CN107404835B - Automatic chip mounter - Google Patents
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- CN107404835B CN107404835B CN201710735626.0A CN201710735626A CN107404835B CN 107404835 B CN107404835 B CN 107404835B CN 201710735626 A CN201710735626 A CN 201710735626A CN 107404835 B CN107404835 B CN 107404835B
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- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000001816 cooling Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000003292 glue Substances 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
本发明公开了一种自动贴片机，包括工作平台以及设置于其上的X向粗定位单轴机器人、Y向粗定位单轴机器人、X向精定位单轴机器人、Y向精定位单轴机器人、Z向单轴机器人、第一载具、第二载具，所述Y向粗定位单轴机器人的底部设置于X向单轴机器人上；所述Y向精定位单轴机器人设置于Y向粗定位单轴机器人上，X向精定位单轴机器人设置于Y向精定位单轴机器人上；所述第一载具设置于Y向粗定位单轴机器人上，所述第二载具设置于X向精定位单轴机器人上；所述Z向单轴机器人上通过固定板设置有吸嘴、点胶筒以及上定位相机。本发明提高了定位精度，满足了产品性能，进一步提高了产品的合格率，降低了生产成本。
The invention discloses an automatic placement machine, comprising a working platform and an X-direction rough positioning single-axis robot, a Y-direction rough positioning single-axis robot, an X-direction fine positioning single-axis robot, and a Y-direction fine positioning single-axis robot arranged on the working platform. The robot, the Z-direction single-axis robot, the first carrier, and the second carrier, the bottom of the Y-direction rough positioning single-axis robot is set on the X-direction single-axis robot; the Y-direction fine positioning single-axis robot is set on the Y On the coarse positioning single-axis robot, the X-direction fine positioning single-axis robot is set on the Y-direction fine positioning single-axis robot; the first carrier is set on the Y-direction coarse positioning single-axis robot, and the second carrier is set On the X-direction fine positioning single-axis robot; the Z-direction single-axis robot is provided with a suction nozzle, a dispensing tube and an upper positioning camera through a fixed plate. The invention improves the positioning accuracy, satisfies the product performance, further improves the qualified rate of the product, and reduces the production cost.
Description
技术领域technical field
本发明涉及一种贴片机，尤其涉及了一种用于激光发射器的自动贴片机。The invention relates to a placement machine, in particular to an automatic placement machine for a laser emitter.
背景技术Background technique
传统的激光发射器的贴片采用人工贴片，损坏率高，合格率极低，生产成本极高，现有技术中采用的贴片机的定位精度不够，满足不了产品性能，较传统的人工贴片生产效率有所提高，但产品合格率还是很低，成本高依旧是一个大问题。The placement of traditional laser emitters is manual placement, which has a high damage rate, extremely low pass rate, and high production costs. The positioning accuracy of the placement machine used in the prior art is not enough to meet product performance. Compared with traditional manual SMT production efficiency has improved, but the product qualification rate is still very low, and high cost is still a big problem.
发明内容Contents of the invention
针对现有技术存在的不足，本发明的目的就在于提供了一种自动贴片机，提高了定位精度，满足了产品性能，进一步提高了产品的合格率，降低了生产成本。In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic placement machine, which improves the positioning accuracy, satisfies the product performance, further improves the qualified rate of the product, and reduces the production cost.
为了实现上述目的，本发明采用的技术方案是这样的：一种自动贴片机，包括工作平台、X向粗定位单轴机器人、Y向粗定位单轴机器人、X向精定位单轴机器人、Y向精定位单轴机器人、Z向单轴机器人、第一载具、第二载具，所述X向粗定位单轴机器人设置于工作平台上；所述Y向粗定位单轴机器人的底部设置于X向单轴机器人上，且Y向粗定位单轴机器人的侧部设置有下定位相机；所述Y向精定位单轴机器人设置于Y向粗定位单轴机器人上，X向精定位单轴机器人设置于Y向精定位单轴机器人上；所述第一载具设置于Y向粗定位单轴机器人上，所述第二载具设置于X向精定位单轴机器人上，用于放置产品元器件；所述Z向单轴机器人设置于工作平台上，且Z向单轴机器人上通过固定板设置有吸嘴、点胶筒以及上定位相机。In order to achieve the above object, the technical solution adopted by the present invention is as follows: an automatic placement machine, including a working platform, a single-axis robot for coarse positioning in X direction, a single-axis robot for coarse positioning in Y direction, a single-axis robot for fine positioning in X direction, The Y-direction fine positioning single-axis robot, the Z-direction single-axis robot, the first carrier, and the second carrier, the X-direction coarse positioning single-axis robot is arranged on the working platform; the bottom of the Y-direction coarse positioning single-axis robot It is installed on the X-direction single-axis robot, and the side of the Y-direction coarse positioning single-axis robot is provided with a lower positioning camera; the Y-direction fine positioning single-axis robot is installed on the Y-direction coarse positioning single-axis robot, and the X-direction fine positioning The single-axis robot is set on the Y-direction fine positioning single-axis robot; the first carrier is set on the Y-direction rough positioning single-axis robot, and the second carrier is set on the X-direction fine positioning single-axis robot for Place product components; the Z-direction single-axis robot is set on the working platform, and the Z-direction single-axis robot is provided with a suction nozzle, a dispensing tube and an upper positioning camera through a fixed plate.
作为一种优选方案，所述固定板在Z向上设置有上下位移气缸，所述点胶筒设置于上下位移气缸上。As a preferred solution, the fixed plate is provided with an up and down displacement cylinder in the Z direction, and the dispensing cylinder is arranged on the up and down displacement cylinder.
作为一种优选方案，所述固定板在Z向上设置有补偿转台，所述吸嘴设置于补偿转台上做旋转运动。As a preferred solution, the fixed plate is provided with a compensating turntable in the Z direction, and the suction nozzle is arranged on the compensating turntable for rotational movement.
作为一种优选方案，所述补偿转台包括补偿电机、正弦滑块以及补偿轴套，补偿轴套设置于正弦滑块外；所述吸嘴设置于补偿轴套上，其中补偿电机驱动正弦滑块旋转，正弦滑块带动补偿轴套上的吸嘴进行旋转补偿。As a preferred solution, the compensation turntable includes a compensation motor, a sinusoidal slider and a compensation bushing, the compensation bushing is arranged outside the sinusoidal slider; the suction nozzle is arranged on the compensation bushing, wherein the compensation motor drives the sinusoidal slider Rotate, the sinusoidal slider drives the suction nozzle on the compensation sleeve to perform rotation compensation.
作为一种优选方案，所述补偿转台的顶部设置有压力传感器，所述压力传感器上与固定板之间设置有平衡吊。As a preferred solution, a pressure sensor is arranged on the top of the compensation turntable, and a balance hanger is arranged between the pressure sensor and the fixing plate.
作为一种优选方案，所述第一载具、第二载具通过托盘设置于单轴机器人上，所述托盘内设置有由温控器控制的加热片、热电偶。As a preferred solution, the first carrier and the second carrier are arranged on the single-axis robot through a tray, and heating chips and thermocouples controlled by a temperature controller are arranged in the tray.
作为一种优选方案，还包括保护外壳，所述保护外壳的两侧开设有散热孔。As a preferred solution, it also includes a protective shell, and two sides of the protective shell are provided with cooling holes.
与现有技术相比，本发明的有益效果：Compared with prior art, the beneficial effect of the present invention:
1. 在X向、Y向均设置有单轴机器人，用于粗定位、精定位，上下均设置有定位相机，大大提高了定位精度；1. A single-axis robot is installed in the X and Y directions for rough positioning and fine positioning, and positioning cameras are installed on the upper and lower sides, which greatly improves the positioning accuracy;
2.吸嘴可旋转，通过补偿转台进行补偿，压力传感器使得吸嘴有压力反馈，并设置有平衡吊，让压力反馈更灵敏，能精确到克（g），进一步提高了精确度，从而满足了产品性能，进一步提高了产品的合格率，降低了生产成本；2. The suction nozzle can be rotated and compensated by the compensation turntable. The pressure sensor enables the suction nozzle to have pressure feedback, and a balance hanger is installed to make the pressure feedback more sensitive and accurate to grams (g), which further improves the accuracy and satisfies the Improve product performance, further improve the pass rate of products, and reduce production costs;
3. 载具的托盘可以加热，适应不同物料的生产工艺，适用范围广；3. The tray of the carrier can be heated, which is suitable for the production process of different materials and has a wide range of applications;
4. 整机设置有保护外壳以及散热孔，提高了安全性。4. The whole machine is equipped with a protective shell and cooling holes, which improves the safety.
附图说明Description of drawings
图1是本发明的整机结构示意图；Fig. 1 is the structural representation of complete machine of the present invention;
图2是本发明的内部结构立体图；Fig. 2 is a perspective view of the internal structure of the present invention;
图3是本发明的内部结构俯视图；Fig. 3 is a top view of the internal structure of the present invention;
图4是本发明的内部结构正视图；Fig. 4 is the front view of internal structure of the present invention;
图5是本发明的内部结构侧视图；Fig. 5 is a side view of the internal structure of the present invention;
图6是本发明中图2的A处局部立体图；Fig. 6 is a partial perspective view at A of Fig. 2 in the present invention;
图7是本发明中图6的正视图；Fig. 7 is the front view of Fig. 6 in the present invention;
图8是本发明中图6的俯视图；Figure 8 is a top view of Figure 6 in the present invention;
图9是本发明中图6的侧视图。Fig. 9 is a side view of Fig. 6 in the present invention.
具体实施方式Detailed ways
下面结合具体实施例对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with specific embodiments. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
实施例：Example:
如图1-5所示，一种自动贴片机，包括工作平台1、X向粗定位单轴机器人2、Y向粗定位单轴机器人3、X向精定位单轴机器人4、Y向精定位单轴机器人5、Z向单轴机器人6、第一载具7、第二载具8，所述X向粗定位单轴机器人2设置于工作平台1上；所述Y向粗定位单轴机器人3的底部设置于X向粗定位单轴机器人2上，且Y向粗定位单轴机器人3的侧部设置有下定位相机9；所述Y向精定位单轴机器人5设置于Y向粗定位单轴机器人3上，X向精定位单轴机器人4设置于Y向精定位单轴机器人5上；所述第一载具7设置于Y向粗定位单轴机器人3上，所述第二载具8设置于X向精定位单轴机器人4上，用于放置产品元器件；所述Z向单轴机器人6设置于工作平台1上，且Z向单轴机器人6上通过固定板13设置有吸嘴10、点胶筒11以及上定位相机12。具体的，定义图3中水平方向为X向，竖直方向为Y向，定位图4中竖直方向为Z向。As shown in Figure 1-5, an automatic placement machine includes a working platform 1, an X-direction coarse positioning single-axis robot 2, a Y-direction coarse positioning single-axis robot 3, an X-direction fine positioning single-axis robot 4, and a Y-direction fine positioning robot Positioning single-axis robot 5, Z-direction single-axis robot 6, first carrier 7, second carrier 8, the X-direction coarse positioning single-axis robot 2 is set on the working platform 1; the Y-direction coarse positioning single-axis The bottom of the robot 3 is set on the X-direction coarse positioning single-axis robot 2, and the side of the Y-direction coarse positioning single-axis robot 3 is provided with a lower positioning camera 9; the Y-direction fine positioning single-axis robot 5 is set on the Y-direction coarse positioning On the positioning single-axis robot 3, the X-direction fine positioning single-axis robot 4 is set on the Y-direction fine positioning single-axis robot 5; the first carrier 7 is set on the Y-direction rough positioning single-axis robot 3, and the second The carrier 8 is set on the X-direction fine positioning single-axis robot 4 for placing product components; the Z-direction single-axis robot 6 is set on the working platform 1, and the Z-direction single-axis robot 6 is set by a fixed plate 13 There are suction nozzle 10, dispensing tube 11 and upper positioning camera 12. Specifically, define the horizontal direction in FIG. 3 as the X direction, the vertical direction as the Y direction, and the vertical direction in FIG. 4 as the Z direction.
优选的，如图6-9所示，所述固定板13在Z向上设置有上下位移气缸14，所述点胶筒11设置于上下位移气缸14上。具体的，所述上下位移气缸14控制点胶筒11在Z向的上下位移，从而进行点胶动作。Preferably, as shown in FIGS. 6-9 , the fixed plate 13 is provided with a vertical displacement cylinder 14 in the Z direction, and the dispensing cylinder 11 is disposed on the vertical displacement cylinder 14 . Specifically, the up and down displacement cylinder 14 controls the up and down displacement of the glue dispensing cylinder 11 in the Z direction, so as to perform glue dispensing.
具体的，所述固定板13在Z向上设置有补偿转台15，所述吸嘴10设置于补偿转台15上做旋转运动。具体的，所述补偿转台15包括补偿电机151、正弦滑块（由于已经安装于构件内，故图中并未示出）以及补偿轴套152，补偿轴套152设置于正弦滑块外；所述吸嘴10设置于补偿轴套152上，其中补偿电机151驱动正弦滑块旋转，正弦滑块带动补偿轴套152上的吸嘴10进行旋转补偿。具体的，所述下定位相机9对吸嘴10上的产品元器件进行补偿，使得定位更准确，精确度更高，提高了产品性能及合格率。Specifically, the fixed plate 13 is provided with a compensating turntable 15 in the Z direction, and the suction nozzle 10 is arranged on the compensating turntable 15 for rotational movement. Specifically, the compensation turntable 15 includes a compensation motor 151, a sinusoidal slider (not shown in the figure since it has been installed in the component) and a compensation sleeve 152, and the compensation sleeve 152 is arranged outside the sinusoidal slider; The suction nozzle 10 is arranged on the compensation sleeve 152, wherein the compensation motor 151 drives the sinusoidal slider to rotate, and the sinusoidal slider drives the suction nozzle 10 on the compensation sleeve 152 to perform rotation compensation. Specifically, the lower positioning camera 9 compensates the product components on the suction nozzle 10, so that the positioning is more accurate, the precision is higher, and the product performance and pass rate are improved.
具体的，所述补偿转台15的顶部设置有压力传感器16，所述压力传感器16上与固定板13之间设置有平衡吊17。具体的，所述压力传感器16反馈压力信号，同时平衡吊17能够起到平衡、保护的作用，让压力反馈更灵敏。Specifically, a pressure sensor 16 is arranged on the top of the compensation turntable 15 , and a balance hanger 17 is arranged between the pressure sensor 16 and the fixed plate 13 . Specifically, the pressure sensor 16 feeds back pressure signals, while the balance crane 17 can play the role of balance and protection, making the pressure feedback more sensitive.
优选的，所述第一载具7、第二载具8通过托盘18设置于单轴机器人上，所述托盘18内设置有由温控器控制的加热片（由于已经安装于构件内，故图中并未示出）、热电偶（由于已经安装于构件内，故图中并未示出）。具体的，温控器（由于已经安装于构件内，故图中并未示出）设置于整机的控制柜内，由于托盘18可加热，能够适应不同物料的生产工艺，扩大了适用范围。Preferably, the first carrier 7 and the second carrier 8 are arranged on the single-axis robot through the tray 18, and the heating chip controlled by the temperature controller is arranged in the tray 18 (since it has been installed in the component, so Not shown in the figure), thermocouple (not shown in the figure because it has been installed in the component). Specifically, the temperature controller (not shown in the figure because it has been installed in the component) is set in the control cabinet of the whole machine. Since the tray 18 can be heated, it can adapt to the production process of different materials and expand the scope of application.
优选的，还包括保护外壳19，所述保护外壳19的两侧开设有散热孔20，提高了安全性。Preferably, a protective shell 19 is also included, and heat dissipation holes 20 are opened on both sides of the protective shell 19 to improve safety.
优选的，所述工作平台1采用大理石工作台，起到更好的支撑作用。Preferably, the working platform 1 adopts a marble workbench, which plays a better supporting role.
优选的，所述上定位相机12与下定位相机9可采用CCD相机，精确度高。Preferably, the upper positioning camera 12 and the lower positioning camera 9 can be CCD cameras with high accuracy.
具体的，先将第一产品元器件放入第一载具7、第二产品元器件放入第二载具8，控制X向粗定位单轴机器人2在X向移动、Y向粗定位单轴机器人3在Y向移动，从而对第一载具7进行粗定位，使得第一载具7位于上定位相机12下方位置，此时上定位相机12对第一载具7进行定位，吸嘴10取料第一产品元器件；再次控制X向粗定位单轴机器人2在X向移动、Y向粗定位单轴机器人3在Y向移动，从而对第二载具8进行粗定位，使得第二载具8位于上定位相机12下方位置，上定位相机12对第二载具8进行定位，点胶筒11进行点胶，然后控制Y向精定位单轴机器人5在Y向移动、X向精定位单轴机器人4在X向移动，从而对第二载具8进行精定位，上定位相机12再次定位使得第二载具8上点胶的第二产品元器件位于吸嘴10下方位置，此时下定位相机9对吸嘴10上的第一产品元器件定位，并对吸嘴10旋转进行补偿，当定位完成后，Z向单轴机器人6控制吸嘴10在Z向移动，使得吸嘴10上的第一产品元器件与点胶后的第二产品元器件贴合装配，此时压力传感器16反馈压力信号，吸嘴10松开复位。更为具体的，各个单轴机器人均包括电机、丝杆以及滑块，所述丝杆设置于滑块内，电机驱动丝杆并带动滑块产生位移滑动，单轴机器人的结构为一集成结构，是本领域的普通技术人员常用的技术手段，这里就不再一一赘述了。Specifically, put the first product components into the first carrier 7 and the second product components into the second carrier 8, control the X-direction coarse positioning single-axis robot 2 to move in the X direction, and the Y-direction coarse positioning single-axis robot 2 The axis robot 3 moves in the Y direction, thereby roughly positioning the first carrier 7, so that the first carrier 7 is located below the upper positioning camera 12. At this time, the upper positioning camera 12 positions the first carrier 7, and the suction nozzle 10 Take the first product components; again control the X-direction rough positioning single-axis robot 2 to move in the X-direction, and the Y-direction coarse positioning single-axis robot 3 to move in the Y direction, so as to perform rough positioning on the second carrier 8, so that the first The second carrier 8 is located below the upper positioning camera 12, the upper positioning camera 12 positions the second carrier 8, the dispensing cylinder 11 performs glue dispensing, and then controls the Y-direction fine positioning single-axis robot 5 to move in the Y direction, X direction Fine positioning The single-axis robot 4 moves in the X direction, thereby finely positioning the second carrier 8, and the upper positioning camera 12 is repositioned so that the second product components to be glued on the second carrier 8 are located under the suction nozzle 10, At this time, the lower positioning camera 9 positions the first product component on the suction nozzle 10, and compensates the rotation of the suction nozzle 10. When the positioning is completed, the Z-direction single-axis robot 6 controls the suction nozzle 10 to move in the Z direction, so that the suction nozzle The components of the first product on 10 are attached to the components of the second product after dispensing. At this time, the pressure sensor 16 feeds back the pressure signal, and the suction nozzle 10 is released and resets. More specifically, each single-axis robot includes a motor, a screw, and a slider. The screw is arranged in the slider. The motor drives the screw and drives the slider to generate displacement and sliding. The structure of the single-axis robot is an integrated structure , is a technical means commonly used by those skilled in the art, and will not be repeated here.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107404835B true CN107404835B (en) | 2023-08-08 |
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| CN110582171B (en) * | 2018-06-07 | 2021-11-16 | 苏州旭创科技有限公司 | Automatic chip mounting device and automatic chip mounting method |
| CN109413988B (en) * | 2018-12-20 | 2021-01-05 | 深圳市亚星达科技有限公司 | Chip mounter capable of preventing deviation and replacing suction nozzle |
| CN111954459B (en) * | 2020-09-08 | 2021-10-08 | 惠州市合创电子科技有限公司 | Integrated circuit processing paster device |
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| CN107404835A (en) | 2017-11-28 |
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Address after: Building 12 and Building 13, No. 826 Xintang Road, Yushan Town, Kunshan City, Jiangsu Province 215000 Patentee after: Suzhou Qiqi Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 215316 Floor 4, Room 3, No. 398, Yisheng Road, High tech Zone, Yushan Town, Kunshan, Suzhou City, Jiangsu Province Patentee before: SUZHOU LIEQI INTELLIGENT EQUIPMENT CO.,LTD. Country or region before: China |