A portal frame type xy positioning apparatus

Abstract

The invention provides a portal frame type XY positioning apparatus, in a structure that a pair of electric motors on two ends of each shaft drives a load jointly and shares an encoder, a hypothetical model that interferes an observer on loading side can be applied to control. On controlling the electric motors on two ends of the driving shaft, constitute a location servomechanism to a cumulative axis and a location regulating apparatus to a differential shaft through the controlling the hypothetical model that divided into a cumulative mode and a differential mode based on 2-order hadamard matrix; when performing 2-axis synchronous control, the signal of a linearity encoder is seen as linearity encoder signal of the cumulative mode, constitute the interfere observer on load side special for cumulative mode based on the shaft twist angle and the load accelerated velocity; utilizes the interference on load side pused by the interfere observer on load side special for the cumulative mode, and interfere from the load side to appointed value of the position, inverse system feedbacks to the cumulative mode side; on the other hand, the control system will not constitute a interfere observer on load side to the differential side.

Description

technical field [0001] The present invention relates to a gantry type XY positioning device suitable for use in electronic component mounting devices and the like capable of synchronous anti-vibration control. Background technique [0002] For example, existing gantry-type XY positioning devices used in electronic component mounting devices, such as figure 1 The example shown has a pair of Y-axis driving parts (YL axis 9L, YR axis 9R) arranged in parallel for moving in the Y direction, and uses the X-axis driving part (X-axis 12) provided above it to move to the X direction. direction of movement. exist figure 1 Among them, 7 is a Y-axis motor, 8 is a timing belt, 11 is an X-axis motor, and 15 is a mounting head that is held on the X-axis 12 and can move freely in the Z direction (up and down). [0003] For driving the X-axis and Y-axis, a rotary motor + a timing belt (chain) or a ball screw or the like is used. Each axis performs motor control and positioning based on c...

AI Technical Summary

Problems solved by technology

Because the weight balance of the load is poor, and the stiffness of the control system is low, it is difficult to increase the control gain, and it is not suitable for high-speed, high-acceleration positioning

[0007] In order to solve the above-mentioned problems, as described in Patent Document 1, when positioning is performed by a gantry-type XY positioning device provided with motors on two axes, the YL axis and the YR axis, due to the load on the X axis 12 ( The positional movement of the mounting head 15) changes the balance of the loads on the YL-axis motors and YR-axis motors installed on both sides. Therefore, deviations occur in the left and right Y-axes, resulting in poor positioning accuracy and positioning time. Affected problem points

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