Assembly device and assembly method for an array of moving magnets of a planar motor

Abstract

The application is suitable for the technical field of planar motor, and provides an assembling device and an assembling method for a planar motor mover magnet array.The assembling device for the planar motor mover magnet array is composed of a plurality of target magnets, and comprises a substrate, a magnetic template below the substrate and a magnet fixing plate above the substrate.The top of the substrate is provided with a containing cavity for containing the target magnets, and the bottom of the substrate is provided with a placing groove.The containing cavity and the placing groove are correspondingly arranged and not communicated, and the substrate is made of a non-ferromagnetic material.The magnetic template comprises a plane plate and a plurality of magnetic elements fixed on the plane plate.The arrangement of the magnetic elements is matched with the position of the magnet array of the planar motor mover, and each magnetic element is opposite to the polarity of the target magnet corresponding to the position.The application solves the technical problems that the magnets are difficult to be accurately placed and are prone to deviation or misplacement due to the strong magnetism of the magnets in the assembling process of the existing planar motor mover magnet array.

Description

Technical Field

[0001] This invention relates to the field of planar motor technology, and particularly to an assembly apparatus and method for assembling a planar motor mover magnet array. Background Technology

[0002] With the widespread application of planar motors in precision machining, semiconductor manufacturing, and automation equipment, the assembly process of their mover magnet arrays has become a key factor affecting motor performance and production efficiency. However, existing planar motor mover magnet array assembly devices and methods still have certain shortcomings in terms of magnet arrangement accuracy, assembly efficiency, and ease of operation, limiting further improvements in the overall performance of the motor.

[0003] Traditional magnet array assembly often involves manual placement and gluing of magnets, a method plagued by low efficiency, poor consistency, and high labor costs. Particularly in high-density, small-pitch magnet arrays, the strong magnetic interactions between magnets can easily cause them to shift, flip, or misalign, leading to incorrect polarity alignment or substandard positional accuracy. Furthermore, the strong magnetism of the magnets makes it difficult for operators to precisely control their posture and position during manual placement, making them susceptible to magnetic interference and further complicating the assembly process. While some existing semi-automatic or fully automatic assembly devices attempt to position magnets using mechanical clamps or positioning fixtures, they often fail to effectively overcome the mutual magnetic attraction between magnets and lack stable fixation methods during placement. This allows magnets to shift even before final bonding, severely impacting product yield and assembly reliability.

[0004] To solve the above-mentioned technical problems, the present invention provides an assembly device for a planar motor mover magnet array. Summary of the Invention

[0005] This invention provides an assembly device for a planar motor mover magnet array, aiming to solve the technical problems of inaccurate placement, easy displacement or misalignment caused by the strong magnetism of the magnets during the assembly of existing planar motor mover magnet arrays. The technical solution is as follows:

[0006] An assembly device for a planar motor mover magnet array, wherein the mover magnet array is composed of multiple target magnets arranged in a row, the assembly device includes a substrate, a magnetic template located below the substrate, and a magnet fixing plate located above the substrate; the top of the substrate is provided with a receiving cavity for accommodating the target magnets, and the bottom of the substrate is provided with a placement groove, the receiving cavity and the placement groove being correspondingly arranged but not connected, the substrate being made of a non-ferromagnetic material; the magnetic template includes a planar plate and multiple magnetic elements fixed on the planar plate, the arrangement of the magnetic elements matching the position of the planar motor mover magnet array, and the polarity of each magnetic element being opposite to that of the target magnet at the corresponding position, the top of the magnetic element being inserted into the placement groove, so that the lower part of the target magnet is fixed in the receiving cavity by magnetic attraction with the magnetic element; the bottom of the magnet fixing plate has a groove for fixing the top of the target magnet.

[0007] Based on the above technical solution, an adhesive layer is provided between the target magnet and the magnet fixing plate. The adhesive layer is a liquid adhesive layer or a hot melt adhesive film. The hot melt adhesive film is a multi-piece small adhesive film with a specification adapted to a single groove or a single adhesive film covering the entire magnet array range.

[0008] Based on the above technical solution, the groove at the bottom of the magnet fixing plate matches the shape of the adhesive layer on the upper surface of the target magnet.

[0009] Based on the above technical solution, the magnetic induction intensity of the magnetic element is greater than that of the adjacent target magnet.

[0010] Based on the above technical solution, the magnetic element is an electromagnet, so as to achieve magnetic attraction and release of the target magnet.

[0011] Furthermore, it also includes a pressing device, which comprises a fixed plate, a support rod, a drive unit, and a pressing plate. The support rod is fixed to the bottom of the fixed plate, and the pressing plate is slidably connected to the support rod and connected to the output end of the drive unit. A magnet fixing plate is connected to the bottom of the pressing plate. The pressing device is also equipped with a heating plate for heating and curing the hot melt adhesive film between the target magnet and the magnet fixing plate. A pre-pressing plate is also slidably connected to the support rod. The bottom of the pre-pressing plate is provided with a positioning post extending downwards longer than the pressing plate. An isolation block is provided between the pressing plate and the pre-pressing plate. A positioning hole that mates with the positioning post is provided at the assembly station.

[0012] Furthermore, it also includes a placement system for gripping and placing target magnets, the placement system including a clamping mechanism that moves along the x-axis and y-axis, the clamping mechanism being a single gripper for gripping individual target magnets; or configured as a gripper array for gripping a single row or column of target magnets in a row-like manner, the gripper array consisting of multiple grippers arranged in a straight line.

[0013] Furthermore, the support is equipped with a transport device for moving the assembled substrate, magnetic template and target magnet from the placement station to the assembly station.

[0014] The assembly method for a planar motor mover magnet array, utilizing the assembly apparatus for a planar motor mover magnet array as described above, includes the following steps:

[0015] S1: Assemble the substrate and magnetic template, use the placement system to grab each target magnet of the planar motor mover magnet array, and install each target magnet in the receiving cavity of the substrate;

[0016] S2: Activate the magnetic element to generate a magnetic attraction force with opposite polarity to the target magnet in the accommodating cavity, thereby temporarily fixing the target magnet in the accommodating cavity;

[0017] S3: Place the adhesive film on top of the target magnet;

[0018] S4: Drive the pressing device to press the magnet fixing plate onto the top of the target magnet, so that the groove at the bottom of the magnet fixing plate engages with the top of the target magnet; at the same time, activate the heating plate on the pressing device to cure the adhesive film; so that the adhesive film is finally cured into an adhesive layer covering the top of the target magnet.

[0019] S5: Release the magnetic attraction between the magnetic component and the target magnet, and remove the magnet mounting plate that houses all the target magnets.

[0020] Based on the above technical solution, in step S2, the activation magnetic element can be controlled to be energized individually or in groups according to a predetermined arrangement, so as to attract single or row-placed target magnets.

[0021] Based on the above technical solution, the pressing device includes a fixed plate, a support rod, a drive unit, and a pressing plate. The support rod is fixed to the bottom of the fixed plate, and the pressing plate is slidably connected to the support rod and connected to the output end of the drive unit. A magnet fixing plate is connected to the bottom of the pressing plate. A pre-pressing plate is also slidably connected to the support rod. The bottom of the pre-pressing plate is provided with a positioning post extending downwards longer than the pressing plate. An isolation block is provided between the pressing plate and the pre-pressing plate. A positioning hole that mates with the positioning post is provided at the assembly station.

[0022] Step S4 includes:

[0023] S41: Drive the drive unit to move the fixed plate and preload plate downwards;

[0024] S42: The positioning pin first contacts the positioning hole on the assembly station to achieve precise positioning;

[0025] S43: The drive unit continues to press down, the pre-press plate stops due to obstruction, and the lower plate continues to press down, pressing the magnet fixing plate onto the target magnet.

[0026] Preferably, in step S4, the cured adhesive layer extends along the top edge of the target magnet to its sidewall, covering more than half of the height of the target magnet.

[0027] Beneficial effects

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] 1. The present invention combines the mechanical limiting of the substrate accommodating cavity with the reverse magnetic attraction fixing of the magnetic template to form a dual positioning mechanism of mechanical and magnetic forces, which effectively suppresses magnetic interference.

[0030] 2. This invention uses a pre-placed adhesive film and integrates a heating plate through a pressing device to achieve pressing and heating curing, eliminating the multiple steps of traditional adhesive application and improving production efficiency.

[0031] 3. Traditional pressing devices are prone to misalignment due to inaccurate positioning, affecting bonding quality. This invention designs a pre-pressing plate and positioning post structure, utilizing the positioning post to insert into the positioning hole of the workstation first, achieving high-precision mechanical positioning and improving the pressing accuracy. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other embodiments can be derived from the provided drawings without creative effort.

[0033] Figure 1 : A schematic diagram of the assembly of the substrate, magnetic template, target magnet, magnet fixing plate, and hot melt adhesive film of the present invention;

[0034] Figure 2 : Figure 1 Exploded view of the structure;

[0035] Figure 3 : Figure 1 A sectional view;

[0036] Figure 4 : A cross-sectional view of the substrate described in this invention;

[0037] Figure 5 : A cross-sectional view of the magnet fixing plate described in this invention;

[0038] Figure 6 : A schematic diagram of the structure of the pressing device described in this invention;

[0039] Figure 7: A schematic diagram of the structure of the pressing device of the present invention after adding a pre-pressure plate;

[0040] Figure 8 : A top view of the assembly device described in this invention;

[0041] Figure 9 : A schematic diagram of the assembly device described in this invention;

[0042] Figure 10 : A schematic diagram of the gripper structure described in this invention;

[0043] Figure 11 : A schematic diagram of the assembled target magnet and magnet fixing plate in Embodiment 1 of the present invention;

[0044] Figure 12 : A schematic diagram of the target magnet and magnet fixing plate after assembly in Embodiment 3 of the present invention. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings and examples:

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0049] Example 1

[0050] An assembly device for a planar motor mover magnet array includes a substrate 1, a magnetic template 2, and a magnet fixing plate 4.

[0051] like Figure 3 As shown, the substrate 1 positions and stably supports each target magnet. The top of the substrate 1 is provided with a receiving cavity 11 for accommodating the target magnet 3. The receiving cavity 11 prevents the target magnet 3 from moving laterally or tilting, thereby achieving mechanical positioning.

[0052] like Figure 4 As shown, the bottom of the substrate 1 is provided with a placement groove 12, and the receiving cavity 11 is correspondingly provided with the placement groove 12 but not connected. This ensures that the magnetic force can penetrate the substrate 1 and act on the target magnet 3, but avoids physical penetration that would cause the target magnet 3 to fall off.

[0053] The substrate 1 is made of non-ferromagnetic materials, such as aluminum alloy, stainless steel, engineering plastics, etc., which allows magnetic fields to pass through while preventing the magnetic force from being absorbed or shielded by the material itself, ensuring that the magnetic attraction force is efficiently transmitted to the target magnet.

[0054] The magnetic template 2 includes a flat plate and magnetic elements 21 fixed on the flat plate. The arrangement of the magnetic elements 21 matches the position of the magnet array of the planar motor actuator. The top of the magnetic element 21 is inserted into the placement groove 12. The polarity of the magnetic element 21 is opposite to that of the target magnet 3, so as to fix the target magnet 3 in the receiving cavity 11 by means of the magnetic element 21. When the magnetic element is inserted into the placement groove at the bottom of the substrate, its magnetic field passes through the substrate 1 and forms a magnetic relationship of opposite poles attracting each other with the target magnet 3 above, thereby firmly attracting the target magnet 3 and fixing it in the receiving cavity 11. Therefore, in the assembled and working state, the magnetic template 2 applies a magnetic force to the target magnet 3 from below, which is used to temporarily but firmly fix the magnet during the assembly process and prevent it from shifting or flipping due to strong magnetic interaction.

[0055] In high-density magnet arrays, strong repulsive or attractive forces exist between adjacent magnets, easily leading to automatic displacement after placement. The magnetic induction intensity of the magnetic element 21 is greater than that of the adjacent target magnet 3, making the downward adsorption force provided by the magnetic template 2 much greater than the magnetic interference force from the adjacent target magnets laterally, effectively suppressing this instability. The magnetic template 2, as an independent module, can be customized and replaced according to different magnet array layouts.

[0056] In some embodiments, the magnetic element 21 is in the form of an electromagnet, which can turn the magnetic force on and off by switching the power on and off. This avoids the complex operation of physically moving or shielding the magnetic element 21, greatly simplifying the automation process.

[0057] like Figure 5As shown, the magnet fixing plate 4 is a structural component installed above the magnet array, used to bond with the target magnet 3 to form an integrated moving element magnetic circuit structure. The magnet fixing plate 4 is made of a thermally conductive material and a heat-resistant material, and will not deform during the operation of the heating plate. The bottom of the magnet fixing plate 4 has a groove 41 for pressing against the top of the target magnet 3. The groove 41 is slightly larger than the target magnet 3. Figure 1 and 2 As shown, the assembly system for a planar motor mover magnet array is constructed by combining substrate 1, magnetic template 2, target magnet 3, and magnet fixing plate 4. This achieves mechanical positioning, magnetic fixation, and structural reinforcement. Substrate 1 provides a mechanical positioning reference, magnetic template 2 provides dynamic magnetic fixation, and magnet fixing plate 4 performs the final assembly, achieving structural integration. The three components work together to form a process of positioning, fixing, and finally connecting. This solves the problem of placing one magnet in a row in traditional manual or semi-automatic assembly, improving assembly reliability.

[0058] An adhesive layer, which is a liquid adhesive layer or a hot melt adhesive film 5, is provided between the target magnet 3 and the magnet fixing plate 4. In the assembly process of traditional planar motor mover magnet arrays, liquid adhesive (such as epoxy resin, instant adhesive, etc.) is used to bond the magnet to the magnet fixing plate 4. The adhesive application process requires multiple manual or semi-automatic steps, such as dispensing, scraping, and cleaning. These steps are cumbersome. To solve the above problems, a pre-made hot melt adhesive film 5 is used as the adhesive medium. The hot melt adhesive film 5 achieves the bonding between the magnet fixing plate 4 and the target magnet 3.

[0059] The hot melt adhesive film 5 is solid at room temperature, melts into a viscous flow state when heated, and solidifies after cooling to form a strong adhesive layer. The hot melt adhesive film 5 fills the tiny gap between the groove 41 of the magnet fixing plate 4 and the top of the target magnet 3, and forms a high-strength adhesive layer after cooling or solidification, firmly bonding the two together.

[0060] If insulating films such as epoxy resin and polyimide are used, electrical isolation between the target magnet 3 and the magnet fixing plate 4 can be achieved, preventing the generation of eddy currents or the risk of short circuits.

[0061] The hot melt adhesive film 5 can be configured as multiple small pieces, with one piece placed above each magnet, suitable for high-density arrays and preventing the film from covering adjacent magnets. Alternatively, it can be configured as a single piece of adhesive film, covering the entire magnet array, which simplifies operation and is suitable for large-area mover structures.

[0062] like Figure 6As shown, it also includes a pressing device 6, which is used to press the magnet fixing plate 4 onto the top of the target magnet 3. The pressing device 6 is also equipped with a heating plate, which is used to heat and cure the hot melt adhesive film 5 placed between the target magnet 3 and the magnet fixing plate 4, thereby achieving bonding between the magnet fixing plate 4 and the target magnet 3. The pressing device 6 has both pressing and heating / curing functions, used to press the magnet fixing plate 4 onto the top of the target magnet 3 and heat and cure the hot melt adhesive film 5 in the middle.

[0063] Specifically, the pressing device 6 further includes a fixed plate 62, a support rod 63, and a drive unit 64. The support rod 63 is fixed to the bottom of the fixed plate 62, and the pressing plate 61 is slidably connected to the support rod 63. The output end of the drive unit 64 is connected to the pressing plate 61, and the bottom of the pressing plate 61 is connected to a magnet fixing plate 4. The magnet fixing plate 4 is bolted to the bottom of the pressing plate 61, which is both stable and reliable, and also facilitates the removal of the magnet fixing plate 4 after assembly. The heating plate can be embedded inside the pressing plate 61, close to the magnet fixing plate 4.

[0064] The support rod 63 serves as a guide shaft and is fixed to the bottom of the fixed plate 62. The lower pressure plate 61 is slidably connected to it, forming a stable guide structure. The drive unit 64 (such as a cylinder or servo electric cylinder) is only responsible for providing vertical driving force. A buffer sleeve is fitted on the support rod 63, which is located between the lower pressure plate 61 and the fixed plate 62 to buffer and block collisions when the drive unit 64 moves.

[0065] Traditional pressing devices often rely on a single cylinder or lead screw for driving. Before pressing, there is a lack of mechanical alignment between the magnet fixing plate 4 and the magnet array, resulting in slight deviations that affect the accuracy of pressing.

[0066] To solve the above problems, such as Figure 7 A pre-pressure plate 65 is slidably connected to the support rod 63. A positioning post 66 is fixed to the bottom of the pre-pressure plate 65. The length of the positioning post 66 extending to the bottom is greater than the height of the lower pressure plate 61. The pre-pressure plate 65 slides up and down on the support rod 63. The pre-pressure plate 65 is also fitted onto the piston rod of the drive unit 64. An isolation block is provided between the lower pressure plate 61 and the pre-pressure plate 65. A positioning hole matching the position of the positioning post 66 is provided on the assembly station 702.

[0067] During the downward press, the drive unit 64 drives the lower pressure plate 61 to begin pressing down. The pre-press plate 65 is set on the isolation block, which is fixed to the lower pressure plate 61. The pre-press plate 65 moves down due to its own weight. Since the positioning post 66 is longer, it contacts the positioning hole on the assembly station first, ensuring that the positioning and alignment have been successfully achieved. The drive unit 64 continues to press down. The pre-press plate 65 stops descending because it is blocked by the blocking block. The lower pressure plate 61 continues to descend, driving the magnet fixing plate 4 to press against the target magnet 3, completing the pressing and bonding.

[0068] The pressing device 6 realizes the pressing action between the magnet fixing plate 4 and the target magnet 3. Through heating integration and pre-pressing positioning, the stability is improved.

[0069] like Figure 8 and Figure 9 As shown, the device also includes a placement system for grasping and placing the target magnet 3.

[0070] The placement system includes a clamping mechanism, an x-axis lead screw and a y-axis lead screw mounted on a bracket 70. A first drive unit 71 and a second drive unit 72 are respectively connected to the x-axis and y-axis lead screws. A sliding plate is threaded onto the y-axis lead screw, and the x-axis lead screw is connected to the sliding plate. The clamping mechanism is threaded onto the x-axis lead screw. The movement of the clamping mechanism in the X and Y directions is controlled by the first drive unit 71 and the second drive unit 72 (e.g., a servo motor). The clamping mechanism, mounted on the sliding plate, can precisely position each target magnet 3. By driving the second drive unit 72, the sliding plate connected to the y-axis lead screw moves along the y-axis. The x-axis lead screw is connected to the sliding plate, and driving the first drive unit 71 controls the movement of the clamping mechanism on the sliding plate along the x-axis.

[0071] The clamping mechanism is a single gripper 8, used to grasp individual target magnets 3; it is suitable for small batches, high precision or irregularly arranged magnet arrays, and can be placed accurately one by one to avoid interfering with adjacent magnets.

[0072] In one embodiment, a gripper array is configured, consisting of multiple grippers 8 arranged in a straight line. These grippers grasp a single row or column of target magnets 3 in a row-like manner. An entire row (or column) of magnets can be grasped at once, enabling batch placement and significantly improving assembly efficiency.

[0073] like Figure 10 As shown, the gripper 8 includes a lifting cylinder 81 and a pneumatic finger 82. The output end of the lifting cylinder 81 is connected to the pneumatic finger 82, which is used to grip the target magnet 3. The lifting cylinder 81 controls the overall up-and-down movement of the gripper 8 to achieve Z-axis positioning, while the pneumatic finger 82 performs the gripping action, opening and closing to clamp the target magnet 3.

[0074] The support 70 is equipped with a conveying device (such as a conveyor belt, a robotic arm, a slide table, etc.) to move the target workpiece from the placement station 701 to the assembly station 702. This achieves automated connection between the placement of the target magnet 3 and the assembly process.

[0075] The final product of the planar motor mover magnet array is the magnet fixing plate 4 and the target magnet 3 fixed on it.

[0076] This embodiment also provides a method for assembling a planar motor mover magnet array using the assembly device described above, which includes the following steps:

[0077] S1: The target magnet 3 is grasped by the placement system and placed in the receiving cavity 11 of the substrate 1.

[0078] Specifically, the placement system operates under the instructions of the control system. The gripper 8 moves to the magnet feeding area and uses pneumatic fingers 82 to grab a single or row of target magnets 3. With the cooperation of the lifting cylinder 81, the gripper accurately descends above the substrate 1 and places the target magnets one by one or in rows into the receiving cavity 11 on the top of the substrate.

[0079] S2: Activate the magnetic element 21 to generate a magnetic attraction force with opposite polarity to the target magnet 3 in the accommodating cavity 11, thereby temporarily fixing the target magnet 3 in the accommodating cavity 11.

[0080] Specifically, when the power supply is turned on (if it is an electromagnet), the magnetic element 21 generates a magnetic field after being energized. The magnetic lines of force pass through the non-ferromagnetic substrate 1 and act on the target magnet 3 above. The target magnet 3 is subjected to downward magnetic attraction and is firmly attracted to the bottom of the accommodating cavity 11.

[0081] S3: Place hot melt adhesive film 5 on top of target magnet 3.

[0082] Specifically, a small piece of adhesive film is placed on top of each fixed magnet, or a whole piece of adhesive film matching the array is covered. The adhesive film is usually a thermosetting material, which is solid at room temperature and can melt and bond after heating. In this embodiment, the hot melt adhesive film 5 is set as a small amount of adhesive film, and the amount of adhesive is less than or equal to the area of ​​the gap between the target magnet 3 and the magnet fixing plate 4.

[0083] S4: Drive the pressing device 6 to press the magnet fixing plate 4 onto the top of the target magnet 3, so that the groove 41 at the bottom of the magnet fixing plate 4 engages with the top of the target magnet 3; at the same time, activate the heating plate on the pressing device 6 to cure the hot melt adhesive film 5; so that the hot melt adhesive film 5 is finally cured into an adhesive layer covering the top of the target magnet 3.

[0084] Specifically, the drive unit 64 of the pressing device 6 is activated, pushing the pressing plate 61 downward along the support rod 63. The pressing plate drives the magnet fixing plate 4 to move downward synchronously until the magnet fixing plate 4 is pressed onto the target magnet 3. The heating plate built into the pressing device 6 is energized and heated. The heat is conducted to the hot melt adhesive film 5 through the magnet fixing plate 4. The adhesive film melts after being heated, forming a high-strength adhesive layer.

[0085] Traditionally, only the top of the target magnet 3 is bonded to the magnet fixing plate 4. The force-bearing surface is a single plane, resulting in limited shear and peel resistance. Figure 11As shown, the adhesive layer is applied to the top and sidewalls of the target magnet 3. The groove 41 at the bottom of the magnet fixing plate 4 is slightly larger than the top size of the magnet, leaving a small gap. When the pressing device 6 presses down the magnet fixing plate 4, the hot melt adhesive film 5 on the top of the target magnet 3 softens or melts due to heat, and expands slightly outwards under pressure. Some of the adhesive is pressed into the sidewalls along the top edge of the magnet, filling the gap between the groove 41 of the magnet fixing plate and the sidewalls of the magnet. The cured adhesive layer extends along the top edge of the target magnet 3 to its sidewalls, covering more than half of the height of the target magnet 3. The peel resistance is much higher than that of structures with only top bonding, and it can prevent the magnet from making small displacements even under vibration or impact loads.

[0086] In one embodiment, step S4 includes

[0087] S41: Drive the drive unit 64 to move the fixed plate 62 and the pre-pressing plate 65 downward;

[0088] S42: Positioning post 66 first contacts the positioning hole on assembly station 702 to achieve precise positioning;

[0089] S43: The drive unit 64 continues to press down, the pre-press plate 65 stops due to obstruction, and the lower plate 61 continues to press down, pressing the magnet fixing plate 4 onto the target magnet 3. This achieves mechanical alignment and pre-pressing.

[0090] S5: Release the magnetic attraction between the magnetic element 21 and the target magnet 3, so that the target magnet 3, which has been bonded, can be removed.

[0091] Specifically, if the magnetic element 21 is an electromagnet, then when the power is cut off, the magnetic field disappears. If it is a permanent magnet, then the magnetic element is detached from the bottom of the substrate by mechanical means (such as sliding away). After the magnetic attraction is released, the target magnet array that has been bonded to the magnet fixing plate is no longer bound by the attraction force.

[0092] Example 2

[0093] Since the target magnet 3 is a strong permanent magnet, when arranged in a magnet array at close range, strong repulsive or attractive forces will be generated between adjacent magnetic poles. In order to avoid the influence of adjacent magnets on the magnet to be installed during the installation process, this embodiment makes the following improvements:

[0094] Unlike Embodiment 1, the upper surface of the substrate 1 is provided with a partition to block the magnetic field interaction between adjacent target magnets 3. The partition separates adjacent accommodating cavities 11 and is made of non-ferromagnetic material or magnetic shielding material. This prevents jumping or adsorption caused by lateral magnetic force during the placement or pressing of the target magnets 3.

[0095] Specifically, the partition extends along the length or width of the substrate 1, and is in the form of a strip or a grid, matching the arrangement of the accommodating cavity 11. The height of the partition is less than the height of the target magnet 3 protruding from the substrate 1. The partition can effectively cut off the direct magnetic circuit between adjacent magnets.

[0096] Example 3

[0097] When using a pre-applied hot melt adhesive film 5 to bond the target magnet 3 to the magnet fixing plate 4, insufficient precision in adhesive quantity control causes the adhesive to flow under pressure during the heating and pressing process, resulting in excess adhesive overflowing from the edge of the target magnet 3, forming an overflow defect. The overflowing adhesive not only contaminates the magnetic pole surface but also affects the subsequent assembly and long-term use of the planar motor mover, impacting the mover assembly yield. To avoid the aforementioned overflow problem, this embodiment makes the following improvements:

[0098] Unlike Example 1, in this example, as Figure 12 As shown, the sum of the heights of the groove 41 and the accommodating cavity 11 is equal to the sum of the heights of the target magnet 3 and the hot melt adhesive film 5. When the magnet fixing plate 4 is pressed onto the target magnet 3, the substrate 1 and the magnet fixing plate 4 close together, and the magnet fixing plate 4 is provided with an overflow hole 42. The overflow hole 42 communicates with the groove 41 and is used to discharge excess hot melt adhesive from the groove 41. In this embodiment, one end of the overflow hole 42 communicates with the groove, and the other end is located on the outer surface of the magnet fixing plate, such as the top surface, to facilitate subsequent removal of the overflow adhesive by a scraper.

[0099] In step S4, when the pressing device 6 is activated and the heating plate is working, the hot melt adhesive film 5 melts and forms an adhesive layer covering the top of the target magnet 3. If there is too much adhesive in the hot melt adhesive film 5, since the lower surface of the magnet fixing plate 4 and the upper surface of the substrate 1 are coplanar or closely attached, the excess adhesive in the groove can only overflow from the top surface of the magnet fixing plate 4 along the overflow hole 42 provided on the inner wall.

[0100] To prevent the pressure plate from blocking the overflow hole during operation, the pressure plate 61 of the pressure device 6 has a clearance groove that matches the position of the overflow hole 42.

[0101] Specifically, when the magnet fixing plate 4 is pressed downward by the lower pressure plate 61, the overflow hole 42 on the magnet fixing plate 4 is aligned with the clearance groove on the lower pressure plate 61, forming a connecting channel. During the pressing process, excess adhesive generated after the hot melt adhesive film 5 melts due to heat is allowed to be discharged upward through the overflow hole 42. Therefore, the clearance groove provided above can prevent the lower pressure plate 61 from directly blocking the overflow hole 42.

[0102] Therefore, based on the assembly method of Embodiment 1, the planar motor mover magnet array of this embodiment further includes step S6: scraping the top surface of the magnet fixing plate 4 to remove excess hot melt adhesive overflowing from the overflow hole 42. Simultaneously, the overflow adhesive in the clearance groove is cleaned.

[0103] It should be noted that the electromagnet, driving device, target magnet, and adhesive film in this embodiment are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0104] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. An assembly device for a planar motor mover magnet array, wherein the mover magnet array is composed of multiple target magnets (3) arranged in a specific manner, characterized in that: The assembly device for the planar motor mover magnet array includes a substrate (1), a magnetic template (2) located below the substrate, and a magnet fixing plate (4) located above the substrate; the substrate (1) has a receiving cavity (11) at the top for accommodating the target magnet (3), and a placement groove (12) at the bottom of the substrate (1). The receiving cavity (11) and the placement groove (12) are correspondingly arranged but not connected. The substrate (1) is made of non-ferromagnetic material; the magnetic template (2) includes a planar plate and a plurality of magnetic elements (21) fixed on the planar plate. The arrangement of the magnetic elements (21) matches the position of the magnet array of the planar motor mover, and the polarity of each magnetic element (21) is opposite to that of the target magnet (3) at the corresponding position. The top of the magnetic element (21) is inserted into the placement groove (12), so that the lower part of the target magnet (3) is fixed in the receiving cavity (11) by magnetic attraction with the magnetic element (21); the bottom of the magnet fixing plate (4) has a groove (41) for fixing the top of the target magnet (3).

2. The assembly apparatus for the planar motor mover magnet array according to claim 1, characterized in that: An adhesive layer is provided between the target magnet (3) and the magnet fixing plate (4). The adhesive layer is a liquid adhesive layer or a hot melt adhesive film (5). The hot melt adhesive film (5) is a multi-piece small adhesive film with a specification adapted to a single groove (41) or a single adhesive film covering the entire magnet array range.

3. The assembly apparatus for the planar motor mover magnet array according to claim 2, characterized in that: The groove (41) at the bottom of the magnet fixing plate (4) matches the shape of the adhesive layer on the upper surface of the target magnet (3).

4. The assembly apparatus for the planar motor mover magnet array according to claim 1, characterized in that: The magnetic element (21) is an electromagnet, which is used to achieve magnetic attraction and release of the target magnet (3).

5. The assembly apparatus for the planar motor mover magnet array according to claim 2, characterized in that: The sum of the depth of the groove (41) and the depth of the accommodating cavity (11) is equal to the sum of the height of the target magnet (3) and the thickness of the hot melt adhesive film (5); the magnet fixing plate (4) is provided with an overflow hole (42) communicating with the groove (41).

6. The assembly apparatus for a planar motor mover magnet array according to claim 2, characterized in that: It also includes a pressing device (6), which includes a fixed plate (62), a support rod (63), a drive unit (64), and a pressing plate (61). The support rod (63) is fixed to the bottom of the fixed plate (62), and the pressing plate (61) is slidably connected to the support rod (63) and connected to the output end of the drive unit (64). The bottom of the pressing plate (61) is connected to a magnet fixing plate (4). The pressing device (6) is also provided with a heating plate for heating and melting the hot melt adhesive film (5) between the target magnet (3) and the magnet fixing plate (4). A pre-pressing plate (65) is also slidably connected to the support rod (63). The bottom of the pre-pressing plate (65) is provided with a positioning post (66) that extends downwards and is longer than the pressing plate (61). An isolation block is provided between the pressing plate (61) and the pre-pressing plate (65). The assembly station (702) is provided with a positioning hole that cooperates with the positioning post (66).

7. The assembly apparatus for a planar motor mover magnet array according to claim 1, characterized in that: It also includes a placement system for gripping and placing target magnets (3), the placement system including a gripping mechanism that moves along the x-axis and y-axis, the gripping mechanism being a single gripper (8) for gripping individual target magnets (3); or configured as a gripper array for gripping a single row or column of target magnets (3) in a row-like manner, the gripper array consisting of multiple grippers (8) arranged in a straight line.

8. The assembly apparatus for a planar motor mover magnet array according to claim 6, characterized in that: The support (70) is provided with a transport device for moving the pre-assembled substrate (1), magnetic template (2) and target magnet (3) from the placement station (701) to the assembly station (702).

9. A method for assembling a planar motor mover magnet array, using the assembly apparatus for a planar motor mover magnet array as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Assemble the substrate (1) and the magnetic template (2), grab each target magnet (3) of the planar motor mover magnet array through the placement system, and install each target magnet (3) in the accommodating cavity (11) of the substrate (1); S2: Activate the magnetic element (21) to generate a magnetic attraction force with opposite polarity to the target magnet (3) in the accommodating cavity (11), thereby temporarily fixing the target magnet (3) in the accommodating cavity (11); S3: Place hot melt adhesive film (5) on top of the target magnet (3); S4: Drive the pressing device (6) to press the magnet fixing plate (4) onto the top of the target magnet (3), so that the groove (41) at the bottom of the magnet fixing plate (4) engages with the top of the target magnet (3); at the same time, activate the heating plate on the pressing device (6) to melt and cool the hot melt adhesive film (5); so that the hot melt adhesive film (5) is finally cured into an adhesive layer covering the top of the target magnet (3); S5: Release the magnetic attraction between the magnetic element (21) and the target magnet (3), and remove the magnet fixing plate (4) on which all the target magnets (3) are installed.

10. The assembly method of the planar motor mover magnet array according to claim 9, characterized in that: In step S2, the activation magnetic element (21) can be controlled to be energized individually or in groups according to a predetermined arrangement, in order to attract single or row-placed target magnets (3).

11. The assembly method of the planar motor mover magnet array according to claim 9, characterized in that: The pressing device (6) includes a fixed plate (62), a support rod (63), a drive unit (64), and a pressing plate (61). The support rod (63) is fixed to the bottom of the fixed plate (62). The pressing plate (61) is slidably connected to the support rod (63) and connected to the output end of the drive unit (64). The bottom of the pressing plate (61) is connected to a magnet fixing plate (4). A pre-pressing plate (65) is also slidably connected to the support rod (63). The bottom of the pre-pressing plate (65) is provided with a positioning post (66) that extends downwards longer than the pressing plate (61). An isolation block is provided between the pressing plate (61) and the pre-pressing plate (65). The assembly station (702) is provided with a positioning hole that cooperates with the positioning post (66). Step S4 includes: S41: Start the drive unit (64) to move the fixed plate (62) and the preload plate (65) downward; S42: The positioning post (66) first contacts the positioning hole on the assembly station (702) to achieve precise positioning; S43: The drive unit (64) continues to press down, the pre-press plate (65) is blocked and stops, the lower plate (61) continues to press down, and the magnet fixing plate (4) is pressed onto the target magnet (3).

12. The assembly method of the planar motor mover magnet array according to claim 9, characterized in that: In step S4, the cured adhesive layer extends along the top edge of the target magnet (3) to its sidewall, covering more than half of the height of the target magnet (3).

13. The assembly method of the planar motor mover magnet array according to claim 9, characterized in that: The magnet fixing plate (4) is provided with an overflow hole (42); it also includes S6: scraping the top of the magnet fixing plate (4) to remove excess hot melt adhesive overflowing from the overflow hole (42).

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