WO2008055861A1 - Tête d'équipement destinée à équiper des substrats avec des composants électriques au moyen d'un moteur de rotation-levage - Google Patents

Tête d'équipement destinée à équiper des substrats avec des composants électriques au moyen d'un moteur de rotation-levage Download PDF

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Publication number
WO2008055861A1
WO2008055861A1 PCT/EP2007/061861 EP2007061861W WO2008055861A1 WO 2008055861 A1 WO2008055861 A1 WO 2008055861A1 EP 2007061861 W EP2007061861 W EP 2007061861W WO 2008055861 A1 WO2008055861 A1 WO 2008055861A1
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WO
WIPO (PCT)
Prior art keywords
permanent magnet
placement head
displacement
stroke
coil
Prior art date
Application number
PCT/EP2007/061861
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German (de)
English (en)
Inventor
Stefan Burger
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2008055861A1 publication Critical patent/WO2008055861A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
    • H02K33/04—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs wherein the frequency of operation is determined by the frequency of uninterrupted AC energisation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K26/00—Machines adapted to function as torque motors, i.e. to exert a torque when stalled
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04—Mounting of components, e.g. of leadless components
    • H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
    • H05K13/0413—Pick-and-place heads or apparatus, e.g. with jaws with orientation of the component while holding it; Drive mechanisms for gripping tools, e.g. lifting, lowering or turning of gripping tools
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the invention relates to a placement head for equipping substrates with electrical components with a rotary hub motor
  • substrates are equipped with electrical components.
  • the placement process is carried out by a placement head, which can be moved by means of a two-dimensional positioning system over the substrate to be loaded.
  • the placement head in this case has one or more holding devices, which are movable in a direction perpendicular to the substrate surface between a rest position and a working position.
  • the holding device is moved into the working position by means of a suitable electric drive.
  • the holding devices must be able to be rotated in order to be able to carry out a position correction of the picked-up components.
  • the holding device Before the placement process, the position of the component held on the pipette is measured and then a position correction is performed. Therefore, in addition to the suction pipette, the holding device has a rotary drive for rotating the pipette and the held component and a separate z-drive arranged above the rotary drive for lifting and lowering the pipette in the axial direction.
  • this consists of two individual drives linear rotary drive requires due to its structural design and the arrangement of the individual drive components a comparatively large amount of space, which is problematic when used in the placement technique, especially when using matrix or turret placement heads.
  • the placement head for equipping substrates with electrical components comprises a housing, a holding device for holding the components, as well as a rotary lifting motor.
  • the holding device is displaceable relative to the housing in a displacement direction by a stroke distance .DELTA.z and rotatably supported about a rotation axis parallel to the displacement direction.
  • the rotary hub motor comprises a primary section with mini- at least one multi-phase coil package in the form of a cylindrical hollow body, a secondary part with a permanent magnet, which is at least partially disposed within the cylindrical hollow body of the at least one coil package, relative to the primary part rotatable about a rotation axis and slidably mounted in a displacement direction by a stroke distance .DELTA.z and is magnetized transverse to the axis of rotation.
  • the rotary-stroke motor has a control device coupled to the primary part, by means of which the current through the coil package in amplitude and phase direction is controllable such that caused by the current magnetic field of the primary part interacts with the magnetic field of the permanent magnet and both a shift and causes a rotation of the secondary part relative to the primary part.
  • the drive By means of this structural design, it is possible to produce the drive very easily and inexpensively or to assemble. Since only one common drive is required for the rotational movement as well as for the lifting movement, the complexity of the overall system as well as the weight of the drive module can be significantly reduced. Is the weight in the foreground when using such a rotary hub motor, for example, in cases where the rotary hub motor module itself is moved to reduce the accelerated mass, the control device can also outside the rotary stroke Motor module are placed. Furthermore, by this drive concept, the rotary hub motor module can be kept very compact, which facilitates the use in a limited working environment, for example in a matrix or turret placement head, or even made possible.
  • the rotary hub motor on at least one multi-phase coil package in the form of a cylindrical hollow body, wherein the permanent magnet is at least partially disposed within the cylindrical hollow body.
  • the permanent Magnet of the secondary part is at least partially enclosed by the coil package of the primary part.
  • the coil package on an inclined winding whose turns are oblique to the generatrices of the cylindrical hollow body.
  • z. B a cylinder, parallel to its axis of rotation.
  • the oblique winding has both turns portions in the longitudinal direction (parallel to the axis of rotation) and perpendicular thereto in the circumferential direction and is designed such that the slope dz / du over the individual Windungs réelle along the circumference U of the cylindrical hollow body.
  • this winding geometry permits a very compact design, on the other hand, due to the oblique course of the turns relative to the axis of rotation, a high axial force between primary part and secondary part in the direction of the axis of rotation can be achieved.
  • the coil package on a winding with diamond-shaped turns on.
  • the cylindrical hollow body forming conductor is loosely wound winding next to winding approximately wound around a conductor diameter, bent into a cylinder and connected to form a unit.
  • This type of winding is also known as diamond winding or diamond winding.
  • This winding geometry allows due to the oblique course of the turns relative to the axis of rotation a high axial force with a comparatively compact design.
  • the displacement of the secondary part relative to the primary part over the stroke ⁇ z in its two end positions by stops limited such that the permanent magnet in a shift between the two end positions in each position at least one of the coil packages only partially overlaps.
  • the placement head has a return device, which has at least two sections (A, B) with different magnetic resistance or magnetic flux in the displacement direction and cooperates with the permanent magnet in such a way that forms a magnetic conclusion.
  • the return means is designed such that the permanent magnet during displacement over the stroke ⁇ z with at least two sections (A, B) of the return device overlaps simultaneously.
  • a defined force which is directed parallel to the axis of rotation and urges him in a preferred position along the stroke.
  • the permanent magnet is always endeavoring, along the stroke, to assume a preferred position relative to the return element, in which the magnetic resistance is minimal or the magnetic field see river is maximum. If the permanent magnet is forcibly moved away from this position, it moves automatically in the free state back into this preferred position.
  • a defined force acts on the permanent magnets, which forces it into the preferred position. This force is transferable to a coupled with the rotary hub motor body.
  • the force generation is non-contact, wear-free, long-term stable and hysteresis-free. An auxiliary energy, such as that required for pneumatic cylinders, is not required.
  • the sections (A, B) have materials with different magnetic resistance.
  • one of the sections may have stainless steel and the other section may have soft iron.
  • stainless steel has a significantly greater magnetic resistance or a lower magnetic flux than soft iron, so that the permanent magnet would always move in the free state in the direction of the section made of soft iron.
  • the rotary hub motor has portions which are spaced at different distances from the permanent magnet.
  • the sections may be made of the same or different materials.
  • the sections may be designed such that on the permanent magnet when moving over the stroke .DELTA.z either a constant or over the stroke distance .DELTA.z variable force acts, which is directed parallel to the direction of displacement.
  • the return device consists of two cylindrical sleeves, which are detachably connectable to each other and each having one of the sections (A, B) of the return path.
  • the inner diameter of the first sleeve is worked with the outer diameter of the second sleeve to fit, so that the two sleeves can be inserted into each other by hand.
  • the fixation can be done by friction, in principle, however, other fasteners, such as screws or pins, are applicable for this purpose.
  • other fasteners such as screws or pins
  • the primary part on a plurality of coil packages, which are arranged in the sliding direction side by side.
  • the secondary part is installed so that it can run back and forth between the coil packages. As a result, both the axial force and the maximum stroke can be increased.
  • the holding device is movable in a working position and in a rest position, wherein in the rest position held by the holding member is closer to the housing than in the working position.
  • the sections (A, B) of the return path are arranged such that acts on the holding device when moving over the stroke a force that urges the holding device in the rest position.
  • FIG. 1 is a schematic view of a placement machine
  • FIGS. 2A and 2B are schematic illustrations of a placement head
  • FIGS. 4A and 4B are schematic representations of a second embodiment of the resetting device
  • FIGS. 5A to 5C show schematic representations of a third embodiment of the resetting device
  • 6A and 6B are schematic cross-sectional views of the return device
  • Figure 7 is a schematic representation of a fourth embodiment of the return device.
  • FIGS. 8A and 8B show a schematic operating principle of the rotary lifting motor
  • Figures 9A and 9B are schematic representations of a skew winding
  • 10A to 10C are schematic illustrations of a rhombic winding
  • the placement machine 1 shows a placement machine 1 for loading substrates with electrical components 11 is shown schematically.
  • a transport path 3 for example, a conveyor belt to a placement space, equipped there with electrical components 11 and then transported away.
  • the placement process is performed by a placement head 4.
  • the placement head 4 is in a direction of transport (arrow x) of the substrates 2 parallel direction (arrow x) slidably mounted on a positioning 5.
  • the positioning arm 5 in turn is transversely mounted transversely to the transport direction (arrow y) on a support 6, which spans the transport path 3 bridge-like Ü.
  • the placement machine 1 further comprises a control device 7, which is coupled to the positioning arm 5 and the placement head 4 and controls the movement sequences.
  • a feed device 8 is provided in a feed region, which provide the electrical components for the placement head 4.
  • the placement head 4 is moved by means of the positioning arm 5 to the feeder 8, where it receives components 11, and is then moved over the substrate 2, where it deposits the components 11 on the substrate 2.
  • the placement head 4 comprises a housing 9 and a holding device 10 for holding the components 11, which is mounted on the housing 9 so as to be displaceable perpendicular to the substrate surface by a stroke ⁇ z in a direction of displacement (arrow z).
  • the holding device 10 between a rest position (shown in Figure 2A) and a working position (shown in Figure 2B) are moved back and forth. The rest position and the working position are spaced apart in the displacement direction by a stroke distance ( ⁇ z).
  • the placement head 4 further comprises a restoring device 12, which is coupled to the housing 9 and the holding device 10 such that the restoring device 12 exerts on the holding device 10 over the stroke a restoring force F, which is directed parallel to the direction of displacement and the holding device 10 in the Rest position ( Figure 2A) urges.
  • a restoring force F which is directed parallel to the direction of displacement and the holding device 10 in the Rest position ( Figure 2A) urges.
  • the exact structure of the return device 12 will be discussed later.
  • the placement head 4 has a drive 13, which may be designed as a lifting drive and the holding device 10 moved from the rest position to the working position.
  • This drive 13 can also be designed as an integrated rotary-hub motor, which in addition to the lifting movement, the holding device 10 can also rotate about a rotation axis D. This serves to bring a held on the holding device 10 component 11 in a prescribed angular position.
  • a component 11 held by the holding device 10 is arranged closer to the housing 9 in the rest position (FIG. 2A) than in the working position (FIG. 2B). The rest position is therefore occupied in particular when the placement head 4 is moved or when the holding device 10 performs no work such as the loading or picking up of components 11. This serves to protect the holding device 10 and the component 11.
  • the placement head 4 both with a restoring device 12 and with a drive 13, which can be designed as a combined rotary-stroke motor or as a pure lifting drive.
  • Both the drive 13 and the restoring device 12 can each be designed as a separate module, or integrated into a common module.
  • the drive 13 can also be embodied as a pure lifting drive, optionally in combination with the magnetic return 12, wherein this in turn can take place in two separate modules as well as in an integrated module.
  • FIGS. 3A and 3B a first embodiment of the invention, in which the drive 13 and the return device 12 are formed as separate modules, is shown schematically.
  • the return device 12 is coupled to the housing 9 and the holding device 10.
  • the Holding device 10 shown in the rest position and in Figure 3B in the working position.
  • the restoring device 12 comprises a permanent magnet 14, as well as a magnetic return device 15, which cooperates with the permanent magnet 14 in such a way that a magnetic return is formed.
  • the permanent magnet 14 is relative to the return device 15 in the direction of displacement (arrow z) by the same stroke distance .DELTA.z, as the holding device 10, displaceable.
  • the permanent magnet 14 also has a north pole (N) and a south pole (S), which are oriented transversely to the direction of displacement (arrow z).
  • the return device 15 has in the direction of displacement at least two sections A, B with different magnetic resistance or magnetic flux.
  • the sections A, B are formed or arranged such that the permanent magnet 14 during displacement over the stroke ⁇ z at the same time at least two sections A, B of the return device 15 overlaps.
  • the permanent magnet 14 tends to move in the direction of that portion A, B having the lower magnetic resistance and the higher magnetic flux, respectively. Because the permanent magnet 14 overlaps both sections A, B over the entire stroke ⁇ z, the restoring force F acts over the entire stroke ⁇ z.
  • the return device 15 is firmly connected to the housing 9 and the permanent magnet 14 is fixedly connected to the holding device 10.
  • the permanent magnet 14 moves together with the holding device 10 in the direction of displacement relative to the housing 9 and the return device 15.
  • the permanent magnet 14 therefore represents the mobile part of the return device 12 in this embodiment.
  • the rest position relative to the working position of the holding device 10 is characterized in that the holding device 10 in the rest position protrudes less far from the housing 9 or one of the Halteein- Direction 10 held member 11 closer to the housing 9 than in the working position.
  • the sections A, B of the feedback device 15 are therefore designed and arranged such that the magnetic resistance of the section A is smaller than the magnetic resistance of the section B.
  • the holding device 10 coupled to the permanent magnet 14 acts Therefore, the restoring force F, which urges the holding device 10 in the free state in the rest position (shown in Figure 3A). This state is also assumed when the entire placement head 4 is switched off, so that the holding device 10 is also in the current-free or unpowered state of the placement 4 in the rest position and is thus secured against damage. If a working process is to be carried out with the holding device 10, the holding device 10 must be moved by means of the drive 13 against the restoring force F into the working position (shown in FIG. 3B).
  • the movable permanent magnet 14 is equipped at its free ends with guide rods 16 which dive into corresponding guide channels 17 formed on the housing 9 or on a closure plate of the return device 12.
  • guide rods 16 In addition to the guide of the permanent magnet 14 in the direction of displacement, one of the guide rods 16 also serves as a connection means between the permanent magnet 14 and the holding device 10.
  • the second guide rod 16 can be used to couple the drive 13 to the return device 12.
  • the drive 13 can be configured as a pure lifting drive or as a rotary-hub motor, as will be explained in more detail below with reference to Figure 7.
  • the cross-sectional shapes for the restoring device 12 are both a rectangular or non-rotationally symmetrical cross section and a circular cross section. cut possible (see Figures 6A and 6B).
  • an external rotary lifting motor it is preferably an integrated rotary-stroke motor as shown in FIG.
  • a rotary hub motor with two separate drives - a first for the lifting movement and a second for the rotary movement.
  • FIGS. 3A and 3B A second embodiment of the return device 12 is shown in Figures 4A and 4B.
  • the second embodiment corresponds to the first embodiment shown in FIGS. 3A and 3B.
  • the second embodiment differs from the first embodiment in that in this case the permanent magnet 14 is firmly connected to the housing 9 via a fastening element 27 and the retraction device 15 is firmly connected to the retaining device 10. In this case, therefore, the return device 15 moves together with the holding device 10 in the displacement direction relative to the permanent magnet 14 and the housing 9.
  • the stationary part and the return device 15 is the mobile part of the return device 12.
  • the return device 15 can be connected to stabilize the movement with a housing 9 formed on the guide means 18, such as a guide rail.
  • the holding device is in the rest position and in Figure 4B in the working position.
  • the restoring device 12 is designed here such that the magnetic resistance of the section B of the return device 15 is less than the magnetic resistance of the section A.
  • the restoring force F acts on the holding device 10 the holding device 10 urges in the rest position shown in Figure 4A.
  • the feedback device 15 due to the above-explained physical effect, has a relative Manentmagneten 14 moves in the free state such that the permanent magnet 14 as far as possible in the section B with the lower magnetic resistance or the larger magnetic flux is immersed. In this embodiment, therefore, a securing of the holding device 10 in the rest position in the de-energized state of the placement head 4 is ensured.
  • FIG. 5B A first possibility is shown in FIG. 5B.
  • the sections A, B are spaced from the permanent magnet 14 at different distances. Specifically, the portion A is spaced less far from the permanent magnet 14 than the portion B. Thereby, the air gap Dl between the portion A and the permanent magnet 14 is less wide than the air gap D2 between the portion B and the permanent magnet 14.
  • the magnetic resistance due to the narrower air gap Dl in section A is smaller than the magnetic resistance in section B.
  • the restoring force F is constant over the entire stroke length .DELTA.z, which is particularly advantageous when equipping with components of different heights.
  • FIG. 5A A second possibility is shown in FIG. 5A.
  • the distance between the sections A, B and the permanent magnet 14 is the same.
  • the sections A, B are made of materials having different magnetic resistance.
  • section A made of soft iron section B is made of stainless steel.
  • Soft iron has a significantly lower magnetic resistance and a higher magnetic flux compared to stainless steel.
  • the permanent magnet 14 is im- mer strives to move towards section A.
  • the restoring force F is constant over the entire stroke.
  • FIG. 5C A third possibility is shown in FIG. 5C.
  • the two sections A, B may consist of the same material, however, section B has a constant distance from the permanent magnet 14, whereas in section A the distance to the permanent magnet 14 decreases linearly from above to the center of the return device 15.
  • a high restoring force F acts on the permanent magnet in the lower position (drawn), which decreases when the permanent magnet 14 moves toward the upper end of the stroke ⁇ z.
  • FIGS. 6A and 6B show two possible cross-sectional shapes of the restoring device 12 along the cross-sectional line CC in FIG. 5A.
  • the return device 15 has a shape of a hollow cuboid, which encloses the cuboid permanent magnet 14.
  • the return means then being designed accordingly as a hollow prism.
  • the return device 15 is designed as a hollow cylinder and the permanent magnet 14 as an elongated cylinder.
  • the return device 15 surrounds the permanent magnet 14 radially.
  • both a linear displacement of the permanent magnet 14 and a rotation of the permanent magnet 14 relative to the return device 15 is possible.
  • both torque and linear displacement force can be exerted on the holding device 10.
  • By the rotation it would be possible, for example, to rotate a held by the holding device 10 component 11 in a certain angular position.
  • the drive 13 is a combined rotary-stroke engine with integrated restoring device. Accordingly, the drive 13 is designed for the holding device 10 as an electromagnetic drive 13.
  • the drive 13 comprises a fixedly connected to the housing 9 stationary part, which has two in the direction of displacement successively arranged coil packs 19 with corresponding coil windings.
  • the winding of each coil package advantageously has both sufficient winding components in the longitudinal direction (parallel to the axis of rotation) and orthogonal thereto in the circumferential direction in order to be able to adequately realize both the rotational movement and the stroke movement.
  • the stationary part is formed by the rear closing device 15, on whose side facing the permanent magnet 14 inside the coil packs 19 are arranged.
  • the placement head 4 is further associated with a drive control 20 for controlling the drive 13, which is electrically coupled to the coil packs 19.
  • the drive control 20 can be mounted both on the placement head 4 itself and on the support arm 5 or on a chassis (not shown) of the placement machine 1.
  • the coil packs 19 are powered by an external power source (not shown) via the drive controller 20.
  • This embodiment of the placement is characterized in particular by the fact that the permanent magnet 14 of the return device 12 at the same time the handset of the drive
  • the permanent magnet 14 interacts with the energized coil packs 19 in such a way that, with appropriate control by the drive control 20, the holding device 10 moves in the direction of displacement. For this purpose, however, it is necessary that the permanent magnet 14 only partially overlaps with at least one of the coil packs 19. In this embodiment, therefore elements of the return device 12 and the drive 13 are summarized. Because the permanent magnet 14 is both a component of the restoring device 12 and of the drive 13, components can be saved and the placement head 1 can be constructed more cost-effectively and more compactly. At the same time, the return device 15 also forms part of the stationary part of the drive 13.
  • the holding device 10 is coupled to the permanent magnet 14 and thus the permanent magnet 14 moves together with the holding device 10 relative to the return device 15 or to the housing 9, it is also possible that the holding device 10 is coupled to the return device 15 and, together with the latter, in the displacement direction relative to the permanent magnet secured to the housing 9
  • the permanent magnet 14 or the mobile part is used as the rotor. forms and rotatably mounted relative to the stationary part about the axis parallel to the axis of rotation D.
  • the embodiment according to FIG. 6B offers itself, in which the permanent magnet 14 is cylindrical and the return device 15 is formed as a hollow cylinder.
  • the coil packs 19 of the stationary part are each formed polyphase and the drive control 20 controls the current through the coil packs 19 in terms of amplitude and phase angle such that the current caused by the magnetic field of the stationary part interacts with the magnetic field of the permanent magnet 14 and causes both a linear displacement and a rotation of the rotor.
  • FIGS. 8A and 8B A detailed description of this principle of action can be found in the explanations of FIGS. 8A and 8B.
  • the provision of this rotary hub motor results in an even more compact design, since it can be dispensed with a separate rotary drive.
  • FIG. 7 Although a combined rotary-lift motor with integrated return device 12 is shown in FIG. 7, it is also possible to construct the return device 12 and the rotary lift motor separately from each other, as shown schematically in FIG.
  • the sections A, B of the return device 12 are replaced by a corresponding motor housing, which consists of two detachably interconnected housing parts, for example, two cylindrical sleeves 26.
  • the two sections A, B of the restoring device 12 may be formed in a one-piece motor housing, for example as a rotating part with a corresponding step.
  • the motor housing of the rotary hub drive then serves only as a magnetic conclusion for the coil packs 19, with a constant magnetic resistance.
  • FIGS. 8A and 8B the operating principle of the rotary lifting motor is shown schematically. As for the description of this
  • FIG. 8A shows the position of the permanent magnet 14 relative to the housing 9 in the direction of the axis of rotation D.
  • the rotational position of the permanent magnet 14 relative to the housing 9 shown in FIG. 8B is illustrated by the punctiform marking at the upper end of the permanent magnet 14.
  • the respectively associated current vector of the coil current is indicated as a phasor diagram.
  • the diagrams are intended to illustrate how only a rotational movement as well as a translatory movement of the permanent magnet 14 designed as a rotor within the housing can be realized by the change of the amplitude and the phase angle ⁇ of the current through the coil package 19.
  • the turns of the coil package 19 have both directional components in the direction of orientation of the axis of rotation D and perpendicular thereto in the direction of the circumference of the cylindrical coil package 19.
  • Possible embodiments of the winding geometry would be an oblique winding or else a diamond winding (see FIGS. 9A, 9B or 10A, 10B, 10C).
  • FIG. 8A shows how the permanent magnet 14 behaves when the amplitude of the coil current varies: If the amplitude increases, so the permanent magnet 14 of the rotor is pulled into the coil pack 19. For this purpose, those directional components of the coil current are responsible, in the circumferential direction, perpendicular to the axis of rotation D, run. If, however, the amplitude of the coil current is reduced, the permanent magnet 14 moves out of the coil 19 due to the restoring force F applied by the restoring device 12. It should be noted, however, that the permanent magnet 14 never completely immersed in the coil package or completely out of the coil package, but only partially overlaps over the entire stroke with at least one coil package.
  • the drive 13 advantageously has stops 21 on the guide rods 16 or on the housing, which limit the stroke movement of the permanent magnet 14 accordingly.
  • the proportion with which the permanent magnet 14 dips into the coil package 19 is preferably 25 to 75 percent of the total length of the coil package 19.
  • FIG. 8B illustrate how the permanent magnet 14 behaves when the current direction or the phase angle ⁇ of the coil current varies. If the phase angle ⁇ is increased (left-hand illustration in FIG. 8B), this results in a rotational movement of the permanent magnet to the left However, if the phase angle ⁇ is reduced (right-hand illustration in FIG. 8B), this results in a rotational movement of the permanent magnet to the right (see position of the marking in the right-hand illustration in FIG Figure 8B).
  • responsible for the rotational movement are those directional components of the coil current, which run parallel to the axis of rotation D. Shown schematically in FIGS. 9A and 9B are an oblique winding.
  • the skew winding is characterized in that the slope dz / du over the individual winding turns 22 along the circumference U of the cylindrical hollow body.
  • Under winding is a circulation or a loop of an electrical coil or winding to understand.
  • the coil package 19 is not built up from a plurality of individual windings, but consists of only one, continuous winding 23, which is preferably wound from a conductor.
  • Figure 9A shows a single turn 22 of such a helical winding.
  • the oblique arrangement of the coil current has both portions in the axial direction and in the circumferential direction.
  • a winding 23 a plurality of such turns 22 are placed next to each other, wherein the pitch dz / du over the individual Windungs réelle along the circumference U of the cylindrical hollow body takes place.
  • Such a complete winding 23 is shown schematically in FIG. 9B.
  • FIGS. 10A to 10C show schematic representations of a rhombic winding.
  • Figures 10A and 10B show a single turn 22 of such a rhombic winding. It is visible that within such a winding 22 by the oblique arrangement of the coil current has both shares in the axial direction and in the circumferential direction.
  • the copper conductors are arranged rhombic. To make such a winding, the wire is wound turn by turn on a square and then pressed to a flat band, as shown in Figure IOC. This move the
  • the active principle of the energized coil with diamond winding is similar to that of the helical winding:
  • the interaction of the permanent magnet 14 with the rotational magnetic field of the coil winding 23 generates both force components in the circumferential direction (by the axial turns shares) and force components in the A- xialides (by the Windungsanteile in the circumferential direction). Again, determines the requirement that the permanent magnet 14 is not completely immersed in the coil winding, but optimally with a share of 25 to 75 percent of the coil length, the maximum realizable stroke of the rotary hub motor.

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Abstract

Tête d'équipement destinée à équiper des substrats avec des composants électriques, comportant un boîtier, un dispositif de maintien pour maintenir les composants, et un moteur de rotation-levage. Le dispositif de maintien peut être déplacé par rapport au boîtier dans une direction de déplacement de l'ordre d'une course de levage Δz, et est logé de manière à tourner autour d'un axe de rotation parallèle à la direction de déplacement. Le moteur de rotation-levage comporte une partie primaire présentant au moins un paquet de bobines multiphasé sous forme de corps creux cylindrique, et une partie secondaire présentant un aimant permanent disposé au moins partiellement dans le corps cylindrique du ou des paquets de bobines, pouvant tourner autour d'un axe de rotation par rapport à la partie primaire, logé de manière à pouvoir être déplacé de l'ordre d'une course de levage Δz dans une direction de déplacement, et magnétisé perpendiculairement par rapport à l'axe de rotation. Le moteur de rotation-levage comporte également un dispositif de commande couplé à la partie primaire permettant de commander le courant dans le paquet de bobines en ce qui concerne l'amplitude et la direction de phase, de telle manière que le champ magnétique de la partie primaire produit par le courant, interagit avec le champ magnétique de l'aimant permanent et produit un déplacement et une rotation de la partie secondaire par rapport à la partie primaire.
PCT/EP2007/061861 2006-11-07 2007-11-05 Tête d'équipement destinée à équiper des substrats avec des composants électriques au moyen d'un moteur de rotation-levage WO2008055861A1 (fr)

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DE200610052455 DE102006052455B4 (de) 2006-11-07 2006-11-07 Bestückkopf zum Bestücken von Substraten mit elektrischen Bauteilen mit einem Dreh-Hub-Motor

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US8841869B2 (en) 2009-03-27 2014-09-23 Koninklijke Philips N.V. Motor for linear and rotary movement
AT511659A1 (de) 2011-06-29 2013-01-15 Johannes Kepler Uni Elektrische maschine und verfahren zum betreiben einer elektrischen maschine
DE202016006904U1 (de) 2016-11-11 2017-03-29 Steinmeyer Mechatronik GmbH Dreh-Hub-Aktor

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DE3938088A1 (de) * 1989-11-16 1991-05-23 Bosch Gmbh Robert Bestueckkopf fuer elektronische bauelemente
JPH0582998A (ja) * 1991-05-17 1993-04-02 Tokico Ltd 部品取付装置
US6429611B1 (en) * 2000-01-28 2002-08-06 Hui Li Rotary and linear motor
DE102005008584A1 (de) * 2005-02-24 2006-09-07 Aerolas Gmbh, Aerostatische Lager- Lasertechnik Antriebseinheit für ein bewegbares Funktionselement

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MX9600964A (es) * 1994-07-14 1997-06-28 Philips Electronics Nv Actuador electromagnetico que tiene una bobina cilindrica de traslacion y una bobina toroidal de rotacion, una unidad del actuador que comprende al actuador y un sistema de medicino y una maquina que comprende al actuador o a la unidad del actuador.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3938088A1 (de) * 1989-11-16 1991-05-23 Bosch Gmbh Robert Bestueckkopf fuer elektronische bauelemente
JPH0582998A (ja) * 1991-05-17 1993-04-02 Tokico Ltd 部品取付装置
US6429611B1 (en) * 2000-01-28 2002-08-06 Hui Li Rotary and linear motor
DE102005008584A1 (de) * 2005-02-24 2006-09-07 Aerolas Gmbh, Aerostatische Lager- Lasertechnik Antriebseinheit für ein bewegbares Funktionselement

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