WO2023095238A1

WO2023095238A1 - Linear motor stator and assembly method for same, component mounter, and board manufacturing method

Info

Publication number: WO2023095238A1
Application number: PCT/JP2021/043176
Authority: WO
Inventors: 修平山田
Original assignee: 株式会社Fuji
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2023-06-01
Also published as: JPWO2023095238A1

Abstract

This linear motor stator comprises: a plurality of stator members which are split in a movement direction of a movable element and are each fixed to a support member so that one end section of each of the stator members is cantilever-supported by the support member in a perpendicular direction that is perpendicular to the movement direction; and a connection member which connects, among the plurality of stator members, stator members adjacent to each other.

Description

Linear motor stator, its assembly method, component mounter, and substrate manufacturing method

This specification discloses a linear motor stator, its assembly method, a component mounter, and a substrate manufacturing method.

Conventionally, this type of linear motor stator has a plurality of magnetic circuits each including a yoke and a plurality of field magnets fixed to the yoke, and the plurality of magnetic circuits are connected in the moving direction of the mover. has been proposed (see, for example, Patent Document 1). A high magnetic permeability member having a magnetic permeability higher than that of the yoke is provided at the connecting portion of the adjacent magnetic circuits so as to straddle the connecting portion.

JP 2016-171739 A

Although the above-mentioned Patent Document 1 describes connecting a plurality of divided magnetic circuits in the moving direction of the mover, the stator may be cantilevered by a support member, or the movers facing each other may There is no mention of the possibility of deformation of the stator due to the attraction force generated between the rotor and the stator.

The main purpose of the present disclosure is to improve the ease of assembly and suppress deformation of the stator due to the attraction force generated between the mover and the stator in a stator that is cantilever supported by a support member. .

This disclosure has taken the following means to achieve the above-mentioned main objectives.

The linear motor stator of the present disclosure is divided in the moving direction of the mover, and fixed to the supporting member so that one end in the orthogonal direction orthogonal to the moving direction is cantilevered by the supporting member. The gist is provided with a plurality of stator members, and a connecting member that connects adjacent stator members among the plurality of stator members to each other.

In the linear motor stator of the present disclosure, a plurality of stator members divided in the moving direction of the mover and fixed adjacent to each other are supported by a supporting member at one end in an orthogonal direction perpendicular to the moving direction. Child members are connected by connecting members. As a result, compared to the case where one long stator member is attached to the support member, the assembling property of the stator member to the support member can be improved. In addition, since adjacent stator members are connected to each other, the plurality of divided stator members can be regarded as a single rigid body. Deformation can be suppressed. As a result, a proper gap can be maintained between the stator and the mover.

In the assembly method of the linear motor stator of the present disclosure, one end of a plurality of stator members divided in the moving direction of the mover in the orthogonal direction orthogonal to the moving direction is cantilevered by the supporting member. , the plurality of stator members are attached to the support member, and adjacent stator members among the plurality of stator members are attached with connecting members to connect them to each other.

In the linear motor stator assembling method of the present disclosure, one end of a plurality of stator members divided in the moving direction of the mover in the orthogonal direction orthogonal to the moving direction is cantilevered by the support member. A plurality of stator members are attached to the support member in such a manner. Then, in the assembling method, a connecting member is attached to adjacent stators among the plurality of stator members to connect them to each other. As a result, compared to the case where one long stator member is attached to the support member, the assembling property of the stator member to the support member can be improved. In addition, since adjacent stator members are connected to each other, the plurality of divided stator members can be regarded as a single rigid body. Deformation can be suppressed. As a result, a proper gap can be maintained between the stator and the mover.

It should be noted that the component mounting machine of the present disclosure provided with the linear motor stator of the present disclosure and the substrate manufacturing method using the same also exhibit similar effects.

1 is a schematic configuration diagram of a component mounter; FIG. 4 is a schematic configuration diagram of a head and an X-axis moving device; FIG. 1 is a schematic configuration diagram of a stator; FIG. 3 is an exploded view of the stator; FIG. 3 is a block diagram showing the electrical connection relationship of the component mounter; FIG. It is explanatory drawing which shows an example of a stator assembly process.

Next, a mode for carrying out the present disclosure will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of the component mounter 10. FIG. FIG. 2 is a schematic configuration diagram of the head 20 and the X-axis moving device 40. As shown in FIG. FIG. 3 is a schematic configuration diagram of the stator 50. As shown in FIG. FIG. 4 is an exploded view of the linear motor stator. FIG. 5 is a block diagram showing the electrical connections of the mounter 10. As shown in FIG. As shown in FIG. 1, FIG. 2 or FIG. 5, a component mounter 10 of the present embodiment sucks (collects) components and mounts them on a board. It comprises a device 16, a parts camera 17, a head 20, a Y-axis moving device 30, an X-axis moving device 40, and a control device 60 for controlling the whole.

The housing 11 is a rectangular frame including a front wall, a rear wall, a left wall, and a right wall, as shown in FIG. A plate-like upper frame 12 having a rectangular opening 12a in the center is provided on the upper part of the housing 11 . A long beam member 13 spans the central portion of the upper frame 12 in the left-right (X-axis) direction so as to extend in the front-rear (Y-axis direction).

The feeder 15 is, for example, a tape feeder equipped with a reel on which a tape containing components is wound at predetermined intervals, and supplies the component to the component supply position by pulling out the tape from the reel.

The substrate transport device 16 is, for example, a belt conveyor device, and transports the substrate on the belt by circulating the belt.

The parts camera 17 captures an image of the parts picked up by the head 20 from below, and is used to determine pick-up misalignment, pick-up errors, and the like.

The head 20 includes a suction nozzle and a nozzle lifting device that moves the suction nozzle up and down (in the Z-axis direction). The suction nozzle is connected to a negative pressure source and a positive pressure source via an electromagnetic valve. By controlling the electromagnetic valve so that the negative pressure from the negative pressure source is supplied to the suction nozzle, the component can be suctioned to the suction nozzle by the negative pressure, and the positive pressure from the positive pressure source is supplied to the suction nozzle. By controlling the electromagnetic valve so as to release the suction of the component that has been sucked by the suction nozzle. The nozzle elevating device is composed of, for example, a combination of a linear motor or a ball screw mechanism and a motor, and drives the motor to elevate the suction nozzle.

The Y-axis moving device 30 moves the head 20 back and forth (in the Y-axis direction), and as shown in FIG. 35 and . A pair of left and right Y-axis guide rails 31 are fixed to the left side portion of the upper frame 12 and the beam member 13 so as to extend forward and backward (in the Y-axis direction) with a predetermined spacing left and right (in the X-axis direction). be. As shown in FIG. 3, the Y-axis slider 32 is a rectangular frame member having an upper frame 32a, a bottom frame 32b, a side frame 32c, and a back frame 32d and having an open front. The Y-axis slider 32 is bridged over a pair of left and right Y-axis guide rails 31 and moves forward and backward (in the Y-axis direction) along the pair of Y-axis guide rails 31 . The Y-axis linear motor 35 moves the Y-axis slider 32 . In this embodiment, the Y-axis linear motor 35 includes a shaft 33 as a stator in which a plurality of permanent magnets are linearly arranged so that the polarities of the north and south poles are alternately different, and the outer side of the shaft 33 . and a mover 34 including coils concentrically arranged in the cylinder.

The X-axis moving device 40 moves the head 20 in the X-axis direction (back and forth), and as shown in FIG. 45 and. A pair of upper and lower X-axis guide rails 41 are fixed to the Y-axis slider 32 so as to extend laterally (in the X-axis direction) at predetermined intervals in the vertical direction (in the Z-axis direction). In this embodiment, one of the pair of X-axis guide rails 41 is fixed to the upper frame 32a of the Y-axis slider 32, and the other of the pair of X-axis guide rails 41 is fixed to the bottom frame 32b of the Y-axis slider 32. be. The X-axis slider 42 is supported by a pair of X-axis guide rails 41 and moves left and right (X-axis direction) along the pair of X-axis guide rails 41 . The head 20 is detachably attached to the X-axis slider 42 . Therefore, the head 20 moves left and right along with the movement of the X-axis slider 42 .

The X-axis linear motor 45 includes a pair of upper and lower plate-like stators 50 (

upper stators

50a, 50a, 50a, 50a) fixed to the Y-axis slider 32 so as to extend in the left-right (X-axis) direction at a predetermined vertical interval. It is configured as a T-shaped linear motor including a lower stator 50b) and a mover 44 fixed to the X-axis slider 42 so as to be positioned between the upper stator 50a and the lower stator 50b.

As shown in FIG. 2, the upper stator 50a and the lower stator 50b are arranged at right angles to the moving direction of the mover 44 so as to be cantilevered on the back frame 32d of the Y-axis slider 32 in a horizontal posture. One end (one end surface) in the direction (Y-axis direction) is joined to the back frame 32d. In this embodiment, the upper stator 50a is joined to the vertical central portion of the back frame 32d, and the lower stator 50b is joined to the lower portion of the back frame 32d in the vertical direction. The upper stator 50a and the lower stator 50b are respectively positioned with respect to the back frame 32d by pins (not shown), and as shown in FIGS. It is joined by the bolt 54 by inserting through from.

The upper stator 50 a and the lower stator 50 b each have a plurality (three) of stator members 51 divided in the movable direction of the mover 44 . Each stator member 51 has a rectangular iron plate 52 and a plurality of stator members 52 arranged along the moving direction of the mover 44 so that the polarities of the north pole and the south pole are alternately different on the surface of the plate 52 . and a permanent magnet 53 of . The permanent magnets 53 of the upper stator 50a are attached to the lower surface of the plate 52 so as to face the lower mover 44, and the permanent magnets 53 of the lower stator 50b are attached to the upper surface of the plate 52 so as to face the upper mover 44. attached to the The mover 44 has a plurality of cores each formed by stacking electromagnetic steel sheets, and three-phase coils wound around the corresponding cores. The mover 44 moves left and right (in the X-axis direction) by applying a three-phase AC current to each phase coil.

Furthermore, as shown in FIGS. 3 and 4, the upper stator 50a and the lower stator 50b, among the plurality of stator members 51 (plates 52), have adjacent stator members 51 in the moving direction of the mover 44. A connecting tool 55 for connecting is provided. The connector 55 is connected to the stator member 51 by a screw 56 at the other end (the other end face) of the opposite end of the stator member 51 in the orthogonal direction (Y-axis direction) that is not joined to the back frame 32d of the Y-axis slider 32. The two stator members 51 are mechanically connected by being joined so as to straddle the two matching stator members 51 . As a result, the plurality of divided stator members 51 (the upper stator 50a and the lower stator 50b) can be regarded as one rigid body, so that the suction force between the mover 44 and the upper stator 50a causes the back portion to move. The upper stator 50a (plate 52) cantilevered on the frame 32d is deformed, or the attraction force between the mover 44 and the lower stator 50b causes the lower stator 50b (cantilevered on the back frame 32d). It is possible to suppress deformation of the plate 52). Moreover, deformation due to the weight of the upper stator 50a and the lower stator 50b (plates 52) cantilevered on the back frame 32d can be suppressed. As a result, the gap between the upper stator 50a and the lower stator 50b and the mover 44 can be properly maintained.

The control device 60 is configured as a microprocessor centered around a CPU, and includes ROM, RAM, and input/output ports in addition to the CPU. As shown in FIG. 5, the control device 60 inputs an image signal from the parts camera 17 and a position signal of the head 20 from a position sensor (not shown) through an input port. In addition, the control device 60 outputs drive signals to the feeder 15, the substrate transfer device 16, the parts camera 17, the head 20 (nozzle lifting device), the Y-axis moving device 30, the X-axis moving device 40, etc., through output ports. .

The CPU of the control device 60 executes mounting processing for mounting the component on the board. That is, the CPU moves the head 20 above the component supply position of the feeder 15 using the X-axis moving device 40 and the Y-axis moving device 30 . Subsequently, the CPU lowers the suction nozzle by means of the nozzle lifting device and causes the suction nozzle to pick up the component. The CPU moves the parts sucked by the suction nozzles above the parts camera 17 by using the X-axis moving device 40 and the Y-axis moving device 30 , and images the parts concerned with the parts camera 17 . The CPU processes the picked-up image of the component, measures the suction deviation amount of the component, and corrects the mounting position of the component on the board. Then, the CPU moves the component sucked by the nozzle above the corrected mounting position by the X-axis moving device 40 and the Y-axis moving device 30, and lowers the suction nozzle by the nozzle lifting device to mount the component on the board. Let

Next, the process of assembling the stator 50 (upper stator 50a, lower stator 50b) of the X-axis linear motor 45 to the Y-axis slider 32 (frame member) in the mounter 10 configured as described above will be described. FIG. 6 is an explanatory diagram showing an example of the stator assembly process. In the stator assembling process, a plurality of stator members 51 constituting the upper stator 50a and the lower stator 50b are temporarily fixed to the back frame 32d (step S100). Temporary fixing is performed by inserting the bolts 54 through the bolt holes 32e from the back side of the back frame 32d while the stator members 51 are in contact with the mounting surface of the back frame 32d and half-tightening them. The bolt holes 32e are elongated in the vertical direction, and each plate 52 can move up and down by a small amount when temporarily fixed to the back frame 32d. Next, spacers for gap adjustment are attached above and below the mover 44, and the mover 44 together with the spacers is inserted between the upper stator 50a and the lower stator 50b (step S110). As a result, the gap between the mover 44 and the upper stator 50a and the gap between the mover 44 and the lower stator 50b are properly adjusted. Subsequently, the coupler 55 is attached to adjacent stator members 51 among the plurality of stator members 51 temporarily fixed to the back frame 32d (step S120). Then, the plurality of stator members 51 are fixed to the back frame 32d by fully tightening the bolts 54 (step S130), and the mover 44 and the spacer are removed (step S140) to complete the assembly.

Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the mover 44 of this embodiment corresponds to the mover of the present disclosure, the stator member 51 including the plate 52 and the permanent magnets 53 corresponds to the stator member, and the connector 55 corresponds to the connecting member. Moreover, the screw 56 corresponds to a screw.

It goes without saying that the present disclosure is by no means limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the embodiment described above, the stator 50 is provided with the upper stator 50a and the lower stator 50b arranged vertically so as to sandwich the mover 44 therebetween. However, the two stators sandwiching the mover 44 may be arranged to the left and right, or may be arranged obliquely.

Further, in the above-described embodiment, the stator 50 is configured as a stator of a T-shaped linear motor, but is not limited to this. For example, it may be configured as another type of linear motor stator, such as an F-type linear motor stator.

As described above, in the linear motor stator of the present disclosure, a plurality of stators that are divided in the movable direction of the mover and that are cantilevered by the support member at one end in the orthogonal direction perpendicular to the movable direction Adjacent stator members of the members are connected by connecting members. As a result, compared to the case where one long stator member is attached to the support member, the assembling property of the stator member to the support member can be improved. In addition, since adjacent stator members are connected to each other, the plurality of divided stator members can be regarded as a single rigid body. Deformation can be suppressed. As a result, a proper gap can be maintained between the stator and the mover.

In such a linear motor stator of the present disclosure, the connecting member may be attached to the other ends of the plurality of stator members in the orthogonal direction. This makes it easier to attach the connecting member.

Further, in the linear motor stator of the present disclosure, the connecting member may be joined to the stator member with a screw. This makes it easier to attach the connecting member.

In addition, they may be arranged with the mover sandwiched therebetween so as to constitute a T-shaped linear motor together with the mover. In this case, they may be arranged vertically with the mover interposed therebetween.

Further, the present disclosure may be in the form of a linear motor stator assembling method, or may be in the form of a component mounter or a board manufacturing method.

The present disclosure can be used in the manufacturing industry of component mounters and linear motors.

10 component mounting machine, 11 housing, 12 upper frame, 12a opening, 13 beam member, 15 feeder, 16 board transfer device, 17 parts camera, 20 head, 30 Y-axis moving device, 31 Y-axis guide rail, 32 Y-axis Slider, 32a upper frame, 32b bottom frame, 32c side frame, 32d back frame, 32e bolt hole, 33 shaft, 34 mover, 35 Y-axis linear motor, 40 X-axis movement device, 41 X-axis guide rail, 42 X Axis slider, 44 mover, 45 X-axis linear motor, 50 stator, 50a upper stator, 50b lower stator, 51 stator member, 52 plate, 53 permanent magnet, 54 bolt, 55 connector, 56 screw, 60 Control device.

Claims

a plurality of stator members divided in the moving direction of the mover and fixed to the supporting member so that one end in the orthogonal direction perpendicular to the moving direction is cantilevered by the supporting member;
a connecting member that connects adjacent stator members among the plurality of stator members;
a linear motor stator.
The linear motor stator according to claim 1,
The connecting member is attached to the other end of the plurality of stator members in the orthogonal direction,
Linear motor stator.
The linear motor stator according to claim 1 or 2,
the connecting member is joined to the stator member by a screw;
Linear motor stator.
A linear motor stator according to any one of claims 1 to 3,
arranged across the mover so as to form a T-shaped linear motor together with the mover;
Linear motor stator.
A linear motor stator according to claim 4,
arranged above and below the mover,
Linear motor stator.
A method for assembling a linear motor stator,
The plurality of stator members divided in the movable direction of the mover are attached to the support member so that the ends of the plurality of stator members in the orthogonal direction orthogonal to the movable direction are cantilevered by the support member. ,
Connecting members are attached to adjacent stators among the plurality of stator members to connect them to each other.
How to assemble a linear motor stator.
a head capable of picking up parts;
A mover, and a plurality of stator members divided in the moving direction of the mover and fixed to the support member so that one end in the orthogonal direction orthogonal to the move direction is cantilevered on the support member. and a connecting member for connecting adjacent stator members among the plurality of stator members, the linear motor for moving the head by movement of the mover;
Mounting machine with
a head capable of picking up parts;
A mover, and a plurality of stator members divided in the moving direction of the mover and fixed to the support member so that one end in the orthogonal direction orthogonal to the move direction is cantilevered on the support member. and a connecting member for connecting adjacent stator members among the plurality of stator members, the linear motor for moving the head by movement of the mover;
A board manufacturing method for manufacturing a board on which components are mounted using a component mounter comprising
moving the head to a component supply position by driving the linear motor, picking up the component at the component supply position on the head;
By driving the linear motor, the head is moved to a mounting position on the board, and the component picked up by the head is mounted on the mounting position.
Substrate manufacturing method.