CN106304673A - The flight of a kind of high accuracy band identifies the placement head of function - Google Patents

Abstract

The present invention provides the flight of a kind of high accuracy band to identify the placement head of function, the branched paster axle that including mounting head support, is arranged in mounting head support, Z-direction elevating mechanism, R are to rotation angle mechanism, vacuum module, it is characterized in that: the top rear face of mounting head support is provided with integrating control assembly, its top front face is provided with vacuum module, its positive Middle face is provided with and drives R to the R of rotation angle mechanism to motor and the CCD image pick-up device of collection image, its upper rear portion is provided with Z-direction and drives motor, and described Z-direction drives motor output shaft direction vertical with Z axis；Mounting head cradle back bottom is provided with flight camera apparatus, and flight camera apparatus includes the light source assembly immediately below suction nozzle, lens direction photomoduel at an acute angle with vertical direction in X/Y plane, the drive mechanism being provided with light source assembly and the camera support of photomoduel, making camera support move along X-axis.Miniaturization, low cost, it is achieved stable, accurately, quickly high accuracy attachment.

Description

A high-precision patch head with flight recognition function

technical field

The invention relates to a placement head, in particular to a placement head with high precision and flight recognition function.

Background technique

At present, there are many kinds of placement machines, but whether it is a fully automatic high-speed placement machine or a manual low-speed placement machine, its overall layout is similar. The automatic placement machine is a high-precision automation equipment that is controlled by a computer and integrates optics, mechanics and electronics. The identification system is composed of sensors and computer control system, which includes the functions of picking-displacement-positioning-placement, etc., and realizes the fast and accurate placement of SMD components. As an important part of the whole machine, the placement head of the placement machine is very critical to the performance of the whole machine. After picking up the components, the placement head can automatically correct the position under the control of the calibration system, and place the components accurately on the specified Location. The development of the placement head is a sign of the progress of the placement machine. The placement head has developed from the early single-head and mechanical centering to the multi-head optical centering; the early single-head placement machine is composed of suction nozzles, positioning claws, positioning tables and Z-axis , second angular motion system, and fixed on the X.Y axis transmission mechanism. When the suction nozzle picks up a component, the component is centered through the mechanical centering mechanism and a signal (electrical signal or mechanical signal) is given to the feeder at the same time, so that the next component enters the position of the suction piece. But this method is very slow, and it usually takes Is to place a chip component. In order to increase the placement speed, people adopt the method of increasing the number of placement heads, that is, using multiple placement heads to increase the placement speed. The fixed multi-head is the structure adopted by the general-purpose placement machine at present. The appearance of the fixed multi-head is improved on the basis of the original single head, that is, the single head is increased to 3 to 6 placement heads. They are still fixed on the X.Y axis, but instead of using mechanical centering, there are various forms of optical centering. When working, the components are picked up separately, and then they are centered and then placed on the designated positions of the PCB in sequence.

The existing placement head generally uses a flying camera fixed on the X/Y axis to identify components on the fly and the mark point camera to capture the mark point, which leads to the fact that the placement head needs to fly above the fixed flying camera when it needs to identify components. The latest technology is to integrate the flying camera into the placement head. Some use a component recognition camera fixed on the bottom side of the placement head and match the number of suction nozzles. Some use a camera fixed at the bottom of the placement head and along the suction nozzle Component recognition camera technology with reciprocating movement in the mouth direction. Both of the above-mentioned latest technologies have obvious defects. One will limit the number of identifiable nozzles, and the other is more complex in optical path matching, and both of them are costly, and the size of the patch head is relatively large. Therefore, a simple structure, miniaturization, A low-cost placement head with flight recognition function needs to be developed urgently.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a placement head with a simple structure, miniaturization and low cost with flight recognition function, so as to achieve the purpose of stable, accurate and fast high-precision placement of the placement head.

The technical solution of the present invention is: a high-precision placement head with flight recognition function, including a placement head bracket, a plurality of placement shafts installed in the placement head bracket, a Z-direction lifting mechanism, an R-direction corner mechanism, a vacuum The module is characterized in that an integrated control component is installed on the back of the upper part of the placement head bracket, a vacuum module is installed on the front of the upper part, and an R-direction stepping motor for driving the R-direction corner mechanism and a CCD for collecting images are installed in the middle of the front. A camera with a Z-direction driving motor installed on the upper part of the back, and the output axis direction of the Z-direction driving motor is perpendicular to the Z axis; a flying camera device is installed on the lower part of the back of the placement head bracket, and the flying camera device includes a light source assembly directly below the suction nozzle , the camera assembly whose lens direction forms an acute angle with the vertical direction in the XY plane, the camera support with the light source assembly and the camera assembly installed, and the driving mechanism that moves the camera support along the X-axis.

The light source assembly includes a box-shaped light source housing with an upper opening, an adjustable reflector whose plane is perpendicular to the YZ plane, and a lamp bead strip arranged parallel to the adjustable reflector. The lamp bead strip is horizontally arranged in the light source housing, The camera assembly includes a camera, a downwardly inclined lens connected to the camera, a box-shaped protective shell that surrounds the camera and the lens and is fixed on the camera bracket, and the adjustable reflector makes the center point of the virtual image of the object in the suction nozzle area be at the center of the camera on the axis of the lens.

The drive mechanism includes a servo motor, a flight drive screw, a flight drive support, and a flight drive nut. The flight drive support is fixed on the mounting head bracket, the flight drive nut is connected to the camera support, and the servo motor drives the flight drive support. The flying driving screw rotates, and then the flying driving nut socketed on the flying driving screw makes a linear motion in the X direction. The flying camera bracket includes a bottom plate and a connecting plate. The included angle of the board is 110°-150°, and the camera assembly is installed on the connection board.

The upper part of the vacuum module bracket of the vacuum module is equipped with a confluence assembly plate, an air pressure detection integrated module is installed on the outer surface of the confluence assembly plate, a vacuum reversing plate is connected to the bottom of the vacuum module bracket, and a vacuum reversing plate is installed on the vacuum reversing plate. A plurality of vacuum outlets are equipped with vacuum straight pipes corresponding to the vacuum outlets on the side. Each vacuum straight pipe is connected to a filter assembly, and the filter assembly is connected to the corresponding vacuum pipe branch on the confluence assembly plate.

The vacuum module also includes a vacuum breaker valve, a positive and negative pressure switching solenoid valve, and a vacuum tube. The side of the vacuum module bracket is H-shaped. , the vacuum breaker valve is installed on the positive pressure pipeline, and the positive pressure pipeline is respectively connected with several vacuum tubes, and the positive and negative pressure switching solenoid valve is arranged on the vacuum tube; the vacuum breaker valve is installed at the inlet end of the positive pressure pipeline, and the positive pressure pipeline is respectively connected with several vacuum tubes , the vacuum tube is provided with a positive and negative pressure switching solenoid valve, the vacuum output port is connected to the vacuum hose, and the vacuum hose is connected to the vacuum inlet of the patch shaft.

The vacuum breaker valve and the positive and negative pressure switching solenoid valve are connected to the positive pressure pipeline in a flat and sealed manner through the small hole pipeline, and the other end of the small hole pipeline is connected to the cavity of the valve body through screws.

The patch shaft includes a suction nozzle, a suction head, a suction rod, and a connecting seat assembly, the suction rod is a hollow tube with external splines, the connecting seat assembly is connected to the top of the suction rod, and the side of the connecting seat assembly is provided with a The suction rod is connected to the vacuum hose interface, the lower end of the suction rod is connected with a suction head, and the lower end of the suction head is equipped with a suction nozzle.

The Z-direction lifting mechanism includes a Z-direction drive motor arranged on the back of the placement head bracket and a vertically arranged Z-direction pulley mechanism. The connecting seat assembly of the patch shaft is connected with the slider of the Z-direction pulley mechanism. The drive motor moves the slider of the Z-direction pulley mechanism up and down and then pulls the patch shaft to move up and down.

The Z-direction lifting mechanism also includes a spring fixed above the placement head support, and the spring is connected with the patch shaft connecting seat assembly.

The R-direction corner mechanism includes an R-direction stepping motor, an R-direction driving wheel unit, an R-direction driven wheel unit, and an R-direction timing belt. The R-direction stepping motor drives the R-direction driving wheel unit, and the R-direction driving wheel unit drives multiple An R-direction driven wheel unit, the R-directed driven wheel unit is sleeved on the suction rod, and the position is limited by the external spline, thereby controlling the R-direction rotation of the patch axis.

The placement head support is an integral frame structure, and the back slide block is connected with a nut in the middle of the same side, and the nut is socketed with the screw rod that drives the placement head to move.

Beneficial effects of the present invention: (1) The control of the flying camera and the servo motor is integrated on one control board, which changes the setting scheme of the flying camera; the camera bracket is set at a certain inclination angle, so that the center of gravity of the patch head as a whole is concentrated as much as possible place, reduce the deflection caused by the left and right movement of the flying camera, and ensure the smooth operation of the placement head.

(2) The patch head is divided into two positive pressure, weak blowing air pressure is the normal working air pressure, strong blowing air pressure is the air pressure for cleaning pipeline debris; the small hole pipe is connected with the positive pressure pipe plane, and the cavity of the valve body is fixed by screw connection , to control the positive pressure more finely.

(3) The negative pressure pipeline path is changed from a complex curved multi-bend pipeline structure to a simple straight-through pipeline structure, which is easy to install, the structure of the confluence manifold is simple, the design of the vacuum pipeline is larger, and the negative pressure resistance is smaller. The filter assembly is installed on the outside, after the air circulation, the air pressure is relatively stable, the suction speed is increased, the fluctuation of vacuum detection is reduced, and the noise reduction processing of the detection signal of the analog pressure sensor is convenient; the negative pressure comes out from the vacuum pump and is separately connected to the suction nozzle through the air storage tank , It is easier to get balanced and negative pressure.

Description of drawings

Fig. 1 is a structural schematic diagram of the high-precision patch head with flight recognition function of the present invention.

Fig. 2 is a schematic diagram of a partial structure of a patch head with a high-precision flight recognition function according to the present invention.

Fig. 3 is a partial exploded view of the flying camera device of the present invention.

Fig. 4 is a schematic structural diagram of the vacuum module of the present invention.

Fig. 5 is a schematic diagram of the partial structure of the R-direction corner mechanism of the present invention.

Fig. 6 is a schematic diagram of the structure of the patch head bracket of the present invention.

Figure 7 is a schematic diagram of the partial structure of the patch head with high-precision flight recognition function of the present invention.

In the figure, 1-mounting head bracket, 102-nut, 2-patch shaft, 203-suction rod, 204-connecting seat assembly, 3-Z-direction lifting mechanism, 301-Z-direction driving motor, 302-Z-direction belt Wheel mechanism, 303-spring, 304-communication interface module, 4-R angle mechanism, 5-vacuum module, 6-integrated control component, 401-R stepper motor, 402-R driving wheel unit, 403- R direction driven wheel unit, 404-R direction synchronous belt, 501-vacuum module bracket, 502-confluence assembly plate, 504-vacuum reversing plate, 505-vacuum output port, 506-vacuum straight pipe, 507-filter assembly , 508-vacuum tube branch, 509-vacuum breaking valve, 510-positive and negative pressure switching solenoid valve, 512-positive pressure pipeline, 7-CCD camera, 8-flying camera device, 801-light source component, 802-camera component, 803 -Camera Bracket, 804-Drive Mechanism, 805-Light Source Housing, 806-Adjustable Reflector, 807-Lamp Bead Strip, 808-Camera, 809-Lens, 810-Protection Shell, 811-Servo Motor, 812-Flying Drive Wire Rod, 813-flying drive support, 815-bottom plate, 816-connecting plate.

detailed description

The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

As shown in Figure 1-7, a high-precision placement head with flight recognition function includes a placement head support 1, a plurality of placement axes 2 installed in the placement head support 1, driving the placement axis 2 to rise and The descending Z-direction lifting mechanism 3, the R-direction angle mechanism that drives the placement shaft 2 to rotate in a circle 4, the vacuum module 5 that adjusts the suction and retrieving action of the placement shaft 2, and the upper back of the placement head bracket 1 is installed with integrated control Component 6, the vacuum module 5 is installed on the front of its upper part, the R-direction stepper motor 401 for driving the R-direction corner mechanism 4 and the CCD camera 7 for collecting images are installed in the middle of the front, and the Z-direction drive motor 301 is installed on the upper part of the back , the direction of the output shaft of the Z-direction drive motor 301 is perpendicular to the Z-axis; a flying camera 808 device 8 is installed on the lower part of the back of the mounting head bracket 1, and the flying camera 808 device 8 includes a light source assembly 801 directly below the suction nozzle, and a lens 809 in the direction of The camera 808 assembly 802 forming an acute angle with the vertical direction in the XY plane, the camera 808 support 803 with the light source assembly 801 and the camera 808 assembly 802 installed, and the driving mechanism 804 for moving the camera 808 support 803 along the X axis. In this embodiment, two CCD cameras 7 for collecting images are arranged on both sides of the nozzle of the placement head, which are called mark point cameras 808 .

The control of flying camera 808 and servo motor 811 is integrated on one control board, which changes the setting scheme of flying camera 808; the bracket 803 of camera 808 is set to a certain inclination angle, so that the center of gravity of the whole patch head is concentrated as much as possible, reducing flying The deflection caused by the left and right movement of the camera 808 ensures the smooth operation of the placement head.

The light source assembly 801 includes a box-shaped light source housing 805 with an upper opening, an adjustable reflector 806 whose plane is perpendicular to the YZ plane, and a lamp bead strip 807 arranged parallel to the adjustable reflector 806. The lamp bead strip 807 is horizontal Set in the light source housing 805, the camera 808 assembly 802 includes a camera 808, a downwardly inclined lens 809 connected to the camera 808, a box-shaped protective case 810 surrounding the camera 808 and the lens 809 and fixed on the bracket 803 of the camera 808, The adjustable reflector 806 makes the center point of the virtual image of the object in the suction nozzle area be on the axis of the lens 809 of the camera 808 .

The driving mechanism 804 includes a servo motor 811, a flying driving screw 812, a flying driving support 813, and a flying driving nut 102. The flying driving support 813 is fixed on the placement head bracket 1, and the flying driving nut 102 and the camera 808 support 803 connection, the servo motor 811 drives the flight drive screw 812 on the flight drive support 813 to rotate, and then makes the flight drive nut 102 sleeved on the flight drive screw 812 do linear motion in the X direction, and the support 803 of the flight camera 808 includes a base plate 815 and connecting plate 816, the bottom plate 815 is installed horizontally and the light source assembly 801 is installed, the angle between the bottom plate 815 and the connecting plate 816 is 110°-150°, and the camera 808 component 802 is installed on the connecting plate 816.

The vacuum module 5 also includes a vacuum module bracket 501, a confluence assembly plate 502, an air pressure detection integrated module, a vacuum reversing plate 504, a vacuum output port 505, a straight vacuum pipe 506, a filter assembly 507, a vacuum breaking valve 509, positive and negative Pressure switching solenoid valve 510, vacuum tube, vacuum tube branch pipe 508, the upper part of the vacuum module bracket 501 of the vacuum module 5 is equipped with a confluence assembly plate 502, and the outer surface of the confluence assembly plate 502 is equipped with an air pressure detection integrated module, the vacuum module A vacuum reversing plate 504 is connected to the bottom of the bracket 501, and six vacuum output ports 505 are installed on the vacuum reversing plate 504, and vacuum straight pipes 506 corresponding to the vacuum output ports 505 are installed on the side, and each vacuum straight pipe 506 is connected to A filter assembly 507, the filter assembly 507 is connected with the corresponding vacuum tube branch 508 on the confluence assembly plate 502; The destruction valve 509 and six positive and negative pressure switching solenoid valves 510, the vacuum breaking valve 509 is installed at the inlet end of the positive pressure pipeline 512, the positive pressure pipeline 512 is respectively connected with six vacuum tubes, and the positive and negative pressure switching solenoid valves 510 are arranged on the vacuum tubes, The vacuum output port 505 is connected with the vacuum hose, and the vacuum hose is connected with the vacuum inlet of the patch shaft 2 .

The vacuum breaking valve 509 and the positive and negative pressure switching solenoid valve 510 are connected in a flat and sealed manner with the positive pressure pipeline 512 through the small-hole pipeline, and the other end of the small-hole pipeline is connected to the cavity of the valve body by screws to control the positive pressure more precisely.

The negative pressure pipeline path is changed from a complex curved multi-bend pipeline structure to a simple straight-through pipeline structure, which is easy to install, the vacuum pipeline design is larger, the negative pressure resistance is smaller, the suction speed is increased, and the fluctuation of vacuum detection is reduced. , which is convenient for the noise reduction processing of the detection signal of the analog pressure sensor, and the negative pressure inside the cavity is more uniform.

The working principle of the vacuum module 5 in this embodiment is divided into two positive pressures (weak blowing air pressure and strong blowing air pressure). 15-W (0.5Mpa) is switched and connected to the confluence manifold 502 by the solenoid valve. The weak blowing pressure is the normal working pressure, and the strong blowing pressure is the pressure to clean up the pipeline debris.

Vacuum breaking valve 509 is used to control the positive pressure air path of all suction heads. The normal position of vacuum breaking valve 509 is normally closed. The normally open bit achieves conduction. The negative pressure comes out from the vacuum pump and is connected to suction nozzle 1 to suction nozzle 6 separately through the air storage tank. After improvement, a balanced negative pressure is obtained.

From suction to placement of materials, the solenoid valve is powered on and off during this process. When the positive and negative pressure switching solenoid valve 5101-6 is powered on, the corresponding suction nozzle will be in the state of sucking materials, and the vacuum pressure sensor on the air pressure detection integrated module Check the vacuum, when the vacuum breaking valve 509 is powered on, the positive and negative pressure switching solenoid valve 510 is numbered 1-6 and the corresponding suction nozzle is still in the state of sucking the material. When the vacuum breaking valve 509 is powered on, the positive and negative pressure switching solenoid valve 510 is numbered Power off any solenoid valve 1-6, and the corresponding nozzle is in the state of placing materials.

This embodiment obtains obvious technical effects: the original valve body is threadedly connected to the positive pressure pipeline 512 through the cavity, and after improvement, it is connected to the positive pressure pipeline 512 through the small hole pipeline in a plane seal, and the cavity of the valve body is fixed by screw connection. Control positive pressure more finely. Moreover, the confluence assembly plate 502 is relatively simple, with large air holes, and the filter assembly 507 is installed outside. After the gas circulates, the air pressure is relatively stable. The negative pressure comes out from the vacuum pump and is connected to suction nozzle 1 to suction nozzle 6 separately through the air storage tank. After improvement, a balanced negative pressure is obtained.

The patch shaft 2 includes a suction nozzle, a suction head, a suction rod 203, and a connecting seat assembly 204. The suction rod 203 is a hollow tube with external splines, and the connecting seat assembly 204 is connected to the top of the suction rod 203, connected The side of the seat assembly 204 is provided with a vacuum hose interface communicating with the suction rod 203, the lower end of the suction rod 203 is connected with a suction head, and the lower end of the suction head is equipped with a suction nozzle.

The Z-direction lifting mechanism 3 includes 6 Z-direction drive motors 301 arranged on the back of the placement head support 1, 6 Z-direction pulley mechanisms 302 vertically arranged, 6 connecting seat assemblies 204 of the placement shaft 2 and 6 The slider of the Z-direction pulley mechanism 302 is connected, and the Z-direction driving motor 301 moves the slider of the Z-direction pulley mechanism 302 up and down, thereby pulling the patch shaft 2 to move up and down.

The Z-direction lifting mechanism 3 also includes 6 springs 303 fixed above the 6 placement head brackets 1. The springs 303 are connected to the connecting seat assembly 204 of the placement shaft 2, so that a certain amount of cushioning is obtained when the placement shaft 2 moves down and stops. At the same time, the upward pulling force makes it easier for the patch axis 2 to reset.

The Z-direction drive motors 301 are arranged in two rows of three each, and the rear end of the integrated control assembly 6 above the Z-direction drive motors 301 is provided with a communication interface module 304 .

In this embodiment, the R-direction angle mechanism 4 includes two R-direction stepping motors 401, two R-direction driving wheel units 402, six R-direction driven wheel units 403, and two R-direction synchronous belts 404. The R-direction stepping motor 401 respectively drives two R-direction driving wheel units 402, one R-direction driving wheel unit 402 drives three R-direction driven wheel units 403, and the six R-direction driven wheel units 403 are sequentially numbered 1-6, The 1st, 3rd, and 5th R-direction driven wheel units 403 are connected to the first R-direction driving wheel unit 402 and arranged on the upper floor, and the 2nd, 4th, and 6th R-direction driven wheel units 403 are connected to the second R-direction driving wheel unit 402 and arranged on the upper floor. It is arranged on the adjacent lower floor; the R-direction driven wheel unit 403 is sleeved on the suction rod 203, and is limited by external splines, thereby controlling the rotation of the patch axis 2 in the R direction.

The placement head support 1 is an integral frame structure, and its back slider is connected with a nut 102 in the middle of the same side, and the nut 102 is socketed with the screw rod that drives the placement head to move.

What described in above-mentioned embodiment and description just illustrate the principle of the present invention and preferred embodiment, under the premise of not departing from the spirit and scope of the present invention, the present invention also can have various changes and improvements, and these changes and improvements all fall into within the scope of the claimed invention.

Claims (10)

1. A high-precision placement head with flight recognition function, including a placement head bracket, multiple placement axes installed in the placement head bracket, a Z-direction lifting mechanism, an R-direction corner mechanism, and a vacuum module. It is: the integrated control component is installed on the back of the upper part of the mounting head bracket, the vacuum module is installed on the front of the upper part, and the R-direction stepping motor driving the R-direction corner mechanism and the CCD camera for collecting images are installed in the middle of the front. The Z-direction drive motor is installed on the upper part, and the output axis direction of the Z-direction drive motor is perpendicular to the Z-axis; the flying camera device is installed on the lower part of the back of the mounting head bracket, and the flying camera device includes a light source assembly directly below the suction nozzle, and the lens direction is XY A camera assembly forming an acute angle with the vertical direction in a plane, a camera bracket on which a light source assembly and a camera assembly are installed, and a driving mechanism for moving the camera bracket along the X-axis. 2. The high-precision patch head with flight recognition function according to claim 1, characterized in that: the light source assembly includes a box-shaped light source housing with an upper opening, an adjustable reflector whose plane is perpendicular to the YZ plane, parallel The light bead strip arranged on the adjustable reflector, the light bead strip is horizontally arranged in the light source housing, the camera assembly includes a camera, a downwardly inclined lens connected to the camera, surrounds the camera and the lens and is fixed on the camera bracket The box-shaped protective shell, the adjustable reflector makes the center point of the virtual image of the object in the suction nozzle area on the axis of the camera lens. 3. The high-precision patch head with flight recognition function according to claim 1 or 2, characterized in that: the drive mechanism includes a servo motor, a flight drive screw, a flight drive support, a flight drive nut, and a flight drive support The base is fixed on the mounting head bracket, the flying drive nut is connected with the camera bracket, and the servo motor drives the flying drive screw on the flying drive support to rotate, and then the flying drive nut socketed on the flying drive screw moves in the X direction. Linear movement, the flying camera bracket includes a base plate and a connecting plate, the base plate is horizontally installed and a light source assembly is installed, the angle between the base plate and the connecting plate is 110°-150°, and the camera assembly is installed on the connecting plate. 4. The high-precision patch head with flight recognition function according to claim 1 or 2, characterized in that: the upper part of the vacuum module bracket of the vacuum module is equipped with a confluence assembly plate, and the outer surface of the confluence assembly plate is installed There is an air pressure detection integrated module, a vacuum reversing plate is connected to the bottom of the vacuum module bracket, a number of vacuum output ports are installed on the vacuum reversing plate, and vacuum straight pipes corresponding to the vacuum output ports are installed on the side. Connect a filter assembly to the corresponding vacuum line branch on the manifold manifold. 5. The high-precision patch head with flight recognition function according to claim 4, characterized in that: the vacuum module also includes a vacuum breaking valve, a positive and negative pressure switching solenoid valve, and a vacuum tube, and the side of the vacuum module bracket is H The confluence manifold is installed with a vacuum breaker valve and a positive and negative pressure switching solenoid valve in turn from the top left to the right. The vacuum breaker valve is installed on the positive pressure pipeline, and the positive pressure pipeline is respectively connected with several vacuum tubes. Switching solenoid valve; the vacuum breaker valve is installed at the inlet end of the positive pressure pipeline, and the positive pressure pipeline is respectively connected with several vacuum tubes. Shaft vacuum inlet connection. 6. The high-precision patch head with flight recognition function according to claim 4, characterized in that: the vacuum breaker valve and the positive and negative pressure switching solenoid valve are connected to the positive pressure pipeline through a small hole pipeline, and the small hole pipeline The other end is connected to the cavity of the valve body by screws. 7. The high-precision patch head with flight recognition function according to claim 1, characterized in that: the patch shaft includes a suction nozzle, a suction head, a suction rod, and a connecting seat assembly, and the suction rod has an outer The splined hollow tube is connected to the top of the suction rod by the connecting seat assembly. The side of the connecting seat assembly is provided with a vacuum hose interface connected with the suction rod. 8. The high-precision placement head with flight recognition function according to claim 1, characterized in that: the Z-direction lifting mechanism includes a Z-direction drive motor arranged on the back of the placement head bracket, and a vertically arranged Z-direction pulley mechanism , the connecting seat assembly of the patch shaft is connected to the slider of the Z-direction pulley mechanism, and the Z-direction drive motor moves the slider of the Z-direction pulley mechanism up and down, thereby pulling the patch shaft to move up and down. 9. The high-precision placement head with flight recognition function according to claim 8, characterized in that: the Z-direction lifting mechanism further includes a spring fixed above the placement head bracket, and the spring is connected with the placement shaft connection seat assembly. 10. The high-precision patch head with flight recognition function according to claim 1, characterized in that: the R-direction angle mechanism includes an R-direction stepping motor, an R-direction driving wheel unit, an R-direction driven wheel unit, and an R-direction timing belt , the R-direction stepping motor drives the R-direction driving wheel unit, and the R-direction driving wheel unit drives a plurality of R-direction driven wheel units, and the R-direction driven wheel unit is sleeved on the suction rod, and is limited by an external spline, and then Control the patch axis to rotate in R direction.