CN208047166U - A kind of high-precision minitype suction nozzle module - Google Patents
A kind of high-precision minitype suction nozzle module Download PDFInfo
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- CN208047166U CN208047166U CN201820394942.6U CN201820394942U CN208047166U CN 208047166 U CN208047166 U CN 208047166U CN 201820394942 U CN201820394942 U CN 201820394942U CN 208047166 U CN208047166 U CN 208047166U
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- suction nozzle
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Abstract
The utility model discloses and provides a kind of high-precision minitype suction nozzle module of suction nozzle independent control simple in structure, small, each.The utility model includes electric-control system and several vertically arranged accurate cylinders, several accurate cylinders are electrically connected with the electric-control system, it is both provided with directive slide track on each accurate cylinder, sliding is provided with movable block on each directive slide track, each movable block is connected with the output end of the corresponding accurate cylinder, and vacuum slot is vertically provided on each movable block.The utility model can be used for Electronic Testing, semiconductor test technical field.
Description
Technical field
The utility model is related to a kind of high-precision minitype suction nozzle modules.
Background technology
In SMT chip mounters in the application of existing suction nozzle module, to ensure that the accuracy that picks and places of suction nozzle, suction nozzle are mounted
In the up and down action for realizing suction nozzle on Z axis motor.Existing SMT chip mounters are to improve space availability ratio and operational efficiency, will be more
A suction nozzle is installed on same motor and moves up and down jointly, and for electronics, semiconductor test industry, test event
It is required that it is different, need single suction nozzle that there is enough independence, therefore each suction nozzle needs independent Z axis driving.Traditional
Suction nozzle module in the application the shortcomings that, first, because its single component suction nozzle volume is excessive, the module of more suction nozzles combinations occupies board
Big quantity space, stroke limiting of the module in board；Second is that in certain applications, more suction nozzles are combined in same Z axis and are driven, are reduced
The flexibility of single suction nozzle operation.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of suction nozzle independent controls simple in structure, small, each
High-precision minitype suction nozzle module.
Technical solution used by the utility model is：The utility model includes electric-control system and several vertically arranged essences
Close cylinder, several accurate cylinders are electrically connected with the electric-control system, and guiding is both provided on each accurate cylinder
Sliding rail, on each directive slide track sliding be provided with movable block, each movable block with the corresponding precision gas
The output end of cylinder is connected, and vacuum slot is vertically provided on each movable block.
Further, the utility model further includes Z axis motor and pacifies with the matched Z axis of output shaft of the Z axis motor
Seat is filled, adaptation is provided with rotating platform in the Z axis mounting base, and several accurate cylinders are arranged at the rotating platform
On.
Further, the utility model further includes CCD camera, and the CCD camera is arranged in the Z axis mounting base, institute
CCD camera is stated to be electrically connected with the electric-control system.
Further, the utility model further includes angle compensation module, the angle compensation module include with it is several described
The one-to-one angle adjuster of vacuum slot, several angle adjusters are electrically connected with the electric-control system respectively.
Further, the utility model further includes precision limit module, and the precision limit module includes several groups photoelectricity
Sensor and sensing chip, sensing chip described in several groups photoelectric sensor and several groups are corresponded with several vacuum slots
Cooperation.
Further, the precision limit module further includes positioning PCBA board, and several photoelectric sensors, which are adapted to, to be set
It sets in the positioning PCBA board, each photoelectric sensor is including U-shaped sensor top and U-shaped sensor lower part, often
Core bar is both provided on a movable block, the sensing chip is correspondingly arranged on the core bar, and the sensing chip passes through described
Moving up and down for core bar is matched with the U-shaped notch on the U-shaped sensor top or the U-shaped sensor lower part respectively.
Further, the sectional dimension of the U-shaped notch on the U-shaped sensor top and the U-shaped sensor lower part is more than
The sectional dimension of the sensing chip.
Further, the precision limit module further includes the auxiliary mounting blocks being arranged in the positioning PCBA board, institute
It states and is provided with several through-holes compatible with the core bar on auxiliary mounting blocks, the core bar passes through the logical of the auxiliary mounting blocks
Hole, the both ends of the core bar are respectively arranged with spring up and down, the spring up and down both ends phase with the auxiliary mounting blocks respectively
Cooperation.
Further, it is provided with suction nozzle spring at the suction inlet of the vacuum slot.
The beneficial effects of the utility model are：The accurate cylinder and vacuum slot of the utility model are all made of flat in the same direction
Formula, the mode being closely arranged design, and can efficiently reduce lateral occupancy volume；It can ensure vacuum by the way that directive slide track is arranged
The accuracy of suction nozzle Z-direction movement, and there is ± 0.01mm straightness.On the other hand, in the present invention, each vacuum slot
It matches there are one movable block, each vacuum slot is relatively independent；Each precision cylinder is only by being arranged pneumatic joint just
It can be connected to electric-control system, can reach by controlling movable block respectively and control the purpose of each vacuum slot respectively；Multiple precisions
Cylinder combination installation substantially reduces the design requirement of structure and control software；In addition, due to vertical direction without volume increase,
Laterally occupy small, module total volume still maintains miniature, embodies good expansion, when the expansion for carrying out multigroup module
When combination, it is only necessary to which increasing structural mount and control interface quantity can quickly and easily be expanded.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 be accurate cylinder, precision limit module and suction nozzle cooperation schematic diagram；
Fig. 3 is the synthesis stress curve figure in accurate cylinder round trip.
Specific implementation mode
As shown in Figures 1 and 2, specific embodiment of the present utility model is：The utility model include main body mounting plate 1,
It is fixed at 1 upper left vacuum generator component 11 of the main body mounting plate, is fixed at 1 right side of the main body mounting plate
The electric-control system 1 of top and the Z axis motor for being fixed at 1 front center of main body mounting plate, the output of the Z axis motor
Under axial and it is connected with Z axis mounting base 6, CCD camera 8, the Z axis are provided on the right side of the front end of the Z axis mounting base 6
Rotating platform 7 is provided on the left of the front end of mounting base 6, the CCD camera 8 and the rotating platform 7 design side by side；The rotation
The lower end adaptation for turning platform 7 is connected with four groups of vertically arranged precision cylinders 2, and accurate cylinder 2 described in four groups is existed by setting
The pneumatic joint 21 of respective upper end coordinates conduit and is communicated to the electric-control system 1；The rear portion of each accurate cylinder 2 is perpendicular
It to directive slide track 3 is provided with, is slidably matched on the directive slide track 3 and is provided with movable block 4, the external form of the movable block 4 is different
Body；Each movable block 4 is arranged in the bottom of the corresponding accurate cylinder 2, the output end connection of the precision cylinder 2
To the middle part of the movable block 4, the precision cylinder 2 can control the upper and lower displacement of the movable block 4；Each movable block
4 front end is respectively connected with vertically arranged vacuum slot 5；It is provided with suction nozzle spring 51 at the lower end suction inlet of the vacuum slot 5；
On the other hand, the vacuum generator component 11 include with four groups of precision cylinders, 2 one-to-one four vacuum generators, it is described
Vacuum generator carries vacuum generation, solenoid valve and pressure sensor, and the vacuum generator is communicated to described true by tracheae
The upper end of suction mouth 5, the vacuum generator component 11 are electrically connected with the electric-control system 1；The utility model further includes angle
Compensating module, the angle compensation module include with four 5 one-to-one angle adjusters of the vacuum slot, described in four
Angle adjuster is electrically connected with the electric-control system 1, and the angle adjuster is the prior art, the angle adjuster effect
In on the outer wall of corresponding vacuum slot 5, the rotation angle of the vacuum slot 5 can be finely tuned.Yet another aspect, this practicality are new
Type further includes precision limit module 9, and the precision limit module 9 is integrally located at the rear of the movable block 4, the precision limit
Module 9 include one piece of vertically arranged positioning PCBA board 93, it is fixed and it is evenly distributed be arranged in 93 front end of positioning PCBA board
Four groups of photoelectric sensors 91 on top and the auxiliary mounting blocks 95 for being fixed at positioning 93 front lower portion of PCBA board, it is described
Positioning PCBA board 93 is fixedly connected with the main body mounting plate 1；Through-hole there are four being correspondingly arranged on the auxiliary mounting blocks 95, often
Intert on a through-hole and be provided with core bar 94, the both ends of the core bar 94 are arranged with spring 96 up and down, the spring 96 up and down respectively
Be in contact with the both ends of the auxiliary mounting blocks 95 cooperation respectively；Photoelectric sensor 91 described in every group includes on U-shaped sensor
Portion 911 and U-shaped sensor lower part 912, each core bar 94 equal in 4 rear side end of the movable block, the sensing chip 92 pass through institute
That states core bar 94 moves up and down the U-shaped notch phase with the U-shaped sensor top 911 or the U-shaped sensor lower part 912 respectively
Cooperation；The sectional dimension of the U-shaped notch on the U-shaped sensor top 911 and the U-shaped sensor lower part 912 is more than the sense
Answer the sectional dimension of piece 92.
In the present invention, each vacuum slot 5 is both connected on accurate cylinder 2, the precision with directive slide track 3
Accurate cylinder 2, it is ensured that ± 0.01mm the straightness of the Z axis movement of vacuum slot 5, and by U-shaped sensor when Z axis movement
Portion 911 and U-shaped sensor lower part 912 cooperation sensing chip 92 can realize upper and lower precision limit.Precision limit module 9 is integrated in essence
The rear of close cylinder 2 is placed exactly in both ends with the position of vacuum slot 5 and does not interfere；Accurate cylinder 2 and vacuum slot 5 are all made of
Mode flat, being closely arranged in the same direction designs, and can efficiently reduce lateral occupancy volume；Each precision cylinder 2 only passes through
Setting pneumatic joint 21 can be connected to electric-control system 1, can reach by controlling movable block 4 respectively and control the suction of each vacuum respectively
The purpose of mouth 5 improves the flexibility of vacuum slot 5；Multiple precision cylinders 2 combination installation setting for structure and control software
Meter requires to substantially reduce；In addition, since vertical direction increases without volume, laterally occupy small, module total volume still maintains
It is miniature, good expansion is embodied, when carrying out the expansion combination of multigroup module, it is only necessary to increase structural mount and control
Interface quantity can be expanded quickly and easily.
In the suction nozzle module of nonstandard class equipment, it can realize that the Z axis of single suction nozzle independently drives using cylinder connection suction nozzle,
But it can not further meet rotation and pick and place action request.For the suction nozzle module of partial cylinders control, it is limited to bulk factor, it should
Class module can not be rotated.For some electronics and semiconductor test application, the excercises of self-defining suction nozzle are needed
Make.Vacuum slot 5 in the utility model is integrated in the lower end of rotating platform 7 with accurate cylinder 2, can freely carry out angle and turn
It changes；It, can needle by the positioning and demarcating between rotating platform and each vacuum slot 5 meanwhile after coordinating upper angle compensating module
Independent angular transition and angle compensation are carried out to each vacuum slot 5.Angle compensation module is that the design increases rotation process
A big characteristic.In electronic product fetching process, product may be various states before pickup, although CCD camera 8
It can identify the line of production before pickup, but the direction may have slight angular deviations with board conventional coordinates.And use this
Rotational structure in design can individually carry out large-scale angle compensation for each vacuum slot 5, ensure vacuum slot 50
The position and direction of product are taken, while also further ensuring the accuracy of pickup product.Angle compensation ensures with rotary motion
Free position before product pickup can be eliminated, and precision is picked up to improve product, and expansible be used for different product
It is adaptable with carrier environment.
Accumulative positioning accuracy can be increased to ± 0.02mm in conjunction with the identification of CCD camera 8, and mended for the angle of each suction nozzle
Repay the precision that can further improve pickup, and the structure and deviation of clone and carrier extensively.
Amount of leakage Q when vacuum generator inhalation flow Q, absorptionL, pipe range L, caliber d negative pressure of vacuum p when can calculate stable
(kPa), and T (~ ms) the time required to vacuum is stablized in formation.Volume V=π/4d2L of vacuum line, and formed and stablized very
It is T=V*60/ (Q-Q that suction, which takes required Best-case Response Time,L).And pull of vacuum is born by sucker sectional area s with vacuum
P is pressed to codetermine, wherein a is safety coefficient（Vertical sling is 8）, obtain pull of vacuum f=sp0.11/a.
By product gravity g, pull of vacuum f conversion suction nozzle spring force fs, and picks and places action buffer damping vibrations and determine to inhale
Decrement and original precompressed amount when 51 stroke of mouth spring, feeding.Spring carries out damping vibration after being hit, during damped motion
Spring force fs=kAe- β tcos (wt+b), wherein Ae- β t indicate vibrations amplification, and w is angular frequency.Vacuum is inhaled
After taking product, all equilibrant force relationships of product are f=g+fs, and equilibrant force when product is drawn is f=g+fs1+△
Fs2 works as fs1>>When △ fs2, damping vibration process is negligible to the stability influence of vacsorb, and pull of vacuum is set at this time
Meter can meet the stability that suction nozzle picks and places action process.
The utility model installs multiple accurate cylinders 2 to reduce modular volume concentratedly, and upper and lower spring 96 coordinates core bar 94,
It can buffer and reduce the displacement distance of sensing chip 92 on core bar 94 and improve precision；Due to U-shaped sensor top 911 and U-shaped biography
The sectional dimension of the U-shaped notch of sensor lower part 912 is more than the sectional dimension of sensing chip 92, so sensing chip 92 and photoelectric sensor
It is non-contact type induction cooperation between 91.During the up and down motion of core bar 94, accurate cylinder 2 drives movable block 4 to move up and down
Thrust F1With pulling force F2, 2 self resistance f of accurate cylinderb, 96 coefficient of elasticity k of upper and lower spring1、k2, length l1, l2, accurate cylinder
2 movement travel h；The correlation of each power is as follows in 2 round trip of accurate cylinder：
1)F1 = fb + k1·(h+△l)
2)F2 = fb + k2·(h+△l)
3)△l <= ±0.5mm。
The synthesis stress curve See Figure of accurate cylinder 2 in motion process, when accurate cylinder 2 is located at lower position-arresting, lower bullet
Spring discharges completely, and upper spring is compressed h, at this time 2 stress coincidence formula 1 of accurate cylinder)；When accurate cylinder 2 is located at upper position-arresting,
Upper spring discharges completely, and lower spring is compressed h, at this time 2 stress coincidence formulas 2 of accurate cylinder)；And 2 frictional force of accurate cylinder
With active force conversely, because friction force effect exists so that there are △ l's by amount of spring compression when total dynamic balance for accurate cylinder 2
Deviation, the deviation range to stress are ± fb.As shown, in stop bit, it is F that final equilibrant force, which is likely to occur deviation range,
± fb.And in the movement of vacuum slot 5, suction nozzle spring 51 needs the deviation of stroke amount of compatible △ l, so that in fetching process
The stability that middle suction nozzle end face is contacted with product surface.
The theoretical accounting of suction nozzle spring force and pull of vacuum and mathematics thrust are analyzed, and different product and board are widely used in
Using.Spring force buffer curve analysis rationally eliminate product pick and place action in impact force, improve the stability of module, have
Conducive to increase module service life.Pull of vacuum is main power source in product fetching process, and the stability of pull of vacuum is direct
Affect the precision and stability that product takes, puts.By the Theoretical Design to each parameter of vacuum occurring source, determine that optimal vacuum is inhaled
Combination parameter design needed for power.Using means of numerical analysis such as mathematical modeling, machine learning, can be fitted suction nozzle spring constant,
Quantitative correlation between each parameters such as 2 push/pull power of accurate cylinder, stroke size, cushioning coefficient, to which optimization system hardware is matched
It sets, software arrange parameter is so that suction nozzle picks and places action and reaches high stability（A ten thousandth material casting rate can be achieved）.
The up and down motion of accurate cylinder 2 is required to limit sensors in place, and all photoelectric sensors 91 collect in the design
It is positioned in PCBA board 93 at being designed at one piece, and position relationship determines that mutual alignment tolerance is by positioning between each sensor
PCBA board 93 ensures.Contactless optical electric induction is used between sensing chip 92 and photoelectric sensor 91, the response time is short, uses frequency
Rate is high.For sensor PCBA convenient for extending transversely, ductility is strong, and utilization ratio is high, and batch cost is cheap.91 component of photoelectric sensor
Design detects response in real time when 94 high-frequency reciprocating of core bar being allowed to move, while non-contact inductive mode improves sensor stabilization
Property and service life.
The utility model can be used for Electronic Testing, semiconductor test technical field.
Claims (9)
1. a kind of high-precision minitype suction nozzle module, it is characterised in that：It includes electric-control system（1）With several vertically arranged precisions
Cylinder（2）, several accurate cylinders（2）With the electric-control system（1）Electrical connection, each accurate cylinder（2）It is upper equal
It is provided with directive slide track（3）, each directive slide track（3）On sliding be provided with movable block（4）, each movable block
（4）With the corresponding accurate cylinder（2）Output end be connected, each movable block（4）On be vertically provided with it is true
Suction mouth（5）.
2. a kind of high-precision minitype suction nozzle module according to claim 1, it is characterised in that：The high-precision minitype suction nozzle
Module further includes Z axis motor and the matched Z axis mounting base of output shaft with the Z axis motor（6）, the Z axis mounting base（6）
Upper adaptation is provided with rotating platform（7）, several accurate cylinders（2）It is arranged at the rotating platform（7）On.
3. a kind of high-precision minitype suction nozzle module according to claim 2, it is characterised in that：The high-precision minitype suction nozzle
Module further includes having CCD camera（8）, the CCD camera（8）It is arranged in the Z axis mounting base（6）On, the CCD camera（8）
With the electric-control system（1）Electrical connection.
4. a kind of high-precision minitype suction nozzle module according to claim 1, it is characterised in that：The high-precision minitype suction nozzle
Module further includes angle compensation module, and the angle compensation module includes and several vacuum slots（5）One-to-one angle
Spend adjuster, several angle adjusters respectively with the electric-control system（1）Electrical connection.
5. a kind of high-precision minitype suction nozzle module according to claim 1, it is characterised in that：The high-precision minitype suction nozzle
Module further includes precision limit module（9）, the precision limit module（9）Including several groups photoelectric sensor（91）And sensing chip
（92）, several groups photoelectric sensor（91）With sensing chip described in several groups（92）With several vacuum slots（5）One is a pair of
It should coordinate.
6. a kind of high-precision minitype suction nozzle module according to claim 5, it is characterised in that：The precision limit module
（9）It further include positioning PCBA board（93）, several photoelectric sensors（91）Adaptation is arranged in the positioning PCBA board（93）
On, each photoelectric sensor（91）Include U-shaped sensor top（911）With U-shaped sensor lower part（912）, Mei Gesuo
State movable block（4）On be both provided with core bar（94）, the sensing chip（92）It is correspondingly arranged at the core bar（94）On, the induction
Piece（92）Pass through the core bar（94）Move up and down respectively with the U-shaped sensor top（911）Or under the U-shaped sensor
Portion（912）U-shaped notch match.
7. a kind of high-precision minitype suction nozzle module according to claim 6, it is characterised in that：The U-shaped sensor top
（911）With the U-shaped sensor lower part（912）U-shaped notch sectional dimension be more than the sensing chip（92）Sectional dimension.
8. a kind of high-precision minitype suction nozzle module according to claim 6, it is characterised in that：The precision limit module
（9）Further include the auxiliary mounting blocks being arranged in the positioning PCBA board（95）, the auxiliary mounting blocks（95）It is provided on if
The dry and core bar（94）Compatible through-hole, the core bar（94）Across the auxiliary mounting blocks（95）Through-hole, the core
Bar（94）Both ends be respectively arranged with up and down spring（96）, the spring up and down（96）Respectively with the auxiliary mounting blocks（95）'s
Both ends match.
9. a kind of high-precision minitype suction nozzle module according to claim 1, it is characterised in that：The vacuum slot（5）'s
Suction nozzle spring is provided at suction inlet（51）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820394942.6U CN208047166U (en) | 2018-03-22 | 2018-03-22 | A kind of high-precision minitype suction nozzle module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820394942.6U CN208047166U (en) | 2018-03-22 | 2018-03-22 | A kind of high-precision minitype suction nozzle module |
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| Publication Number | Publication Date |
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| CN208047166U true CN208047166U (en) | 2018-11-02 |
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| CN201820394942.6U Active CN208047166U (en) | 2018-03-22 | 2018-03-22 | A kind of high-precision minitype suction nozzle module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337872A (en) * | 2018-03-22 | 2018-07-27 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision minitype suction nozzle module and its design method |
-
2018
- 2018-03-22 CN CN201820394942.6U patent/CN208047166U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108337872A (en) * | 2018-03-22 | 2018-07-27 | 珠海市运泰利自动化设备有限公司 | A kind of high-precision minitype suction nozzle module and its design method |
| CN108337872B (en) * | 2018-03-22 | 2024-02-13 | 珠海市运泰利自动化设备有限公司 | High-precision miniature suction nozzle module and design method thereof |
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