CN102186331A - Direct-drive patching system capable of reducing moving mass and method for realizing same - Google Patents
Direct-drive patching system capable of reducing moving mass and method for realizing same Download PDFInfo
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- CN102186331A CN102186331A CN2011101173517A CN201110117351A CN102186331A CN 102186331 A CN102186331 A CN 102186331A CN 2011101173517 A CN2011101173517 A CN 2011101173517A CN 201110117351 A CN201110117351 A CN 201110117351A CN 102186331 A CN102186331 A CN 102186331A
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Abstract
The invention relates to a direct-drive patching system capable of reducing moving mass and a method for realizing the same. The direct-drive patching system comprises a brushless rotating motor (20), a brushless linear motor (22), a patch probe (24), a vacuum device (26), a rotor (28) and a stator (30). The brushless linear motor (22) and the brushless rotating motor (20) provide a liner motion and a rotation motion respectively; the brushless linear motor (22), the brushless rotating motor (20) and the patch probe (24) are combined together; the probe (24) moves from the stator (30) along the vertical axis line; and the rotor (28) rotates the patch probe (24) on the axis. When the rotor of the rotating motor with the patch probe (24) moves partly, the perfect power is provided, thus reducing the mass when moving with the same force under high acceleration.
Description
Technical field
The present invention relates to a kind of have reduce moving mass directly drive patch system and its implementation, it is used for the paster of micro device, for example semiconducter IC encapsulation or optics.
Background technology
Patch system is used on automation application widely in the whole world.Many dissimilar patch systems, wherein major part is designed to very concrete application.The basic function of patch system gets and be placed on exactly on another position from a position.Most of common paster is used and is comprised an axle that moves both vertically (motion of Z direction), and it is by carrying as another X-axis in the XY platform or Y-axis.In application, comprise the paster of micro device, also need to increase by one here and rotatablely move on (Theta axle).The motion of Z axle need be picked up a part and be placed on another position.The motion of Theta axle needs rotating part to arrive correct direction.The accuracy of placing can be from several millimeters to several microns scope.Such paster operation also may contain other processes sometimes, and is for example bonding after placement.A paster examples of applications is to pick up a semiconductor wafer from wafer, is placed on the substrate, and bond wafer is to substrate.Another example is used for surface stick-mounting machine, and spare part is that quick paster is on PCB.So how dissimilar devices has been arranged, the objective of the invention is to have motion of Z axle and the rotation of Theta axle one patch system flexibly, and the while also comprises one and is used to inhale the complete vacuum system of putting.System also is designed to high-performance, low moving mass, compact size, high precision and the good dynamic response of placing.
U.S. Patent number 6,364,387B1 is invented by Bolotin, and it has disclosed a patch system, and its uses the cylinder of a band piston, drives pneumatic the moving up and down for placement head that provide by the electronics valve.This system is only limited to 2 control fixed positions up and down.Owing to do not have closed loop feedback, the controlled motion that it can not be very smooth or different stop positions is arranged.When paster unit need be for differing heights, it will be necessary that the mechanical adjustment of some shapes or debugging are used.When changing product device, this means downtime.In addition, the adjustment that can not the provider makes progress of paster component.Here there is not rotating shaft.
U.S. Patent number 5,422,554 by Rohde invention, and it has disclosed a paster component, and its uses a screw mandrel to connect the motion that stepping motor provides the Z axle.When stepping motor during as an open loop driver, force cell is sensed the power that applies, and feeds back to control card.Along with stepping motor, this driver will limit dynamic response and high-speed and acceleration can not be realized.This system does not provide the Theta calibration of part direction yet.
U.S. Patent number 5,953,812 by Ferrante invention, and it discloses a Z axis servomotor patch system that carries the theta axle.The Theta axle is connected to one from the driven by servomotor of rotating shaft skew by belt system.The total weight of theta axle must move and up and down along with nozzle head.This limited image drift kinoplaszm amount comprise whole rotary actuators and additional machinery system dynamically.What the theta axle was arranged is not directly to drive, and has backlash here, can cause relatively poor precision.Head is also had a vacuum space and defined vacuum chamber between jet pipe and sleeve pipe.The metering that this needs the Precision Machining of part to provide tight tolerance to become reconciled, therefore the price of making will can not be worth not high.
U.S. Patent number 5,315,189 and 5,446,323 by Neff invention, and it discloses driver and comprises translation and Spin Control.System uses a linear voice coil motor that linear force is provided.Voice coil motor is based on monophase machine, and it has a winding, and port has 2 electric wires.In coil is placed in a magnetic field that is produced by permanent magnet, when electric current passes through coil, produce a power.By the transformation of the sense of current, produce an opposite power.Position feedback is provided by LVDT or linear optical encoders.Pass through linkage or belt/pulley mechanism by electric rotating machine, gear train, perhaps stator is installed near the connection of handle/bar, and turning moment is provided.Linkage is given to rotatablely move and has been introduced extra inertia and frictional force, and has also reduced precision (owing to using gear and the intrinsic backlash of pulley).In addition, in all configurations, whole motor weight and machinery weight must be always about.The probe of actuator also moves up and down.This has limited the dynamic property of system.
U.S. Patent number 5,789,830 by Portegies invention, and it has disclosed series connection rotary driving machine device, and it provides translation and rotatablely moves.System also uses linear voice coil motor that linear force is provided.Replace being installed in the motor of some distances of actuator probe skew and have linkage to pop one's head in from the motor shaft to the actuator and transmit turning moment, electric rotating machine is installed in the coaxial alignment actuator probe.The uneven side force of this minimum on the actuator probe, this will cause its swing.Yet with this design, connector need connect motor shaft and pops one's head in to actuator flexibly.Connector need be regulated misalignment in 2 axles flexibly.Such connector reduces the rigidity of system, therefore reduces dynamic property.The application that this will be significantly needs at very high angular acceleration just as relating to very small-angle movement but in the very short time, and comprises when the motion end tolerance in a tight position or error margins.Any flexibility or low rigidity can cause that vibrations and axle will need finish the long time to settle out in motion rotating shaft.In the design, whole motor weight is being carried by linear axes, moves up and down actuator probe picking up work piece always.Mobile piston, the quality of electric rotating machine and movement be than the quality of the workpiece that picks up come big.Yet motor and actuator probe are mounted in coaxial, and in order to offer the vacuum actor probe, a solution cavity need be provided.This solution cavity is disclosed at the U.S. Patent number 5,685,214 by the Neff distribution.One has the cylindrical sleeve of diversification port shaping and need make vacuum be connected to vacuum source from vacuum ports in hollow drill by the gas-tight seal that O-ring seal is shaped mobile.Seal has been introduced friction of motion, and this may be because the crackle of wearing and tearing and seal along with the time changes, influences the control performance of system.Along with wearing and tearing, seal can go bad in the course of time and need be replaced, and especially is designed to for very high utilization rate when such patch system, usually thousands of circulations every day or crossed millions of times circulation in several years.
Summary of the invention
The objective of the invention is to be to improve a kind of have reduce moving mass directly drive patch system and its implementation, it has axially and the improvement twin coil motor of radial magnet combined type, and this twin coil motor has adopted the design of twin coil and produced very high magnetic field force with the permanent magnet of axial magnetized and one or more interaction that is arranged in the permanent magnet of the diametrical magnetization that an annulus uses.
Directly driving patch system provides Z by motion and Theta rotation, and simultaneously comprise that in order to inhale the part of knocking off an all-in-one-piece use three-phase does not have the iron core brushless linear motor and provides the vacuum system of linear force and one to provide coil of stator of motor to be fixed on the shell, rotor is built in the electric rotating machine that rotatablely moves on the actuator axle.
Therefore the present invention has higher performance, low moving mass, compact size, high position precision and good dynamic response.
Of the present invention have reduce moving mass directly drive patch system, comprising:
One brushless rotary motor;
One brushless linear motor;
One paster probe;
One vacuum plant;
One rotor; And
One stator;
Brushless linear motor and brushless rotary motor provide a rectilinear motion and one to rotatablely move respectively, brushless linear motor, brushless rotary motor and paster probe incorporated are together, probe moves from stator along vertical axis, and rotor is rotation paster probe on its axle.
Preferably, on rotor, be provided with arc-shaped magnet, arc-shaped magnet according to the relational expression of maximum linear stroke be:
Maximum linear stroke=Rm-Rc;
Rm is the length of camber magnet;
Rc is the length of stator.
Preferably, linear motor coil length and track length also must satisfy following relation:
Lm-Lc＞Rm-Rc (maximum linear stroke);
Lm is the length of linear electric motors track;
Lc is the length of linear motor coil.
Preferably, brushless linear motor and brushless rotary motor use the analog quantity Hall element, it is assemblied in brushless linear motor and the brushless rotary motor, the sinusoidal magnetic flux density signal of intrinsic generation for position feedback monitors the polarity of magnet change, therefore the needs of external feedback device have been rejected, for example linear encoder or rotary encoder.
Preferably, the paster probe comprises a hollow shaft, picks up and place object by a vacuum plant and vacuum cup.
Preferably, vacuum plant is by near the vacuum supply of hollow shaft one end, and the other end of hollow shaft is formed by being used for the through hole of paster object.
Preferably, when through hole inspiration vacuum in hollow shaft, vacuum plant is exercisable,
Described vacuum cup on object, when the vacuum supply is dispersed by through hole, described sucker discharges the object of catching.
Preferably, brushless linear motor, brushless rotary motor and stator are enclosed in the shell.
Preferably, stator comprises coil, and the casing of coil back iron and stator is fixed on the shell.
Preferably, brushless linear motor, brushless rotary motor, paster probe and rotor is connected with motion controller respectively and controlled by motion controller, this motion controller is controlled mobile patch system and is picked up object and place this object.
Preferably, the paster of the object of patch system is to be controlled by the further operation of motion controller and programming software.
The present invention also discloses simultaneously and has had the implementation method of directly driving patch system that reduces moving mass, comprises the steps:
The paster probe moves to first and picks up object space;
Sucker is placed on the object;
Through hole inspiration vacuum in the hollow shaft, sucker picks up object;
The paster probe is being with movement of objects to the second place;
Vacuum dissipates by through hole;
Sucker leaves picked object in the second place, and
The probe of patch system moves and is back to first and picks up object space and repeat to pick and place object.
The beneficial effect that the present invention has: the present invention uses less moving-member and a better rigid system is arranged, therefore can give better dynamic property, also reduce greatly or eliminated in the vibration of resting position, especially when carrying out high acceleration and deceleration and move.
This also has lower fault occurrence frequency, saved relevant downtime cost.Still less part uses and in the moving mass that alleviates, the moving-member of smaller amounts and seal.Generally speaking, this variation has reduced annual maintenance cost.
Description of drawings
Fig. 1 is a sectional view that directly drives patch system of the present invention;
Fig. 2 is another sectional view that directly drives patch system of the present invention;
Fig. 3 is the another sectional view that directly drives patch system of the present invention.
Fig. 4 is the schematic diagram that directly drives patch system of the present invention.
[figure number is to as directed]
1 casing, 2 moving coils
3 track 4a Hall elements
6 guide rails, 7 hollow shafts
11 linear motor coils, 12 iron
13a pilot bearing 13b pilot bearing
14 vacuum cups, 15 annular magnets
20 brushless rotary motors, 22 brushless linear motors
24 probes, 26 vacuum plants
28 rotors, 30 stators
Embodiment
Further understand and understanding for making architectural feature of the present invention and the effect reached had, cooperate detailed explanation, be described as follows in order to preferred embodiment and accompanying drawing:
Fig. 1 is a sectional view that directly drives patch system of the present invention, and this sectional view shows the position of linear electric motors, mobile bracing frame and uppermost position the axle.Fig. 2 is another sectional view that directly drives patch system of the present invention, and this sectional view shows the position of linear electric motors, mobile bracing frame and bottom position the axle.
Casing 1 is the basis that forms patch system of the present invention, other all assemblies all be installed in it above.By using the single entity aluminium flake as the basis, its rigidity, linearity and flatness have had raising greatly.
The no iron core brushless linear motor that has moving coil 2 and track 3 is used to provide linear force.Though these no iron core linear electric motors have very short coil, but has very strong power, caused high thrust/size density ratio, similarly be described at the patent of invention P-No.125972 of Singapore, it has been described unique coiling technology and has made Hall element, and (4a 4b) is placed in the coil assembling of 2 li of moving coils.In the preferred embodiment of the present invention, (4a 4b) is assemblied in the moving coil 2 Hall element of simulation.
The polarity (south-North-south-north or the like) of the magnet of change on static track 3 obtains a sine and cosine magnetic flux density signal (sinusoidal pattern), this can be read by the analog quantity Hall element, and for position feedback is used on many coml motion controllers, such as the CEL5/60I controller of Elmo.Controller can be read these signals and revise their amount brought forward word pulses.Can reach 1 micron last linear position resolution.
Linear electric motors 11 are used for driving mobile bracing frame 5, the linear bearing of its guiding on guide rail 6.By (8a 8b) connects hollow shaft 7 to mobile bracing frame 5, and hollow shaft 7 meetings and mobile bracing frame 5 are done straight line together up and down and moved by the bearing shell.Hollow shaft 7 allows vacuum cup 14 to be fixed on the bottom, and vacuum is from the top supply of hollow shaft 7, therefore as actuator paster probe 24.The hollow shaft 7 that has the annular magnet 15 that is connected to hollow shaft 7 is also as the rotor 28 of brushless rotary motor 20, and stator 30 is built the bottom in.Stator 30 is fixed and can not moves up and down together with rotor 28.Fig. 1 shows the position of linear motor coil 11, mobile bracing frame 5 and at the hollow shaft 7 of extreme higher position, and Fig. 2 shows the position of linear motor coil 11, mobile bracing frame 5 and at the hollow shaft 7 of extreme lower position.Fig. 3 has shown the sectional view that directly drives patch system of the present invention, has clearly disclosed the coil back iron 12 of coil 11 and brushless rotary motor stator 30.By the relevant phase place of controller reset coil 11, hollow shaft 7 can rotate accordingly, pilot bearing (13a, 13b) be separately fixed at the bearing shell (8a, 8b) on.(4a 4b) also is installed in 30 li of stators to the analog quantity Hall element, is used for finding to be changed by magnet 15 signal of polarity sine and cosine.With this signal, inserting in the electronic device, the resolution of rotation can arrive 0.02 degree.By translation and revolving hollow spindle 7, can realize comprising the paster operation of vertical direction and location accurately.
With reference to figure 3, the length of annular magnet 15 is longer than stator 30, can realize rotating the work that brushless electric machine 20 can run through the whole range of linearity of system fully (from the highest position to minimum position).In fact, the length of magnet 15 is determined by required range of patch system and following relation:
Maximum linear stroke=Rm-Rc;
Rm is the length of camber magnet (15);
Rc is the length of the coil 11 of stator 30;
In addition, the length of the length of linear motor coil 11 and track 3 also must satisfy relation:
Lm-Lc＞Rm-Rc (maximum linear stroke);
Lm is the length of linear electric motors track 3;
Lc is the length of linear motor coil 11;
The real work length of the coil 11 of brushless rotary motor 20 will be actually Rec rather than Rc, and Rec is the real work length of coil 11.This is the part of coil 11, and when coil 11 is switched on, its can generate a moment on hollow shaft 7.Therefore, camber magnet 15 needn't exceed the length Rec of coil 11 in theory.Yet as can be seen, the end portion Rec of coil 11 outsides will be because of in vertical direction little linear force, even the iron 12 of coil back does not extend to the end portion of their coils.These little linear forces can disturb the linear force that is produced by linear motor coil 11.The length Rc that extends to coil 11 by annular magnet 15 covers coil 11 fully, can remove any linear force that brings from brushless rotary motor 20 fully.
Unlike traditional pulley, gear or spring coupling are used for the design of conveying capacity and the moment from the actuator to the moving load, and patch system of the present invention uses directly and drives, and does not have any mechanical driving device.This is not only the design by the simplification of using a spot of part, and is more strict system, so the present invention can provide better dynamic property.Also reduce greatly or eliminated in the vibration of resting position, especially when carrying out high acceleration and deceleration and move.
Fig. 4 is the schematic diagram that directly drives patch system of the present invention.The movable part that usage quantity of the present invention is less and because use and directly to drive, patch system of the present invention is not easy frequently to break down and less maintenance cost is also arranged.
By Portegies invention, whole shaft rotating motor moves up and down unlike U.S. Patent number 5789830, and the realization of patch system of the present invention is rotor 28 parts of only mobile electric rotating machine.Comprise coil 11, the iron 12 of coil 11 back and stator 30 casings are fixed.Can find that 20 li of the brushless rotary motors of uniqueness, stator 30 is made up of the 65-80% of whole motor gross mass, and remaining formation rotor 28.This is because steel, and coil back iron 12 and high comparatively speaking density is arranged at the copper of 11 li of coils constitutes the stator 30 of motor.The density of copper is 8.9g/cm
3, the density of steel is 7.8g/cm
3By fixing stator 30, only movable rotor 28, can realize a lighter moving mass like this.This has improved the power of system and can obtain higher acceleration with the power of same quantity.
The design of brushless linear motor 22 and brushless rotary motor 20 is all-in-one-pieces, use analog quantity Hall element (4a, 4b) monitor the sinusoidal magnetic flux density signal of the intrinsic generation of polarity that replaces by magnet 15 for the position feedback on the rotor 28 that obtains linear electric motors 22 and electric rotating machine 20.This has eliminated the needs of expensive linear optical encoders, and glass scale is carved by candle usually, is used to produce similar sinusoidal signal.(4a also is to be better than rotary encoder 4b), is not very compact as the available rotary encoder of commerce, and/or can not allow hollow shaft 7 by them by the analog quantity Hall element for rotation feedback.
In order to move both vertically, replace the straight line coil motor to produce linear force by using brushless linear motor 22, it allows stroke to extend, only by increasing the length of linear electric motors track 3.In coil motor, when stroke need increase, in order to keep similar power, the size of motor must increase in whole 3 directions, meets the stroke of increase.22 li of brushless linear motors, when meeting the power that can produce of same quantity in the same time, when the ratio of stroke needs, only be that the length of track 3 needs to increase.This allows design flexible and stroke can prolong fully.
In other preferred embodiment, paster probe 24 is any hollow shaft 7 that has vacuum plant basically.Since patch system has reduced moving mass, it is used for the paster of micromodule equipment, and such as semiconducter IC encapsulation or Optical devices, other similarly and similarly extend, and hollow devices can be by for example hollow circuit cylinder except hollow shaft 7, and hollow stem or hollow stick replace.
In sum, it only is preferred embodiment of the present invention, be not to be used for limiting scope of the invention process, all equalizations of doing according to the described shape of claim scope of the present invention, structure, feature and spirit change and modify, and all should be included in the claim scope of the present invention.
Claims (10)
- One kind have reduce moving mass directly drive patch system, it is characterized in that this directly drives patch system and comprises:One brushless rotary motor (20);One brushless linear motor (22);One paster probe (24);One vacuum plant (26);One rotor (28); AndOne stator (30);Brushless linear motor (22) and brushless rotary motor (20) provide a rectilinear motion and one to rotatablely move respectively, brushless linear motor (22), brushless rotary motor (20) and paster probe (24) combine, probe (24) along vertical axis from stator (30) move, rotor (28) is rotation paster probe (24) on its axle.
- 2. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that, rotor (28) is provided with camber magnet (15), the relational expression of the maximum linear stroke of camber magnet (15) is: maximum linear stroke=Rm-Rc, wherein Rm is the length of camber magnet (15), and Rc is the length of stator (30).
- 3. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that the relational expression of linear motor coil length and track length is:Lm-Lc＞Rm-Rc, wherein Lm is the length of linear electric motors track (3), Lc is the length of linear motor coil (11).
- 4. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that, brushless linear motor (22) and brushless rotary motor (20) adopt analog quantity Hall element (4a, 4b), (4a is to be assemblied in the polarity of monitoring magnet (15) change in brushless linear motor (22) and the brushless rotary motor (20) and to produce sinusoidal magnetic flux density signal and obtain position feedback 4b) to this analog quantity Hall element.
- 5. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that paster probe (24) comprises a hollow shaft (7), picks up and place object by a vacuum plant (26) and vacuum cup (14).
- 6. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that, described vacuum plant (26) is connected with hollow shaft (7) and by the supply vacuum near an end of hollow shaft (7), and the other end of hollow shaft (7) is formed by being used for the through hole of paster object.
- 7. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that brushless linear motor (22), brushless rotary motor (20) and stator (30) are to enclose to shell.
- 8. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that stator (30) comprises coil (11), the iron (12) at coil (11) back side and the casing of stator (30) are fixed on the shell.
- 9. according to claim 1 have reduce moving mass directly drive patch system, it is characterized in that, brushless linear motor (22), brushless rotary motor (20), paster probe (28) and rotor (28) is connected with motion controller respectively and controlled by motion controller, this motion controller is controlled mobile patch system and is picked up object and place this object.
- 10. one kind based on each described implementation method of directly driving patch system that reduces moving mass that has of claim 1-9, it is characterized in that, comprises the steps:Paster probe (24) moves to first and picks up object space;Sucker (14) is placed on the object;From the through hole inspiration vacuum of hollow shaft (7) lining, sucker (14) picks up object;Paster probe (24) is being with movement of objects to the second place;Vacuum dissipates by through hole;Sucker (14) leaves picked object in the second place, andThe probe of patch system (24) moves and is back to first and picks up object space and repeat to pick and place object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101173517A CN102186331A (en) | 2011-05-05 | 2011-05-05 | Direct-drive patching system capable of reducing moving mass and method for realizing same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101173517A CN102186331A (en) | 2011-05-05 | 2011-05-05 | Direct-drive patching system capable of reducing moving mass and method for realizing same |
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| CN102186331A true CN102186331A (en) | 2011-09-14 |
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| CN2011101173517A Pending CN102186331A (en) | 2011-05-05 | 2011-05-05 | Direct-drive patching system capable of reducing moving mass and method for realizing same |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103079358A (en) * | 2012-12-31 | 2013-05-01 | 北京中科同志科技有限公司 | Mounter head |
| CN104427852A (en) * | 2013-09-06 | 2015-03-18 | 三星泰科威株式会社 | Assembly support head of surface placement equipment |
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| CN1533239A (en) * | 2003-03-26 | 2004-09-29 | 广州市羊城科技实业有限公司 | Integrated adhesive head of sheet adhesive machine |
| CN201230443Y (en) * | 2008-07-08 | 2009-04-29 | 华映视讯（吴江）有限公司 | Taking and putting mechanism for printed circuit board |
| CN202085440U (en) * | 2011-05-05 | 2011-12-21 | 雅科贝思精密机电(上海)有限公司 | Direct drive paster system with reduced moving mass |
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| US5953812A (en) * | 1997-07-03 | 1999-09-21 | Schlumberger Technologies, Inc. | Misinsert sensing in pick and place tooling |
| CN1273502A (en) * | 1999-05-10 | 2000-11-15 | 未来产业株式会社 | Semiconductor device |
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| CN1533239A (en) * | 2003-03-26 | 2004-09-29 | 广州市羊城科技实业有限公司 | Integrated adhesive head of sheet adhesive machine |
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| CN103079358A (en) * | 2012-12-31 | 2013-05-01 | 北京中科同志科技有限公司 | Mounter head |
| CN104427852A (en) * | 2013-09-06 | 2015-03-18 | 三星泰科威株式会社 | Assembly support head of surface placement equipment |
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Application publication date: 20110914 |