WO2009119648A1 - リニアモータユニットおよび該リニアモータユニットを備えた電子部品移載装置 - Google Patents
リニアモータユニットおよび該リニアモータユニットを備えた電子部品移載装置 Download PDFInfo
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- WO2009119648A1 WO2009119648A1 PCT/JP2009/055923 JP2009055923W WO2009119648A1 WO 2009119648 A1 WO2009119648 A1 WO 2009119648A1 JP 2009055923 W JP2009055923 W JP 2009055923W WO 2009119648 A1 WO2009119648 A1 WO 2009119648A1
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- linear motor
- linear
- mover
- motor unit
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
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- 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
- H05K13/0408—Incorporating a pick-up tool
- H05K13/041—Incorporating a pick-up tool having multiple pick-up tools
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- 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
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- 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
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/082—Integration of non-optical monitoring devices, i.e. using non-optical inspection means, e.g. electrical means, mechanical means or X-rays
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
Definitions
- the present invention relates to a linear motor unit and an electronic component transfer apparatus including the linear motor unit, and more particularly to a linear motor unit used in a state where a plurality of linear motors are provided and an electronic component transfer including the linear motor unit. Relates to the device.
- Surface mounters and component inspection devices include a head unit as an electronic component transfer device.
- the head unit includes a nozzle member and a nozzle member raising / lowering means, and moves in a horizontal direction while being supported by a component conveying unit provided on a base, and nozzles an electronic component supplied at a predetermined position.
- the electronic component is placed by being held by a member and moving to a predetermined position.
- the lifting and lowering means of the head unit is embodied by a linear motor unit in which a plurality of linear motors are provided in parallel.
- Each linear motor has a stator, a mover that reciprocates linearly along the stator, and a magnetic sensor that can detect the position of the mover.
- Each magnetic sensor detects the moving position of the corresponding mover.
- This invention makes it a subject to avoid the disturbance which may arise when the magnetic sensors which concern on an adjacent linear motor adjoin.
- a plurality of linear motors including a stator, a mover that linearly reciprocates along the stator, and a magnetic sensor that can detect the position of the mover are provided.
- the magnetic sensors of the adjacent linear motors are linear motor units that are provided at different positions in the moving direction of the mover.
- the magnetic sensors related to adjacent linear motors are provided at different positions in the moving direction of the mover, and the facing distance is set large. Therefore, it is possible to avoid a disturbance that may occur due to the proximity of the magnetic sensors, and it is possible to prevent various problems caused by the disturbance.
- FIG. 1 is a schematic plan view for schematically explaining a surface mounter according to an embodiment of the present invention. It is a front view for demonstrating the head unit which concerns on embodiment of FIG. It is a figure for demonstrating the nozzle member attached to the 1st linear motor and 1st linear motor which concern on embodiment of FIG. 1, Comprising: The state in which the nozzle member is located in the uppermost end is shown. It is a figure for demonstrating the nozzle member attached to the 1st linear motor and 1st linear motor which concern on embodiment of FIG. 1, Comprising: The state which the nozzle member is located in the lowest end is shown. It is a figure for demonstrating the nozzle member attached to the 2nd linear motor and 2nd linear motor which concern on embodiment of FIG.
- surface mounter 100 transports base 20 and printed circuit board P carried on base 20 to a predetermined position on base 20.
- the substrate transfer conveyor 21 includes a pair of rails provided so as to cross the base 20 along the X-axis direction in the figure, and an endless belt that circulates around the Y-axis between the rails.
- the printed circuit board P is carried onto the base 20
- the printed circuit board P is placed on the endless belt of the substrate transporting conveyor 21, and the printed circuit board P is placed on the base 20 as the endless belt circulates.
- the substrate is transferred to the substrate support device 25 on the center side.
- the substrate support device 25 is provided between a pair of rails of the substrate transporting conveyor 21.
- the substrate support device 25 includes a lifting device, a plate-like backup plate provided at the upper end of the lifting device, and a plurality of backup pins supported in an upright state by the backup plate.
- the lifting device is driven, the backup plate and the backup pin move upward, the tip of the backup pin comes into contact with the lower surface of the printed board P, and the printed board P is pushed up by the tip of the backup pin as it is to correct the deflection of the printed board P. In this state, the printed circuit board P is supported at a predetermined height.
- the component supply unit 23 is arranged on the base 20 outside the substrate transporting conveyor 21 in the Y-axis direction to form a pair.
- the component supply unit 23 includes a plurality of tape feeders 23a that are arranged in parallel in the X-axis direction and feed the tape in the Y-axis direction.
- Each tape feeder 23a has a reel holding unit for holding a reel around which the tape is wound, and a feeding means for feeding out the tape.
- a plurality of concave spaces are formed in the tape at predetermined intervals along the longitudinal direction, and an electronic component is accommodated in each space.
- Each reel holding unit carries a reel on which the tape is wound so that the tape can be fed out along the Y-axis direction.
- the reel holding unit is located on the downstream side in the feeding direction (in the Y-axis direction, close to the substrate transporting conveyor 21).
- the component supply position is provided on the side.
- the electronic components are sequentially supplied to the component supply position by intermittently feeding the tape in the Y-axis direction by the feeding means.
- the component conveying unit 22 supports an X-axis direction support portion 22b that supports the head unit 1 so as to be movable in the X-axis direction and an X-axis direction support portion 22b that supports the head unit 1 so as to be movable in the Y-axis direction.
- Y-axis direction support portion 22a supports an X-axis direction support portion 22b that supports the head unit 1 so as to be movable in the X-axis direction and an X-axis direction support portion 22b that supports the head unit 1 so as to be movable in the Y-axis direction.
- the motor 22a1 of the Y-axis direction support unit 22a is driven, and the ball screw shaft 22a2 is rotated by receiving the driving force of the motor 22a1.
- the X-axis direction support portion 22b is connected to the ball screw shaft 22a2 via a ball nut (not shown). Accordingly, the ball nut and the X-axis direction support portion 22b connected to the ball nut move in the longitudinal direction of the ball screw shaft 22a2, that is, the Y-axis direction in response to the rotation of the ball screw shaft 22a2.
- the motor 22b1 of the X-axis direction support portion 22b is driven, and the ball screw shaft 22b2 is rotated by receiving the driving force of the motor 22b1.
- the head unit 1 is connected to a ball screw shaft 22b2 via a ball nut (not shown). Therefore, the head unit 1 connected to the ball nut and the ball nut receives the rotation of the ball screw shaft 22b2, and moves in the longitudinal direction of the ball screw shaft 22b2, that is, the X-axis direction.
- the head unit 1 is supported by the X-axis direction support part 22b and the Y-axis direction support part 22a so as to be movable in the horizontal direction.
- the component imaging unit 24 images the electronic component held by the head unit 1.
- the component imaging unit 24 includes an area camera, a lighting device, and the like, and is fixed on the base 20 in an upward posture.
- the electronic component held by the head unit 1 is first transported from the component suction position of the component supply unit 23 to above the component imaging unit 24.
- the component imaging unit 24 images the electronic component held by the head unit 1 from below.
- the head unit 1 of the present embodiment and the linear motor unit 1b provided in the head unit 1 will be described in detail.
- the head unit 1 includes a board imaging unit 1 a that images the upper surface of the printed board P, a plurality of nozzle members 1 c that suck and hold the supplied electronic components at the tip, and will be described in detail later.
- Linear motor unit 1b Linear motor unit 1b.
- the substrate imaging unit 1a includes an area camera having an imaging element such as a CCD and an illumination device.
- the board imaging unit 1a is attached to the head unit 1 in a downward posture. And the board
- the nozzle member 1c is driven up and down by each linear motor of the linear motor unit 1b, and is driven to rotate around the central axis of the nozzle by a rotation driving mechanism.
- the nozzle member 1c has a drive shaft 1c1 and a suction nozzle 1c2 that is detachably provided at the lower end of the drive shaft 1c1.
- the nozzle member 1c is connected to a negative pressure generator (not shown) via an internal passage of the drive shaft 1c1, a switching valve, and the like.
- the negative pressure generator At the time of adsorbing electronic components, the negative pressure generator generates a negative pressure, and the suction nozzle The electronic component is sucked and held at the tip of 1c2.
- the linear motor unit 1b includes two types of linear motors (hereinafter referred to as a first linear motor A and a second linear motor B) (see FIG. 5).
- the first linear motor A and the second linear motor B are unitized in a state of being alternately arranged and used as the linear motor unit 1b.
- a state in which one nozzle member 1c is attached to one linear motor A (B) is called a so-called head.
- a plurality of heads are attached to the head unit 1 in a united state, and the head unit 1 transfers a plurality of electronic components in one reciprocation.
- 10 heads are unitized and attached to the head unit.
- the first linear motor A and the second linear motor B are fixed to the frame member 10, the stator 13, the mover 12 that reciprocates linearly along the stator 13, and the mover 12, respectively.
- the frame member 10 is a member that houses or holds the stator 13, the mover 12, the linear scale 14, the magnetic sensor 15, and the return spring 16.
- the frame member 10 has a space for accommodating the mover 12, the linear scale 14, the stator 13, and the like. This space is open in order to move the nozzle member 1c1 in the up-down direction with the nozzle member 1c1 being integrally attached to the mover 12.
- a linear guide 17 for guiding the mover 12 is attached to the space of the frame member 10 so as to extend along the Z-axis direction.
- a pair of stoppers 11 for defining a stroke S1 for reciprocating the movable element 12 along the Z-axis direction are attached to both ends of the linear guide 17 in the Z-axis direction.
- the frame member 10 is provided with a sensor fixing portion 10 a for fixing the magnetic sensor 15.
- the sensor fixing unit 10a is configured to be able to dispose and fix the magnetic sensor 15 in the Z-axis direction, that is, in a direction parallel to the moving direction of the mover 12.
- the stator 13 includes a comb-shaped core, a pair of sub teeth that supplement the formation of magnetic flux at both ends of the stator in the Z-axis direction when the linear motor is driven, and a coil wound around the core.
- a current of any one of the u phase, the v phase, and the w phase having different phases is supplied to each coil.
- the stator 13 is caused to function as an electromagnet, and a predetermined magnetic flux is generated around each coil.
- the mover 12 includes a mover body 12b and a permanent magnet 12a fixed to the mover body 12b.
- the mover main body 12b is formed in a vertically long frame shape having a substantially U-shaped cross section.
- the permanent magnet 12a is fixed so that the south pole and the north pole appear alternately at a position facing the stator 13 of the movable body 12b.
- a nozzle member 1c is attached to the side surface of the lower end portion of the mover 12 via an attachment arm 18 (see FIGS. 3A to 4B).
- the stator 13 When a predetermined current is supplied to the coil of the stator 13, the stator 13 functions as an electromagnet, and the magnetic flux of the electromagnet and the magnetic flux of the permanent magnet 12 a of the mover 12 interact with each other to generate a propulsive force. appear.
- the mover 12 within the stroke S1 defined by the pair of stoppers 11, the mover 12 reciprocates relative to the stator 13 along the Z-axis direction. Accordingly, the nozzle member 1 c attached to the mover 12 moves up and down with the displacement of the mover 12.
- the linear scale 14 is a magnetic scale in which position information is magnetically recorded. Specifically, an elongated plate-like hard magnetic material is used to hold a magnetic signal, and a magnetic signal magnetic field corresponding to the magnetic signal is generated from the linear scale 14. In the present embodiment, scale information indicating a minute position separated by a constant interval along the Z-axis direction and origin information indicating a calculation reference point of the movement amount are recorded as magnetic signals.
- the linear scale 14 is fixed at a position facing a later-described magnetic sensor 15 with respect to the mover 12. In the embodiment shown in FIG. 6, a linear scale 14 in which two origin signal information is recorded at a predetermined interval is used corresponding to the types of the linear motors A and B.
- the magnetic sensor 15 is a so-called MR sensor (Magneto Resistance Sensor), a detection element 15b for detecting a magnetic signal recorded on the linear scale 14, and a bias magnet 15a for suppressing noise generated when the detection element 15b is detected. It has.
- the detection element 15 b includes a magnetic sensitive pattern that faces the linear scale 14.
- the magnetosensitive pattern is formed by forming a soft magnetic thin film such as a permalloy alloy. It is known that the electrical resistance of the magnetosensitive pattern slightly decreases due to the magnetoresistive effect when the magnetic signal magnetic field enters the magnetosensitive pattern almost perpendicularly by the movement of the linear scale 14.
- a voltage signal corresponding to the strength of the magnetic signal magnetic field related to the magnetic signal recorded on the linear scale 14 can be obtained by passing a constant current through the magnetosensitive pattern.
- the pitch from the N pole to the S pole is ⁇
- the bias magnet 15a has a substantially band shape, and is disposed at a position facing the linear scale 14 with the detection element 15b interposed in the Y-axis direction in order to avoid erroneous detection of the detection element 15b due to the Barkhausen effect. It extends relatively long in the Z-axis direction. And it arrange
- the return spring 16 is embodied by a tension coil spring that extends in the Z-axis direction and is attached between the upper part of the frame member 10 and the attachment arm 18 provided at the lower part of the mover 12.
- the return spring 16 biases the mover 12 upward.
- the nozzle member 1c descends against the urging force of the return spring 16, and when the mover 12 moves upward, the urging force of the return spring 16 is received.
- the nozzle member 1c rises.
- the control unit 19 includes a current control unit (not shown), a position signal information detection unit (not shown), and an origin signal information detection unit (not shown).
- the current control unit controls the current supplied to the electromagnet of the stator 13 described later according to the positional relationship between the electromagnet of the stator 13 and the permanent magnet of the mover 12.
- the position signal information detection unit measures the amount of movement of the mover 12 based on the detection signal of the magnetic sensor 15.
- the origin signal information detection unit detects an origin position for measuring the movement amount of the mover 12 based on the detection signal of the magnetic sensor 15.
- the difference between the first linear motor A and the second linear motor B is the arrangement position of the magnetic sensor 15 (of the bias magnet 15a). That is, as shown in FIG. 5, the first linear motor A has the magnetic sensor 15 arranged in the first region I, whereas the second linear motor B has the magnetic sensor 15. It is arranged in the second region II rather than the first region I.
- the first region I and the second region II are regions set in series in the Z-axis direction. Therefore, when the magnetic sensors 15 are arranged in the respective regions, the bias magnets 15a in the magnetic sensors 15 do not overlap with each other in the moving direction.
- the first linear motor A and the second linear motor B are alternately arranged and unitized, as shown in FIG.
- the position of the magnetic sensor 15 between the adjacent linear motors A and B is They differ from each other in the moving direction of the mover 12, that is, in the Z-axis direction. Therefore, the bias magnet 15a included in the magnetic sensor 15 of the first linear motor A and the bias magnet included in the magnetic sensor 15 of the second linear motor B disposed adjacent to the first linear motor A. 15a is alternate and does not oppose in the X-axis direction. Therefore, it is possible to avoid the magnetism of the bias magnet 15a included in the magnetic sensor 15 related to the adjacent linear motors A and B from acting on each other.
- the linear motor A and the second linear motor B shown in each figure are each provided with a linear scale 14 having the same specification regardless of the position of the magnetic sensor 15. .
- the linear scale 14 includes first origin signal information 14a that can be read only by the magnetic sensor 15 installed in the first area I, and a magnetic sensor 15 installed in the second area II. Only the second origin signal information 14b that can be read is recorded as a magnetic signal. Also, as shown in FIG. 8, the interval S2 between the first origin signal information 14a and the second origin signal information 14b is larger than the stroke S1 of the mover 12, and the first origin signal information 14a is adjacent to the adjacent origin signal information 14a.
- the distance is set to be smaller than the distance S3 to the position (that is, the reading position) of the detection element 15b of the magnetic sensor 15 (indicated by a virtual line in FIG. 8) of the second linear motor B.
- the first origin signal information 14a is read by the magnetic sensor 15 installed in the first region I, and the first linear motor A is read.
- the drive of the motor A is controlled.
- the second origin signal information 14b is read by the magnetic sensor 15 installed in the second region II, and the second linear motor B is read.
- the drive of the motor B is controlled.
- each magnetic sensor 15 can read one of the two origin signal information recorded on each linear scale 14.
- the linear motor unit 1b as a whole can share the linear scale 14 provided in each linear motor, facilitate the management of parts, and efficiently assemble the linear motors A and B. .
- the magnetic sensor 15 employs the bias magnet 15a in order to avoid erroneous detection of the detection element 15b due to the Barkhausen effect, but the pitch between the linear motors is as small as possible.
- the lines of magnetic force are disturbed between the magnetic sensors of the adjacent linear motors, which may hinder the function of preventing the Barkhausen effect.
- there are restrictions such as providing a shielding member between the linear motors or setting a large space between the linear motors.
- the magnetic sensors 15 are positioned relative to each other in the moving direction (Z-axis direction) of the mover 12.
- the bias magnets 15a included in each magnetic sensor 15 are arranged so as not to face each other in the X-axis direction. Therefore, the disturbance of the magnetic field lines of the bias magnet 15a built in the magnetic sensor 15 can be avoided between the adjacent first linear motor A and the second linear motor B, and the function of preventing the Barkhausen effect is ensured. This prevents the detection element 15b from erroneously detecting the movable element 12.
- the linear motor unit 1b according to the embodiment shown in FIG. 1 to FIG. 8 is configured by alternately arranging the first linear motor A and the second linear motor B which are different only in the position of the magnetic sensor 15.
- the present invention is not limited to the above-described embodiment.
- linear scales 14 and 14 ′ having different specifications in which only one origin signal information is recorded corresponding to the first and second linear motors A and B are employed. May be.
- the linear scale 14 of the first linear motor A records only one first origin signal information 14a that can be read only by the magnetic sensor 15 provided in the first region I.
- the magnetic sensor 15 installed in the first region I reads the first origin signal information 14a of the linear scale 14 and controls the driving of the first linear motor A.
- the magnetic sensor 15 installed in the second region II reads the second origin signal information 14b of the linear scale 14 'and controls the driving of the second linear motor B. To do.
- the origin signal information can be read using the linear scales 14 and 14 'that are not recorded.
- the first linear motor A and the second linear motor B are used to shift the position where the linear scale 14 is attached to the mover 12 in the Z-axis direction.
- the origin signal information 14a may be read.
- the linear motor unit 1b three or more types of linear motors with different positions of the magnetic sensor 15 (in FIG. 11, the first linear motor A, the second linear motor B, the third The linear motor C) may be used so that linear motors of the same type are arranged so as not to be adjacent to each other.
- the origin signal information is read by the magnetic sensor 15 according to the linear scale in which the origin signal information is recorded at three positions with a predetermined interval or the origin signal information is in accordance with the arrangement position of the magnetic sensor 15. This is done using a linear scale recorded at one location.
- any of the linear motor units described above can be applied to the surface mounter described in FIG. Furthermore, not only the surface mounter but also a component inspection device or a dispenser may be mounted as a component transfer device.
- the present invention is not limited to this. It is also used in the case of a linear motor unit in which a plurality of magnetic sensors are arranged in one linear motor.
- the magnetic sensors of the adjacent linear motors in the linear motor unit may be arranged so as not to overlap each other with respect to the moving direction of the mover (Z-axis direction).
- the linear motor unit of the present invention includes a plurality of linear motors including a stator, a mover that linearly reciprocates along the stator, and a magnetic sensor that can detect the position of the mover. It is a linear motor unit provided, Comprising: Each magnetic sensor of the said linear motor adjacent is provided so that it may become a mutually different position in the moving direction of the said needle
- the linear motor unit of the present invention has a linear scale fixed to the mover and recorded with information for specifying the position of the mover by the magnetic sensor.
- the origin signal information indicating the reference point is recorded at the position, and the origin signal information is recorded at a predetermined interval in at least two places.
- the arrangement positions of the magnetic sensors are different between adjacent linear motors, and the linear scales of the magnetic sensors of each other are different. Even if the read range of the information recorded on the magnetic sensor is different, each magnetic sensor can read one of the two origin signal information recorded on each linear scale.
- the entire linear motor unit can share a linear scale provided in each linear motor, and the management of parts is facilitated, so that each linear motor can be efficiently assembled.
- the linear motor unit of the present invention has a linear scale fixed to the mover and recorded with information for specifying the position of the mover.
- the linear scale has a predetermined position, One origin signal information indicating a reference point is recorded, and linear scales in which the adjacent linear motors have different recording positions of the origin signal information according to the position of the magnetic sensor are provided.
- the linear scales in which the recording positions of the origin signal information are different between the adjacent linear motors are provided. That is, the type of linear scale attached to the stator differs between adjacent linear motors depending on the position of the magnetic sensor. Therefore, even if the arrangement positions of the magnetic sensors are different between adjacent linear motors and the reading range of the information recorded on the linear scales of the magnetic sensors is different, only one origin signal information is recorded.
- the origin signal information can be read using a linear scale.
- the linear motor has a plurality of types of attachment positions of the magnetic sensor, and each type of linear motor is alternately arranged in a predetermined order.
- each type of linear motor is alternately arranged in changing the positions of the magnetic sensors, disturbances that may occur due to the proximity of adjacent magnetic sensors with a limited type of linear motors are avoided.
- the linear motor unit of the present invention is fixed to the movable element, and a plurality of origin signal information recorded at intervals so that only one of the plurality of types of linear motors recognizes a reference point. It has a linear scale that holds Also in this aspect, since the linear scale can be generalized, the parts can be easily managed, and each linear motor can be efficiently assembled.
- each of the magnetic sensors has a bias magnet that suppresses the Barkhausen effect
- the bias magnets are provided at different positions in the moving direction of the mover.
- the bias magnet it is possible to suppress erroneous detection of the magnetic sensor due to the Barkhausen effect.
- An electronic component transfer apparatus is an electronic component transfer apparatus that holds a supplied electronic component, moves it to a predetermined position, and places the electronic component at the predetermined position.
- a plurality of linear motors each having a movable element linearly reciprocating along the stator and a magnetic sensor capable of detecting the position of the movable element, and each of the adjacent linear motors
- the linear motor unit is provided so that the magnetic sensors are located at different positions in the moving direction of the mover, and is integrally attached to the mover of each linear motor of the linear motor unit, along with the movement of the mover And a nozzle member that moves up and down to hold the electronic component.
- the present invention by providing the above-described linear motor unit in the electronic component transfer device, it is possible to avoid disturbance that may occur due to the proximity of adjacent magnetic sensors, and to detect the position of the mover. False detection can be prevented. Accordingly, even in an electronic component transfer apparatus in which a plurality of nozzle members are provided close to each other in order to improve mounting efficiency, the position of the mover is not affected by the disturbance that may occur when adjacent magnetic sensors are close to each other.
- the nozzle member attached to the mover can prevent the electronic component from being damaged by excessively pressing the electronic component when the electronic component is held or placed. it can.
Abstract
Description
Claims (7)
- 固定子と、該固定子に沿って直線的に往復移動する可動子と、該可動子の位置を検出可能な磁気センサとを有するリニアモータが、複数個設けられるリニアモータユニットであって、
隣り合う前記リニアモータの各磁気センサは、前記可動子の移動方向において互いに異なる位置になるように設けられることを特徴とするリニアモータユニット。 - 請求項1記載のリニアモータユニットにおいて、
前記可動子に固定され、前記可動子の位置を特定する情報が記録されているリニアスケールを備え、該リニアスケールには、所定の位置に、基準点を示す原点信号情報が記録され、前記原点信号情報が、少なくとも2箇所に、所定の間隔を空けて記録されている
ことを特徴とするリニアモータユニット。 - 請求項1記載のリニアモータユニットにおいて、
前記可動子に固定され、前記可動子の位置を特定する情報が記録されているリニアスケールを有し、該リニアスケールには、所定の位置に、基準点を示す原点信号情報が1つ記録され、
隣り合う前記リニアモータ同士で、互いに、前記磁気センサの位置に応じて前記原点信号情報の記録位置が異なる
ことを特徴とするリニアモータユニット。 - 請求項1記載のリニアモータユニットにおいて、
前記リニアモータは、当該磁気センサの取付位置が複数種類に分類されるものであり、各種類のリニアモータが予め定められた順序で交互に配置されている
ことを特徴とするリニアモータユニット。 - 請求項4記載のリニアモータユニットにおいて、
前記可動子に固定され、当該複数種類のリニアモータの何れも一つだけ基準点を認識するように間隔を隔てて記録される複数の原点信号情報を保持するリニアスケールを備えている
ことを特徴とするリニアモータユニット。 - 請求項1から5の何れか1項に記載のリニアモータユニットにおいて、
前記磁気センサは、それぞれバルクハウゼン効果を抑制するバイアスマグネットを有し、各バイアスマグネットは、前記可動子の移動方向において、互いに異なる位置になるように設けられている
ことを特徴とするリニアモータユニット。 - 供給された電子部品を保持して、所定の位置まで移動し、前記所定の位置に前記電子部品を載置する電子部品移載装置であって、
固定子と、該固定子に沿って直線的に往復移動する可動子と、該可動子の位置を検出可能な磁気センサとを有するリニアモータが、複数個設けられ、且つ、
隣り合う前記リニアモータの各磁気センサが前記可動子の移動方向において互いに異なる位置になるように設けられるリニアモータユニットと、
該リニアモータユニットの各前記リニアモータの前記可動子に一体に取り付けられ、該可動子の移動とともに昇降して、前記電子部品を保持するノズル部材とを有することを特徴とする電子部品移載装置。
Priority Applications (3)
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US12/921,660 US8643226B2 (en) | 2008-03-28 | 2009-03-25 | Linear motor and electronic component transfer device equipped with linear motor unit |
EP09724247.3A EP2259412B1 (en) | 2008-03-28 | 2009-03-25 | Linear motor unit and electronic component transfer device equipped with linear motor unit |
CN200980111137.1A CN101981790B (zh) | 2008-03-28 | 2009-03-25 | 线性电动机组及具备该线性电动机组的电子元件移载装置 |
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JP2008087999A JP4669021B2 (ja) | 2008-03-28 | 2008-03-28 | リニアモータユニットおよび該リニアモータユニットを備えた電子部品移載装置 |
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CN110870399A (zh) * | 2017-07-18 | 2020-03-06 | 株式会社富士 | 元件安装机 |
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JP4705118B2 (ja) | 2008-01-11 | 2011-06-22 | ヤマハ発動機株式会社 | 多軸リニアモータ及び部品移載装置 |
JP5597158B2 (ja) * | 2011-04-11 | 2014-10-01 | ヤマハ発動機株式会社 | 部品実装装置 |
JP5873338B2 (ja) * | 2012-01-11 | 2016-03-01 | ヤマハ発動機株式会社 | 部品実装装置 |
JP5872908B2 (ja) * | 2012-01-12 | 2016-03-01 | ヤマハ発動機株式会社 | リニアモータユニット、ヘッドユニットおよび部品実装機 |
JP5875376B2 (ja) * | 2012-01-12 | 2016-03-02 | ヤマハ発動機株式会社 | 吸着ノズル昇降用リニアモータおよび電子部品実装装置 |
JP5460753B2 (ja) * | 2012-01-20 | 2014-04-02 | ファナック株式会社 | 位置を検出する複数のスイッチを備えた射出成形機 |
CN104735965A (zh) * | 2013-12-19 | 2015-06-24 | 王胜 | 一种用于高速插件机的元件传送装置 |
US9996071B2 (en) * | 2014-06-24 | 2018-06-12 | Western Digital Technologies, Inc. | Moveable slider for use in a device assembly process |
US10954073B2 (en) | 2016-09-26 | 2021-03-23 | Yamaha Hatsudoki Kabushiki Kaisha | Position detecting device and linear conveyor device provided with same |
US20230156991A1 (en) * | 2021-11-15 | 2023-05-18 | Kulicke & Soffa Netherlands B.V. | Component placement systems, multi-pipette placement heads, and methods of using the same |
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CN110870399B (zh) * | 2017-07-18 | 2021-03-12 | 株式会社富士 | 元件安装机 |
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JP2009247056A (ja) | 2009-10-22 |
EP2259412A4 (en) | 2013-03-13 |
US20110025137A1 (en) | 2011-02-03 |
EP2259412B1 (en) | 2017-10-25 |
CN101981790A (zh) | 2011-02-23 |
US8643226B2 (en) | 2014-02-04 |
CN101981790B (zh) | 2014-02-19 |
EP2259412A1 (en) | 2010-12-08 |
JP4669021B2 (ja) | 2011-04-13 |
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