Linear motor stator and its assembly method, as well as component mounting machine and circuit board manufacturing method.

Abstract

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

Description

Technical Field

[0001] This specification discloses a linear motor stator, an assembling method thereof, a component mounting machine, and a substrate manufacturing method.

Background Art

[0002] Conventionally, as this type of linear motor stator, a structure has been proposed that includes a plurality of magnetic circuits each including a yoke and a plurality of field magnets fixed to the yoke, and the plurality of magnetic circuits are connected in the moving direction of the mover (see, for example, Patent Document 1). A high magnetic permeability member having a higher magnetic permeability than the yoke is provided across the connecting portion between adjacent magnetic circuits.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Although Patent Document 1 described above describes connecting a plurality of divided magnetic circuits in the moving direction of the mover, it does not mention anything about the stator being cantilever-supported by a support member or the possibility of the stator being deformed by the attractive force generated between the mover and the stator facing each other.

[0005] The main object of the present disclosure is to improve the assembling property and suppress deformation of the stator due to the attractive force generated between the mover and the stator in a case where the stator is cantilever-supported by a support member.

Means for Solving the Problems

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

[0007] The gist of the linear motor stator of this disclosure is that it comprises a plurality of stator members, each divided in the direction of movement of the movable element and fixed to a support member such that one end of each stator member in an orthogonal direction perpendicular to the direction of movement is cantilevered to the support member, and a connecting member that connects adjacent stator members among the plurality of stator members to each other.

[0008] In the linear motor stator of this disclosure, adjacent stator members are connected by connecting members, with each stator member being divided in the direction of movement of the movable element and one end of each stator member in a direction perpendicular to the direction of movement being cantilevered to a support member. This improves the ease of assembling the stator members to the support member compared to attaching a single long stator member to the support member. Furthermore, since adjacent stator members are connected, the divided stator members can be considered as a single rigid body, thereby suppressing deformation of the stator due to the attractive force between the movable element and the stator. As a result, the gap between the stator and the movable element can be maintained appropriately.

[0009] The present disclosure's method for assembling a linear motor stator involves attaching a plurality of stator members to a support member such that one end of each stator member, which is divided in the direction of movement of the movable element, in a direction perpendicular to the direction of movement is cantilevered to the support member, and connecting adjacent stators among the plurality of stator members by attaching connecting members to each other.

[0010] The linear motor stator assembly method of this disclosure involves attaching a plurality of stator members to a support member such that one end of each stator member, which is divided in the direction of movement of the movable element, is cantilevered to the support member in a direction perpendicular to the direction of movement of the movable element. The assembly method then connects adjacent stator members to each other by attaching connecting members to them. This improves the ease of assembling the stator members to the support member compared to attaching a single long stator member to the support member. Furthermore, since adjacent stator members are connected to each other, the divided plurality of stator members can be considered as a single rigid body, and deformation of the stator due to attractive forces between the movable element and the stator can be suppressed. As a result, the gap between the stator and the movable element can be maintained appropriately.

[0011] Furthermore, the same effects are achieved in the component mounting machine and substrate manufacturing method using the linear motor stator of this disclosure. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic diagram of the component mounting machine. [Figure 2] This is a schematic diagram of the head and X-axis movement device. [Figure 3] This is a schematic diagram of the stator configuration. [Figure 4] This is an exploded view of the stator. [Figure 5] A block diagram showing the electrical connections of a component mounting machine. [Figure 6] This is an explanatory diagram showing an example of the stator assembly process. [Modes for carrying out the invention]

[0013] Next, the forms for implementing this disclosure will be described with reference to the drawings.

[0014] Figure 1 is a schematic diagram of the component mounting machine 10. Figure 2 is a schematic diagram of the head 20 and the X-axis moving device 40. Figure 3 is a schematic diagram of the stator 50. Figure 4 is an exploded view of the linear motor stator. Figure 5 is a block diagram showing the electrical connection relationships of the component mounting machine 10. As shown in Figures 1, 2, or 5, the component mounting machine 10 of this embodiment picks up (collects) components and mounts them onto a substrate, and comprises a housing 11, a feeder 15, a substrate transport device 16, a parts camera 17, a head 20, a Y-axis moving device 30, an X-axis moving device 40, and a control device 60 that controls the whole system.

[0015] As shown in Figure 1, the housing 11 is a rectangular frame including a front wall, a rear wall, a left wall, and a right wall. The upper part of the housing 11 is provided with a flat upper frame 12 having a rectangular opening 12a in the center. A long beam member 13 is spanned across the center of the upper frame 12 in the left-right (X-axis) direction, extending in the front-back (Y-axis) direction.

[0016] The feeder 15 is a tape feeder equipped with a reel around which tape containing parts at predetermined intervals is wound, and the parts are supplied to the parts supply position by pulling the tape from the reel.

[0017] The substrate transport device 16 is, for example, a belt conveyor device, which transports substrates on the belt by driving the belt in a circular motion.

[0018] The parts camera 17 captures images of the parts picked up by the head 20 from below and is used to determine suction misalignment, suction errors, etc.

[0019] The head 20 includes a suction nozzle and a nozzle lifting device for lifting the suction nozzle up and down (in the Z-axis direction). The suction nozzle is connected to a negative pressure source and a positive pressure source via a solenoid valve. By controlling the solenoid valve so that the negative pressure from the negative pressure source is supplied to the suction nozzle, a component can be adsorbed by the suction nozzle due to the negative pressure. By controlling the solenoid valve so that the positive pressure from the positive pressure source is supplied to the suction nozzle, the adsorption of the component adsorbed by the suction nozzle is released. The nozzle lifting device is constituted by, for example, a combination of a linear motor and a ball screw mechanism and a motor, and the suction nozzle is lifted and lowered by driving the motor.

[0020] The Y-axis moving device 30 moves the head 20 back and forth (in the Y-axis direction). As shown in FIG. 1, it includes a pair of left and right Y-axis guide rails 31, a Y-axis slider 32, and a Y-axis linear motor 35. The pair of left and right Y-axis guide rails 31 are fixed to the left side portion and the beam member 13 of the upper frame 12 so as to extend back and forth (in the Y-axis direction) at a predetermined interval in the left and right (X-axis direction). The Y-axis slider 32 is a rectangular frame member having an upper frame 32a, a bottom frame 32b, side frames 32c, and a back frame 32d and having an open front. The Y-axis slider 32 is bridged over the pair of left and right Y-axis guide rails 31 and moves back and forth (in the Y-axis direction) along the pair of Y-axis guide rails 31. The Y-axis linear motor 35 moves the Y-axis slider 32. In the present embodiment, the Y-axis linear motor 35 includes a shaft 33 as a stator in which a plurality of permanent magnets are linearly arranged so that the polarities of N poles and S poles are alternately different inside, and a mover 34 including a coil concentrically arranged outside the shaft 33, and is configured as a cylindrical linear motor.

[0021] The X-axis moving device 40 moves the head 20 in the X-axis direction (front and back). As shown in FIG. 2, it includes a pair of upper and lower X-axis guide rails 41, an X-axis slider 42, and an X-axis linear motor 45. The pair of upper and lower X-axis guide rails 41 are fixed to the Y-axis slider 32 so as to extend left and right (X-axis direction) at a predetermined interval in the up and down (Z-axis direction). In the present embodiment, one of the pair of X-axis guide rails 41 is fixed to the upper frame 32a of the Y-axis slider 32, and the other of the pair of X-axis guide rails 41 is fixed to the bottom frame 32b of the Y-axis slider 32. The X-axis slider 42 is supported by the pair of X-axis guide rails 41 and moves left and right (X-axis direction) along the pair of X-axis guide rails 41. The head 20 is detachably attached to the X-axis slider 42. Therefore, the head 20 moves left and right together with the movement of the X-axis slider 42.

[0022] The X-axis linear motor 45 is configured as a T-shaped linear motor including a pair of upper and lower plate-shaped stators 50 (upper stator 50a, lower stator 50b) fixed to the Y-axis slider 32 so as to extend left and right (X-axis) at a predetermined interval in the up and down direction, and a mover 44 fixed to the X-axis slider 42 so as to be positioned between the upper stator 50a and the lower stator 50b.

[0023] As shown in FIG. 2, the upper stator 50a and the lower stator 50b are cantilever-supported in a horizontal posture on the back frame 32d of the Y-axis slider 32, and one end (one end face) in the orthogonal direction (Y-axis direction) orthogonal to the moving direction of the mover 44 is joined to the back frame 32d. In the present embodiment, the upper stator 50a is joined to the central portion in the up and down direction of the back frame 32d, and the lower stator 50b is joined to the lower portion in the up and down direction of the back frame 32d. The upper stator 50a and the lower stator 50b are respectively positioned by pins (not shown) with respect to the back frame 32d, and as shown in FIGS. 3 and 4, bolts 54 are inserted through bolt holes 32e of the back frame 32d from the back side and joined by the bolts 54.

[0024] The upper stator 50a and the lower stator 50b each have a plurality (three) of stator members 51 divided in the direction of movement of the movable element 44. Each stator member 51 has a rectangular iron plate 52 and a plurality of permanent magnets 53 arranged on the surface of the plate 52 along the direction of movement of the movable element 44 such that the polarities of the north and south poles alternate. The permanent magnets 53 of the upper stator 50a are mounted on the lower surface of the plate 52 so as to face the lower movable element 44, and the permanent magnets 53 of the lower stator 50b are mounted on the upper surface of the plate 52 so as to face the upper movable element 44. The movable element 44 each has a plurality of cores made of laminated electromagnetic steel sheets and a three-phase coil wound around the corresponding core. The movable element 44 moves left and right (in the X-axis direction) by applying a three-phase alternating current to each phase coil.

[0025] Furthermore, as shown in Figures 3 and 4, the upper stator 50a and the lower stator 50b are equipped with a connector 55 that connects adjacent stator members 51 (plates 52) in the direction of movement of the movable element 44. The connector 55 is joined to the other end (other end face) of the stator member 51 in the orthogonal direction (Y-axis direction) that is not joined to the back frame 32d of the Y-axis slider 32 by a screw 56 so as to straddle two adjacent stator members 51, thereby mechanically connecting the two. As a result, the divided stator members 51 (upper stator 50a, lower stator 50b) can be treated as a single rigid body, thereby suppressing deformation of the upper stator 50a (plate 52), which is cantilevered to the back frame 32d, due to the attractive force between the movable element 44 and the upper stator 50a, and deformation of the lower stator 50b (plate 52), which is cantilevered to the back frame 32d, due to the attractive force between the movable element 44 and the lower stator 50b. Furthermore, deformation due to the self-weight of the upper stator 50a and lower stator 50b (plate 52), which are cantilevered to the back frame 32d, can also be suppressed. As a result, it is possible to maintain an appropriate gap between the upper stator 50a and lower stator 50b and the movable element 44.

[0026] The control device 60 is configured as a microprocessor centered around a CPU, and in addition to the CPU, it includes ROM, RAM, and input / output ports. As shown in Figure 5, the control device 60 receives image signals from the parts camera 17 and position signals from a position sensor (not shown) of the head 20 via input ports. The control device 60 also outputs drive signals to the feeder 15, substrate transport device 16, parts camera 17, head 20 (nozzle lifting device), Y-axis moving device 30, X-axis moving device 40, etc., via output ports.

[0027] The CPU of the control device 60 executes the mounting process for mounting components onto the substrate. Specifically, the CPU moves the head 20 above the component supply position of the feeder 15 using the X-axis moving device 40 and the Y-axis moving device 30. Next, the CPU lowers the suction nozzle using the nozzle lifting device to pick up the component with the suction nozzle. The CPU moves the component picked up by the suction nozzle above the part camera 17 using the X-axis moving device 40 and the Y-axis moving device 30, and images the component with the part camera 17. The CPU processes the captured image of the component to measure the amount of suction displacement of the component and corrects the mounting position of the component on the substrate. Then, the CPU moves the component picked up by the nozzle above the corrected mounting position using the X-axis moving device 40 and the Y-axis moving device 30, and lowers the suction nozzle using the nozzle lifting device to mount the component onto the substrate.

[0028] Next, the process of assembling the stator 50 (upper stator 50a, lower stator 50b) of the X-axis linear motor 45 to the Y-axis slider 32 (frame member) in the component mounting machine 10 configured in this way will be described. Figure 6 is an explanatory diagram showing an example of the stator assembly process. The stator assembly process involves temporarily fixing the multiple stator members 51 that make up the upper stator 50a and lower stator 50b to the back frame 32d (step S100). Temporary fixing is performed by inserting bolts 54 through bolt holes 32e from the back side of the back frame 32d and partially tightening them while each stator member 51 is in contact with the mounting surface of the back frame 32d. The bolt holes 32e are formed in the shape of elongated holes that are long vertically, and each plate 52 can move slightly vertically while temporarily fixed to the back frame 32d. Next, spacers for gap adjustment are attached to the top and bottom of the movable element 44, and the movable element 44 is inserted together with the spacers between the upper stator 50a and the lower stator 50b (step S110). This adjusts the gap between the movable element 44 and the upper stator 50a and the gap between the movable element 44 and the lower stator 50b to the appropriate state. Subsequently, connectors 55 are attached to adjacent stator members 51 among the multiple stator members 51 that are temporarily fixed to the back frame 32d (step S120). Then, the multiple stator members 51 are fixed to the back frame 32d by tightening the bolts 54 (step S130), the movable element 44 and spacers are removed (step S140), and the assembly is completed.

[0029] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure as described in the claims will be explained. Specifically, the movable element 44 of this embodiment corresponds to the movable element of the present disclosure, the stator member 51 including the plate 52 and the permanent magnet 53 corresponds to the stator member, and the connector 55 corresponds to the connecting member. Also, the screw 56 corresponds to the screw.

[0030] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0031] For example, in the embodiment described above, the stator 50 comprises an upper stator 50a and a lower stator 50b arranged vertically to sandwich the movable element 44. However, the two stators that sandwich the movable element 44 may be arranged horizontally or diagonally.

[0032] Furthermore, although the stator 50 in the above-described embodiment was configured as the stator of a T-type linear motor, it is not limited to this, and may be configured as a stator of other types of linear motors, such as the stator of an F-type linear motor, as long as it has a structure that is cantilevered to a support member.

[0033] As described above, in the linear motor stator of this disclosure, adjacent stator members of multiple stator members, each divided in the direction of movement of the movable element and having one end in a direction perpendicular to the direction of movement cantilevered to a support member, are connected by connecting members. This improves the ease of assembling the stator members to the support member compared to attaching a single long stator member to the support member. Furthermore, since adjacent stator members are connected, the divided multiple stator members can be considered as a single rigid body, thereby suppressing deformation of the stator due to the attractive force between the movable element and the stator. As a result, the gap between the stator and the movable element can be maintained appropriately.

[0034] In the linear motor stator of this disclosure, the connecting member may be attached to the other end of the plurality of stator members in the orthogonal direction. This makes it easier to attach the connecting member.

[0035] Furthermore, in the linear motor stator of this disclosure, the connecting member may be joined to the stator member by a screw. This makes it easier to attach the connecting member.

[0036] Alternatively, the movable element may be positioned on either side of it so as to form a T-shaped linear motor together with the movable element. In this case, the movable element may be positioned above or below it.

[0037] Furthermore, this disclosure may also be in the form of a method for assembling a linear motor stator, or in the form of a component mounting machine or a circuit board manufacturing method. [Industrial applicability]

[0038] This disclosure can be used in industries such as the manufacturing of component mounting machines and linear motors. [Explanation of Symbols]

[0039] 10 Component mounting machine, 11 Housing, 12 Upper frame, 12a Opening, 13 Beam member, 15 Feeder, 16 Board transport device, 17 Parts camera, 20 Head, 30 Y-axis moving device, 31 Y-axis guide rail, 32 Y-axis slider, 32a Upper frame, 32b Bottom frame, 32c Side frame, 32d Back frame, 32e Bolt hole, 33 Shaft, 34 Movable element, 35 Y-axis linear motor, 40 X-axis moving device, 41 X-axis guide rail, 42 X-axis slider, 44 Movable element, 45 X-axis linear motor, 50 Stator, 50a Upper stator, 50b Lower stator, 51 Stator member, 52 Plate, 53 Permanent magnet, 54 Bolt, 55 Connector, 56 Screw, 60 Control device.

Claims

1. A plurality of stator members are divided in the direction of movement of the movable element, and each stator member is fixed to the support member such that one end in an orthogonal direction perpendicular to the direction of movement is cantilevered to the support member in a horizontal position, A connecting member that connects adjacent stator members among the plurality of stator members, Equipped with, The stator member is a linear motor stator that is not divided in the orthogonal direction.

2. A linear motor stator according to claim 1, The connecting member is attached to the other end of the plurality of stator members in the orthogonal direction. Linear motor stator.

3. A linear motor stator according to claim 1 or 2, The connecting member is joined to the stator member by a screw. Linear motor stator.

4. A linear motor stator according to any one of claims 1 to 3, Arranged on either side of the movable element, so as to form a T-shaped linear motor together with the movable element, Linear motor stator.

5. A linear motor stator according to claim 4, The movable element is positioned above and below it, Linear motor stator.

6. A method for assembling a linear motor stator, The plurality of stator members are attached to the support member such that each of the plurality of stator members is divided in the direction of movement of the movable element but not divided in the direction perpendicular to the direction of movement, and one end of each stator member in the direction perpendicular to the direction perpendicular is cantilevered to the support member in a horizontal position. Connecting members are attached to adjacent stator members among the plurality of stator members to connect them to each other. Method for assembling a linear motor stator.

7. A head capable of extracting parts, A linear motor that moves the head by the movement of the movable element, comprising: a movable element; a plurality of stator members, each divided in the direction of movement of the movable element and fixed to a support member such that one end of each in a direction perpendicular to the direction of movement is cantilevered to the support member in a horizontal position; and a stator including connecting members that connect adjacent stator members to each other, wherein the movement of the movable element moves the head, Equipped with, The stator member is not divided in the orthogonal direction, and is a component mounting machine.

8. A head capable of extracting parts, A linear motor that moves the head by moving the movable element, comprising: a movable element; a plurality of stator members that are divided in the direction of movement of the movable element and fixed to a support member such that one end of each stator member in an orthogonal direction perpendicular to the direction of movement is cantilevered to the support member in a horizontal position; and a stator that includes connecting members that connect adjacent stator members to each other, wherein the stator members are not divided in the orthogonal direction; and A method for manufacturing a circuit board with components mounted on it, using a component mounting machine equipped with the following: The linear motor drives the head to the component supply position, and the component at the component supply position is picked up by the head. The linear motor drives the head to the mounting position on the substrate, and the components picked up by the head are mounted to the mounting position. Substrate manufacturing method.

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