WO2008055861A1

WO2008055861A1 - Placement head for placing electrical components on a substrate, comprising a reciprocating rotary motor

Info

Publication number: WO2008055861A1
Application number: PCT/EP2007/061861
Authority: WO
Inventors: Stefan Burger
Original assignee: Siemens Aktiengesellschaft
Priority date: 2006-11-07
Filing date: 2007-11-05
Publication date: 2008-05-15
Also published as: DE102006052455A1; DE102006052455B4

Abstract

The invention relates to a placement head for placing electrical components on a substrate, comprising a housing, a holding device for holding the components, and a reciprocating rotary motor. The holding device can be displaced relative to the housing by a travel path Δz in the direction of displacement and is received so as to be rotatable about a rotational axis that is parallel to the direction of displacement. The reciprocating rotary motor comprises a primary part having at least one multi-phase coil package in the shape of a cylindrical hollow body, a secondary part having a permanent magnet at least some sections of which are arranged inside the cylindrical hollow body of the at least one coil package, which is rotatable about a rotational axis in relation to the primary part and which is received in a direction of displacement so as to be displaced by a travel path Δz and which is magnetized at a right angle to the rotational axis. The reciprocating rotary motor has a control device, coupled to the primary part, by which the current flowing through the coil package can be controlled in terms of its amplitude and phase orientation in such a manner that the magnetic field of the primary part generated by the current interacts with the magnetic field of the permanent magnet and effects both a displacement and a rotation of the secondary part in relation to the primary part.

Description

description

Placement head for equipping substrates with electrical components with a rotary hub motor

The invention relates to a placement head for equipping substrates with electrical components with a rotary hub motor

In the art there are numerous examples in which components have to be handled, for example in the placement technique. In placement technology, substrates are equipped with electrical components. The placement process is carried out by a placement head, which can be moved by means of a two-dimensional positioning system over the substrate to be loaded. The placement head in this case has one or more holding devices, which are movable in a direction perpendicular to the substrate surface between a rest position and a working position. For carrying out a work process, ie for picking up or settling the components, the holding device is moved into the working position by means of a suitable electric drive. In addition, the holding devices must be able to be rotated in order to be able to carry out a position correction of the picked-up components. In this case, separate drives for the rotational movement and the lifting movement are often used for the movements of the holding devices. If a plurality of holding devices are provided, a common drive is also used in part for all holding devices, which however requires coupling devices or intermediate gear. However, both options are technically complex and therefore expensive to implement. In addition, an increase in mechanics usually means more weight, which has a negative effect on the acceleration behavior of the placement machine. Therefore, it is endeavored in new developments to keep the assemblies as lightweight and compact. From the patent US2002 / 0178578A1 a holding device with a suction pipette for use on a placement is known, which is used for sucking and holding electrical components and for subsequent loading of a substrate, such as a printed circuit board in a placement. Before the placement process, the position of the component held on the pipette is measured and then a position correction is performed. Therefore, in addition to the suction pipette, the holding device has a rotary drive for rotating the pipette and the held component and a separate z-drive arranged above the rotary drive for lifting and lowering the pipette in the axial direction. However, this consists of two individual drives linear rotary drive requires due to its structural design and the arrangement of the individual drive components a comparatively large amount of space, which is problematic when used in the placement technique, especially when using matrix or turret placement heads.

It is therefore an object of the present invention to develop a placement, which is characterized by its compact design for use in a placement.

This object is achieved by the placement head according to claim 1. Advantageous embodiments are the subject of the dependent claims.

The placement head for equipping substrates with electrical components according to claim 1 comprises a housing, a holding device for holding the components, as well as a rotary lifting motor. The holding device is displaceable relative to the housing in a displacement direction by a stroke distance .DELTA.z and rotatably supported about a rotation axis parallel to the displacement direction. The rotary hub motor comprises a primary section with mini- at least one multi-phase coil package in the form of a cylindrical hollow body, a secondary part with a permanent magnet, which is at least partially disposed within the cylindrical hollow body of the at least one coil package, relative to the primary part rotatable about a rotation axis and slidably mounted in a displacement direction by a stroke distance .DELTA.z and is magnetized transverse to the axis of rotation. Furthermore, the rotary-stroke motor has a control device coupled to the primary part, by means of which the current through the coil package in amplitude and phase direction is controllable such that caused by the current magnetic field of the primary part interacts with the magnetic field of the permanent magnet and both a shift and causes a rotation of the secondary part relative to the primary part.

By means of this structural design, it is possible to produce the drive very easily and inexpensively or to assemble. Since only one common drive is required for the rotational movement as well as for the lifting movement, the complexity of the overall system as well as the weight of the drive module can be significantly reduced. Is the weight in the foreground when using such a rotary hub motor, for example, in cases where the rotary hub motor module itself is moved to reduce the accelerated mass, the control device can also outside the rotary stroke Motor module are placed. Furthermore, by this drive concept, the rotary hub motor module can be kept very compact, which facilitates the use in a limited working environment, for example in a matrix or turret placement head, or even made possible.

In one embodiment of the placement head according to claim 2, the rotary hub motor on at least one multi-phase coil package in the form of a cylindrical hollow body, wherein the permanent magnet is at least partially disposed within the cylindrical hollow body. The permanent Magnet of the secondary part is at least partially enclosed by the coil package of the primary part. It is advantageous if the winding of each such package coil has both Windungsanteile in the longitudinal direction (parallel to the axis of rotation) and orthogonal thereto in the circumferential direction in order to realize both the rotational movement and the lifting movement can. By means of this structural design, it is possible to produce the drive very easily and inexpensively or to assemble.

In one embodiment of the placement head according to claim 3, the coil package on an inclined winding whose turns are oblique to the generatrices of the cylindrical hollow body.

As generatrices while the lines are referred to, on the mantle of a rotating body, z. B. a cylinder, parallel to its axis of rotation. The oblique winding has both turns portions in the longitudinal direction (parallel to the axis of rotation) and perpendicular thereto in the circumferential direction and is designed such that the slope dz / du over the individual Windungsgänge along the circumference U of the cylindrical hollow body. On the one hand, this winding geometry permits a very compact design, on the other hand, due to the oblique course of the turns relative to the axis of rotation, a high axial force between primary part and secondary part in the direction of the axis of rotation can be achieved.

In a further embodiment of the placement head according to claim 4, the coil package on a winding with diamond-shaped turns on.

For this purpose, the cylindrical hollow body forming conductor is loosely wound winding next to winding approximately wound around a conductor diameter, bent into a cylinder and connected to form a unit. This type of winding is also known as diamond winding or diamond winding. Also This winding geometry allows due to the oblique course of the turns relative to the axis of rotation a high axial force with a comparatively compact design.

According to one embodiment of the placement head according to claim 5, the displacement of the secondary part relative to the primary part over the stroke Δz in its two end positions by stops limited such that the permanent magnet in a shift between the two end positions in each position at least one of the coil packages only partially overlaps.

If the permanent magnet over its entire length at the same time completely overlap with all coils, the axial forces would cancel completely, so that no

Force in the axial direction could be generated more. To ensure this, limit stops the stroke of the permanent magnet.

According to one embodiment, the placement head has a return device, which has at least two sections (A, B) with different magnetic resistance or magnetic flux in the displacement direction and cooperates with the permanent magnet in such a way that forms a magnetic conclusion. In this case, the return means is designed such that the permanent magnet during displacement over the stroke Δz with at least two sections (A, B) of the return device overlaps simultaneously.

Due to the overlap of the permanent magnet with the sections acts on the permanent magnet, a defined force, which is directed parallel to the axis of rotation and urges him in a preferred position along the stroke. The permanent magnet is always endeavoring, along the stroke, to assume a preferred position relative to the return element, in which the magnetic resistance is minimal or the magnetic field see river is maximum. If the permanent magnet is forcibly moved away from this position, it moves automatically in the free state back into this preferred position. Depending on the design of the return device, a defined force acts on the permanent magnets, which forces it into the preferred position. This force is transferable to a coupled with the rotary hub motor body. The force generation is non-contact, wear-free, long-term stable and hysteresis-free. An auxiliary energy, such as that required for pneumatic cylinders, is not required. By appropriate design of the sections arbitrary force characteristics can be displayed.

In one embodiment of the placement head according to claim 7, the sections (A, B) have materials with different magnetic resistance.

For example, one of the sections may have stainless steel and the other section may have soft iron. In this case, stainless steel has a significantly greater magnetic resistance or a lower magnetic flux than soft iron, so that the permanent magnet would always move in the free state in the direction of the section made of soft iron.

In a further embodiment of the placement head according to claim 8, the rotary hub motor has portions which are spaced at different distances from the permanent magnet.

Due to the different distances between the sections of the permanent magnet, the air gaps between the permanent magnet and the sections of the feedback device have different widths, so that the different magnetic resistances already result. In addition, in this embodiment, the sections may be made of the same or different materials. In the embodiments of the placement head according to the claims 9 and 10, the sections may be designed such that on the permanent magnet when moving over the stroke .DELTA.z either a constant or over the stroke distance .DELTA.z variable force acts, which is directed parallel to the direction of displacement.

On the basis of these embodiments, it is clear that the force acting from the device on a body coupled to it can be individually represented, depending on the requirements of the particular application. Thus, the restoring force is clearly predictable, which significantly increases the control accuracy and the dynamic behavior in both a force and a position control. This is for example advantageous to be able to adjust the placement force of the pipette on the substrate as precisely as possible when equipping printed circuit boards with electrical components.

According to one embodiment of the placement head according to claim 11, the return device consists of two cylindrical sleeves, which are detachably connectable to each other and each having one of the sections (A, B) of the return path.

In the simplest case, the inner diameter of the first sleeve is worked with the outer diameter of the second sleeve to fit, so that the two sleeves can be inserted into each other by hand. The fixation can be done by friction, in principle, however, other fasteners, such as screws or pins, are applicable for this purpose. As a result, both the assembly of the drive module and maintenance can be significantly simplified.

In one embodiment of the placement head according to claim 12, the primary part on a plurality of coil packages, which are arranged in the sliding direction side by side. The secondary part is installed so that it can run back and forth between the coil packages. As a result, both the axial force and the maximum stroke can be increased.

In one embodiment of the placement head according to claim 13, the holding device is movable in a working position and in a rest position, wherein in the rest position held by the holding member is closer to the housing than in the working position. The sections (A, B) of the return path are arranged such that acts on the holding device when moving over the stroke a force that urges the holding device in the rest position. This has the advantage that the holding device is attracted to the housing of the placement head in the free or even in the undrugged state, so that possible collisions of the holding device or the recorded component with other located in the placement area elements are avoided in the process of the placement. The rest position is therefore occupied, in particular, when the placement head 4 is moved or when the holding device 10 does not undertake a work process such as, for example, loading or retrieving components 11.

Exemplary embodiments of the placement head will be explained in more detail below with reference to the attached figures. In the figures are:

FIG. 1 is a schematic view of a placement machine;

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2A and 2B are schematic illustrations of a placement head,

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3A and 3B are schematic representations of a first embodiment of the return device, FIGS. 4A and 4B are schematic representations of a second embodiment of the resetting device,

FIGS. 5A to 5C show schematic representations of a third embodiment of the resetting device,

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6A and 6B are schematic cross-sectional views of the return device,

Figure 7 is a schematic representation of a fourth embodiment of the return device.

FIGS. 8A and 8B show a schematic operating principle of the rotary lifting motor

Figures 9A and 9B are schematic representations of a skew winding

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10A to 10C are schematic illustrations of a rhombic winding

1 shows a placement machine 1 for loading substrates with electrical components 11 is shown schematically. To be loaded substrates 2 are transported over a transport path 3, for example, a conveyor belt to a placement space, equipped there with electrical components 11 and then transported away. The placement process is performed by a placement head 4. The placement head 4 is in a direction of transport (arrow x) of the substrates 2 parallel direction (arrow x) slidably mounted on a positioning 5. The positioning arm 5 in turn is transversely mounted transversely to the transport direction (arrow y) on a support 6, which spans the transport path 3 bridge-like Ü. The placement machine 1 further comprises a control device 7, which is coupled to the positioning arm 5 and the placement head 4 and controls the movement sequences. Laterally of the transport path 3, a feed device 8 is provided in a feed region, which provide the electrical components for the placement head 4. Before loading the placement head 4 is moved by means of the positioning arm 5 to the feeder 8, where it receives components 11, and is then moved over the substrate 2, where it deposits the components 11 on the substrate 2.

In FIGS. 2A and 2B, the placement head 4 is shown schematically. The placement head 4 comprises a housing 9 and a holding device 10 for holding the components 11, which is mounted on the housing 9 so as to be displaceable perpendicular to the substrate surface by a stroke Δz in a direction of displacement (arrow z). In this case, the holding device 10 between a rest position (shown in Figure 2A) and a working position (shown in Figure 2B) are moved back and forth. The rest position and the working position are spaced apart in the displacement direction by a stroke distance (Δz).

The placement head 4 further comprises a restoring device 12, which is coupled to the housing 9 and the holding device 10 such that the restoring device 12 exerts on the holding device 10 over the stroke a restoring force F, which is directed parallel to the direction of displacement and the holding device 10 in the Rest position (Figure 2A) urges. The exact structure of the return device 12 will be discussed later.

Furthermore, the placement head 4 has a drive 13, which may be designed as a lifting drive and the holding device 10 moved from the rest position to the working position. This drive 13 can also be designed as an integrated rotary-hub motor, which in addition to the lifting movement, the holding device 10 can also rotate about a rotation axis D. This serves to bring a held on the holding device 10 component 11 in a prescribed angular position. As is further apparent from FIGS. 2A and 2B, a component 11 held by the holding device 10 is arranged closer to the housing 9 in the rest position (FIG. 2A) than in the working position (FIG. 2B). The rest position is therefore occupied in particular when the placement head 4 is moved or when the holding device 10 performs no work such as the loading or picking up of components 11. This serves to protect the holding device 10 and the component 11.

It is possible to equip the placement head 4 both with a restoring device 12 and with a drive 13, which can be designed as a combined rotary-stroke motor or as a pure lifting drive. Both the drive 13 and the restoring device 12 can each be designed as a separate module, or integrated into a common module. However, it is also possible to operate the rotary hub motor without the return device 12 to a placement. If a rotational movement is not necessary, then the drive 13 can also be embodied as a pure lifting drive, optionally in combination with the magnetic return 12, wherein this in turn can take place in two separate modules as well as in an integrated module. These alternatives are explained in more detail in the following figures.

In FIGS. 3A and 3B, a first embodiment of the invention, in which the drive 13 and the return device 12 are formed as separate modules, is shown schematically. The return device 12 is coupled to the housing 9 and the holding device 10. Here, in FIG. 3A, the Holding device 10 shown in the rest position and in Figure 3B in the working position. The restoring device 12 comprises a permanent magnet 14, as well as a magnetic return device 15, which cooperates with the permanent magnet 14 in such a way that a magnetic return is formed. The permanent magnet 14 is relative to the return device 15 in the direction of displacement (arrow z) by the same stroke distance .DELTA.z, as the holding device 10, displaceable. The permanent magnet 14 also has a north pole (N) and a south pole (S), which are oriented transversely to the direction of displacement (arrow z). The return device 15 has in the direction of displacement at least two sections A, B with different magnetic resistance or magnetic flux. The sections A, B are formed or arranged such that the permanent magnet 14 during displacement over the stroke Δz at the same time at least two sections A, B of the return device 15 overlaps.

The permanent magnet 14 tends to move in the direction of that portion A, B having the lower magnetic resistance and the higher magnetic flux, respectively. Because the permanent magnet 14 overlaps both sections A, B over the entire stroke Δz, the restoring force F acts over the entire stroke Δz.

In the first embodiment according to FIGS. 3A and 3B, the return device 15 is firmly connected to the housing 9 and the permanent magnet 14 is fixedly connected to the holding device 10. Thus, the permanent magnet 14 moves together with the holding device 10 in the direction of displacement relative to the housing 9 and the return device 15. The permanent magnet 14 therefore represents the mobile part of the return device 12 in this embodiment. As already mentioned with respect to FIGS. 2A and 2B, the rest position relative to the working position of the holding device 10 is characterized in that the holding device 10 in the rest position protrudes less far from the housing 9 or one of the Halteein- Direction 10 held member 11 closer to the housing 9 than in the working position. Due to the physical effect described above, the sections A, B of the feedback device 15 are therefore designed and arranged such that the magnetic resistance of the section A is smaller than the magnetic resistance of the section B. The holding device 10 coupled to the permanent magnet 14 acts Therefore, the restoring force F, which urges the holding device 10 in the free state in the rest position (shown in Figure 3A). This state is also assumed when the entire placement head 4 is switched off, so that the holding device 10 is also in the current-free or unpowered state of the placement 4 in the rest position and is thus secured against damage. If a working process is to be carried out with the holding device 10, the holding device 10 must be moved by means of the drive 13 against the restoring force F into the working position (shown in FIG. 3B).

In the exemplary embodiment illustrated in FIGS. 3A and 3B, the movable permanent magnet 14 is equipped at its free ends with guide rods 16 which dive into corresponding guide channels 17 formed on the housing 9 or on a closure plate of the return device 12. In addition to the guide of the permanent magnet 14 in the direction of displacement, one of the guide rods 16 also serves as a connection means between the permanent magnet 14 and the holding device 10. The second guide rod 16 can be used to couple the drive 13 to the return device 12.

The drive 13 can be configured as a pure lifting drive or as a rotary-hub motor, as will be explained in more detail below with reference to Figure 7. In the case of a pure linear actuator, the cross-sectional shapes for the restoring device 12 are both a rectangular or non-rotationally symmetrical cross section and a circular cross section. cut possible (see Figures 6A and 6B). In the case of an external rotary lifting motor, it is preferably an integrated rotary-stroke motor as shown in FIG. However, it is also possible to use a rotary hub motor with two separate drives - a first for the lifting movement and a second for the rotary movement.

A second embodiment of the return device 12 is shown in Figures 4A and 4B. With regard to the basic structure and the effective physical effect, the second embodiment corresponds to the first embodiment shown in FIGS. 3A and 3B. However, the second embodiment differs from the first embodiment in that in this case the permanent magnet 14 is firmly connected to the housing 9 via a fastening element 27 and the retraction device 15 is firmly connected to the retaining device 10. In this case, therefore, the return device 15 moves together with the holding device 10 in the displacement direction relative to the permanent magnet 14 and the housing 9. Thus, in this embodiment, the permanent magnet

14, the stationary part and the return device 15 is the mobile part of the return device 12. The return device 15 can be connected to stabilize the movement with a housing 9 formed on the guide means 18, such as a guide rail.

In Figure 4A, the holding device is in the rest position and in Figure 4B in the working position. In contrast to the embodiment illustrated in FIGS. 3A and 3B, the restoring device 12 is designed here such that the magnetic resistance of the section B of the return device 15 is less than the magnetic resistance of the section A. As a result, the restoring force F acts on the holding device 10 the holding device 10 urges in the rest position shown in Figure 4A. This is to be explained by the fact that the feedback device 15, due to the above-explained physical effect, has a relative Manentmagneten 14 moves in the free state such that the permanent magnet 14 as far as possible in the section B with the lower magnetic resistance or the larger magnetic flux is immersed. In this embodiment, therefore, a securing of the holding device 10 in the rest position in the de-energized state of the placement head 4 is ensured.

It will be explained with reference to FIGS. 5A, 5B and 5C how the different magnetic resistances of the sections A, B of the restoring device 12 can be realized.

A first possibility is shown in FIG. 5B. There, the sections A, B are spaced from the permanent magnet 14 at different distances. Specifically, the portion A is spaced less far from the permanent magnet 14 than the portion B. Thereby, the air gap Dl between the portion A and the permanent magnet 14 is less wide than the air gap D2 between the portion B and the permanent magnet 14. On the assumption that the two sections A, B consist of material with identical magnetic resistance, the magnetic resistance due to the narrower air gap Dl in section A is smaller than the magnetic resistance in section B. Because within the sections A, B the distance to the permanent magnet is constant , the restoring force F is constant over the entire stroke length .DELTA.z, which is particularly advantageous when equipping with components of different heights.

A second possibility is shown in FIG. 5A. The distance between the sections A, B and the permanent magnet 14 is the same. However, the sections A, B are made of materials having different magnetic resistance. In the embodiment according to FIG. 5A, for example, section A made of soft iron, section B is made of stainless steel. Soft iron has a significantly lower magnetic resistance and a higher magnetic flux compared to stainless steel. Thus, the permanent magnet 14 is im- mer strives to move towards section A. Again, the restoring force F is constant over the entire stroke.

In principle, however, it is also possible to combine both possibilities, i. Sections A, B to use materials with different magnetic resistance and to arrange them at different distances from the permanent magnet 14.

A third possibility is shown in FIG. 5C. In this case, the two sections A, B may consist of the same material, however, section B has a constant distance from the permanent magnet 14, whereas in section A the distance to the permanent magnet 14 decreases linearly from above to the center of the return device 15. As a result, a high restoring force F acts on the permanent magnet in the lower position (drawn), which decreases when the permanent magnet 14 moves toward the upper end of the stroke Δz. This can be explained by the fact that in section A the magnetic flux decreases with increasing distance and the magnetic resistance increases correspondingly.

FIGS. 6A and 6B show two possible cross-sectional shapes of the restoring device 12 along the cross-sectional line CC in FIG. 5A. In the embodiment according to FIG. 6A, the return device 15 has a shape of a hollow cuboid, which encloses the cuboid permanent magnet 14. In this embodiment, only a displacement of the permanent magnet 14 relative to the return device 15 in the displacement direction is possible. It is also possible to use any other straight body, for example a prism, for the design of the permanent magnet, the return means then being designed accordingly as a hollow prism. In the embodiment shown in FIG. 6B, the return device 15 is designed as a hollow cylinder and the permanent magnet 14 as an elongated cylinder. The return device 15 surrounds the permanent magnet 14 radially. In this embodiment, both a linear displacement of the permanent magnet 14 and a rotation of the permanent magnet 14 relative to the return device 15 is possible. As a result, for example, both torque and linear displacement force can be exerted on the holding device 10. By the rotation, it would be possible, for example, to rotate a held by the holding device 10 component 11 in a certain angular position.

In Figure 7, a further embodiment of the placement 4 is shown schematically. First, it is assumed that the drive 13 is a combined rotary-stroke engine with integrated restoring device. Accordingly, the drive 13 is designed for the holding device 10 as an electromagnetic drive 13. The drive 13 comprises a fixedly connected to the housing 9 stationary part, which has two in the direction of displacement successively arranged coil packs 19 with corresponding coil windings. In this case, the winding of each coil package advantageously has both sufficient winding components in the longitudinal direction (parallel to the axis of rotation) and orthogonal thereto in the circumferential direction in order to be able to adequately realize both the rotational movement and the stroke movement.

In the exemplary embodiment, the stationary part is formed by the rear closing device 15, on whose side facing the permanent magnet 14 inside the coil packs 19 are arranged. The placement head 4 is further associated with a drive control 20 for controlling the drive 13, which is electrically coupled to the coil packs 19. The drive control 20 can be mounted both on the placement head 4 itself and on the support arm 5 or on a chassis (not shown) of the placement machine 1. As a result, the movable Reduced mass, which has an advantageous effect especially at high accelerations. The coil packs 19 are powered by an external power source (not shown) via the drive controller 20.

This embodiment of the placement is characterized in particular by the fact that the permanent magnet 14 of the return device 12 at the same time the handset of the drive

13 represents. In this case, the permanent magnet 14 interacts with the energized coil packs 19 in such a way that, with appropriate control by the drive control 20, the holding device 10 moves in the direction of displacement. For this purpose, however, it is necessary that the permanent magnet 14 only partially overlaps with at least one of the coil packs 19. In this embodiment, therefore elements of the return device 12 and the drive 13 are summarized. Because the permanent magnet 14 is both a component of the restoring device 12 and of the drive 13, components can be saved and the placement head 1 can be constructed more cost-effectively and more compactly. At the same time, the return device 15 also forms part of the stationary part of the drive 13.

Although in the embodiments according to FIGS. 5A, 5B and 7 the holding device 10 is coupled to the permanent magnet 14 and thus the permanent magnet 14 moves together with the holding device 10 relative to the return device 15 or to the housing 9, it is also possible that the holding device 10 is coupled to the return device 15 and, together with the latter, in the displacement direction relative to the permanent magnet secured to the housing 9

14 moves, as shown in the embodiment according to Figures 4A and 4B.

If a combined rotary / rotary motor with integrated restoring device 12 is used as the drive, preferably the permanent magnet 14 or the mobile part is used as the rotor. forms and rotatably mounted relative to the stationary part about the axis parallel to the axis of rotation D. In this case, the embodiment according to FIG. 6B offers itself, in which the permanent magnet 14 is cylindrical and the return device 15 is formed as a hollow cylinder. The coil packs 19 of the stationary part, also in the form of cylindrical hollow body, are each formed polyphase and the drive control 20 controls the current through the coil packs 19 in terms of amplitude and phase angle such that the current caused by the magnetic field of the stationary part interacts with the magnetic field of the permanent magnet 14 and causes both a linear displacement and a rotation of the rotor. A detailed description of this principle of action can be found in the explanations of FIGS. 8A and 8B. The provision of this rotary hub motor results in an even more compact design, since it can be dispensed with a separate rotary drive.

Although a combined rotary-lift motor with integrated return device 12 is shown in FIG. 7, it is also possible to construct the return device 12 and the rotary lift motor separately from each other, as shown schematically in FIG. In such a rotary-stroke engine without integrated return device 12, the sections A, B of the return device 12 are replaced by a corresponding motor housing, which consists of two detachably interconnected housing parts, for example, two cylindrical sleeves 26. Likewise, the two sections A, B of the restoring device 12 may be formed in a one-piece motor housing, for example as a rotating part with a corresponding step. The motor housing of the rotary hub drive then serves only as a magnetic conclusion for the coil packs 19, with a constant magnetic resistance.

Likewise, it is possible by means of the embodiment shown in Figure 7 a pure linear actuator with integrated To realize provision, if additional rotation should not be required. In this case, the drive is designed such that only a linear displacement in the displacement direction z leads. As possible cross-sectional shapes for such a lifting drive, for example, the alternatives shown in FIGS. 6A and 6B can be used.

In FIGS. 8A and 8B, the operating principle of the rotary lifting motor is shown schematically. As for the description of this

Principle of action, the magnetic return is not required, it was omitted in the representations in Figures 8A and 8B. In both figures, the position of the permanent magnet 14 is shown to the cylindrical spool lenpaket 19 of the rotary hub motor in the upper part. FIG. 8A shows the position of the permanent magnet 14 relative to the housing 9 in the direction of the axis of rotation D. The rotational position of the permanent magnet 14 relative to the housing 9 shown in FIG. 8B is illustrated by the punctiform marking at the upper end of the permanent magnet 14. In the lower part of the illustrations of FIGS. 8A and 8B, the respectively associated current vector of the coil current is indicated as a phasor diagram. The diagrams are intended to illustrate how only a rotational movement as well as a translatory movement of the permanent magnet 14 designed as a rotor within the housing can be realized by the change of the amplitude and the phase angle φ of the current through the coil package 19. However, it is necessary that the turns of the coil package 19 have both directional components in the direction of orientation of the axis of rotation D and perpendicular thereto in the direction of the circumference of the cylindrical coil package 19. Possible embodiments of the winding geometry would be an oblique winding or else a diamond winding (see FIGS. 9A, 9B or 10A, 10B, 10C).

FIG. 8A shows how the permanent magnet 14 behaves when the amplitude of the coil current varies: If the amplitude increases, so the permanent magnet 14 of the rotor is pulled into the coil pack 19. For this purpose, those directional components of the coil current are responsible, in the circumferential direction, perpendicular to the axis of rotation D, run. If, however, the amplitude of the coil current is reduced, the permanent magnet 14 moves out of the coil 19 due to the restoring force F applied by the restoring device 12. It should be noted, however, that the permanent magnet 14 never completely immersed in the coil package or completely out of the coil package, but only partially overlaps over the entire stroke with at least one coil package. If the permanent magnet over its entire length at the same time completely overlap with all coils, the axial forces would cancel completely, so that the variation of the coil current would have no effect on a translational position change in the direction of the rotation axis D. In order to ensure this, the drive 13 advantageously has stops 21 on the guide rods 16 or on the housing, which limit the stroke movement of the permanent magnet 14 accordingly. The proportion with which the permanent magnet 14 dips into the coil package 19 is preferably 25 to 75 percent of the total length of the coil package 19.

The representations of FIG. 8B illustrate how the permanent magnet 14 behaves when the current direction or the phase angle φ of the coil current varies. If the phase angle φ is increased (left-hand illustration in FIG. 8B), this results in a rotational movement of the permanent magnet to the left However, if the phase angle φ is reduced (right-hand illustration in FIG. 8B), this results in a rotational movement of the permanent magnet to the right (see position of the marking in the right-hand illustration in FIG Figure 8B). Responsible for the rotational movement are those directional components of the coil current, which run parallel to the axis of rotation D. Shown schematically in FIGS. 9A and 9B are an oblique winding. This is a hollow-cylindrical air gap winding with turns 22 running obliquely to the casing lines 25, the winding advantageously being moved back and forth in a zigzag fashion on the circumference from a single wire, and winding is wound in two or more layers in addition to winding. The skew winding is characterized in that the slope dz / du over the individual winding turns 22 along the circumference U of the cylindrical hollow body. Under winding is a circulation or a loop of an electrical coil or winding to understand. Advantageously, the coil package 19 is not built up from a plurality of individual windings, but consists of only one, continuous winding 23, which is preferably wound from a conductor.

Figure 9A shows a single turn 22 of such a helical winding. In this case, it becomes apparent that, within such a winding 22, the oblique arrangement of the coil current has both portions in the axial direction and in the circumferential direction. To produce a winding 23, a plurality of such turns 22 are placed next to each other, wherein the pitch dz / du over the individual Windungsgänge along the circumference U of the cylindrical hollow body takes place. Such a complete winding 23 is shown schematically in FIG. 9B. The necessary for an electric motor, individual phases can be realized by their own windings or by taps 24 on one and the same winding, If the coil is now Bestomt, resulting from the interaction of the permanent magnet 14 with the rotational magnetic field of the coil both force components in Circumferential direction (by the axial Windungsanteile) and force components in the axial direction (by the turns in the circumferential direction), at least as long as the permanent magnet 14 of the rotor is not completely immersed in the coil winding 23. Advantageously, the rotor emerges with a length of 25 to 75 percent of the coil length in the winding. From this requirement ultimately results in the maximum realizable stroke of the rotary hub motor.

FIGS. 10A to 10C show schematic representations of a rhombic winding. Figures 10A and 10B show a single turn 22 of such a rhombic winding. It is visible that within such a winding 22 by the oblique arrangement of the coil current has both shares in the axial direction and in the circumferential direction. In order to achieve the maximum possible effect density, the copper conductors are arranged rhombic. To make such a winding, the wire is wound turn by turn on a square and then pressed to a flat band, as shown in Figure IOC. This move the

Wires to the two band edges until mutual contact. Subsequently, the tape is rolled into a cylinder and glued, the slope dz / du over the individual Windungsgänge 22 along the circumference U of the cylindrical hollow body. The winding taps 24 shown in FIG. 10C are connected to the associated terminals of the servo amplifier (not shown). The active principle of the energized coil with diamond winding is similar to that of the helical winding: The interaction of the permanent magnet 14 with the rotational magnetic field of the coil winding 23 generates both force components in the circumferential direction (by the axial turns shares) and force components in the A- xialrichtung (by the Windungsanteile in the circumferential direction). Again, determines the requirement that the permanent magnet 14 is not completely immersed in the coil winding, but optimally with a share of 25 to 75 percent of the coil length, the maximum realizable stroke of the rotary hub motor. List of reference numbers:

1 placement machine

2 substrate

3 transport route

4 placement head

5 positioning arm

6 carriers

7 control device

8 feeder

9 housing

10 holding device

11 components

12 reset device

13 rotary lift motor / linear actuator

14 permanent magnet

15 return device / magnetic return

16 senior staff

17 guide channel

18 guide device

19 coil packages

20 drive control

21 attacks

22 turn

23 coil winding

24 phase tap

25 generatrix

26 cylindrical sleeve / hollow cylinder

27 fastener

Claims

claims

1. placement head (4) for equipping substrates (2) with e- lectric components (11), with • a housing (9),

• A holding device (10) for holding the components

(11), which is displaceable relative to the housing (9) in a direction of displacement about a stroke distance and rotatably mounted about a rotation axis parallel to the displacement direction,

• a rotary lifting motor (13) for the holding device

(10), comprising

a primary part which has at least one multiphase coil package, a secondary part with a permanent magnet, which is rotatable relative to the primary part about an axis of rotation and slidably mounted in a direction of displacement about a stroke distance and is magnetized transversely to the axis of rotation, a control device (20) coupled to the primary part, by means of which the current through the coil package (19) is controllable with regard to amplitude and phase direction such that the magnetic field of the primary part caused by the current interacts with the magnetic field of the permanent magnet (14) and both causes a displacement and a rotation of the secondary part relative to the primary part.

2. placement head (4) according to claim 1, wherein the rotary lifting motor (13) has at least one multi-phase coil package (19) in the form of a cylindrical hollow body and the permanent magnet (14) at least partially within the cylindrical hollow body of the at least one coil package ( 19) is arranged.

3. placement head (4) according to claim 2, wherein the coil package

(19) has a helical winding whose turns (22) run obliquely to the generatrices (25) of the cylindrical hollow body.

4. placement head (4) according to claim 2, wherein the coil pack (19) has a winding (23) with diamond-shaped windings (22).

5. placement head (4) according to one of claims 1 to 4, wherein the displacement of the secondary part relative to the primary part over the stroke (Δz) in its two end positions by stops (21) is limited such that the permanent magnet (14) during a displacement at least one of the coil packs (19) overlaps only partially between the two end positions in each position.

6. placement head (4) according to any one of claims 1 to 5, wherein the rotary-stroke motor (13) via a return device

(15), which in the direction of displacement has at least two sections (A, B) with different magnetic resistance and interacts with the permanent magnet (14) in such a way that forms a magnetic return, wherein the feedback device (15) is designed such that the permanent magnet (14) during displacement over the stroke (Δz) at the same time with at least two sections (A, B) of the return device (15) overlaps.

7. placement head (4) according to claim 6, wherein the portions (A, B) of the return means (15) have materials with different magnetic resistance.

8. placement head (4) according to claim 6, wherein the portions (A, B) of the return means (15) from the permanent magnet (14) are spaced at different distances.

9. placement head (4) according to any one of claims 6 to 8, wherein the portions (A, B) are formed such that on the permanent magnet (14) when moving over the stroke (Δz) acts a constant force, which is directed parallel to the direction of displacement.

10. placement head (4) according to any one of claims 6 to 8, wherein the portions (A, B) are formed such that on the permanent magnet (14) when moving over the stroke (Δz) acts a force which varies over the stroke distance ,

11. Placement head (4) according to any one of claims 6 to 10, wherein the return means (15) consists of two cylindrical sleeves (26) which are detachably connectable to each other and each one of the sections (A, B) of the rear end (15 ) exhibit.

12. placement head (4) according to one of claims 1 to 11, wherein the primary part comprises a plurality of coil packs (19), which are arranged side by side in the displacement direction.

13. placement head (4) according to any one of claims 6 to 12, wherein the holding device (10) is movable in a working position and a rest position, wherein in the rest position held by the holding member (11) closer to the housing (9) as in the working position, and wherein the portions (A, B) of the return path (15) are formed such that the holding device (10) when moving over the stroke path, a force acts, which the holding device (10) in the rest position urges.