CN212967656U - Force-controlled pick-and-place welding head mechanism - Google Patents
Force-controlled pick-and-place welding head mechanism Download PDFInfo
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- CN212967656U CN212967656U CN202021850191.8U CN202021850191U CN212967656U CN 212967656 U CN212967656 U CN 212967656U CN 202021850191 U CN202021850191 U CN 202021850191U CN 212967656 U CN212967656 U CN 212967656U
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- welding head
- material taking
- connecting plate
- motor
- fixing seat
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- 238000003466 welding Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 239000000463 material Substances 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000000758 substrate Substances 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 230000005496 eutectics Effects 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 7
- 238000010438 heat treatment Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005476 soldering Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 2
- 229910000679 solder Inorganic materials 0.000 description 2
- 229910001128 Sn alloy Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- JVPLOXQKFGYFMN-UHFFFAOYSA-N gold tin Chemical compound [Sn].[Au] JVPLOXQKFGYFMN-UHFFFAOYSA-N 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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- Die Bonding (AREA)
Abstract
The utility model relates to a bonding tool mechanism is got to power accuse formula, including mounting panel one, fixed connection motor one, lead screw subassembly and Z guide rail one on the mounting panel front surface, the output shaft of motor one through first drive mechanism with the lead screw subassembly is connected, the lead screw axle of lead screw subassembly is followed Z to setting up, and a transmission connection sliding connection seat on the lead screw axle, installs on it through the driven material bonding tool of getting of rotary driving piece, it still is connected with the power accuse subassembly on the bonding tool to get, adopts voice coil motor to produce reaction force, ensures that the bonding tool suction nozzle is getting the in-process application of force stable, prevents to destroy chip, base plate or finished product. The first support plate is mounted on the linear moving module and moves in a reciprocating mode, the substrate or the chip is fed, meanwhile, the eutectic-back finished product is discharged, the welding head can move along with the linear moving module and can also move and rotate in the Z direction, the position adjustment of the substrate or the chip is met, and the degree of automation is high.
Description
Technical Field
The utility model belongs to the technical field of eutectic bonding tool equipment technique and specifically relates to a bonding tool mechanism is got to power accuse formula.
Background
In the prior art, the bonding in the field of optical communication generally adopts an eutectic soldering process, which is a process of forming continuous bonding between two elements (a chip and a substrate) by using a solder alloy (usually a gold-tin alloy) with a proper proportion as an auxiliary material. When eutectic soldering is carried out, the temperature of the assembly can be rapidly heated to be higher than the melting point of the solder, then the assembly is pressed and bonded in a heat preservation mode, finally the part is rapidly cooled to the reflow temperature, and the eutectic soldering is completed.
The mode that adopts bonding tool suction nozzle to absorb is mostly adopted when present chip, base plate material loading, because chip itself is small fragile, consequently getting the in-process, need control the interference of bonding tool well, prevents that the chip from being crushed, and on the other hand needs adjust the position of base plate and chip at the in-process of getting the material, accurate counterpoint when making things convenient for the eutectic. The existing welding head taking and placing mechanism is not high in control of the resisting force, material position adjustment and other square precision, the base plate taking and placing and the finished product taking and placing are completed by adopting different welding heads, the number of movement mechanisms is large, the movement program of equipment is complex, and the efficiency is not improved.
SUMMERY OF THE UTILITY MODEL
The applicant aims at the defects in the prior art and provides a force control type welding head picking and placing mechanism which is reasonable in structure, high in force control precision and capable of simultaneously carrying out operations of substrate feeding and finished product discharging, so that a control program is optimized, and efficiency is improved.
The utility model discloses the technical scheme who adopts as follows:
a force control type picking and placing welding head mechanism comprises a first support plate, wherein a first motor, a first lead screw assembly and a first Z-direction guide rail are fixedly connected to the front surface of the first support plate, an output shaft of the first motor is connected with the first lead screw assembly through a first belt transmission mechanism, a lead screw shaft of the first lead screw assembly is arranged along the Z direction, the lead screw shaft is in transmission connection with a sliding connection base, a material taking welding head driven by a rotary driving piece is mounted on the lead screw shaft, and the material taking welding head is further connected with a force control assembly;
the force control assembly comprises a voice coil motor, the voice coil motor is installed on the inner side of an adjusting connecting plate fixedly connected with the sliding connecting seat, the outer side of the adjusting connecting plate is connected with a welding head fixing seat, the material taking welding head is arranged in the welding head fixing seat in a penetrating mode and is rotationally connected with the welding head fixing seat through a bearing device, the top of the voice coil motor is connected with the welding head fixing seat through a voice coil connecting plate, the top of the voice coil connecting plate is connected with a spring upper plate through a spring part, and two ends of the spring upper plate are fixedly connected;
a Z-direction guide rail II is arranged on the outer side wall surface of the adjusting connecting plate, an upper contact mounting block which slides along the Z-direction guide rail II and is fixedly connected with the welding head fixing seat is arranged on the Z-direction guide rail II, an upper contact which extends downwards is arranged on the bottom surface of the end part of the Z-direction guide rail II, a lower contact mounting block is arranged on the outer end wall surface of the adjusting connecting plate, and a lower contact which extends upwards and is matched with the upper contact is arranged on the upper surface of the end;
and a material taking camera is also arranged on one side of the material taking welding head.
As a further improvement of the above technical solution:
the structure of the rotary driving part comprises a second motor, an output shaft of the second motor is in transmission connection with the material taking welding head through a second belt transmission mechanism, and the second motor is also fixedly installed on the inner side of the adjusting connection plate.
The material taking welding head structurally comprises a suction nozzle pipe, the suction nozzle pipe is arranged in the welding head fixing seat through a rotating bearing, the top of the suction nozzle pipe is connected with the second belt transmission mechanism, and a suction nozzle is arranged at the bottom of the suction nozzle pipe; the top of the suction nozzle pipe extends out of the welding head fixing seat and is connected with a negative pressure device through an air pipe.
The material taking camera is fixedly connected with a material taking camera connecting plate through a material taking camera fixing seat, and the material taking camera connecting plate is fixedly connected with the support plate.
The first support plate is installed on the linear moving module.
The utility model has the advantages as follows:
the utility model discloses compact structure, reasonable, convenient operation, voice coil motor pass through the electric current and produce reaction force, ensure that the suction nozzle is getting put in-process application of force stable, and force control precision is high, avoids destroying base plate or finished product. The utility model discloses a reciprocating motion on the rectilinear movement module is installed through mounting plate one to bonding tool mechanism, can carry out the material loading to chip or base plate, simultaneously to finished product unloading behind the eutectic, gets the material bonding tool and can follow the rectilinear movement module motion, still can follow Z to (vertical direction) motion, rotation, has multi freedom, satisfies the position control of base plate or chip, and degree of automation is high.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is another view of fig. 1 (hiding a portion of bracket plate one).
Fig. 3 is an enlarged view of a portion a in fig. 1.
Wherein: 501. a material taking camera; 502. a material taking welding head; 503. a welding head fixing seat; 504. a Z-direction guide rail I; 505. a sliding connection seat; 506. a first motor; 507. a second motor; 508. a screw shaft; 509. a voice coil motor; 510. a first support plate; 511. adjusting the connecting plate; 512. a voice coil connecting plate; 513. a spring member; 514. a spring upper plate; 515. a Z-direction guide rail II; 516. an upper contact mounting block; 517. an upper contact; 518. a lower contact mounting block; 519. a lower contact; 520. an air tube; 521. a first belt drive mechanism; 522. a second belt drive mechanism; 523. a material taking camera connecting plate; 524. get material camera fixing base.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-3, the force-controlled pick-and-place welding head mechanism of the present embodiment includes a first bracket plate 510, a first motor 506, a first lead screw assembly and a first Z-guide rail 504 are fixedly connected to a front surface of the first bracket plate 510, an output shaft of the first motor 506 is connected to the first lead screw assembly through a first belt transmission mechanism 521, a lead screw shaft 508 of the first lead screw assembly is arranged along the Z direction, a slide connection seat 505 is connected to the lead screw shaft 508 in a transmission manner, a pick-up welding head 502 driven by a rotary driving member is mounted on the slide connection seat, and a force-controlled assembly is further connected to the; the force control assembly comprises a voice coil motor 509, the voice coil motor 509 is installed on the inner side of an adjusting connecting plate 511 fixedly connected with a sliding connecting seat 505, the outer side of the adjusting connecting plate 511 is connected with a welding head fixing seat 503, a material taking welding head 502 is arranged in the welding head fixing seat 503 in a penetrating mode and is in rotating connection with the material taking welding head through a bearing device, the top of the voice coil motor 509 is connected with the welding head fixing seat 503 through a voice coil connecting plate 512, the top of the voice coil connecting plate 512 is connected with a spring upper plate 514 through a spring part 513, and two ends of the spring; a second Z-guide rail 515 is arranged on the outer side wall surface of the adjusting connecting plate 511, an upper contact mounting block 516 which slides along the second Z-guide rail 515 and is fixedly connected with the welding head fixing seat 503 is arranged on the second Z-guide rail 515, an upper contact 517 which extends downwards is arranged on the bottom surface of the end part of the second Z-guide rail, a lower contact mounting block 518 is arranged on the outer end wall surface of the adjusting connecting plate 511, and a lower contact 519 which extends upwards and is matched with the upper contact 517 is arranged on the upper surface of the end part of;
a material taking camera 501 is also arranged on one side of the material taking welding head 502.
The structure of the rotary driving part comprises a second motor 507, an output shaft of the second motor is in transmission connection with the material taking welding head 502 through a second belt transmission mechanism 522, and the second motor 507 is also fixedly installed on the inner side of the adjusting connection plate 511.
The material taking welding head 502 structurally comprises a suction nozzle pipe which is arranged in a welding head fixing seat 503 through a rotating bearing, the top of the suction nozzle pipe is connected with a second belt transmission mechanism 522, and the bottom of the suction nozzle pipe is provided with a suction nozzle; the top of the suction nozzle pipe extends out of the welding head fixing seat 503 and is connected with a negative pressure device through an air pipe 520.
The material taking camera 501 is fixedly connected with a material taking camera connecting plate 523 through a material taking camera fixing seat 524, and the material taking camera connecting plate 523 is fixedly connected with a bracket plate 510.
The first bracket plate 510 is installed on the linear moving module.
The utility model discloses a working process: the substrate taking and placing welding head mechanism is used as a component of a high-precision intelligent eutectic mounting device designed by the applicant and used for taking and placing a substrate before eutectic reaction and taking and placing a finished product after the eutectic reaction, the material taking camera 501 is used for identifying the position of the substrate or the finished product, the material taking welding head 502 is used for picking up the substrate or the finished product, the material taking welding head 502 is used for placing the substrate on the eutectic heating platform after an eutectic heating platform (belonging to a device in the eutectic device) moves to a feeding area, and finally the eutectic heating platform is used for reaching a eutectic area (belonging to a processing area in the eutectic device).
According to actual needs, the chip can still be taken and placed by adopting a welding head mechanism with the same structure as the welding head mechanism.
The design principle of the utility model is as follows: in an initial state, the upper contact 517 and the lower contact 519 contact each other. When the material is taken, the first motor 506 drives the screw rod assembly to move through the first belt transmission mechanism 521, so that the sliding connection seat 505 moves downwards along the first Z-direction guide rail 504, when the welding head touches a substrate or a finished product, the material taking welding head 502 and the welding head fixing seat 503 are stressed upwards, the upper contact mounting block 516 drives the upper contact 571 to move upwards, the upper contact 517 and the lower contact 519 are separated, at the moment, the voice coil motor 509 starts to work, the electrified coil and the permanent magnet act to generate a reaction force, and the welding head fixing seat 503 and the material taking welding head 502 are driven to move downwards through the voice coil connecting plate 512, so that the action force is applied to. When material is taken, the material taking welding head 502 is driven to rotate by a second motor 507 through a second belt transmission mechanism 522. The utility model discloses ensure that the suction nozzle is getting put in-process application of force stable, prevent that base plate or finished product are impaired.
The above description is for the purpose of explanation and not limitation of the invention, which is defined in the claims, and any modifications may be made within the scope of the invention.
Claims (5)
1. The utility model provides a bonding tool mechanism is put to power accuse formula which characterized in that: the material taking device comprises a first support plate (510), wherein a first motor (506), a first screw rod assembly and a first Z-direction guide rail (504) are fixedly connected to the front surface of the first support plate (510), an output shaft of the first motor (506) is connected with the first screw rod assembly through a first belt transmission mechanism (521), a screw rod shaft (508) of the first screw rod assembly is arranged along the Z direction, the screw rod shaft (508) is in transmission connection with a sliding connection base (505), a material taking welding head (502) driven by a rotary driving piece is mounted on the sliding connection base, and a force control assembly is further connected to the material taking welding head (502);
the force control assembly comprises a voice coil motor (509), the voice coil motor (509) is installed on the inner side of an adjusting connecting plate (511) fixedly connected with the sliding connecting seat (505), the outer side of the adjusting connecting plate (511) is connected with a welding head fixing seat (503), the material taking welding head (502) penetrates through the welding head fixing seat (503) and is rotatably connected with the welding head fixing seat through a bearing device, the top of the voice coil motor (509) is connected with the welding head fixing seat (503) through a voice coil connecting plate (512), the top of the voice coil connecting plate (512) is connected with a spring upper plate (514) through a spring part (513), and two ends of the spring upper plate (514) are fixedly connected with the top of the adjusting connecting plate (511);
a Z-direction guide rail II (515) is arranged on the outer side wall surface of the adjusting connecting plate (511), an upper contact mounting block (516) which slides along the Z-direction guide rail II (515) and is fixedly connected with the welding head fixing seat (503) is arranged on the Z-direction guide rail II (515), an upper contact (517) which extends downwards is arranged on the bottom surface of the end part of the Z-direction guide rail II, a lower contact mounting block (518) is arranged on the outer end wall surface of the adjusting connecting plate (511), and a lower contact (519) which extends upwards and is matched with the upper contact (517) is arranged on the upper surface of;
and a material taking camera (501) is also arranged on one side of the material taking welding head (502).
2. The force controlled pick and place horn mechanism of claim 1, wherein: the structure of the rotary driving piece comprises a second motor (507), an output shaft of the second motor is in transmission connection with the material taking welding head (502) through a second belt transmission mechanism (522), and the second motor (507) is also fixedly installed on the inner side of the adjusting connecting plate (511).
3. The force controlled pick and place horn mechanism of claim 2, wherein: the material taking welding head (502) structurally comprises a suction nozzle pipe, the suction nozzle pipe is arranged in the welding head fixing seat (503) through a rotating bearing, the top of the suction nozzle pipe is connected with the second belt transmission mechanism (522), and a suction nozzle is arranged at the bottom of the suction nozzle pipe; the top of the suction nozzle pipe extends out of the welding head fixing seat (503) and is connected with a negative pressure device through an air pipe (520).
4. The force controlled pick and place horn mechanism of claim 1, wherein: the material taking camera (501) is fixedly connected with a material taking camera connecting plate (523) through a material taking camera fixing seat (524), and the material taking camera connecting plate (523) is fixedly connected with the first support plate (510).
5. The force controlled pick and place horn mechanism of claim 1, wherein: the first support plate (510) is installed on the linear moving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021850191.8U CN212967656U (en) | 2020-08-28 | 2020-08-28 | Force-controlled pick-and-place welding head mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021850191.8U CN212967656U (en) | 2020-08-28 | 2020-08-28 | Force-controlled pick-and-place welding head mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212967656U true CN212967656U (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021850191.8U Active CN212967656U (en) | 2020-08-28 | 2020-08-28 | Force-controlled pick-and-place welding head mechanism |
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| Country | Link |
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| CN (1) | CN212967656U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113782473A (en) * | 2021-08-03 | 2021-12-10 | 恩纳基智能科技无锡有限公司 | Mounting structure of double-station flexible welding head mechanism for chip production |
-
2020
- 2020-08-28 CN CN202021850191.8U patent/CN212967656U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113782473A (en) * | 2021-08-03 | 2021-12-10 | 恩纳基智能科技无锡有限公司 | Mounting structure of double-station flexible welding head mechanism for chip production |
| CN113782473B (en) * | 2021-08-03 | 2023-10-27 | 恩纳基智能科技无锡有限公司 | Mounting structure of double-station flexible welding head mechanism for chip production |
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Address after: 214037 C1-8, Jinshanbei Science and Technology Industrial Park, Wuxi City, Jiangsu Province Patentee after: Ennaji Intelligent Equipment (Wuxi) Co.,Ltd. Country or region after: China Address before: 214037 1-8-101, 1-8-201, Zone C, jinshanbei science and Technology Industrial Park, Wuxi City, Jiangsu Province Patentee before: ENERGY INTELLIGENT TECHNOLOGY WUXI CO.,LTD. Country or region before: China |