flows in the coil 111A in the opposite direction, the transistors 92A and 93A are turned on at this time.

FIG. 8 shows the structure of the intermittent drive circuit 2 shown in FIG. Reference numeral 9'denotes an intermittent drive coil switch, which includes transistor groups 91A ', 92A', 93A ', 94A', 91B ', 92B', 93B ', 94.
A circuit is formed by B'as shown. Reference numeral 15 is an intermittent drive coil switching controller, which is connected to the Hall ICs 122A and 122B, the panel generator 14 and the intermittent drive coil switching unit 9'as shown to form a circuit.
The pulse signal output to the output line L or R of the pulse generator 14 according to the detection signal of 22B and the command value of the command device 3 is input, and which transistor in the coil switching device 9'is operated or its operation is performed. Output a signal. 16 indicates a direct current.

FIG. 9 shows the operation of the coil during intermittent driving, and FIG. 10 shows the switching pattern of the coil switching device 9 '.

Next, the intermittent drive will be described with reference to FIGS. 8, 9, and 10.

When the motor coils 121A and 121B are present in the state of FIG. 9 and a pulse signal is output to the output signal line R of the pulse generator 14 as shown in the pattern of FIG. 10, the transistor 91B of the coil switch 9'is output. 'And 94B' are turned on. By the above operation, a current flows in the motor coil 121B, a rightward force acts and moves, and the motor coil 121B stops at the position of the boundary of the magnet because the rightward and leftward forces are balanced.

Then, as shown in the pattern in that state, when the signal is output to the R signal line of the pulse generator 14, the transistors 92A 'and 93A' of the coil switch 9'are turned on, and the motor coil 12
A current flows through 1A, the motor coil moves further to the right, and the motor coil 121A stops as at the magnet boundary position. In this way, each time a pulse is output to the R signal line of the pulse generator 14, the motor moves 1/2 P to the right. When a pulse is applied to the L signal line of the pulse-c generator 14, it moves on the same principle as moving to the left and right.

In addition, in the column corresponding to FIG. 9 in FIG.
From the figure, the coils 121A and 121B move to the right, and the coil 1
The state that the left end of 21A is at the border of the magnet,
Coil 121A, 121B is moved to the left more, coil 12
The left end of 1A is in the middle of the magnet.

As described above, the command device 3 determines which of the precision drive circuit 1 and the intermittent drive circuit 2 to be used, and sends a command value matching each to the drive circuit, thereby performing highly accurate positioning in a closed loop or a stepping motor. It is possible to drive in an open loop like this.

Next, another embodiment is shown in FIG. This embodiment differs from the above-mentioned embodiments in that the precision drive coil switching device 9 and the precision drive coils 111A and 111 in the precision drive circuit 1 shown in FIG.
This is a structure in which the B and precision driving Hall ICs 122A and 122B are integrated and commonly used. Further, a drive circuit switching device 20 for switching which of the output current from the rectifier 12 in the precision driving circuit 1'and the output current of the DC power source in the intermittent driving circuit 2'is sent to the coil switching device 9 "is provided. The drive circuit switch 20 is composed of transistors 21 and 22.
The other circuits are the same as those in the above-mentioned embodiment, and the circuits are formed as shown in the figure.

In the linear direct-coupling motor control device of this embodiment, when the motor is controlled by the degree of configuration by the closed loop, the commander 3'turns on the transistor 21 in the drive circuit switching device 20.
Then, the command value is sent to the precision drive circuit 1 '. When driving in an open loop, the command device 3'turns on the transistor 22 in the drive circuit switching device 20 and sends a command value to the intermittent drive circuit 2 '. Other operations are the same as those in the above-mentioned embodiment.

As described above, also in this embodiment, the same drive control as in the above-described embodiments can be performed. According to the present embodiment, the number of transistors, motor coils, and Hall ICs in the coil switching device is half each in comparison with the above embodiments, and there is an effect of cost reduction.

〔The invention's effect〕

As described above, according to the present invention, in the case of an apparatus in which the stroke of the linear DC motor is long and the area for performing the structural positioning is determined to be a part of the total stroke, highly accurate positioning is required. Positioning accuracy can be set in only the area to be controlled, closed loop control can be performed, and other area parts can be controlled in open loop. Can be maintained with high accuracy without change.

[Brief description of drawings]

1 to 10 show the configuration of a controller for a linear DC motor for driving a chip mounter component supply table showing an embodiment of the present invention, and FIG. 1 shows the overall configuration of the controller, and FIG.
The figure is a side view of the movable table, and Fig. 3 is III-III in Fig. 2.
FIG. 4 is a sectional view taken along line IV-IV of FIG. 3,
5 is a sectional view taken along the line VV of FIG. 3, FIG. 6 is a configuration diagram of a precision drive circuit, FIG. 7 is a table showing an operation pattern of the precision drive circuit, and FIG. 8 is an intermittent drive circuit. FIG. 9 is a configuration diagram, FIG. 9 is an operation diagram of the intermittent drive circuit, and FIG. 10 is a table showing an operation pattern of the intermittent drive circuit. FIG. 11 is a block diagram of a controller of a linear DC motor for driving a chip mounter component supply table showing another embodiment of the present invention. 1 ... Precision drive circuit, 2 ... Intermittent drive circuit, 3 ... Commander, 4 ... Movable table, 5 ... Magnet band (magnet), 6A ...
… Linear scale head, 6B… Linear scale, 9…
… Precision drive coil switcher, 9 ′ …… Intermittent drive coil switcher, 10 …… Precision drive coil switcher controller, 13 …… Current direction detector, 14 …… Pulse generator, 15 …… Intermittent drive Coil switching controller, 20 …… Drive circuit switcher, 101 …… Motor coil, 111A, 111B …… Precision drive coil, 112A, 11
2B …… Precision drive Hall IC, 121A, 121B …… Intermittent drive coil, 122A, 122B …… Intermittent drive Hall IC.

Claims (4)

[Claims] 1. A pair of magnet bands, each of which is magnetized in the thickness direction and is linearly arranged so that adjacent poles are different poles, is parallel to each other with a proper spacing. In addition, the opposing magnetic poles are arranged so as to have different polarities, and the width of the magnetic flux is equal between the two magnet bands,
Further, in a control device of a linear DC motor, wherein magnetic space layers in which magnetic flux directions are alternately directed to each other are formed, and a polyphase coil movable in a magnet band direction is arranged in the magnetic space layers, The moving region of the polyphase coil of is composed of a precision driving region and a region other than that, and the control device is
It has a precision drive circuit and an intermittent drive circuit, the precision drive circuit, a means for detecting the position of the linear DC motor, the voltage or current according to the amount of deviation obtained from the comparison of the detected position and the command value. Means for selectively supplying one or more coils of the multiphase coil of the motor,
Is used selectively in the precision drive region to perform precision drive control of the motor in a closed loop, the intermittent drive circuit, means for sequentially selecting one or more coils of the multi-phase coil of the motor, A chip comprising means for sequentially supplying a voltage or a current to a selected coil, which is selectively used in a region other than the precision driving region to control the drive of the motor in an open loop. Control device for linear DC motor for driving mounter parts supply table. 2. The position detecting means of the precision drive circuit linear DC motor comprises a linear scale provided in a precision drive area of a motor outer frame and a linear scale head provided on a movable table, and the detection position is provided. The means for comparing and outputting the command value comprises a commander and a widening device to which the detection signal of the linear scale head is input, and a current direction detector connected to the output side, and the position is determined by the linear scale head. A chip mounter component supply table drive according to claim 1, wherein the chip mounter component supply table is detected and a current corresponding to a deviation between the detected signal and the signal from the commander is output to the current direction detector. Controller for linear DC motors for automobiles. 3. A means for selectively supplying an output to a coil of the precision drive circuit includes a precision drive Hall IC, a current direction detector, a coil switching device and a precision driving coil switching controller. The detection signal of the Hall IC and the detection signal of the current direction detector are input to the coil switching controller, and the operating coil control signal is output to the coil switching device. A linear DC motor control device for driving the chip mounter component supply table described in the above item. 4. The intermittent driving circuit is a Hall IC for intermittent driving.
And a commander, a pulse generator, an intermittent drive coil switching controller and an intermittent drive switcher, the detection signal of the Hall IC and the pulse signal according to the command of the commander are input to the coil switching control, A controller for a linear DC motor for driving a chip mounter component supply table according to claim 1, characterized in that it outputs an operating coil control signal to a coil switch.