Pressure counterweight floating Z-axis device

Abstract

The embodiment of the invention discloses a pressure counterweight floating Z-axis device which comprises an R-axis mechanism and a Z-axis, a shaft cavity corresponding to the Z-axis is formed in the R-axis mechanism, the upper end of the Z-axis is located in the shaft cavity, an adsorption air channel is formed in the Z-axis, an air floating air outlet hole and an adsorption air inlet hole are formed in the inner wall of the shaft cavity, and a negative pressure air outlet hole corresponding to the adsorption air inlet hole is formed in the Z-axis. A positive pressure air passage and a negative pressure air passage are arranged in the R-axis mechanism; the other end of the adsorption air channel is used for being connected with an air nozzle; one end of the positive-pressure air passage is connected with an external positive-pressure air source, and the other end is communicated with the air-floating air outlet; one end of the negative-pressure air passage is connected with an external negative-pressure air source, and the other end is communicated with the adsorption air inlet; a balance weight motor is arranged in the shaft cavity and comprises a stator and a rotor, and the rotor is connected with the Z shaft. According to the device, vertical floating buffering is achieved when materials are picked downwards and stressed, and meanwhile adjustment of external motor pressure on the Z axis and monitoring and feedback of the pressure of picked products are achieved.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and particularly to a pressure counterweight floating Z-axis device. Background Art

[0002] Most of the existing devices for picking up materials (such as small chips, etc.) in the downward Z-axis direction adopt a "large Z-axis + R-axis" picking structure member. The Z-axis is fixed on the guide rail, and the R-axis is fixed on the Z-axis. The Z-axis drives the structure member downward to pick up the product through a power source. This method belongs to hard-contact material picking and does not have a floating buffer function device, which easily causes damage to the material when picking up the material. At the same time, there is no monitoring and feedback of pressure, and a pressure closed-loop cannot be achieved. In addition, there is no adjustment function for different pressures and it cannot meet the requirements of different products for the picking pressure magnitude.

[0003] The existing picking structure method is prone to overshoot of the moving position and damage to the product, or when performing chip die bonding, the solder paste temperature changes instantaneously and expands, resulting in an instantaneous upward thrust of the product on the upper structure member (such as the suction nozzle). Because the current picking structure adopts a hard connection, although some picking structures are equipped with pressure sensors for real-time monitoring of force control to adjust the output magnitude of the motor force, but because the chip die bonding time is quite fast, the sensor has not had time to transmit the signal to the motor controller, and this instantaneous large pressure has disappeared, but this force has already exerted too much pressure on the product and damaged the product. At the same time, there are also defects that the adjustment of different pressure magnitudes cannot be achieved, and the monitoring and feedback of pressure cannot be achieved. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a pressure counterweight floating Z-axis device to achieve up and down floating buffering when picking up materials downward and adjustment of the picking pressure.

[0005] To solve the above technical problem, the embodiments of the present invention propose a pressure counterweight floating Z-axis device, including an R-axis mechanism and a Z-axis. An axial cavity corresponding to the Z-axis is provided inside the R-axis mechanism. The upper end of the Z-axis is located in the axial cavity. An adsorption air passage is provided inside the Z-axis. Air floating air outlet holes and adsorption air inlet holes are provided on the inner wall of the axial cavity. A negative pressure air outlet hole corresponding to the adsorption air inlet hole is provided on the Z-axis. A positive pressure air passage and a negative pressure air passage are provided inside the R-axis mechanism; one end of the adsorption air passage communicates with the negative pressure air outlet hole, and the other end is used for connecting to a nozzle; one end of the positive pressure air passage is used for connecting to an external positive pressure air source, and the other end communicates with the air floating air outlet hole; one end of the negative pressure air passage is used for connecting to an external negative pressure air source, and the other end communicates with the adsorption air inlet hole; a counterweight motor is provided inside the axial cavity. The counterweight motor includes a stator and a rotor, and the rotor is connected to the Z-axis.

[0006] Further, the stator is composed of a coil and a wire holder, and the rotor is composed of a magnet and a yoke.

[0007] Further, the yoke is disposed on top of the magnet, and the magnet is connected to the Z-axis.

[0008] Further, a rubber ring is provided on the outer periphery of the wire holder, and the stator is disposed in the shaft cavity by interference fit.

[0009] Further, there are a plurality of air flotation air outlets, and the plurality of air flotation air outlets are evenly distributed around the inner wall of the shaft cavity.

[0010] Further, the plurality of air flotation air outlets are divided into multiple rows up and down, and each row of air flotation air outlets is evenly distributed around the inner wall of the shaft cavity.

[0011] Further, a displacement sensor for detecting the displacement of the Z-axis is provided on the R-axis mechanism.

[0012] The beneficial effects of the present invention are as follows: The present invention realizes the up and down floating buffer when picking up materials downward, and at the same time realizes the adjustment of the external motor pressure on the Z-axis and the monitoring and feedback of the pressure magnitude of the picked-up product, and at the same time avoids the blind area where it is impossible to judge whether the suction nozzle on the Z-axis touches the product. When the product is under pressure, the current change value of the counterweight motor is monitored, and then the signal is fed back to the large Z-axis motor to stop or continue the displacement movement of pressing the product downward. The present invention can be directly applied to the end of the R-axis of a conventional ZR-axis, can float up and down, and has no friction with the air floating block, ensuring that there is only low frictional resistance between the parts and the air film at the end, so as to ensure that during the chip mounting and die bonding process, when the product expands due to heat, it can float up and down, ensuring that the product is not under excessive pressure, and at the same time the pressure can be adjusted to be compatible with the requirements of different products for the picking pressure magnitude. Description of the Drawings

[0013] Figure 1 is a three-dimensional structure diagram of the pressure counterweight floating Z-axis device according to an embodiment of the present invention.

[0014] Figure 2 is a bottom view of the pressure counterweight floating Z-axis device according to an embodiment of the present invention.

[0015] Figure 3 is Figure 2 a cross-sectional view taken along line E-E in

[0016] Figure 4 is a three-dimensional structure diagram of the counterweight motor according to an embodiment of the present invention.

[0017] Description of the Reference Numerals R-axis mechanism 1, Z-axis 2, adsorption air passage 3, air flotation air outlet 4, adsorption air inlet 5, negative pressure air outlet 6, positive pressure air passage 7, negative pressure air passage 8, rotating R-axis 9, shunt seat 10, air floating shaft plane 11, exhaust cavity 12, exhaust hole 13, inner snap ring 14, Counterweight motor 20, coil 21, wire holder 22, magnet 23, yoke 24, rubber ring 25. Detailed implementation manners

[0018] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0019] In the embodiments of the present invention, if there are directional indications (such as up, down, left, right, front, back...), they are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0020] In addition, in the present invention, the descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0021] Please refer to Figures 1 to 4 , the pressure counterweight floating Z-axis device of the embodiment of the present invention includes an R-axis mechanism and a Z-axis. The R-axis mechanism is composed of a rotating R-axis and a shunt base.

[0022] An axis cavity corresponding to the Z-axis is provided in the R-axis mechanism, and the axis cavity is cylindrical. The upper end of the Z-axis is located in the axis cavity. An adsorption air passage is provided in the Z-axis, and air floating air outlets and adsorption air inlets are provided on the inner wall of the axis cavity. A gap is left between the Z-axis and the axis cavity, and the gas blown out from the air floating air outlets diffuses up and down to form an air film. Preferably, an inner snap ring is provided at the bottom of the R-axis mechanism for limiting the up and down movement of the Z-axis.

[0023] An exhaust cavity may be provided on the inner wall of the axis cavity, and an exhaust hole communicating with the exhaust cavity is provided on the R-axis mechanism for exhausting through the exhaust hole. Gas is blown out from the air floating air outlets to form an air film between the Z-axis and the inner wall of the axis cavity, thereby reducing the friction when the Z-axis moves up and down. A negative pressure air outlet corresponding to the adsorption air inlet is provided on the Z-axis, and a positive pressure air passage and a negative pressure air passage are provided in the R-axis mechanism. One end of the adsorption air passage communicates with the negative pressure air outlet, and the other end is used to connect to an air nozzle. One end of the positive pressure air passage is provided with a connector for connecting to an external positive pressure air source, and the other end communicates with the air floating air outlets. One end of the negative pressure air passage is provided with a connector for connecting to an external negative pressure air source, and the other end communicates with the adsorption air inlets. The external negative pressure air source is connected to the suction nozzle through the negative pressure air passage and the adsorption air passage, and the suction nozzle adsorbs and grabs materials.

[0024] A counterweight motor is provided in the axis cavity. The counterweight motor includes a stator and a rotor, and the rotor is connected to the Z-axis. The present invention dynamically adjusts the counterweight through the electromagnetic force of the counterweight motor to balance the load of the Z-axis.

[0025] In addition to the floating Z-axis that can achieve the up-and-down floating buffer of the force when picking up materials downward, according to different magnitudes of force required by the product, different pressures can be adjusted for the floating Z-axis through the thrust of the counterweight motor for pressurization or decompression, and the pressure value can be monitored simultaneously.

[0026] As an implementation manner, the stator is composed of a coil and a bobbin, and the rotor is composed of a magnet and a yoke. The yoke is arranged on the top of the magnet, and the magnet is connected to the Z-axis. A number of rubber rings are arranged on the outer periphery of the bobbin, and the stator is arranged in the shaft cavity through the interference fit between the rubber rings and the shaft cavity (that is, through the frictional force generated by the extrusion between the rubber deformation of the rubber ring and the inner wall of the shaft cavity, the entire stator of the counterweight motor is fixed in the shaft cavity), which is convenient for replacing the counterweight motor later.

[0027] As an implementation manner, there are multiple air floating air outlets, and the multiple air floating air outlets are evenly distributed around the inner wall of the shaft cavity. Preferably, the multiple air floating air outlets are divided into multiple rows up and down, and each row of air floating air outlets is evenly distributed around the inner wall of the shaft cavity.

[0028] As an implementation manner, a displacement sensor for detecting the displacement of the Z-axis is arranged on the R-axis mechanism. After the Z-axis contacts the product, there is an upward displacement fluctuation. By detecting this displacement change, the change signal is transmitted to the controller of the large Z-axis to perform the next action, avoiding the situation that due to the different thicknesses of the products, when the large Z-axis moves down the same height, the suction nozzles of thin products or products at low positions cannot be contacted, resulting in abnormal vacuum for picking up products.

[0029] The present invention can be directly applied to the end of the existing rotating R-axis picking structure. The rotating R-axis is fixed on the large Z-axis and moves up and down with the large Z-axis. The present invention is fixed at the end of the picking structure and moves with the rotating R-axis. Because the present invention adopts the air floating bearing method, there is no mutual contact between the outer circle of the Z-axis of the present invention and the shaft cavity of the R-axis mechanism, but they are separated by an air film. Generally, the thickness of the air film is between 0.005 and 0.01 mm. In this way, the Z-axis of the present invention is in a floating state. When subjected to an upward pressure exceeding the rated value, it will automatically float upward and will not apply an extrusion force to the underlying materials due to size changes, squeezing the products and causing product damage. If it is necessary to increase the pressure on the floating Z-axis, the counterweight motor is controlled to apply a downward thrust; if it is necessary to reduce the pressure on the floating Z-axis, that is, when it is necessary to reduce the weight of the floating Z-axis and the suction nozzle device itself pressing on the product, the counterweight motor is controlled to apply an upward pulling force to balance part of the gravity of the floating Z-axis and the suction nozzle.

[0030] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalent scope.

Claims

1. A pressure-weighted floating Z-axis device, comprising an R-axis mechanism and a Z-axis, characterized in that: An axial cavity corresponding to the Z axis is provided in the R-axis mechanism, the upper end of the Z axis is located in the axial cavity, an adsorption air duct is provided in the Z axis, the inner wall of the axial cavity is provided with an air flotation outlet hole and an adsorption air inlet hole, a negative pressure outlet hole corresponding to the adsorption air inlet hole is provided on the Z axis, and a positive pressure air duct and a negative pressure air duct are provided in the R-axis mechanism; one end of the adsorption air duct is connected to the negative pressure outlet hole, and the other end is used to connect the air nozzle; one end of the positive pressure air duct is used to connect to an external positive pressure air source, and the other end is connected to the air flotation outlet hole; one end of the negative pressure air duct is used to connect to an external negative pressure air source, and the other end is connected to the adsorption air inlet hole; a counterweight motor is provided in the axial cavity, and the counterweight motor includes a stator and a mover, and the mover is connected to the Z axis.

2. The pressure-weighted floating Z-axis device according to claim 1, characterized in that: The stator is composed of a coil and a bobbin, and the mover is composed of a magnet and a yoke.

3. The pressure-weighted floating Z-axis device according to claim 2, characterized in that: The yoke is placed on top of the magnet, which is connected to the Z axis.

4. The pressure-weighted floating Z-axis device according to claim 2, characterized in that: A rubber ring is arranged on the outer periphery of the wire frame, and the stator is arranged in the shaft cavity through interference fit.

5. The pressure-weighted floating Z-axis device according to claim 1, characterized in that: There are a plurality of air flotation outlet holes, and the plurality of air flotation outlet holes are evenly distributed around the inner wall of the shaft cavity.

6. The pressure-weighted floating Z-axis device according to claim 5, characterized in that: The plurality of air flotation outlet holes are divided into a plurality of rows up and down, and the air flotation outlet holes are evenly distributed around the inner wall of the axial cavity.

7. The pressure-weighted floating Z-axis device according to claim 1, characterized in that: The R-axis mechanism is provided with a displacement sensor for detecting Z-axis displacement.

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