WO2016140184A1 - 押付装置 - Google Patents
押付装置 Download PDFInfo
- Publication number
- WO2016140184A1 WO2016140184A1 PCT/JP2016/056040 JP2016056040W WO2016140184A1 WO 2016140184 A1 WO2016140184 A1 WO 2016140184A1 JP 2016056040 W JP2016056040 W JP 2016056040W WO 2016140184 A1 WO2016140184 A1 WO 2016140184A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pressing
- current
- electronic component
- speed
- pressing unit
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
- B30B15/148—Electrical control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
- B30B1/42—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by magnetic means, e.g. electromagnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
-
- 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
-
- 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
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- 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
- H02K41/035—DC motors; Unipolar motors
- H02K41/0352—Unipolar motors
- H02K41/0354—Lorentz force motors, e.g. voice coil motors
- H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
-
- 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
-
- 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
- H05K13/0409—Sucking devices
-
- 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
Definitions
- the present invention relates to a pressing device.
- This application claims priority based on Japanese Patent Application No. 2015-039851 filed in Japan on March 2, 2015, the contents of which are incorporated herein by reference.
- the drive device maintains the maximum speed when the speed of the pressing portion reaches the maximum speed.
- the driving unit is configured to move the pressing unit at the maximum deceleration. Decelerate.
- the driving device switches from the position control process to a thrust control process based on the current information, and controls the speed of the pressing unit to be constant based on the current information. To do.
- the driving device determines that the heel pressing operation has been performed.
- the drive device may calculate a temporary target position by adding a predetermined distance to the target position, and calculate the deceleration start position based on the temporary target position. Good.
- the pressing device A includes a linear motor Lm (actuator), an encoder Ec (movement amount detecting means), a suction portion Kt (pressing portion), and a driving device Dv.
- the pressing device A moves the suction portion Kt attached to the mover Ld included in the linear motor Lm in the vertical direction, and moves the workpiece Wk such as an electronic component sucked (that is, gripped) on the suction portion Kt to the substrate Bs (covered). Press toward the pressing object. Thereby, the pressing device A can attach the workpiece Wk to a predetermined portion of the substrate Bs via the adhesive St.
- the linear motor Lm, the encoder Ec, and the drive device Dv constitute a pressing device.
- the board Bs is, for example, a printed board.
- Encoder Ec is, for example, an optical or magnetic sensor.
- the encoder Ec detects the movement amount (that is, the distance moved) of the mover Ld of the linear motor Lm, and outputs movement amount information indicating the detected movement amount to the driving device Dv via the signal line.
- the suction part Kt is provided at one end of the mover Ld, that is, the end of the mover Ld on the substrate Bs side, and vacuum-sucks the work Wk by vacuum processing of a vacuum pump (not shown).
- the power converter D1 converts electric power supplied from the outside into AC power (driving power) having a predetermined frequency based on a switching signal (inverter driving signal) input from the control unit D4, and U and V of the linear motor Lm. , Supplied to each coil of the W phase. That is, this power converter D1 converts the power supplied from the outside into AC power at a predetermined frequency (drive frequency) by driving a plurality of switching elements with the inverter drive signal.
- the current sensor D2 detects the current value of the drive current supplied from the power converter D1 to the U-phase and V-phase coils of the linear motor Lm, and outputs the detection result as current information to the control unit D4.
- the drive device Dv performs various operations based on operation instructions input to the operation unit D3. For example, when a position detection instruction is input to the operation unit D3, the driving device Dv starts a position detection operation for detecting and storing a target position described later.
- the workpiece Wk is attached on the substrate Bs via an adhesive St.
- the suction part Kt does not perform vacuum suction, and vacuum processing by a vacuum pump is also stopped.
- the mover Ld that is, the suction portion Kt is located at the origin position (see (a) of FIG. 2).
- step S1 when a position detection instruction is input to the operation unit D3, the driving device Dv moves the suction unit Kt and presses the workpiece Wk, that is, the substrate Bs as illustrated in FIG. The movement is started downward at a constant speed (step S1). That is, in the driving device Dv, when an operation signal corresponding to the position detection instruction is input from the operation unit D3, the control unit D4, based on the movement amount information input from the encoder Ec, moves the mover Ld (that is, the suction unit Kt). ) Is generated in the power converter D1 to move downward at a constant speed.
- the control unit D4 controls the current speed of the suction part Kt to be a constant speed based on the movement amount of the mover Ld (that is, the suction part Kt) indicated by the movement amount information. That is, the control unit D4 increases the drive current generated by the power converter D1 when the current speed of the adsorption unit Kt is delayed from the constant speed. The control unit D4 decreases the drive current generated by the power converter D1 when the current speed of the suction unit Kt is higher than a constant speed.
- the control unit D4 calculates the current position of the suction unit Kt based on the movement amount information, and determines whether or not the current position is equal to or less than a predetermined limit value (hereinafter referred to as a stroke limit).
- a stroke limit is a movement limit value of the suction part Kt.
- the stroke limit may be a set value set by a user.
- the control unit D4 controls the linear motor Lm based on the current information input from the current sensor D2.
- the current drive current to be supplied is calculated, and it is determined whether or not the drive current is equal to or greater than a predetermined threshold value (hereinafter referred to as a pressing current) (step S5). That is, the controller D4 increases the drive current when the suction portion Kt comes into contact with the workpiece Wk (see FIG. 2B) and the suction portion Kt receives the reaction force of the workpiece Wk. It is determined whether or not the pressing current has been exceeded.
- the pressing current is a control parameter stored in advance in the control unit D4.
- step S6 When the current drive current supplied from the power converter D1 to the linear motor Lm is equal to or greater than the pressing current (in the case of YES), the control unit D4 starts counting up the counter included therein (step S6), Based on only the current information, the movement of the suction part Kt (mover Ld) is controlled. Subsequently, the control unit D4 determines whether or not the value of the counter has reached a predetermined count value (step S7). When the value of the counter has not reached the predetermined count value (that is, less than the predetermined count value) (in the case of NO), the control unit D4 returns to the process of step S2.
- the control unit D4 controls the power converter D1 after the completion of step S3 and step S8, and returns the suction unit Kt to the origin position as shown in FIG. 2C (step S4).
- the drive device Dv completes the position detection operation by executing the processes of steps S1 to S9.
- the position detection operation is automatically executed to detect and store the target position. This eliminates the need for detection and can reduce the user's trouble.
- the control unit D4 calculates the current position of the suction unit Kt based on the movement amount information, and determines whether or not the current position is “target position / 2” or more. Is determined (step S31). If the current position of the suction unit Kt is not equal to or greater than “target position / 2” (that is, less than “target position / 2”) (NO), the control unit D4 returns to the process of step S31.
- the control unit D4 calculates the current speed of the suction unit Kt based on the movement amount information, It is determined whether or not the speed is equal to or lower than a predetermined lower limit speed (hereinafter referred to as a pressing speed) (step S32). That is, the control unit D4 determines whether or not the speed of the suction unit Kt has decreased to the pressing speed.
- a predetermined lower limit speed hereinafter referred to as a pressing speed
- the control unit D4 returns to the process of step S32 when the current speed of the suction unit Kt is not lower than the pressing speed (that is, exceeds the pressing speed) (in the case of NO).
- the control unit D4 executes a thrust control process instead of the position control process.
- the thrust control process is a process of stabilizing the moving speed of the suction part Kt based on the current information and moving the suction part Kt toward the target position. At this time, the control unit D4 stabilizes the drive current generated by the power converter D1 based on the current information in order to stabilize the current speed of the adsorption unit Kt.
- Step S27 When the current position is not less than or equal to the pressing limit position (in the case of NO), that is, when the current position exceeds the pressing limit position, the control unit D4 fails to determine that the current position exceeds the pressing limit position.
- the control unit D4 determines that the current drive current is based on the current information when the suction unit Kt is moved at a constant speed. It is determined whether or not the current is equal to or greater than the pressing current (step S28). That is, the control unit D4 makes the workpiece Wk adsorbed by the adsorption unit Kt contact the substrate Bs via the adhesive St (see FIG. 6B), and the adsorption unit Kt receives the reaction force of the workpiece Wk. As a result, the drive current increases, and it is determined whether or not the drive current is equal to or greater than the pressing current.
- control unit D4 moves the suction unit Kt toward the target position, but when the current drive current supplied to the linear motor Lm becomes equal to or greater than the pressing current, as described above. The movement of the suction part Kt is stopped.
- the suction unit Kt stops the vacuum processing of a vacuum pump (not shown) and releases the vacuum suction.
- the control part D4 controls the power converter D1 after the process of step S26, and returns the adsorption
- the driving device Dv completes the pressing operation by executing the processes of steps S21 to S29.
- the speed of the suction portion Kt when the speed of the suction portion Kt is reduced to the pressing speed, the speed of the suction portion Kt is controlled to be constant using a thrust control process, and when the predetermined current value is reached, it is determined that the scissor pressing operation has been performed. Is. For this reason, in this embodiment, there is no possibility that the suction part Kt cannot be sufficiently decelerated as in the conventional technique described above, and the impact force of the suction part Kt on the workpiece Wk and the substrate Bs can be suppressed.
- control unit D4 calculates according to the following equation (4), that is, calculates a correction distance obtained by multiplying the maximum deceleration by the square of the deceleration time and a predetermined adjustment value (step S46).
- the adjustment value is, for example, “0.5”.
- Correction distance [mm] Adjustment value x Maximum deceleration [m / sec ⁇ 2] x Deceleration time [sec] ⁇ 2 x 1000 (4)
- the control unit D4 determines whether or not the calculated correction distance is within a predetermined range (step S47). That is, the control unit D4 determines whether or not the correction distance is an abnormal value outside a predetermined range.
- the control unit D4 updates the previously calculated and stored correction distance with the newly calculated correction distance (step S48).
- the control unit D4 does not update the correction distance (step S49).
- the correction distance is greatly different depending on whether the suction part Kt is not sucking the workpiece Wk or not. That is, the correction distance decreases when the moving mass is light, and increases when the moving mass is heavy.
- the control unit D4 calculates a temporary target position by adding the correction distance to the above-described target position. Thereafter, the control unit D4 calculates a deceleration start position based on the temporary target position instead of the target position.
- the control part D4 causes the suction part Kt to start deceleration at the maximum deceleration (FIG. 9).
- the time for thrust control processing can be shortened, so that the tact time can be further shortened. In the pressing device A, the deceleration becomes smaller as the moving mass becomes heavier.
- the suction part Kt when the speed of the suction part Kt is reduced to the pressing speed, the suction part Kt is maintained at the pressing speed, and stops when the suction part Kt reaches the target position. For this reason, unlike the prior art described above, there is no possibility that the suction portion Kt cannot be sufficiently decelerated, and the impact force on the workpiece Wk and the substrate Bs by the suction portion Kt attached to the mover Ld can be suppressed.
- the maximum acceleration is accelerated to the maximum speed, and when the speed of the suction part Kt reaches the maximum speed, the maximum speed is maintained up to the deceleration start position. Time can be shortened.
- the pressing operation is automatically executed only by the user inputting a pressing instruction to the operation unit D3. For this reason, it is possible to reduce the user's trouble of inputting various parameters.
- the user himself / herself manually detects a target position by performing a position detection operation and detecting a target position simply by inputting a position detection instruction to the operation unit D3. Therefore, it is possible to reduce the user's trouble. Moreover, in this embodiment, since the time of thrust control processing can be shortened by using the correction distance, the tact time can be shortened.
- the temporary target position is calculated by calculating the correction distance by the correction distance calculation operation described above and adding the correction distance to the target position, but the present invention is not limited to this.
- the temporary target position may be calculated by adding the correction distance input by the user to the target position, or other than the above formulas (1) to (4).
- the temporary target position may be calculated by calculating the correction distance using an equation and adding the correction distance to the target position.
- step S31 of the deceleration completion determination process it is determined in step S31 of the deceleration completion determination process whether or not the suction portion Kt is decelerating based on “target position / 2”, but the present invention is not limited to this.
- the speed of the suction part Kt is calculated using the encoder Ec, and the amount of change in the average speed of the suction part Kt is calculated. If the average speed is reduced, it is determined that the suction part Kt is decelerating. May be.
- the acceleration sensor may be used to determine the deceleration of the adsorption unit Kt, or the deceleration of the adsorption unit Kt may be determined in the direction in which the drive current flows.
Landscapes
- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Presses (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Press Drives And Press Lines (AREA)
- Control Of Linear Motors (AREA)
Abstract
Description
本願は、2015年3月2日に、日本に出願された特願2015-039851号に基づき優先権を主張し、その内容をここに援用する。
この自動押し当て方法は、モータを用いて被移動物を移動させ、被移動物を被当接物に押し当てる自動押し当て方法である。この自動押し当て方法では、下記のようにモータを制御して被移動物を被当接物に押し当てる。まず、被移動物の移動を開始すると、最大加速度で被移動物を加速する。その後、被移動物が被当接物に突き当たるまでに被移動物の速度を最大減速度で許容値以下に減速する。被移動物の速度が許容値以下になると再度加速する。その後、再度減速して所定のトルクを発生させるようにモータを制御して被移動物を被当接物に押し当てる。
本実施形態に係る押付装置Aは、図1に示すように、リニアモータLm(アクチュエータ)、エンコーダEc(移動量検出手段)、吸着部Kt(押付部)及び駆動装置Dvを備える。押付装置Aは、リニアモータLmに備えられる可動子Ldに取り付けられた吸着部Ktを鉛直方向に移動させ、吸着部Ktに吸着(つまり把持)された電子部品等のワークWkを基板Bs(被押付物)に向けて押し付ける。これにより、押付装置Aは、ワークWkを基板Bsの所定の箇所に接着剤Stを介して取り付けることができる。なお、リニアモータLm、エンコーダEc及び駆動装置Dvは、押付装置を構成する。また、基板Bsは、例えば、プリント基板である。
駆動装置Dvは、操作部D3に入力される操作指示に基づいて各種動作を実行する。例えば、駆動装置Dvは、操作部D3に位置検知指示が入力されると、後述する目標位置を検知して記憶する位置検知動作を開始する。ここで、ワークWkは、図2の(a)に示すように、接着剤Stを介して基板Bs上に取り付けられている。また、吸着部Ktは、真空吸着を行っておらず、真空ポンプによる真空処理も停止している。また、可動子Ld(つまり吸着部Kt)は、原点位置(図2の(a)参照)に位置している。
質量[kg] =参照電流[Arms]×モータ定数[N/Arms] / 重力加速度[m/sec^2] (1)
最大減速度[m/sec^2] = 最大推力[N]/質量[kg]-重力加速度[m/sec^2] (2)
減速時間[sec] =押付速度[m/sec] /最大減速度[m/sec^2] (3)
補正距離[mm] = 調整値×最大減速度[m/sec^2]×減速時間[sec]^2×1000 (4)
また、ワークWkが軽い場合は、ワークWkが重い場合に比べて、減速度が小さくならないので、大きく補正距離を取る必要が無く、補正距離が短くても無駄な時間が発生しにくい。
(1)上記各実施形態では、減速開始位置を自動で算出しているが、従来はユーザが減速開始位置を手入力していた。このような従来の押付動作と、上述した新たな押付動作(上記ステップS21~27の処理)とを、ユーザに選択させて使用できるようにしてもよい。
Lm リニアモータ(アクチュエータ)
Ec エンコーダ(移動量検出手段)
Kt 吸着部(押付部)
Dv 駆動装置
Wk ワーク
Bs 基板(被押付物)
St 接着剤
D1 電力変換器
D2 電流センサ
D3 操作部
D4 制御部
Claims (13)
- アクチュエータと、
前記アクチュエータの可動子に設けられた押付部と、
前記可動子の移動量を検出し、前記移動量を示す移動量情報を出力する移動量検出手段と、
前記移動量情報に基づいて前記アクチュエータに駆動電流を供給することにより前記押付部を移動させて被押付物に押し付ける駆動装置と、
を備え、
前記駆動装置は、
前記押付部が被押付物に接触する位置を目標位置として予め記憶し、
前記押付部の移動を開始させると、前記駆動電流を示す電流情報及び前記移動量情報に基づく位置制御処理を用いて、前記押付部を最大速度まで最大加速度で加速させ、
前記押付部の速度が最大速度に到達すると最大速度を維持させ、
前記押付部を最大減速度で減速させた場合に前記目標位置で前記押付部の速度が零となる減速開始位置に前記押付部が到達すると、前記押付部を最大減速度で減速させ、
前記押付部の速度が所定の下限速度まで減速すると、前記位置制御処理から前記電流情報に基づく推力制御処理に切り替え、
前記電流情報に基づいて前記押付部の速度を一定に制御し、所定の電流値に到達したら、 押付動作を行ったと判断する
押付装置。 - 前記駆動装置は、
前記押付部を一定速度で前記被押付物に向けて移動させた際に、前記アクチュエータに供給する駆動電流が所定のしきい値以上となった時点の移動量情報に基づいて前記可動子の位置を算出し、当該位置を前記目標位置として記憶する請求項1に記載の押付装置。 - 前記駆動装置は、
前記目標位置に所定の距離を加算して仮目標位置を算出し、当該仮目標位置に基づいて前記減速開始位置を算出する請求項1または2に記載の押付装置。 - 前記駆動装置は、前記押付部を停止時に、その際の駆動電流を参照電流として記憶し、当該参照電流に基づいて移動質量を算出し、当該移動質量に基づいて前記最大減速度を算出し、前記最大減速度に基づいて前記下限速度から前記最大減速度で減速して零になるまでに要する減速時間を算出し、さらに前記最大減速度及び前記減速時間から得られる補正距離に前記目標位置を加算することにより仮目標位置を算出し、当該仮目標位置に基づいて前記減速開始位置を算出する請求項1または2に記載の押付装置。
- 前記アクチュエータは、リニアモータである請求項1または2に記載の押付装置。
- 前記アクチュエータは、リニアモータである請求項3に記載の押付装置。
- 前記アクチュエータは、リニアモータである請求項4に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項1または2に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項3に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項4に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項5に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項6に記載の押付装置。
- 前記押付部は、所定の電子部品を把持する把持機能を備えており、前記電子部品を搭載物として被搭載物かつ前記被押付物であるプリント基板に押し付けて搭載させる請求項7に記載の押付装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112016001005.2T DE112016001005B4 (de) | 2015-03-02 | 2016-02-29 | Pressvorrichtung |
CN201680012744.2A CN107405853B (zh) | 2015-03-02 | 2016-02-29 | 按压装置 |
US15/554,331 US10442149B2 (en) | 2015-03-02 | 2016-02-29 | Pressing device |
KR1020177027023A KR101836059B1 (ko) | 2015-03-02 | 2016-02-29 | 압박 장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015039851A JP6031544B2 (ja) | 2015-03-02 | 2015-03-02 | 押付装置 |
JP2015-039851 | 2015-03-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016140184A1 true WO2016140184A1 (ja) | 2016-09-09 |
Family
ID=56843963
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/056040 WO2016140184A1 (ja) | 2015-03-02 | 2016-02-29 | 押付装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10442149B2 (ja) |
JP (1) | JP6031544B2 (ja) |
KR (1) | KR101836059B1 (ja) |
CN (1) | CN107405853B (ja) |
DE (1) | DE112016001005B4 (ja) |
TW (1) | TWI711905B (ja) |
WO (1) | WO2016140184A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT518684B1 (de) * | 2016-06-01 | 2018-05-15 | Stiwa Holding Gmbh | Verfahren zum Pressen eines Werkstückes mit einer vorbestimmten Presskraft |
US20180304568A1 (en) * | 2017-04-21 | 2018-10-25 | Muddy Soap Co., | Electronically Actuated Formed Bath Product Press |
JP6811322B2 (ja) * | 2017-06-26 | 2021-01-13 | 株式会社Fuji | 電子部品装着機 |
JP7153869B2 (ja) | 2017-10-16 | 2022-10-17 | パナソニックIpマネジメント株式会社 | 実装装置 |
JP6912149B2 (ja) * | 2017-12-27 | 2021-07-28 | アズビル株式会社 | 接着装置 |
CN115610008B (zh) * | 2022-12-06 | 2023-08-08 | 固高伺创驱动技术(深圳)有限公司 | 一种驱动装置及其控制方法 |
CN117478025B (zh) * | 2023-12-28 | 2024-03-08 | 江苏慕林智造科技股份有限公司 | 推杆电机带载电流值安全行程控制方法及控制系统 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000133995A (ja) * | 1998-10-27 | 2000-05-12 | Matsushita Electric Ind Co Ltd | 部品装着方法とその装置 |
JP2002033597A (ja) * | 2000-07-14 | 2002-01-31 | Matsushita Electric Ind Co Ltd | 電子部品実装方法および電子部品実装装置 |
JP2007095753A (ja) * | 2005-09-27 | 2007-04-12 | Tokyo Seimitsu Co Ltd | プローバ、プローブ接触方法及びそのためのプログラム |
JP2013115142A (ja) * | 2011-11-25 | 2013-06-10 | Yamaha Motor Co Ltd | 表面実装装置およびヘッド駆動制御方法 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5071603A (en) * | 1987-12-14 | 1991-12-10 | Kabushiki Kaisha Kobe Seiko Sho | Method of controlling hydraulic press |
US5285946A (en) * | 1991-10-11 | 1994-02-15 | Sanyo Electric Co., Ltd. | Apparatus for mounting components |
JP2828406B2 (ja) | 1994-09-28 | 1998-11-25 | 山洋電気株式会社 | 自動押し当て方法及び装置 |
JPH08224699A (ja) * | 1995-02-23 | 1996-09-03 | Mitsubishi Electric Corp | プレス制御方法およびプレス装置 |
US6298547B1 (en) * | 1997-09-25 | 2001-10-09 | Matsushita Electric Industrial Co., Ltd. | Apparatus for holding component, apparatus for mounting component, and method for mounting component |
JP2001345596A (ja) * | 2000-06-01 | 2001-12-14 | Fuji Mach Mfg Co Ltd | 電気部品装着装置 |
JP4620285B2 (ja) * | 2001-05-14 | 2011-01-26 | 富士機械製造株式会社 | 電気部品装着システムの運転方法 |
JP4134348B2 (ja) * | 2002-07-23 | 2008-08-20 | Smc株式会社 | 電動アクチュエータおよびその制御方法 |
WO2009062058A1 (en) | 2007-11-09 | 2009-05-14 | Vamco International, Inc. | Drive apparatus and method for a press machine |
JP2011062725A (ja) | 2009-09-17 | 2011-03-31 | Aida Engineering Ltd | プレス機械及び制御方法 |
JP2012108608A (ja) | 2010-11-15 | 2012-06-07 | Smc Corp | アクチュエータ用駆動制御装置及びアクチュエータの駆動制御方法 |
US8581870B2 (en) | 2011-12-06 | 2013-11-12 | Apple Inc. | Touch-sensitive button with two levels |
WO2014045662A1 (ja) * | 2012-09-20 | 2014-03-27 | 富士機械製造株式会社 | 移動型バルク部品供給装置 |
JP5802717B2 (ja) | 2013-08-22 | 2015-10-28 | 東洋ゴム工業株式会社 | 免震装置用環状ゴム部材の成形方法及び免震装置用単位積層体の製造方法 |
-
2015
- 2015-03-02 JP JP2015039851A patent/JP6031544B2/ja active Active
-
2016
- 2016-02-29 KR KR1020177027023A patent/KR101836059B1/ko active IP Right Grant
- 2016-02-29 US US15/554,331 patent/US10442149B2/en active Active
- 2016-02-29 CN CN201680012744.2A patent/CN107405853B/zh active Active
- 2016-02-29 WO PCT/JP2016/056040 patent/WO2016140184A1/ja active Application Filing
- 2016-02-29 DE DE112016001005.2T patent/DE112016001005B4/de active Active
- 2016-03-01 TW TW105106199A patent/TWI711905B/zh active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000133995A (ja) * | 1998-10-27 | 2000-05-12 | Matsushita Electric Ind Co Ltd | 部品装着方法とその装置 |
JP2002033597A (ja) * | 2000-07-14 | 2002-01-31 | Matsushita Electric Ind Co Ltd | 電子部品実装方法および電子部品実装装置 |
JP2007095753A (ja) * | 2005-09-27 | 2007-04-12 | Tokyo Seimitsu Co Ltd | プローバ、プローブ接触方法及びそのためのプログラム |
JP2013115142A (ja) * | 2011-11-25 | 2013-06-10 | Yamaha Motor Co Ltd | 表面実装装置およびヘッド駆動制御方法 |
Also Published As
Publication number | Publication date |
---|---|
TW201636749A (zh) | 2016-10-16 |
CN107405853B (zh) | 2018-12-14 |
DE112016001005T5 (de) | 2017-11-23 |
US10442149B2 (en) | 2019-10-15 |
JP2016159327A (ja) | 2016-09-05 |
KR101836059B1 (ko) | 2018-03-07 |
CN107405853A (zh) | 2017-11-28 |
KR20170118927A (ko) | 2017-10-25 |
TWI711905B (zh) | 2020-12-01 |
JP6031544B2 (ja) | 2016-11-24 |
DE112016001005B4 (de) | 2019-02-14 |
US20180036985A1 (en) | 2018-02-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6031544B2 (ja) | 押付装置 | |
JP5982774B2 (ja) | モーター制御装置、ロボットハンド | |
JP2016172315A (ja) | 押付装置 | |
KR101903830B1 (ko) | 리니어 모터 장치 및 제어 방법 | |
US7159307B2 (en) | Electrically operated chucking apparatus | |
JP2007141189A (ja) | 加速度センサを用いた制御装置及び調整装置 | |
CN108352774B (zh) | 线性电动机的控制装置及控制方法 | |
US20150015173A1 (en) | Motor control device | |
US10958195B2 (en) | Control device and control method for linear motor | |
JP4644481B2 (ja) | 電子部品圧着搭載装置 | |
KR101711996B1 (ko) | 전동 그리퍼 시스템 및 이것의 제어 방법 | |
JP5457143B2 (ja) | 部品実装装置 | |
JP2018030189A (ja) | ワイヤ放電加工機および測定方法 | |
US10603829B2 (en) | Apparatus for taking out molded product | |
JP2010201557A (ja) | ワークピックアップ装置及び方法 | |
JP4425237B2 (ja) | モータ制御装置 | |
JP2001309677A (ja) | サーボモータの駆動制御方法と、それを使用する駆動制御装置 | |
TW201737611A (zh) | 馬達之控制裝置、控制方法及程式 | |
JP2013163237A (ja) | モーター制御装置、ロボットハンド、ロボット及びモーター制御方法 | |
JP2015027191A (ja) | 速度センサレス電動機制御装置 | |
CN115333426A (zh) | 电机的控制模式切换方法、装置、伺服驱动设备和介质 | |
JPH07299783A (ja) | ロボットハンドの制御方法とロボットハンド及びワイヤ把持装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16758877 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15554331 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112016001005 Country of ref document: DE |
|
ENP | Entry into the national phase |
Ref document number: 20177027023 Country of ref document: KR Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16758877 Country of ref document: EP Kind code of ref document: A1 |