Mobile Device

Abstract

This moving device comprises: a first linear guide; a second linear guide extending in parallel with the first linear guide; a first structure movable along the first linear guide; a second structure movable along the second linear guide; a slide member, one end and the other end of which are fixed to the first structure and the second structure, respectively, so as to be crossed over between the first structure and the second structure; a first linear motor having a first stator installed so as to extend along the first linear guide and a first mover fixed to the first structure so as to face the first stator at a predetermined interval; and a second linear motor having a second stator installed so as to extend along the second linear guide and a second mover fixed to the second structure so as to face the first stator at a predetermined interval.

Description

[Technical Field]

[0001] This specification discloses a mobile device. [Background technology]

[0002] Conventionally, a moving device has been proposed that includes a beam, a pair of linear guides extending parallel to each other, a structure provided on each of the pair of linear guides, a beam support member including a vertical plate attached to the side of a side portion of the beam and a horizontal plate fixed to the lower end of the vertical plate and fixed to the upper surface of the structure, and a linear motor including a linear motor mover attached vertically via a spacing plate to the side of the vertical plate opposite the beam, and a linear motor stator provided at the top of the side portion of the base and positioned outside the linear motor mover (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-243269 Summary of the Invention [Problem to be solved by the invention]

[0004] The lifespan of the linear guide and the guide nuts attached to the linear guide depends on the magnitude of the load. In the above-mentioned moving device, although it is described that the thickness of the vertical plate is increased to ensure rigidity, the size of the device increases.

[0005] A primary object of the present disclosure is to provide a moving device that can be made more compact. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The mobile device of the present disclosure comprises: A first linear guide; a second linear guide extending parallel to the first linear guide; a first structure movable along the first linear guide; a second structure movable along the second linear guide; a slide member having one end fixed to the first structure and the other end fixed to the second structure so as to bridge the first structure and the second structure; a first linear motor including a first stator installed so as to extend along the first linear guide, and a first mover fixed to the first structure so as to face the first stator at a predetermined interval; a second linear motor including a second stator installed so as to extend along the second linear guide, and a second mover fixed to the second structure so as to face the first stator at a predetermined interval; The gist of the project is to provide the following:

[0008] The movement device disclosed herein includes a first structure movable along a first linear guide, a second structure movable along a second linear guide extending parallel to the first linear guide, a slide member spanning the first and second structures, a first linear motor, and a second linear motor. The first stator of the first linear motor is installed to extend along the first linear guide, and the first mover is fixed to the first structure so as to face the first stator. The second stator of the second linear motor is installed to extend along the second linear guide, and the second mover is fixed to the second structure so as to face the second stator. This allows the device to be made more compact. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic configuration diagram of a component mounter including a moving device according to an embodiment of the present invention; [Figure 2] 1 is a perspective view of the appearance of a moving device according to an embodiment of the present invention; [Figure 3]FIG. 2 is an exploded perspective view of the moving device of the present embodiment. [Figure 4] FIG. 2 is a perspective view of the appearance of a first structure. [Figure 5] 5 is a plan view of the first structure of FIG. 4 as viewed from direction A. FIG. [Figure 6] 5 is a plan view of the first structure of FIG. 4 as viewed from direction B. FIG. [Figure 7] 5 is a plan view of the first structure of FIG. 4 as viewed from the C direction. [Figure 8] 5 is a plan view of the first structure of FIG. 4 as viewed from the D direction. [Figure 9] 5 is a plan view of the first structure of FIG. 4 as viewed from the E direction. [Figure 10] 5 is a plan view of the first structure of FIG. 4 as viewed from the F direction. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, embodiments of the present disclosure will be described with reference to the drawings.

[0011] FIG. 1 is a schematic configuration diagram of a component mounter including a moving device of this embodiment. FIG. 2 is an external perspective view of the moving device of this embodiment. FIG. 3 is an exploded perspective view of the moving device of this embodiment. FIG. 4 is an external perspective view of a first structure. FIG. 5 is a plan view of the first structure of FIG. 4 seen from direction A. FIG. 6 is a plan view of the first structure of FIG. 4 seen from direction B. FIG. 7 is a plan view of the first structure of FIG. 4 seen from direction C. FIG. 8 is a plan view of the first structure of FIG. 4 seen from direction D. FIG. 9 is a plan view of the first structure of FIG. 4 seen from direction E. FIG. 10 is a plan view of the first structure of FIG. 4 seen from direction F.

[0012] 1, the movement device 10 of this embodiment is used in a component mounter 1 that uses a head 3 to pick up components supplied from a feeder 9 and mount them on a board S. In this embodiment, the component mounter 1 includes two heads 3 facing each other, two movement devices 10 that move the corresponding heads 3, and a board transport device (not shown) that transports the board S. The boards S may be loaded into the component mounter 1 so that multiple boards are lined up in the width direction perpendicular to the board transport direction, or so that multiple boards are lined up in the board transport direction.

[0013] Each moving device 10 is configured as a Y-axis moving device that moves the head 3 provided on the component mounting machine 1 in the front-to-back direction (Y-axis direction, width direction of the substrate S) in the figure, and includes a slide member 11, first and second linear guides 12a, 12b, first and second structures 20a, 20b, and first and second linear motors 30a, 30b.

[0014] The slide member 11 is a rectangular columnar member extending in the left-right direction (X-axis direction, the transport direction of the substrate S) in FIG. 1. One end of the slide member 11 is fixed to a first structure 20a and a second structure 20b, which are installed at both ends in the X-axis direction, so that the slide member 11 spans between them. The other end is fixed to the second structure 20b. A head 3 is attached to one side surface (front surface) of the slide member 11 in the front-rear direction (Y-axis direction) in FIG. 1 via an X-axis moving device (not shown). The X-axis moving device has a pair of X-axis linear guides installed on the front surface of the slide member 11 so as to extend in the X-axis direction, and moves the head 3 in the X-axis direction along the X-axis linear guides. Details of the X-axis moving device are not included here, as they are not part of the gist of this disclosure.

[0015] As shown in FIG. 1, the first and second linear guides 12a and 12b are rail members extending parallel to each other in the front-rear direction (Y-axis direction). First and second support members 2a and 2b are fixed to the upper stage of the frame of the component mounter 1 at both ends in the left-right direction (X-axis direction) and are strip-shaped and extend in the Y-axis direction. The first linear guide 12a is installed on the planar upper surface of the first support member 2a. The second linear guide 12b is installed on the planar upper surface of the second support member 2b. As shown in FIG. 3, a plurality (three) of first guide nuts 15a are slidably mounted on the first linear guide 12a. Similarly, a plurality (three) of second guide nuts are slidably mounted on the second linear guide 12b.

[0016] In this embodiment, as shown in FIGS. 1 to 3 , the first linear motor 30a is configured as a flat linear motor having a first stator 31a on which multiple permanent magnets 311a are placed flat, and a first mover 32a supported by the first structure 20a so as to face the first stator 31a at a predetermined vertical interval. The permanent magnets 311a of the first stator 31a are linearly arranged on the upper surface of the first support member 2a along the first linear guide 12a with alternating north and south poles. In this embodiment, the permanent magnets 311a of the first stator 31a are installed on the same plane as the first linear guide 12a. Although not shown, the first mover 32a has three cores each made of laminated electromagnetic steel sheets and three coils wound around the corresponding cores. The first mover 32a moves in the front-to-rear direction (Y-axis direction) by applying a three-phase AC current to the three coils.

[0017] Similar to the first linear motor 30a, the second linear motor 30b is configured as a flat linear motor having a second stator 31b on which multiple permanent magnets 311b are placed flat, and a second mover 32b supported by the second structure 20b so as to face the second stator 31b at a predetermined vertical interval. The permanent magnets 311b of the second stator 31b are linearly arranged on the upper surface of the second support member 2b along the second linear guide 12b with alternating north and south poles. In this embodiment, the permanent magnets 311b of the second stator 31b are installed on the same plane as the second linear guide 12b. Although not shown, the second mover 32b has three cores each made of laminated electromagnetic steel sheets and three coils wound around the corresponding cores. The second mover 32b moves in the front-to-rear direction (Y-axis direction) by applying a three-phase AC current to the three coils.

[0018] A mover 31a of a first linear motor 30a is fixed to one end of the slide member 11 via a first structure 20a, and a mover 31b of a second linear motor 30b is fixed to the other end of the slide member 11 via a second structure 20b. Therefore, by synchronously driving the first and second linear motors 30a and 30b, the slide member 11 can be moved in the front-to-rear direction (Y-axis direction). Because a head 3 is attached to the slide member 11, moving the slide member 11 in the Y-axis direction can move the head 3 in the Y-axis direction.

[0019] The first structure 20a is a rectangular cylindrical structure that opens in the left-right direction (X-axis direction), and is installed so as to be movable in the Y-axis direction relative to the first linear guide 12a via multiple (three) first guide nuts 15a, as shown in Figures 2 and 3. The first structure 20a has a first mounting portion 21a, a second mounting portion 22a, and a third mounting portion 23a.

[0020] 2 and 3, the first mounting portion 21a is attached to one end of the slide member 11. The first mounting portion 21a is a side surface portion on the inner side (head 3 side) in the left-right direction (X-axis direction), and is formed at a position shifted rearward from the center of the first structure 20a in the front-rear direction (Y-axis direction) as shown in FIG.

[0021] 2 and 3, the second mounting portion 22a is attached to the upper surfaces of a plurality (three) of first guide nuts 15a attached to the first linear guide 12a. As shown in Fig. 10, the second mounting portion 22a is formed on the bottom surface of the first structure 20a, and a plurality of bolt holes 221a (see Figs. 9 and 10), 151a (see Fig. 3) penetrating in the up-down direction (Z-axis direction) are formed in the mating surfaces between the first mounting portion 22a and the plurality of first guide nuts 15a. The first structure 20a is fixed to the first guide nuts 15a by having corresponding bolt holes 221a, 151a communicate with each other at the mounting position with the plurality of first guide nuts 15a and inserting bolts (not shown) into the bolt holes 221a, 151a and fastening them. As described above, the multiple first guide nuts 15a are attached to the first linear guide 12a so as to be freely slidable in the front-to-back direction (Y-axis direction), and therefore the first structure 20a moves in the Y-axis direction together with the multiple first guide nuts 15a.

[0022] As shown in Figures 2 and 3, the third mounting portion 23a is attached to the first mover 32a. In this embodiment, an air-cooling type cooling device 35 that cools the first mover 32a is interposed between the third mounting portion 23a and the first mover 32a. As shown in Figure 10, the third mounting portion 23a extends in the X-axis direction (rightward) at both ends in the front-to-rear direction (Y-axis direction) of the bottom surface portion of the first structure 20 so as to face the first stator 31a. As shown in Figures 9 and 10, each third mounting portion 23a has a plurality of bolt holes 231a formed therethrough in the up-down direction (Z-axis direction). At the attachment position of the first structure 20a to the first movable element 32a, the bolt holes 231a communicate with the cooling device 35 and the bolt holes 321a formed in the first movable element 32a, and bolts (not shown) are inserted into the bolt holes 231a, 321a to fasten the first movable element 32a, thereby fixing the first movable element 32a so that it faces the first stator 31a at a predetermined vertical distance.

[0023] As shown in FIGS. 4, 5, and 6, the second mounting portion 22a extends in the front-to-rear direction (Y-axis direction) in the figures, and L-shaped surfaces (L-shaped surfaces) are formed on both side walls of the rectangular tube of the first structure 20a in the front-to-rear direction (Y-axis direction) by combining with the upper surfaces of the second mounting portions 22a (bottom surfaces). A plurality (two) of first ribs 25a are formed on one of the L-shaped surfaces. A plurality (two) of second ribs 26a are formed on the other L-shaped surface. The first and second ribs 25a, 25b are reinforcing members, and are formed so as to have asymmetric thicknesses and shapes, as shown in FIGS. 4 and 5. Furthermore, as shown in FIGS. 4 and 5, a thin-walled portion 24a is formed between the two third mounting portions 23a on the bottom surface of the rectangular tube of the first structure 20a. The thin-walled portion 24a is formed by thickening the second and third mounting portions 22a and 23a, which are bolt fastening portions, to ensure the strength of the first structure 20a while reducing its weight.

[0024] The second structure 20b has a mirror image of the first structure 20a and is installed movably in the Y-axis direction relative to the second linear guide 12b via a plurality (three) of second guide nuts 15b. Although not shown, the second structure 20b has a first mounting portion, a second mounting portion, and a third mounting portion similar to those of the first structure 20a. The first mounting portion of the second structure 20b is attached to the other end of the slide member 11. The first mounting portion is formed on the inner side (head 3 side) in the left-right direction (X-axis direction) and at a position shifted rearward from the center of the second structure 20b in the front-rear direction (Y-axis direction). The second mounting portion is attached to the upper surfaces of a plurality (three) of second guide nuts 15b attached to the second linear guide 12b. The first structure 20a moves in the Y-axis direction together with the plurality of second guide nuts 15b. The third mounting portion is attached to the second mover 32b of the second linear motor 30b and fixes the second mover 32b so that it faces the second stator 31b at a predetermined distance. In this embodiment, an air-cooling type cooling device that cools the second mover 32b is interposed between the third mounting portion and the second mover 32b. The second structure 20b also has a plurality of first and second ribs and thin-walled portions similar to those of the first structure 20a.

[0025] As described above, the head 3, which is a heavy object, is attached to the front surface of the slide member 11, and the slide member 11 is fixed to the first structure 20a and the second structure 20b, which support both ends of the slide member 11 in the left-right direction (X-axis direction), at a position shifted rearward from the center in the front-rear direction (Y-axis direction). This improves the weight balance, and makes it possible to equalize the loads applied to the multiple first and second guide nuts 15a, 15b that support the first and second structures 20a, 20b.

[0026] Furthermore, a torsional moment acts around the X-axis on the first and second structures 20a and 20b, which are fixed to both ends of the slide member 11, due to the gravity of the head 3 attached to the slide member 11. However, because the first and second structures 20a and 20b have first and second ribs 25a and 26a formed on both side walls of the rectangular tube in the Y-axis direction, deformation of the first and second structures 20a and 20b due to the torsional moment can be suppressed, and stress concentration at specific locations on the first and second structures 20a and 20b, the first and second guide nuts 15a and 15b, and the first and second linear guides 12a and 12b can be prevented. In addition, because the thicknesses and shapes of the first and second ribs 25a and 25b provided as reinforcing members on the first and second structures 20a and 20b are asymmetrical, reinforcement can be focused on necessary locations while suppressing weight increase. As a result, the durability of the first and second structures 20a, 20b, the first and second guide nuts 15a, 15b, and the first and second linear guides 12a, 12b can be improved.

[0027] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0028] For example, in the above-described embodiment, the first and second structures 20a, 20b have the thin-walled portion 24a between the two third mounting portions 23a at the bottom surface of the rectangular tube. However, the first and second structures 20a, 20b may have through holes for weight reduction instead of or in addition to the thin-walled portion 24a. Also, such thin-walled portions and through holes may not be included.

[0029] In the above-described embodiment, the first and second structures 20a and 20b have the ribs 25a and 26a on both side walls of the rectangular tube in the Y-axis direction. However, the both side walls may be formed of thick portions.

[0030] The moving device of the present disclosure may also have the following configuration: In other words, in the moving device of the present disclosure, the first stator and the second stator may be installed flat, which allows the device to be made more compact in height.

[0031] In the movement device of the present disclosure, the first stator may be installed on the same plane as the first linear guide, and the second stator may be installed on the same plane as the second linear guide, which makes it possible to easily ensure installation accuracy of the first and second linear motors.

[0032] Furthermore, in the movement device of the present disclosure, the sliding member may have an object to be moved attached to one end in the movement direction and may be fixed at a position offset to the other side in the movement direction relative to the first structure and the second structure. This allows for a good weight balance of the object to be moved. In this case, the first structure and the second structure may have a cylindrical portion that opens in a direction perpendicular to the movement direction, and may have reinforcing portions on both sides of the cylindrical portion in the movement direction. This allows for suppression of deformation of the first and second structures even when a torsional moment acts due to the gravity of the object to be moved. Furthermore, in this case, the reinforcing portions may be provided asymmetrically. This allows for reinforcement to be focused on necessary locations and suppresses weight increase.

[0033] In these cases, the first structure and the second structure may have fastening portions for fixing corresponding movers on both sides of the cylindrical portion in the moving direction, and the cylindrical portion may have a thin-walled portion between the fastening portions, thereby ensuring the strength of the first and second structures and reducing their weight.

[0034] Furthermore, the moving device of the present disclosure may include a plurality of first guide nuts slidably attached to the first linear guide and a plurality of second guide nuts slidably attached to the second linear guide, wherein the first structure is supported and fixed on the upper surfaces of the plurality of first guide nuts, and the second structure is supported and fixed on the upper surfaces of the plurality of second guide nuts. [Industrial Applicability]

[0035] The present disclosure is applicable to the mobile device manufacturing industry and the like. [Explanation of symbols]

[0036] 1 component mounter, 2a, 2b frame, 3 head, 9 component supply device, 10 moving device, 11 slide member, 12a first linear guide, 12b second linear guide, 15a first guide nut, 15b second guide nut, 20a first structure, 20b second structure, 21a first mounting portion, 22a second mounting portion, 23a third mounting portion, 24a thin portion, 25a, 26a rib, 30a first linear motor, 30b second linear motor, 31a first stator, 31b second stator, 32a first mover, 32b second mover, 151a, 221a, 231a, 321a bolt hole, 311a, 311b permanent magnet, S substrate.

Claims

1. A first linear guide; a second linear guide extending parallel to the first linear guide; a first structure movable along the first linear guide; a second structure movable along the second linear guide; a slide member having one end fixed to the first structure and the other end fixed to the second structure so as to bridge the first structure and the second structure; a first linear motor including a first stator installed so as to extend along the first linear guide, and a first mover fixed to the first structure so as to face the first stator at a predetermined interval; a second linear motor including a second stator installed so as to extend along the second linear guide, and a second mover fixed to the second structure so as to face the first stator at a predetermined interval; A mobile device comprising: the first structure and the second structure have cylindrical portions that are open in a direction perpendicular to the movement direction, three or more first guide nuts slidably attached to the first linear guide; three or more second guide nuts slidably attached to the second linear guide; Equipped with one of the three or more first guide nuts that is not at an end is located below the cylindrical portion of the first structure, one of the three or more second guide nuts that is not at an end is located below the cylindrical portion of the second structure, a reinforcing portion on each side of the cylindrical portion in the moving direction; an end of the three or more first guide nuts is located under the reinforcing portion of the first structure; an end of the three or more second guide nuts is located below the reinforcing portion of the second structure; Mobile device.

2. 2. The mobile device of claim 1, the first structure and the second structure have fastening portions for fixing corresponding movers on both sides of the cylindrical portion in the movement direction, a thin-walled portion between both fastening portions of the cylindrical portion; The thin-walled portion is located on the longitudinal direction of the slide member. Mobile device.

3. 3. A moving device according to claim 1 or 2, The first stator and the second stator are each placed flat. Mobile device.

4. A moving device according to any one of claims 1 to 3, the first stator is installed on the same plane as the first linear guide, The second stator is installed on the same plane as the second linear guide. Mobile device.

5. A moving device according to any one of claims 1 to 4, the slide member has an object to be moved attached to one end in the movement direction, and is fixed at a position shifted to the other side in the movement direction relative to the first structure and the second structure; Mobile device.

6. 6. The mobile device according to claim 5, the first structure and the second structure have cylindrical portions that are open in a direction perpendicular to the movement direction, a reinforcing portion on each side of the cylindrical portion in the moving direction; Mobile device.

7. 7. The mobile device of claim 6, The reinforcing portion is provided asymmetrically. Mobile device.

8. 8. A moving device according to claim 6 or 7, the first structure and the second structure have fastening portions for fixing corresponding movers on both sides of the cylindrical portion in the movement direction, A thin-walled portion is provided between both fastening portions of the cylindrical portion. Mobile device.

9. A moving device according to any one of claims 1 to 8, a plurality of first guide nuts slidably attached to the first linear guide; a plurality of second guide nuts slidably attached to the second linear guide; Equipped with the first structure is supported and fixed to upper surfaces of the plurality of first guide nuts, the second structure is supported and fixed to upper surfaces of the plurality of second guide nuts; Mobile device.

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