Linear motor, mounting-related device, and method for manufacturing processed object

Abstract

This linear motor comprises: a stator member including a stator; a mover having a coil housed inside a case and moving by being guided by the stator member; a detection unit making direct or indirect contact with the coil; and a support member disposed in the case and supporting the detection unit from the back side of the detection unit.

Description

[Technical Field]

[0001] This specification discloses a linear motor, a mounting-related device, and a method for manufacturing an object to be processed. [Background technology]

[0002] A conventional motor control device has been proposed that calculates the temperature of a motor coil in a motor based on the temperature measured by a temperature sensor inside the device, and connects an inverter that supplies power to the motor to a power supply if this temperature is below a predetermined reference temperature, and cuts off the inverter and power supply if this temperature is equal to or higher than the reference temperature (see, for example, Patent Document 1). This device is said to be able to set a cooling period according to the state of the motor and shorten the cooling period. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2013 / 187985 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, a linear motor, in which a mover is moved along a shaft, is one example of a driving device. The aforementioned Patent Document 1 measures the temperature inside the motor control device, but does not take into consideration the possibility of fixing any member inside the mover. Therefore, there is a need for a more appropriate method for disposing a detector inside the mover of a linear motor.

[0005] The present disclosure has been made in consideration of such problems, and has as its main object to provide a linear motor, a mounting-related device, and a method for manufacturing a processing object that can more appropriately fix a detection unit. [Means for solving the problem]

[0006] The linear motor, the mounting-related device, and the method for manufacturing the processing object disclosed in this specification employ the following means to achieve the above-mentioned main object.

[0007] The linear motor of the present disclosure comprises: a stator member including a stator; a mover having a coil housed inside a case and moved by the stator member; a detection unit that is in direct or indirect contact with the coil; a support member disposed in the case and supporting the detection unit from a rear side thereof; It is equipped with the following.

[0008] In this linear motor, the detecting part that comes into contact with the coil is supported by a support member that is disposed in the case and supports the detecting part from the back side. For example, if the detecting part is simply fixed to the coil with an adhesive or the like, the adhesion state may change due to heat during operation, but in this linear motor, the detecting part is supported from the back side by a support member, so the detecting part can be fixed more appropriately. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of a mounting system 10. [Figure 2] FIG. 2 is an explanatory diagram showing the outline of the configuration of the mounting section 20. [Figure 3] FIG. 2 is an explanatory diagram showing the outline of the configuration of a linear motor 30. [Figure 4] FIG. 3 is an explanatory diagram of the inside of a housing 37 of a mover 35. [Figure 5] FIG. 3 is a cross-sectional view perpendicular to the driving direction of the mover 35. [Figure 6] 10 is a flowchart showing an example of a control processing routine. DETAILED DESCRIPTION OF THE INVENTION

[0010] This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a mounting system 10 according to the present disclosure. FIG. 2 is an explanatory diagram showing an outline of the configuration of a mounting unit 20. FIG. 3 is an explanatory diagram showing an outline of the configuration of a linear motor 30. FIG. 4 is an explanatory diagram of the inside of a housing 37 of a mover 35. FIG. 5 is a cross-sectional view perpendicular to the driving direction of the mover 35. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in FIGS. 1 and 2.

[0011] Mounting system 10 is configured, for example, as a production line in which mounting devices 15 that place components P on a substrate S as an object to be processed are arranged in the transport direction of the substrate S. Here, the object to be processed is described as a substrate S, but is not particularly limited as long as it is something on which components can be mounted, and it may also be a base material with a three-dimensional shape. As shown in FIG. 1, this mounting system 10 is configured to include a printing device 11, a print inspection device 12, a mounting device 15, a mounting inspection device 16, a loader 18, and a reflow device (not shown).

[0012] The printing device 11 is a device that prints a viscous fluid such as solder paste on a substrate S. The printing device 11 includes a drive unit that raises and lowers a squeegee that prints the solder, and a drive unit that slides the squeegee in the printing direction. The print inspection device 12 is a device that inspects the printed solder and the condition of the substrate S. The print inspection device 12 includes a drive unit that moves an imaging unit that captures images in the X and Y directions. The mounting device 15 is a device that picks up components P and arranges them on the substrate S. As shown in FIG. 2, the mounting device 15 includes a mounting unit 20 and a component supply unit 21. The mounting unit 20 includes a mounting head 22 and a collection member 23. The mounting head 22 moves in the X and Y directions by a drive unit. The collection member 23 is a nozzle or the like that picks up components P, and is raised and lowered along the Z axis by a linear motor 30 that serves as a drive unit. The mounting inspection device 16 is a device that inspects the condition of components P arranged on the substrate S. The mounting inspection device 16 is equipped with a drive unit that moves an imaging unit that captures images in the X and Y directions. The loader 18 is a mobile work device that automatically replaces feeders and moves by a drive unit along an X-axis rail 19 in front of the mounting system 10. The loader 18 has a drive unit that clamps the feeder and moves it back and forth, and a drive unit that moves the feeder up and down. The reflow device is a device that reflows a board S on which solder is printed and components P are arranged. The linear motor 30 may be used as a drive unit for any of the devices in the mounting system 10 described above. Here, we will mainly explain the case where the linear motor 30 is a drive unit that drives the lifting and lowering of the collection member 23.

[0013] The linear motor 30 is configured as a shaft linear motor, which is a driving unit that drives the mover 35 in a predetermined driving direction along the shaft 31. As shown in Figures 3 to 5, the linear motor 30 includes a shaft 31, a mover 35, a control unit 50, and a servo amplifier 51. The linear motor 30 is a driving device that moves the collection member 23 in the vertical direction, but in Figure 3, the driving direction of the linear motor 30 is shown horizontally. The shaft 31 is a stator member including a stator 32. The shaft 31 also functions as a guide that guides the mover 35 in the predetermined driving direction. The mover 35 has a coil 40 housed inside a case 36, is engaged with or disposed on a driven object, and is a member that moves along the driving direction guided by the shaft 31. The mover 35 includes a case 36, the coil 40, a detection unit 41, and a support member 42. The case 36 is a box-shaped body with a rectangular prism-like outer shape and an internal space. The case 36 has a housing 37 having an internal space and a lid member 38 that closes the housing 37. The lid member 38 is a rectangular plate-shaped member, and is fixed to close the opening of the housing 37 via brackets 43 that are fixed to two opposing positions on the edge of the opening of the housing 37.

[0014] As shown in FIGS. 3 and 4 , the coil 40 receives power from the servo amplifier 51 via wiring 46 and functions as an electromagnet. The coil 40 includes a U-phase coil 40a, a V-phase coil 40b, and a W-phase coil 40c, which receive power from a three-phase AC power supply. The coils are collectively referred to as the coil 40. The detector 41 is a sensor that directly or indirectly contacts the coil 40 and detects the state of the coil 40. The detector 41 may be one or more of a temperature sensor and a magnetic sensor. The following description focuses on a case where the detector 41 is a temperature sensor that contacts the coil 40 via adhesive 45. The detector 41 includes a U-phase sensor 41a that contacts the U-phase coil 40a, a V-phase sensor 41b that contacts the V-phase coil 40b, and a W-phase sensor 41c that contacts the W-phase coil 40c. The sensors are collectively referred to as the detector 41.

[0015] The support member 42 is disposed in the case 36 and supports the detection unit 41 from the back side thereof. The support member 42 includes a bracket 43 disposed in the case 36 and a support plate 44 disposed on the bracket 43. The bracket 43 is a conductive member disposed between the housing 37 and the cover member 38, establishing electrical contact between them and grounding the cover member 38. As shown in FIGS. 4 and 5 , the bracket 43 is fixed to two locations on the edge of the opening of the housing 37. The cover member 38 is screwed to the bracket 43. The support plate 44 is a plate-shaped member fixed to the bracket 43. The detection unit 41 is fixed to the support plate 44. The detection unit 41 contacts the coil 40 via adhesive 45 and is supported by the support member 42 from the back side thereof. The support member 42 is disposed at an inner corner of the case 36 (see FIG. 5 ). The corners of the case 36 have sufficient space for disposing the detection unit 41 and the support member 42.

[0016] The wiring 46 includes a power supply wiring connected to the coil 40, a detection wiring connected to the detection unit 41, a ground wiring, etc., and is drawn out from the mover 35 to the outside. The power supply wiring of the wiring 46 is connected to a servo amplifier 51, and the detection wiring is connected to the control unit 50. The wiring 46 is guided by a guide member (not shown) so as not to interfere with the movement of the mover 35.

[0017] The control unit 50 is configured as a controller centered on a CPU, and is responsible for controlling the entire linear motor 30 device. This control unit 50 receives control commands from a higher-level control device of the mounting device 15 and operates based on these control commands. The control unit 50 outputs control signals to a servo amplifier 51, while also receiving detection signals from the detection unit 41. The servo amplifier 51 is a driving device that outputs driving power to the coil 40 based on the control signal from the control unit 50. The servo amplifier 51 may, for example, receive current position information from an encoder of the mover 35, and based on this information, output driving power required to move to a target position.

[0018] In the linear motor 30, the coil 40 may generate heat as the mover 35 is driven. The mover 35 includes a detector 41 that detects the state of the coil 40, which is disposed in close contact with the coil 40. This detects the heat generation and demagnetization of the coil 40. In this case, it is difficult to manage the gap between the coil 40 and the detector 41 of each linear motor, which can result in inaccurate detection values ​​from the detector 41. Alternatively, if the detector 41 is fixed to the coil 40 only with adhesive 45, the adhesive strength of the adhesive 45 may decrease as the coil 40 heats up, causing the detector 41 to come off the coil 40 and resulting in inaccurate sensing. In this linear motor 30, the detector 41 is in contact with the coil 40 via the adhesive 45 and is fixed to the housing 37 from the back side of the detector 41 via a support member 42. In this linear motor 30, the gap between the coil 40 and the detector 41 is easily managed, and the fixed position of the detector 41 remains constant, allowing for stable, continuous sensing.

[0019] Next, we will first explain the production process of the board S in the mounting system 10 configured as described above. After loading the board S, the printing device 11 brings the board S into contact with the screen mask M, and then uses a drive unit to lower the squeegee and slide it back and forth to print solder paste onto the board S. After the printing process, the printing device 11 uses a drive unit to raise the squeegee and transport the board S outside the device. After loading the printed board S, the print inspection device 12 uses a drive unit to move the imaging unit, performs imaging processing of the board S with the imaging unit, inspects the print pattern through image processing, and transports the board S outside the device. After loading the inspected board S, the mounting device 15 moves the mounting head 22 over the component supply unit 21, lowers the pickup member 23 to pick up the component P, and then moves the mounting head 22 over the board S to place the component P in a predetermined position on the board S. When the placement of the components P is complete, the mounting device 15 transports the board S out of the device. After the mounting inspection device 16 transports the board S on which the components P have been placed, it moves the imaging unit using a drive unit, performs imaging processing of the board S with the imaging unit, inspects the placement state of the components P through image processing, and transports the board S out of the device. In this way, the mounting system 10 drives each drive unit of each device to produce the board S, which is the object to be processed. In the mounting system 10, a linear motor 30 is used in one or more drive units of each device, and mounting-related processing related to the mounting process of placing the components P on the board S, which is the object to be processed, is performed by driving and controlling the linear motor 30.

[0020] Next, drive control using the detector 41 in the linear motor 30 will be described. In the linear motor 30, the detector 41 detects the temperature of the coil 40 and outputs a detected value. FIG. 6 is a flowchart illustrating an example of a control processing routine executed by the controller 50 of the linear motor 30. This routine is stored in a memory unit of the controller 50 and is executed after the linear motor 30 is started. When this routine starts, the controller 50 acquires a detected value from the detector 41 (S100) and determines whether the acquired detected value is within a normal range (S110). The normal range is set to a normal temperature range in which the linear motor 30 can operate without requiring output correction or the like. If the detected value is within the normal range, the controller 50 executes a drive processing (S140). In this drive processing, a control command is output to the servo amplifier 51 to supply the coil 40 with the power required to move the mover 35 to a target position. In response to this control command, the servo amplifier 51 outputs drive power to the coil 40 based on the content of the control command.

[0021] On the other hand, if the detected value is not within the standard range in S110, the control unit 50 determines whether the detected value is within the allowable range in which the mover 35 can be driven (S120). This allowable range is empirically determined as a warning temperature range that is outside the standard range but lower than the temperature range in which an emergency stop should be performed. If the detected value is within the allowable range, the control unit 50 outputs a warning to the control device of the mounting device 15 that the temperature of the coil 40 exceeds the standard range, and executes the processing from S140 onwards. When the control device of the mounting device 15 receives the warning, it displays the contents of the warning on the operation panel as a warning screen. The worker checks this warning screen and understands that the temperature of the linear motor 30 is rising.

[0022] On the other hand, if the detected value is not within the allowable range in S120, the control unit 50 determines that the coil 40 is in an overheated state, temporarily suspends the supply of power to the coil 40 to cool the coil 40, and outputs information to the control device of the mounting device 15 that the linear motor 30 has been temporarily stopped (S150). When the control device of the mounting device 15 acquires the information about the temporary stop, it displays the information on the operation panel as a temporary stop screen. The worker checks this temporary stop screen and understands that the linear motor 30 is in an overheated state. Note that when the coil 40 cools after the temporary stop in S150, the detected value returns to the allowable range in S120, and the drive process is resumed.

[0023] After S150 or S140, the control unit 50 determines whether the processing of the linear motor 30 has been completely completed based on whether production has been completed (S160), and if production has not been completed, executes the processing from S100 onwards. On the other hand, if production is completed in S160, the control unit 50 ends this routine. In this way, the linear motor 30 can be driven safely while preventing overheating based on the detection value of the detection unit 41.

[0024] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the shaft 31 corresponds to the stator member, the mover 35 corresponds to the mover, the detector 41 corresponds to the detector, and the support member 42 corresponds to the support member. Furthermore, the stator 32 corresponds to the stator, the case 36 corresponds to the case, the housing 37 corresponds to the housing, the cover member 38 corresponds to the cover member, the bracket 43 corresponds to the bracket, and the U-phase coil 40a, the V-phase coil 40b, and the W-phase coil 40c correspond to the U-phase coil, the V-phase coil, and the W-phase coil, respectively. Furthermore, the printing device 11, the print inspection device 12, the mounting device 15, the mounting inspection device 16, and the loader 18 correspond to mounting-related devices. Note that in this embodiment, the operation of the mounting system 10 is described to clarify an example of a method for manufacturing a processing target object and a method for controlling a linear motor according to the present disclosure.

[0025] The linear motor 30 described above includes a shaft 31 as a stator member including a stator 32, a mover 35 having a coil 40 housed inside a case 36 and moving along the shaft 31, a detection unit 41 in direct or indirect contact with the coil 40, and a support member 42 disposed in the case 36 and supporting the detection unit 41 from the rear side of the detection unit 41. In this linear motor 30, the detection unit 41 in contact with the coil 40 is supported by the support member 42 disposed in the case 36 and supporting the detection unit 41 from the rear side. For example, if the detection unit 41 is simply fixed to the coil 40 with an adhesive or the like, the adhesive condition may change due to heat during operation, but in this linear motor 30, the detection unit 41 is supported from the rear side by the support member 42, allowing for more appropriate fixation of the detection unit 41. Furthermore, because the detection unit 41 is properly fixed, the detection unit 41 can output more accurate detection values.

[0026] Furthermore, since the support member 42 includes a bracket 43 disposed on the case 36, the bracket 43 also serves as the support member 42, thereby simplifying the components and enabling more effective use of limited space. Furthermore, the case 36 has a housing 37 and a cover member 38 that closes the housing 37, and the support member 42 is disposed between the housing 37 and the cover member 38. In this linear motor 30, the detection unit 41 can be supported between the housing 37 and the cover member 38. Furthermore, the case 36 has a rectangular prism-like outer shape, and the support member 42 is disposed at an inner corner of the case 36. In this linear motor 30, the detection unit 41 can be supported in a relatively large corner, enabling more effective use of limited space. Furthermore, the detection unit 41 is at least one of a temperature sensor and a magnetic sensor, and can detect the heat of the coil 40, the magnetism generated by the coil 40, and the like, and can perform drive control in response to these.

[0027] Furthermore, in the linear motor 30, the coils 40 include a U-phase coil 40a, a V-phase coil 40b, and a W-phase coil 40c, and the detector 41 includes a U-phase sensor 41a that detects the state of the U-phase coil, a V-phase sensor 41b that detects the state of the V-phase coil 40b, and a W-phase sensor 41c that detects the state of the W-phase coil 40c, and these are in direct or indirect contact with each other. This linear motor 30, when powered by three-phase AC, can more appropriately fix the detector 41. Furthermore, since one or more devices in the mounting system 10 include the above-described linear motor 30 as a drive unit, the detector 41 can be more appropriately fixed, and further, the state of the mover 35 can be appropriately detected, thereby enabling the linear motor 30 to be appropriately controlled.

[0028] Furthermore, the manufacturing method for the substrate S includes a step of controlling the linear motor 30 as a drive unit to execute a mounting-related process related to the mounting process of placing the component P on the substrate S as the processing object. In this manufacturing method for the processing object, since the linear motor 30 described above is provided, the detection unit 41 can be fixed more appropriately, and further, the state of the mover 35 can be properly detected, and therefore the linear motor 30 can be properly controlled.

[0029] It goes without saying that the linear motor, mounting-related device, and method for manufacturing a processing object of the present disclosure are in no way 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.

[0030] For example, in the above-described embodiment, the support member 42 includes the bracket 43, but this is not particularly limited, and the support member 42 may not include the bracket 43. In this linear motor 30, the support member 42 supports the detection unit 41 from the back side thereof, so the detection unit 41 can be more appropriately fixed. Note that the bracket 43 is a necessary component for grounding the cover member 38, and therefore it is preferable to use the bracket 43 for the support member 42, as this simplifies the components and improves space efficiency.

[0031] In the above-described embodiment, the support member 42 is disposed between the housing 37 and the lid member 38, but this is not particularly limited, and the support member 42 may be disposed at a position other than between the housing 37 and the lid member 38. Furthermore, the support member 42 is disposed at a corner of the box-shaped case 36, but this is not particularly limited, and the support member 42 may be disposed at a position other than a corner. Furthermore, the case 36 has an outer shape of a quadrangular prism, but this is not particularly limited, and the case 36 may have another shape, such as a cylindrical outer shape.

[0032] In the above-described embodiment, the coil 40 includes a U-phase coil 40a, a V-phase coil 40b, and a W-phase coil 40c, but this is not particularly limited, and the coil 40 does not have to be a three-phase coil. In this case, the detection unit 41 includes a U-phase sensor 41a, a V-phase sensor 41b, and a W-phase sensor 41c, but this is not particularly limited, and the detection unit 41 does not have to be a three-phase sensor. The linear motor 30 may use a DC power supply.

[0033] In the above-described embodiment, the linear motor 30 is used as a drive unit for the mounting unit 20, but is not limited to this and may be used as a drive unit for any of the mounting devices 15, or as a drive unit for any of the devices included in the mounting system 10. Furthermore, the linear motor 30 may also be used as a drive unit for machine tools that perform various processing operations other than the mounting system 10, manufacturing devices such as 3D printers, and the like.

[0034] In the above-described embodiment, the linear motor 30 has been described as a shaft linear motor in which the stator member including the stator 32 serves as the shaft 31, but the stator member is not particularly limited to a shaft-shaped one. For example, the linear motor may have a long, flat stator member, or may have a long, flat stator member sandwiched between both ends of the mover 35.

[0035] Furthermore, in the above-described embodiment, the present disclosure has been described as being applied to the linear motor 30. However, the present disclosure may also be applied to a manufacturing method for a processing object, or may be applied as a program causing a computer to execute each step of this manufacturing method. Furthermore, while the present disclosure has been described as being applied to the linear motor 30 and a manufacturing method for a processing object, the present disclosure is not particularly limited thereto. The present disclosure may also be applied to a control method for a linear motor 30 that drives the mover 35 based on a detection value from a detector 41 supported by a support member 42, or may be applied as a program causing a computer to execute each step of this control method. Note that this control method may employ various aspects of the linear motor 30 described above, or may include additional steps that realize each function of the linear motor 30 described above. This control method may also achieve the same effects as the above-described embodiment, depending on the aspect of the support member 42. [Industrial Applicability]

[0036] The present disclosure is applicable to the technical field of devices for mounting components. [Explanation of symbols]

[0037] 10 Mounting system, 11 Printing device, 12 Printing inspection device, 15 Mounting device, 16 Mounting inspection device, 18 Loader, 19 X-axis rail, 20 Mounting unit, 21 Component supply unit, 22 Mounting head, 23 Picking member, 30 Linear motor, 31 Shaft, 32 Stator, 35 Movable element, 36 Case, 37 Housing, 38 Cover member, 40 Coil, 40a U-phase coil, 40b V-phase coil, 40c W-phase coil, 41 Detection unit, 41a U-phase sensor, 41b V-phase sensor, 41c W-phase sensor, 42 Support member, 43 Bracket, 44 Support plate, 45 Adhesive, 46 Wiring, 50 Control unit, 51 Servo amplifier, P Component, S Board.

Claims

1. a stator member including a stator; a mover having a coil housed inside a case and moved by the stator member; a detection unit that is in direct or indirect contact with the coil; a support member disposed in the case and supporting the detection unit from a rear side of the detection unit, the case has a housing and a lid member that closes the housing, The support member is disposed between the housing and the cover member.

2. a stator member including a stator; a mover having a coil housed inside a case and moved by the stator member; a detection unit that is in direct or indirect contact with the coil; a support member disposed in the case and supporting the detection unit from a rear side of the detection unit, The case has a rectangular prism-like outer shape, The support member is disposed at a corner of the inside of the case.

3. The linear motor according to claim 1 or 2, wherein the support member includes a bracket disposed on the case.

4. 4. The linear motor according to claim 1, wherein the detection unit is at least one of a temperature sensor and a magnetic sensor.

5. The coils include a U-phase coil, a V-phase coil, and a W-phase coil, 5. The linear motor according to claim 1, wherein the detection portion is in direct or indirect contact with each of the U-phase coil, the V-phase coil, and the W-phase coil.

6. A mounting-related device related to a mounting process for placing components on a processing object, A linear motor according to any one of claims 1 to 5 is provided as a drive unit. Mounting related equipment.

7. a stator member including a stator; a mover having a coil housed inside a case and moved by the stator member; a detection unit that is in direct or indirect contact with the coil; a support member disposed in the case and supporting the detection unit from a rear side of the detection unit, the case has a housing and a lid member that closes the housing, a method for manufacturing a processing object by a mounting-related device including a linear motor as a drive unit, the linear motor being disposed between the housing and the cover member, controlling the driving unit to perform a mounting-related process related to a mounting process of placing a component on a processing object; A method for manufacturing an object to be treated, comprising:

8. a stator member including a stator; a mover having a coil housed inside a case and moved by the stator member; a detection unit that is in direct or indirect contact with the coil; a support member disposed in the case and supporting the detection unit from a rear side of the detection unit, The case has a rectangular prism-like outer shape, a method for manufacturing a processing object by a mounting-related device including a linear motor as a drive unit, the linear motor being disposed at a corner of the inner side of the case, controlling the driving unit to perform a mounting-related process related to a mounting process of placing a component on a processing object; A method for manufacturing an object to be treated, comprising:

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