CN2879611Y - High-speed pick and place machine utilizing multi-head turret mechanism - Google Patents
High-speed pick and place machine utilizing multi-head turret mechanism Download PDFInfo
- Publication number
- CN2879611Y CN2879611Y CN 200620012719 CN200620012719U CN2879611Y CN 2879611 Y CN2879611 Y CN 2879611Y CN 200620012719 CN200620012719 CN 200620012719 CN 200620012719 U CN200620012719 U CN 200620012719U CN 2879611 Y CN2879611 Y CN 2879611Y
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- tower structure
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- turning tower
- header turning
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Abstract
The present utility model discloses a high-speed pick and place machine utilizing multi-head turret mechanism, for picking up and regularly placing the random placed components, which includes a feeding table for supporting the random placed feed box, a components transmission mechanism which is a multi-head turret mechanism, and a discharging table for supporting the regularly placed discharging box. Both the said feeding table and the discharging table are XY table, wherein a feeding images pick-up device is disposed at the top of the feeding table, and an angle amendment mechanism is disposed at the work-place between the feeding table and the discharging table. Because the present utility model uses the multi-head turret mechanism to replace the traditional linear transmission mechanism, it greatly increases the speed and working efficiency for picking up and regularly placing the random placed components, reduces the wear of the equipment itself, and extends its working life.
Description
Technical field
The utility model relates to a kind of pick and place machine that is used for the element of putting at random picks up and rule is discharged.
Background technology
Pick up part on request and be placed on assigned address (Pick﹠amp; Place), be the most common work during electronics and semiconductor are produced automatically.The index of picking up discharge technique comprises speed, precision and success rate etc.Being used at present finish to the equipment that the element of putting at random picks up and rule is discharged mainly is to adopt linear mechanism, the suction that promptly is used for pickup device is put head and is installed in linearly moving connecting gear, the reciprocating motion between feed end and discharge end of this connecting gear, each bout can only pick up limited element, backhaul then is the unloaded phase that flogs a dead horse, adopt picking up of this structure to put equipment and have shortcoming such as pick up that the speed of putting is slow, inefficiency, equipment attrition are big, along with the increase of connecting gear reciprocating motion number of times, the Accumulated deviation amount of work also can increase.The bull header turning tower structure has been applied in industrial machinery fields such as punch press as a kind of mature technique, but mixed and disorderly element is at random picked up put aspect, Shang Weiyou uses the precedent of bull header turning tower structure.
The utility model content
Technical problem to be solved in the utility model provide a kind of be used for the element of putting at random reached at a high speed pick up expeditiously and the pick and place machine of rule discharging.
For solving the problems of the technologies described above, the utility model is achieved through the following technical solutions: design a kind of high speed pick and place machine of using the bull header turning tower structure, be used for the element of putting is at random picked up and discharging regularly, it comprises and is used to support charging workbench, the element connecting gear of putting the charging box at random and is used to support the regularly arranged discharging workbench that goes out magazine that described element connecting gear is the bull header turning tower structure.
Described bull header turning tower structure is provided with 10-14 vacuum and picks up and put head, is preferably 12.
Described charging workbench is one group of XY worktable, and this XY worktable top is provided with a charging image pick-up device, and this charging image pick-up device is connected with the charging image processing system.Described discharging workbench also is one group of XY worktable.Described charging workbench and discharging workbench lay respectively at the relative both sides of bull header turning tower structure.
Each vacuum of described bull header turning tower structure is picked up and is put the respectively corresponding station of head, checks station, places station, throws aside the station and the station that makes zero comprising picking up station, angle modification station, image, and all the other are the transition station.Wherein, described angle modification station is provided with an angle modification mechanism; Described image checks that station is provided with pickup device image testing device, and this device checks that with the pickup device image analysis process system is connected.
The utility model has greatly improved discharge member is picked up and rule is discharged at random speed and operating efficiency owing to adopt the bull header turning tower structure to replace traditional linear mobile connecting gear, has reduced the wearing and tearing of equipment self, has prolonged working life.This high speed pick and place machine is applied to Japanese Shanghai Electronics Co., Ltd. at present, this equipment be used for after cleaning, the chip put at random is arranged in the magazine on request, speed reaches as high as 5pcs/sec.And the same category of device speed Japanese import of the former use of the said firm, the employing linear movement has only 1.2pcs/sec.
Description of drawings
Fig. 1 is the unitary construction front view of the utility model high speed pick and place machine;
Fig. 2 is the unitary construction left side shaft side figure of the utility model high speed pick and place machine;
Fig. 3 is the right shaft side figure of the unitary construction of the utility model high speed pick and place machine;
Fig. 4 is the unitary construction lateral plan of the utility model high speed pick and place machine;
Fig. 5 is the unitary construction vertical view of the utility model high speed pick and place machine;
Fig. 6 is provided with schematic diagram for the station of the utility model high speed pick and place machine;
Fig. 7 is the perspective view of charging workbench;
Fig. 8 is the perspective view of discharging workbench;
Fig. 9 picks up to put make zero mechanism and waste material of head and throw aside the first working state structure schematic diagram of mechanism;
Figure 10 picks up to put make zero mechanism and waste material of head and throw aside the second working state structure schematic diagram of mechanism;
Figure 11 is the perspective view of angle modification mechanism;
Figure 12 is the perspective view of pickup device image testing device;
Figure 13 is the workflow diagram of the utility model high speed pick and place machine.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
The unitary construction of high speed pick and place machine of the present utility model is described in conjunction with Fig. 1～Fig. 6.This high speed pick and place machine is made up of several major parts, comprising master control system (not shown), main driving machine structure 1, charging workbench 2, discharging workbench 3, CCD charging image pick-up device 4 and treatment system thereof, CCD pickup device image testing device 5 and check analysis process system, mechanism for picking 6, placement mechanism 7, angle modification mechanism 8, pick up and put make zero mechanism 9, waste material of head and throw aside mechanism 10 and comprise 12 vacuum and pick up and put a header turning tower structure 12 of 11.Wherein, each vacuum of described 12 turret structure 12 is picked up and is put 11 respectively corresponding stations, wherein 6 is effective station, comprises that picking up station, angle modification station, image checks station, places station, throws aside the station and the station that makes zero, and all the other are the transition station.Charging workbench 2 is one group of XY worktable that is used to support the charging box, and it comprises an X-axis CD-ROM drive motor that is used for driving along X-direction the charging box, and a Y-axis CD-ROM drive motor that is used for driving along Y direction the charging box.
Charging workbench 2 is arranged on and picks up on the station, is placed with at random the mixed and disorderly chip component of arranging in the charging box, and these chip components just are placed on the charging box, so that the vacuum of header turning tower structure is picked up and put 11 and easily pick up them.
CCD charging image pick-up device 4 is arranged on the top of charging box, and be independent of charging workbench and header turning tower structure and install, this charging image pick-up device 4 is used to pick up the initial pictures of the random chip element in the charging box, and be connected with the charging image processing system, thereby be sent to the charging image processing system picking up initial pictures, utilize this system that initial pictures is analyzed and handled, obtaining the initial space azimuth information of each chip component, this information also is equivalent to chip component and is picked up the initial orientation information of putting behind the sticking by vacuum.
The charging image processing system is built-in with the reference position and with reference to attitude information, this system can analyze comparison with the initial space azimuth information of chip component and built-in reference position with reference to attitude information, to calculate departure, this departure is represented with the form of angle θ.
Described main driving machine structure 1 comprises that one is used to drive vacuum and picks up and put head and make it wind rotation drive motor perpendicular to the main axis rotation of X-Y plane, this motor and running part thereof are as the part of bull header turning tower structure, belong to known technology, for simplicity thereby omitted specific descriptions to it.
Vacuum is picked up and is put 11 and move along the groove on the header turning tower structure 13 in rotation, and therefore this groove makes vacuum pick up to put that rotating the limit in front realizes lifting not at grade, and the mounting plane of charging workbench is the highest, and the mounting plane of discharging workbench is minimum.Such design can allow charging workbench and discharging workbench realize staggered moving when work, can be more compact when overall structure is installed.
In conjunction with Figure 13, workflow to sleeve mechanism is described as follows: the charging workbench is under the automatic control of master control system, move along x axle and Y direction, position and correction so that position and the vacuum of charging box on X-Y plane pick up and put head the position consistency of pick-up chip; Simultaneously, the discharging workbench moves at x axle and Y direction, position and proofread and correct so that go out magazine on X-Y plane position and vacuum pick up put the head will place chip a position consistency.Afterwards, take the initial pictures of random chip element in the charging box by the charging image pick-up device, and initial pictures is sent to the charging image processing system, utilize this system that initial pictures is analyzed and handled, thereby obtain the initial space azimuth information of each chip component, promptly chip component is picked up the initial orientation information of putting behind the sticking by vacuum.This system further calculates the departure Δ θ of this initial orientation information with respect to reference value.
With certain vacuum pick up put the head be example, other is all in like manner.When moving to, it picks up station, it is the position of the magazine top of charging workbench, the step that it descends and finishes absorption and keep chip component to be placed with under the control that contacts and put in the vacuum suction controlling organization with chip component, because vacuum is picked up and is put head and vacuum suction and put the structure and the operation principle thereof of controlling organization and belong to known structure and technology, is not described in detail for simplicity.Vacuum is picked up and is put head by the driving of main driving machine structure, picks up station certainly and begins with counterclockwise around main axis rotation.When it rotates to the angle modification station, this vacuum is picked up according to aforesaid departure Δ θ by angle modification mechanism and to put head and carry out angle correct, make it consistent with the dimensional orientation of being scheduled to.
Through after the angle correct, this vacuum is picked up and is put head and move to image and check station, and on this station, CCD pickup device image testing device takes the chip component after calibrated, be sent to then and check that analysis process system carries out analysis and judgement, see whether meet predetermined requirement.If meet, master control system sends the instruction of placement; If do not meet, then do not send the instruction of placement, but send the instruction of throwing aside.
After checking through image, this vacuum is picked up and is put head and move to the placement station.If in the above-mentioned steps, master control system sends the instruction of placement, and then this vacuum is picked up and put head and inhale in vacuum and finish the step that discharges and arrange chip component under the control put controlling organization.Otherwise, vacuum is picked up to put head absorption and maintain chip component and is continued rotation and move to waste material and throw aside station, throws aside mechanism by waste material and finishes the action that discharges chip component, puts the head mechanism of making zero and vacuum is picked up the angle of putting head makes zero by picking up then, turn back to feed station, restart the circulation of next round.
Above-described only is preferred implementation of the present utility model.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection range of the present utility model.For example, the vacuum in the bull header turning tower structure pick up put the head be not limited to 12, its number can increase or reduce as required.
Claims (9)
1. high speed pick and place machine of using the bull header turning tower structure, be used for the element of putting is at random picked up and discharging regularly, it comprises and is used to support charging workbench, the element connecting gear of putting the charging box at random and is used to support the regularly arranged discharging workbench that goes out magazine, it is characterized in that: described element connecting gear is the bull header turning tower structure, and this bull header turning tower structure is provided with a plurality of vacuum around main axis rotation and picks up and put head.
2. the high speed pick and place machine of application bull header turning tower structure according to claim 1, it is characterized in that: described charging workbench is one group of XY worktable, this XY worktable top is provided with a charging image pick-up device, and this charging image pick-up device is connected with the charging image processing system.
3. the high speed pick and place machine of application bull header turning tower structure according to claim 1, it is characterized in that: described discharging workbench is one group of XY worktable.
4. the high speed pick and place machine of application bull header turning tower structure according to claim 1, it is characterized in that, each vacuum of described bull header turning tower structure is picked up and is put the respectively corresponding station of head, check station, place station, throw aside the station and the station that makes zero comprising picking up station, angle modification station, image, all the other are the transition station.
5. the high speed pick and place machine of application bull header turning tower structure according to claim 4 is characterized in that described angle modification station is provided with an angle modification mechanism.
6. the high speed pick and place machine of application bull header turning tower structure according to claim 4 is characterized in that described image checks that station is provided with pickup device image testing device, and this device checks that with the pickup device image analysis process system is connected.
7. the high speed pick and place machine of application according to claim 1 bull header turning tower structure is characterized in that, described charging workbench and discharging workbench lay respectively at the relative both sides of bull header turning tower structure.
8. the high speed pick and place machine of application according to claim 1 bull header turning tower structure is characterized in that: described bull header turning tower structure is provided with 10-14 vacuum and picks up and put head.
9. the high speed pick and place machine of application according to claim 1 bull header turning tower structure is characterized in that the mounting plane of described charging workbench is higher than the mounting plane of discharging workbench, and each vacuum is picked up and put head and have the degree of freedom of motion in vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620012719 CN2879611Y (en) | 2006-04-11 | 2006-04-11 | High-speed pick and place machine utilizing multi-head turret mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620012719 CN2879611Y (en) | 2006-04-11 | 2006-04-11 | High-speed pick and place machine utilizing multi-head turret mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2879611Y true CN2879611Y (en) | 2007-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620012719 Expired - Fee Related CN2879611Y (en) | 2006-04-11 | 2006-04-11 | High-speed pick and place machine utilizing multi-head turret mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2879611Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431804A (en) * | 2011-12-09 | 2012-05-02 | 苏州华日金菱机械有限公司 | Rotary vacuum device |
| CN106697908A (en) * | 2017-03-01 | 2017-05-24 | 广州明森科技股份有限公司 | Intelligent card transferring device |
| CN111936401A (en) * | 2018-10-16 | 2020-11-13 | 上野精机株式会社 | Turnover unit |
-
2006
- 2006-04-11 CN CN 200620012719 patent/CN2879611Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431804A (en) * | 2011-12-09 | 2012-05-02 | 苏州华日金菱机械有限公司 | Rotary vacuum device |
| CN102431804B (en) * | 2011-12-09 | 2013-07-17 | 苏州华日金菱机械有限公司 | Rotary vacuum device |
| CN106697908A (en) * | 2017-03-01 | 2017-05-24 | 广州明森科技股份有限公司 | Intelligent card transferring device |
| CN111936401A (en) * | 2018-10-16 | 2020-11-13 | 上野精机株式会社 | Turnover unit |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070314 Termination date: 20110411 |