Apparatus and method for linearly moving movable body relative to object
The present invention is provided with: a base moving linearly relative to a substrate and having a first and second positions that are spaced apart from each other by a predetermined interval a in the movement direction; a linear scale where a plurality of graduations having a predetermined pitch are provided along the movement direction; encoder heads which respectively are disposed at the first and second positions of the base and detect first and second graduation numbers of the linear scale with respect to the first and second positions, wherein, as the base is moved along the linear scale, the first and second graduation numbers are detected in this order in the respective encoder heads, and the movement amount of the base is controlled on the basis of the ratio between the predetermined interval and the distance between the first graduation number and the second graduation number on the scale.
1. An apparatus which linearly moves a movable body with respect to an object, the apparatus comprising:
the movable body which is moved linearly with respect to the object and has a first position and a second position apart from each other by a predetermined interval in a movement direction;
a scale which is arranged along the movement direction of the movable body and in which a plurality of graduations is arranged with predetermined pitches along the movement direction;
a first detection unit which is arranged in the first position of the movable body and detects a first graduation number of the scale with respect to the first position;
a second detection unit which is arranged in the second position of the movable body and detects a second graduation number of the scale with respect to the second position; and
a control unit which sequentially detects the first graduation number and the second graduation number by the first detection unit and the second detection unit while moving the movable body along the scale, and controls a movement amount of the movable body on a basis of a ratio of the predetermined interval with respect to a distance between the first graduation number and the second graduation number on the scale.
2. The apparatus according to claim 1 , wherein
the movable body is a transport mechanism which transports a semiconductor die to the object,
the object is a substrate on which the semiconductor die that has been transported is mounted or other semiconductor die, and
the apparatus is for mounting the semiconductor die on the object.
3. The apparatus according to claim 1 , wherein
the control unit calculates, on a basis of the ratio of the predetermined interval with respect to the distance between the first graduation number and the second graduation number on the scale, a position compensation coefficient for each predetermined number of graduations from one end of the scale.
4. The apparatus according to claim 1 , further comprising
a distance detector for detecting a distance of the movable body from a reference position, wherein
the control unit moves the movable body by a reference distance while detecting the distance of the movable body from the reference position by the distance detector, and detects a graduation number difference of the scale before and after moving the movable body by the reference distance by the first detection unit or the second detection unit, and
corrects the movement amount on a basis of the reference distance and the graduation number difference.
5. The apparatus according to claim 1 , further comprising:
a reference member in which position marks are arranged apart from each other by a reference distance; and
an image acquisition part which is arranged in the movable body and acquires images of the position marks, wherein
the control unit moves the movable body by the reference distance on a basis of the images of the position marks acquired by the image acquisition part, detects the graduation number difference of the scale at a time of moving by the first detection unit or the second detection unit, and
corrects the movement amount on a basis of the reference distance and the graduation number difference.
6. A method for linearly moving a movable body with respect to an object, the method comprising:
linearly moving the movable body having a first position and a second position apart from each other by a predetermined interval in a movement direction with respect to the object;
arranging a scale along the movement direction of the movable body, wherein a plurality of graduations is arranged with predetermined pitches along the movement direction in the scale;
arranging a first detection unit for detecting a first graduation number of the scale with respect to the first position in the first position of the movable body;
arranging a second detection unit for detecting a second graduation number of the scale with respect to the second position in the second position of the movable body; and
sequentially detecting the first graduation number and the second graduation number by the first detection unit and the second detection unit while moving the movable body along the scale, and controlling a movement amount of the movable body on a basis of a ratio of the predetermined interval with respect to a distance between the first graduation number and the second graduation number on the scale.
7. The method according to claim 6 , further comprising:
detecting a distance of the movable body from a reference position by a distance detector;
moving the movable body by a reference distance while detecting the distance of the movable body from the reference position by the distance detector, and detecting a graduation number difference of the scale before and after moving the movable body by the reference distance by the first detection unit or the second detection unit; and
correcting the movement amount on a basis of the reference distance and the graduation number difference.
8. The method according to claim 6 , further comprising:
arranging position marks apart from each other by a reference distance in a reference member;
arranging an image acquisition part in the movable body;
acquiring images of the position marks by the image acquisition part, and moving the movable body by the reference distance on a basis of the acquired images of the position marks;
detecting the graduation number difference of the scale when the movable body is moved by the reference distance by the first detection unit or the second detection unit; and
correcting the movement amount on a basis of the reference distance and the graduation number difference.
9. The apparatus according to claim 2 , wherein
the control unit calculates, on a basis of the ratio of the predetermined interval with respect to the distance between the first graduation number and the second graduation number on the scale, a position compensation coefficient for each predetermined number of graduations from one end of the scale.
10. The apparatus according to claim 2 , further comprising
a distance detector for detecting a distance of the movable body from a reference position, wherein
the control unit moves the movable body by a reference distance while detecting the distance of the movable body from the reference position by the distance detector, and detects a graduation number difference of the scale before and after moving the movable body by the reference distance by the first detection unit or the second detection unit, and
corrects the movement amount on a basis of the reference distance and the graduation number difference.