Visual guidance automatic deviation correction mounting equipment and method

Abstract

The invention relates to the technical field of automatic mounting, in particular to visual guidance automatic deviation correction mounting equipment and method.The visual guidance automatic deviation correction mounting equipment comprises a mounting block, a forward and reverse rotation servo motor is mounted on the rear wall of the mounting block, the peripheral wall of an output shaft of the forward and reverse rotation servo motor is sleeved with an adjusting block, two sliding blocks are slidably connected to the adjusting block, and two limiting blocks are fixedly arranged on the outer wall of the mounting block; an L-shaped movable frame is slidably connected to the limiting block, an adjusting assembly is arranged at the upper end of the L-shaped movable frame and comprises a movable block, the top face of the L-shaped movable frame slides on the bottom face of the movable block, and a hollow shaft servo motor is installed on the movable block. The visual camera is used for carrying out image acquisition on a mounting target position, the laser sensor is used for detecting information such as height and flatness of the target position, dynamic correction of position deviation and angle deviation in the mounting process is achieved, and rotation of the vacuum suction head is conveniently controlled to compensate the angle deviation by correcting the angle of an element on the vacuum suction head.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic mounting, in particular to a vision-guided automatic deviation correction mounting device and method. Background Art

[0002] In industrial automation production, as the core equipment for realizing the rapid positioning and fitting of precision components (such as chips, electronic auxiliary materials, etc.), the accuracy and efficiency of the mounting device directly affect the product quality and production efficiency;

[0003] After retrieval, a Chinese patent with the publication number CN212517128U provides a mounter and its mounting head. The suction nozzle can suck the chip by the suction force of the vacuum suction pipe, and the chip is driven to press down and mount on the circuit board by means of a driving component. During the mounting process, the movable seat, the base, and the connecting arm jointly form a parallelogram structure, and the joints are hinged, so that the vertical driving stroke is small and the action frequency is fast, which is suitable for rapid mounting and improves the mounting efficiency;

[0004] However, it is found in the use process that the existing mounter mainly drives the suction nozzle to press down and mount through a parallelogram hinge structure, but lacks the ability of real-time detection and dynamic compensation for the posture and height deviation of components. When there are position offsets or angle deviations in the mounting target, it is easy to cause a decrease in mounting accuracy and it is difficult to meet the multi-dimensional deviation correction requirements under complex working conditions. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a vision-guided automatic deviation correction mounting device and method. Through a vision camera and a laser sensor, the vision camera collects images of the mounting target position, and the laser sensor detects information such as the height and flatness of the target position to obtain the initial data of the target position, providing a benchmark for subsequent deviation correction and mounting, realizing the dynamic correction of position offsets and angle deviations during the mounting process, and correcting the angle of the component on the vacuum suction head by the rotation of a hollow shaft servo motor, which is convenient for controlling the rotation of the vacuum suction head to compensate for the angle deviation.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A vision-guided automatic deviation correction mounting device, including a mounting block, a forward and reverse servo motor is installed on the rear wall of the mounting block, an adjusting block is sleeved on the outer peripheral wall of the output shaft of the forward and reverse servo motor, two sliders are slidably connected to the adjusting block, two limiting blocks are fixedly arranged on the outer wall of the mounting block, an L-shaped movable frame is slidably connected to the limiting blocks, and an adjusting component is arranged at the upper end of the L-shaped movable frame;

[0007] The adjustment assembly includes a movable block. The top surface of the L-shaped movable frame slides with the bottom surface of the movable block. A hollow shaft servo motor is installed on the movable block. A suction pipe is communicated with the hollow shaft of the hollow shaft servo motor. A vacuum suction head is provided at the lower end of the suction pipe. The outer peripheral wall of the upper end of the suction pipe is rotatably connected to a sleeve. A push rod is fixedly provided on the outer peripheral wall of the sleeve. The push rod is slidably connected with the slider.

[0008] A plurality of vision cameras and laser sensors are installed at the lower end of the L-shaped movable frame.

[0009] Preferably, two through grooves are formed in the front wall of the adjustment block. The slider is located inside the through grooves, and the slider is slidably connected with the through grooves.

[0010] Through the above technical solution, the slider slides along the adjustment block through the through grooves, and at the same time drives the push rod to move synchronously.

[0011] Preferably, two through holes are formed in the front wall of the mounting block. The push rod is slidably connected with the mounting block through the through holes.

[0012] Through the above technical solution, while the suction pipe moves, it pushes the push rod to move synchronously through the sleeve, and the push rod slides with the mounting block through the through holes.

[0013] Preferably, a plurality of groove switches are respectively fixedly provided at both ends of the mounting block, and an induction block is fixedly provided on the outer wall of the adjustment block.

[0014] Through the above technical solution, after the induction block is sensed by the groove switch, the movement range of the L-shaped movable frame is restricted, which facilitates the picking and mounting of the workpiece.

[0015] Preferably, guide rails are respectively fixedly provided on the side walls at both ends of the L-shaped movable frame. A moving block is slidably connected to the guide rails. The two moving blocks are respectively fixedly connected to the outer walls on both sides of the movable block.

[0016] Preferably, a through groove is formed in the top surface of the L-shaped movable frame. A gap is left between the outer peripheral wall of the suction pipe and the inner wall of the through groove. A cylinder is installed at the upper end of the L-shaped movable frame. The piston rod of the cylinder is fixedly connected with the movable block.

[0017] Through the above technical solution, the piston rod of the cylinder pushes the movable block, and the movable block drives the moving blocks on both sides to slide on the guide rails.

[0018] Preferably, a sealing block is fixedly provided at the lower end of the suction pipe. A movable pipe is slidably connected to the middle of the sealing block. The vacuum suction head is installed at the lower end of the movable pipe. The upper end of the movable pipe is communicated with the inside of the suction pipe.

[0019] Preferably, a spring is sleeved on the outer peripheral wall of the lower end of the movable pipe. The upper and lower ends of the spring respectively abut against the top surface of the vacuum suction head and the bottom surface of the sealing block.

[0020] Through the above technical solution, the telescopic movement of the movable tube is facilitated, and the impact force of component mounting is buffered by the spring, reducing the damage to the component or the carrier caused by the rigid contact between the vacuum suction head and the target carrier.

[0021] Preferably, a communicating tube is rotatably connected to the upper end of the suction tube, the communicating tube is communicated with the suction tube, and two connecting pieces are fixedly arranged on the outer wall of the communicating tube, and the bottom surfaces of the two connecting pieces are respectively fixedly connected to the top surface of the hollow shaft servo motor.

[0022] Through the above technical solution, the communicating tube is communicated with the external vacuum system, so that negative pressure is generated inside the suction tube.

[0023] A method for a vision-guided automatic deviation correction and mounting device includes the following steps:

[0024] S1: Install the device at a specified position through the mounting block, turn on the vision camera and the laser sensor. The vision camera collects images of the mounting target position, and the laser sensor detects information such as the height and flatness of the target position to obtain the initial data of the target position, providing a basis for subsequent deviation correction and mounting.

[0025] S2: The output shaft of the forward and reverse servo motor swings reciprocally to drive the adjusting block to swing synchronously. The swinging adjusting block drives the two sliders to swing synchronously. The sliders push the push rod to move up and down. At the same time, as the adjusting block swings, its inclination angle changes, so that the sliders slide along the adjusting block through the through slots, and the push rod drives the sleeve to move the suction tube and the hollow shaft servo motor synchronously, thereby pushing the L-shaped movable frame to slide along the limiting block, moving the vacuum suction head up and down to a suitable position to pick up and mount the components to be mounted. The hollow shaft servo motor rotates to drive the suction tube and the vacuum suction head to rotate synchronously to correct the angle of the components on the vacuum suction head.

[0026] The piston rod of the cylinder pushes the movable block to move, and the movable block drives the moving blocks on both sides to slide on the guide rail. The movement of the movable block drives the hollow shaft servo motor, the suction tube and the vacuum suction head to adjust their positions in the horizontal direction to correct the horizontal position deviation of the components on the vacuum suction head.

[0027] S3: Connect the communicating tube to the external vacuum system to generate negative pressure inside the suction tube. The vacuum suction head generates suction force through the suction tube and the movable tube to adsorb the components to be mounted.

[0028] According to the target position data obtained in step S1 and the deviation correction adjustment completed in step S2, move the vacuum suction head adsorbed with components to the target mounting position. As the forward and reverse servo motor rotates, the corresponding L-shaped movable frame moves downward to mount the workpiece after deviation correction, and the spring buffers the impact force of component mounting.

[0029] Beneficial effects of the present invention:

[0030] 1. Install the device to the specified position through the mounting block, turn on the visual camera and laser sensor, the visual camera collects images of the placement target position, the laser sensor detects the height, flatness and other information of the target position, obtains the initial data of the target position, provides a reference for subsequent correction and placement, and realizes dynamic correction of position offset and angle deviation during the placement process; push the L-shaped movable frame to slide along the limit block to move the vacuum suction head up and down to the appropriate position, pick up and place the mounted components, and drive the suction tube and vacuum suction head to rotate synchronously through the rotation of the hollow shaft servo motor to correct the angle of the component on the vacuum suction head, which is convenient for controlling the rotation of the vacuum suction head to compensate for the angle deviation.

[0031] 2. The movement of the movable block drives the hollow shaft servo motor, suction tube and vacuum head to adjust their positions in the horizontal direction. The suction tube slides along the through groove to correct the horizontal position deviation of the component on the vacuum head, ensuring the accuracy of the component placement position and improving product quality.

[0032] 3. The L-shaped movable frame moves up and down, driving the sensing block to move synchronously. The slot switch senses the sensing block and limits the range of movement of the L-shaped movable frame, which facilitates the removal and placement of workpieces, prevents mechanical overload or collision during operation, and improves the safety and stability of equipment operation.

[0033] 4. The vacuum head generates suction through the suction tube and the movable tube to adsorb the components to be mounted, ensuring the stability of the component position during the mounting process; as the forward and reverse servo motor rotates, the corresponding L-shaped movable frame moves downward to mount the workpiece after correction. The spring buffers the impact force of component mounting, reducing the damage to the component or carrier caused by the rigid contact between the vacuum head and the target carrier. It is suitable for the mounting of sensitive components such as precision chips and brittle materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 A bottom perspective view of the L-shaped movable frame structure of the present invention;

[0036] Figure 3 It is a schematic diagram of the movable block structure of the present invention;

[0037] Figure 4 This is a schematic diagram of the structure of the adjustment block of the present invention;

[0038] Figure 5 Schematic diagram of the spring structure of the present invention;

[0039] Figure 6This is the bottom-up perspective view of the casing structure of the present invention.

[0040] In the figure: 100, mounting block; 101, through hole;

[0041] 200, forward and reverse servo motor;

[0042] 300, adjusting block; 301, slider; 302, through slot;

[0043] 400, adjusting assembly; 401, movable block; 402, hollow shaft servo motor; 403, suction pipe; 404, vacuum suction head; 405, casing; 406, push rod; 407, sealing block; 408, movable pipe; 409, spring; 410, connecting pipe; 411, connecting piece;

[0044] 500, limiting block;

[0045] 600, L-shaped movable frame; 601, vision camera; 602, laser sensor; 603, groove switch; 604, induction block; 605, guide rail; 606, moving block; 607, cylinder; 608, through slot. Detailed implementation manners

[0046] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will provide a detailed description of the specific implementation manners of the present invention with reference to the accompanying drawings of the specification.

[0047] Embodiment 1

[0048] As Figures 1 to 3 shown, this embodiment provides a vision-guided automatic deviation correction and mounting device and method, including a mounting block 100. A forward and reverse servo motor 200 is installed on the rear wall of the mounting block 100. An adjusting block 300 is sleeved on the outer peripheral wall of the output shaft of the forward and reverse servo motor 200. Two sliders 301 are slidably connected to the adjusting block 300. Two limiting blocks 500 are fixedly provided on the outer wall of the mounting block 100. An L-shaped movable frame 600 is slidably connected to the limiting blocks 500. An adjusting assembly 400 is provided at the upper end of the L-shaped movable frame 600;

[0049] The adjusting assembly 400 includes a movable block 401. The top surface of the L-shaped movable frame 600 slides with the bottom surface of the movable block 401. A hollow shaft servo motor 402 is installed on the movable block 401. A suction pipe 403 is communicated with the hollow shaft of the hollow shaft servo motor 402. A vacuum suction head 404 is provided at the lower end of the suction pipe 403. The outer peripheral wall of the upper end of the suction pipe 403 is rotatably connected to a casing 405. A push rod 406 is fixedly provided on the outer peripheral wall of the casing 405. The push rod 406 is slidably connected to the slider 301;

[0050] A plurality of vision cameras 601 and laser sensors 602 are installed on the bottom surface of the L-shaped movable frame 600.

[0051] Working principle: This device is installed at a specified position through the mounting block 100. The vision camera 601 and the laser sensor 602 are turned on. The vision camera 601 collects images of the mounting target position, and the laser sensor 602 detects information such as the height and flatness of the target position to obtain the initial data of the target position, providing a benchmark for subsequent deviation correction and mounting, and realizing the dynamic correction of position offset and angle deviation during the mounting process;

[0052] The output shaft of the forward and reverse servo motor 200 reciprocates to drive the adjusting block 300 to swing synchronously. The swinging adjusting block 300 drives the two sliders 301 to swing synchronously. The slider 301 pushes the push rod 406 to move up and down, so that the push rod 406 drives the sleeve 405 to move the suction pipe 403 and the hollow shaft servo motor 402 synchronously, and then pushes the L-shaped movable frame 600 to slide along the limit block 500, so that the vacuum suction head 404 moves up and down to a suitable position to pick up and mount the mounted components. The hollow shaft servo motor 402 rotates to drive the suction pipe 403 and the vacuum suction head 404 to rotate synchronously to correct the angle of the components on the vacuum suction head 404, facilitating the control of the vacuum suction head 404 to rotate and compensate for the angle deviation.

[0053] Embodiment 2

[0054] As Figure 1 , Figure 2 , Figure 3 and Figure 5 shown, this embodiment is based on the previous embodiment. The difference from the previous embodiment is that two through slots 302 are opened on the front wall of the adjusting block 300. The slider 301 is located inside the through slot 302, and the slider 301 is slidably connected to the through slot 302; the slider 301 slides along the adjusting block 300 through the through slot 302, and at the same time drives the push rod 406 to move synchronously.

[0055] Two through holes 101 are opened on the front wall of the mounting block 100. The push rod 406 is slidably connected to the mounting block 100 through the through holes 101; while the suction pipe 403 moves, it pushes the push rod 406 to move synchronously through the sleeve 405, and the push rod 406 slides with the mounting block 100 through the through holes 101.

[0056] A plurality of groove switches 603 are respectively fixed at both ends of the mounting block 100, and an induction block 604 is fixed on the outer wall of the adjusting block 300; the movement range of the L-shaped movable frame 600 is restricted by the induction of the groove switch 603 to the induction block 604, facilitating the picking and mounting of workpieces.

[0057] Both side walls at the two ends of the L-shaped movable frame 600 are fixedly provided with guide rails 605. A moving block 606 is slidably connected to the guide rail 605. The two moving blocks 606 are respectively fixedly connected to the outer walls on both sides of the movable block 401. A through groove 608 is formed in the top surface of the L-shaped movable frame 600. A gap is left between the outer peripheral wall of the suction pipe 403 and the inner wall of the through groove 608. A cylinder 607 is installed at the upper end of the L-shaped movable frame 600. The piston rod of the cylinder 607 is fixedly connected to the movable block 401. The piston rod of the cylinder 607 pushes the movable block 401, and the movable block 401 drives the two moving blocks 606 on both sides to slide on the guide rail 605.

[0058] During use, when the adjusting block 300 swings to change its inclination angle, the slider 301 slides along the adjusting block 300 through the through groove 302, and at the same time drives the push rod 406 to move synchronously.

[0059] The piston rod of the cylinder 607 pushes the movable block 401 to move. The movable block 401 drives the two moving blocks 606 on both sides to slide on the guide rail 605. While the suction pipe 403 moves, it pushes the push rod 406 to move synchronously through the sleeve 405. The push rod 406 slides through the through hole 101 and the mounting block 100. The movement of the movable block 401 drives the hollow shaft servo motor 402, the suction pipe 403 and the vacuum suction head 404 to adjust their positions horizontally. The suction pipe 403 slides along the through groove 608 to correct the horizontal position deviation of the components on the vacuum suction head 404, ensuring the accuracy of the component mounting position and improving the product quality.

[0060] When the L-shaped movable frame 600 moves up and down, it drives the induction block 604 to move synchronously. After the induction block 604 is sensed by the groove switch 603, the movement range of the L-shaped movable frame 600 is restricted, which facilitates the taking and mounting of workpieces, prevents mechanical overload or collision during the operation of the equipment, and improves the safety and stability of the equipment operation.

[0061] Embodiment III

[0062] As Figure 2 , Figure 3 and Figure 4 shown, this embodiment is based on the previous embodiment. The difference from the previous embodiment is that a sealing block 407 is fixedly provided at the lower end of the suction pipe 403. A movable pipe 408 is slidably connected to the middle of the sealing block 407. The vacuum suction head 404 is installed at the lower end of the movable pipe 408. The upper end of the movable pipe 408 is connected to the inside of the suction pipe 403. A spring 409 is sleeved on the outer peripheral wall of the lower end of the movable pipe 408. The upper and lower ends of the spring 409 are respectively abutted against the top surface of the vacuum suction head 404 and the bottom surface of the sealing block 407. It facilitates the telescopic movement of the movable pipe 408, buffers the impact force during component mounting through the spring 409, and reduces the damage to components or carriers caused by the rigid contact between the vacuum suction head 404 and the target carrier.

[0063] The upper end of the suction pipe 403 is rotatably connected to a communicating pipe 410. Two connecting members 411 are fixedly provided on the outer wall of the communicating pipe 410, and the bottom surfaces of the two connecting members 411 are respectively fixedly connected to the top surface of the hollow shaft servo motor 402; the communicating pipe 410 is communicated with an external vacuum system to generate negative pressure inside the suction pipe 403.

[0064] During use, the communicating pipe 410 is communicated with an external vacuum system to generate negative pressure inside the suction pipe 403. The vacuum suction head 404 generates suction force through the suction pipe 403 and the movable pipe 408 to adsorb the component to be mounted, ensuring the stability of the component position during the mounting process.

[0065] According to the target position data obtained in the first embodiment and the deviation correction adjustment completed in the second embodiment, the vacuum suction head 404 adsorbed with the component is moved to the target mounting position. As the positive and reverse servo motor 200 rotates, the corresponding L-shaped movable frame 600 moves downward to mount the workpiece after deviation correction. The spring 409 buffers the impact force of the component mounting, reducing damage to the component or the carrier caused by the rigid contact between the vacuum suction head 404 and the target carrier, and is applicable to the mounting of sensitive components such as precision chips and brittle materials.

[0066] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A vision-guided automatic deviation correction and mounting device, characterized in that, Including: An installation block (100), a forward and reverse servo motor (200) is installed on the rear wall of the installation block (100), an adjustment block (300) is sleeved on the outer peripheral wall of the output shaft of the forward and reverse servo motor (200), two sliders (301) are slidably connected to the adjustment block (300), two limit blocks (500) are fixedly arranged on the outer wall of the installation block (100), an L-shaped movable frame (600) is slidably connected to the limit block (500), and an adjustment assembly (400) is arranged at the upper end of the L-shaped movable frame (600); The adjustment assembly (400) includes a movable block (401), the top surface of the L-shaped movable frame (600) slides with the bottom surface of the movable block (401), a hollow shaft servo motor (402) is installed on the movable block (401), a suction pipe (403) is communicated with the hollow shaft of the hollow shaft servo motor (402), a vacuum suction head (404) is arranged at the lower end of the suction pipe (403), a sleeve (405) is rotatably connected to the outer peripheral wall of the upper end of the suction pipe (403), a push rod (406) is fixedly arranged on the outer peripheral wall of the sleeve (405), and the push rod (406) is slidably connected to the slider (301); A plurality of vision cameras (601) and laser sensors (602) are installed on the bottom surface of the L-shaped movable frame (600).

2. The vision-guided automatic deviation-correcting mounting device according to claim 1, wherein: Two through grooves (302) are formed in the front wall of the adjustment block (300), the sliders (301) are located inside the through grooves (302), and the sliders (301) are slidably connected to the through grooves (302).

3. The vision-guided automatic deviation correction and mounting device according to claim 2, characterized in that: Two through holes (101) are formed in the front wall of the installation block (100), and the push rod (406) is slidably connected to the installation block (100) through the through holes (101).

4. The vision-guided automatic deviation correction and mounting device according to claim 3, wherein: A plurality of groove switches (603) are respectively fixedly arranged at both ends of the installation block (100), and an induction block (604) is fixedly arranged on the outer wall of the adjustment block (300).

5. The vision-guided automatic deviation correction and mounting device according to claim 4, characterized in that: Guide rails (605) are respectively fixedly arranged on the side walls at both ends of the L-shaped movable frame (600), a moving block (606) is slidably connected to the guide rails (605), and the two moving blocks (606) are respectively fixedly connected to the outer walls on both sides of the movable block (401).

6. The vision-guided automatic deviation correction and mounting device according to claim 5, wherein: A through groove (608) is formed in the top surface of the L-shaped movable frame (600), a gap is left between the outer peripheral wall of the suction pipe (403) and the inner wall of the through groove (608), a cylinder (607) is installed at the upper end of the L-shaped movable frame (600), and the piston rod of the cylinder (607) is fixedly connected to the movable block (401).

7. The vision-guided automatic alignment and mounting device according to claim 6, wherein: A sealing block (407) is fixedly arranged at the lower end of the suction pipe (403), a movable pipe (408) is slidably connected to the middle of the sealing block (407), the vacuum suction head (404) is installed at the lower end of the movable pipe (408), and the upper end of the movable pipe (408) is communicated with the inside of the suction pipe (403).

8. The vision-guided automatic deviation correction and mounting device according to claim 7, characterized in that: A spring (409) is sleeved on the outer peripheral wall of the lower end of the movable pipe (408), and the upper and lower ends of the spring (409) are respectively abutted against the top surface of the vacuum suction head (404) and the bottom surface of the sealing block (407).

9. The vision-guided automatic deviation correction and mounting device according to claim 8, wherein: The upper end of the suction pipe (403) is rotatably connected to a communicating pipe (410). The communicating pipe (410) is communicated with the suction pipe (403). Two connecting pieces (411) are fixedly arranged on the outer wall of the communicating pipe (410), and the bottom surfaces of the two connecting pieces (411) are respectively fixedly connected to the top surface of the hollow shaft servo motor (402).

10. A method for a vision-guided automatic deviation-correcting mounting device, characterized in that, Applied to the vision-guided automatic deviation correction and mounting device described in claim 9, including the following steps: S1: Install the device at a specified position through the mounting block (100), turn on the vision camera (601) and the laser sensor (602). The vision camera (601) collects images of the mounting target position, and the laser sensor (602) detects information such as the height and flatness of the target position to obtain the initial data of the target position, providing a reference for subsequent deviation correction and mounting; S2: The output shaft of the forward and reverse servo motor (200) swings reciprocally to drive the adjusting block (300) to swing synchronously. The swinging adjusting block (300) drives the two sliders (301) to swing synchronously. The sliders (301) push the push rod (406) to move up and down. At the same time, as the adjusting block (300) swings, its inclination angle changes, causing the sliders (301) to slide along the adjusting block (300) through the through slots (302), so that the push rod (406) drives the sleeve (405) to move the suction pipe (403) and the hollow shaft servo motor (402) synchronously, thereby pushing the L-shaped movable frame (600) to slide along the limiting block (500), moving the vacuum suction head (404) up and down to a suitable position to pick up and mount the component to be mounted. The hollow shaft servo motor (402) rotates to drive the suction pipe (403) and the vacuum suction head (404) to rotate synchronously to correct the angle of the component on the vacuum suction head (404); The piston rod of the cylinder (607) pushes the movable block (401) to move. The movable block (401) drives the moving blocks (606) on both sides to slide on the guide rail (605). The movement of the movable block (401) drives the hollow shaft servo motor (402), the suction pipe (403) and the vacuum suction head (404) to adjust their positions in the horizontal direction to correct the horizontal position deviation of the component on the vacuum suction head (404); S3: Connect the communicating pipe (410) to an external vacuum system to generate negative pressure inside the suction pipe (403). Through the suction pipe (403) and the movable pipe (408), the vacuum suction head (404) generates suction force to adsorb the component to be mounted; According to the target position data obtained in step S1 and the deviation correction adjustment completed in step S2, move the vacuum suction head (404) adsorbed with the component to the target mounting position. As the forward and reverse servo motor (200) rotates, the corresponding L-shaped movable frame (600) moves downward to mount the workpiece after deviation correction, and the spring (409) buffers the impact force of the component mounting.

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