Chip mounter and its head

Abstract

The present application relates to a kind of patch machine and its head, head includes mounting bracket, at least two suction nozzle mechanisms and at least two lifting mechanisms, each suction nozzle mechanism includes corner motor, transmission part, lifting rod and suction nozzle, the output shaft of corner motor, transmission part and lifting rod are coaxially arranged;At least two suction nozzle mechanisms and at least two suction nozzle mechanisms one-to-one corresponding, each lifting mechanism includes linear motor connected to mounting bracket, and connecting piece linked with the output shaft of linear motor, connecting piece is connected to lifting rod, to drive lifting rod to be raised relative to mounting bracket by linear motor.Lifting rod is driven to move up and down by linear motor through connecting piece, ensure the lifting displacement precision of suction nozzle, the output shaft of corner motor can directly drive transmission part to rotate, and lifting rod and suction nozzle are rotated by transmission part, to adjust the angle of surface mounted component suctioned to suction nozzle, avoid the transmission error accumulation caused by intermediate transmission component, can further improve the mounting precision of head.

Description

Technical Field

[0001] This invention relates to the field of chip mounting technology, and in particular to a chip mounter and its mounting head. Background Technology

[0002] Automatic placement machines are used to place electronic components at high speed and with high precision. They are the most critical and complex equipment in the entire SMT (Surface Mount Technology) production process.

[0003] In related technologies, such as those disclosed in patent CN115623771A, the pick-and-place machine head uses a linear motor to drive a lifting rod to rise and fall. The nozzle connected to the lower end of the lifting rod moves up and down with the lifting rod to pick up and release surface mount components. The machine head rotates the lifting rod via a rotary motor and a transmission belt to adjust the angle of the surface mount components on the nozzle. Due to the transmission characteristics of the transmission belt, cumulative errors are easily generated during long-term operation, causing a decrease in the placement accuracy of the machine head. Summary of the Invention

[0004] This invention provides a pick-and-place machine and its head to ensure the placement accuracy of the pick-and-place machine head.

[0005] A mounting head for a pick-and-place machine, the mounting head comprising: Mounting rack; At least two suction nozzle mechanisms, each suction nozzle mechanism including a rotary motor connected to the mounting frame, a transmission component linked to the output shaft of the rotary motor, a lifting rod slidably engaged with the transmission component, and a suction nozzle connected to the lifting rod. The output shaft of the rotary motor, the transmission component, and the lifting rod are coaxially arranged so that the rotary motor drives the transmission component, the lifting rod, and the suction nozzle to rotate relative to the mounting frame. At least two lifting mechanisms are provided, each corresponding to one of the at least two suction nozzle mechanisms. Each lifting mechanism includes a linear motor connected to the mounting frame and a connector linked to the output shaft of the linear motor. The connector is connected to the lifting rod so that the linear motor drives the lifting rod to lift relative to the mounting frame. The moving direction of the output shaft of the linear motor is parallel to the output shaft of the rotary motor.

[0006] In one embodiment, the lifting rod includes a first rod and a second rod fixedly connected. The first rod passes through the transmission member and slides with the transmission member. The connecting member is sleeved on the second rod and rotates with the second rod. The relative position of the second rod and the connecting member remains unchanged in the axial direction of the lifting rod. The connecting member is provided with a sealing cavity. The second rod passes through the sealing cavity and is provided with an air passage communicating with the sealing cavity. The air passage communicates with the suction nozzle.

[0007] In one embodiment, the suction nozzle includes an outer cylinder, an inner cylinder, an elastic sleeve, and limiting balls. The outer cylinder is threaded to the second rod and has a conical cavity that communicates with the air passage. One end of the inner cylinder passes through the conical cavity and has a mating part that matches the shape of the cavity wall. The inner cylinder has a suction end. The limiting balls are located on the outer cylinder and are arranged in multiple circumferentially along the inner cylinder. The inner cylinder has multiple limiting grooves arranged circumferentially to accommodate the limiting balls. Each limiting groove corresponds to one limiting ball. The elastic sleeve is fitted onto the outer cylinder and abuts against the limiting balls, so that the inner cylinder is pluggably disposed on the outer cylinder.

[0008] In one embodiment, the second rod protrudes from the end of the connector opposite to the first rod; the lifting mechanism includes a first fastener, a first bearing, a first sealing ring, a second sealing ring, a second bearing, and a limiting pin arranged sequentially along the axial direction of the lifting rod; the second rod passes through the first fastener, the first bearing, the first sealing ring, the second sealing ring, and the second bearing; the sealing cavity is located between the first sealing ring and the second sealing ring; the first fastener is threaded to the end of the second rod away from the first rod to abut against the inner ring of the first bearing; the limiting pin passes through the end of the second rod away from the first fastener and abuts against the inner ring of the second bearing; after the first fastener moves along the second rod to disengage from the inner ring of the first bearing, the limiting pin can disengage from the second rod, so that the lifting rod can be pulled out from the side of the connector away from the transmission member.

[0009] In one embodiment, the mounting frame includes a first support and a second support, all of the lifting mechanisms are located on the first support, all of the suction nozzle mechanisms are located on the second support, and the first support and the second support are detachably connected.

[0010] In one embodiment, the first support is integrally formed, and each of the linear motors is detachably connected to the first support; the first support includes a plurality of positioning pins for positioning the second support on the first support, and camera brackets respectively provided on opposite sides in the lateral direction, and all the linear motors are spaced apart along the lateral direction.

[0011] In one embodiment, the connector has a connecting hole, the axis of which is parallel to the axis of the lifting rod. Each suction nozzle mechanism includes a second fastener passing through the connecting hole. The second fastener is detachably connected to the output shaft of the corresponding linear motor, and in the lateral direction, the width of the connecting hole is greater than the diameter of the second fastener.

[0012] In one embodiment, the machine head includes a cooling fan and a control board. The control board is connected to the end of the first support away from the nozzle. In the lateral direction, the cooling fan is provided on opposite sides of the first support. The ends of the angle motor and the linear motor away from the nozzle, together with the control board and the mounting bracket, form a heat dissipation channel. Two cooling fans are correspondingly located at both ends of the heat dissipation channel.

[0013] In one embodiment, the camera head includes a movable camera mechanism connected to the first support frame on the side opposite to the second support frame. The movable camera mechanism includes a support frame detachably connected to the first support frame, a drive motor fixedly connected to the support frame, a belt drive assembly disposed on the support frame and linked to the output end of the drive motor, a movable camera linked to the belt drive assembly, a magnetic encoder fixedly connected to the support frame, and a tension bearing detachably connected to the support frame. The support frame has two or more spaced guide rails, each of which extends along the lateral direction. The movable camera slides with the guide rails, and the magnetic encoder extends along the length of one of the guide rails. The support frame has two or more adjustment holes for adjusting the position of the tension bearing on the support frame, and the tension bearing abuts against the belt drive assembly.

[0014] A pick-and-place machine includes a body and a head as described in any of the above claims, the head being movably disposed on the body.

[0015] The above-described head for a pick-and-place machine includes a mounting frame, at least two nozzle mechanisms, and at least two lifting mechanisms. Each nozzle mechanism includes a rotary motor connected to the mounting frame, a transmission component linked to the output shaft of the rotary motor, a lifting rod slidably engaged with the transmission component, and a nozzle connected to the lifting rod. The output shaft of the rotary motor, the transmission component, and the lifting rod are coaxially arranged so that the rotary motor drives the transmission component, the lifting rod, and the nozzle to rotate relative to the mounting frame. The at least two nozzle mechanisms correspond one-to-one. Each lifting mechanism includes a linear motor connected to the mounting frame and a connector linked to the output shaft of the linear motor. The connector is connected to the lifting rod so that the linear motor drives the lifting rod to move up and down relative to the mounting frame. The direction of movement of the output shaft of the linear motor is parallel to the output shaft of the rotary motor. Because the linear motor drives the lifting rod to move up and down through the connecting parts, it ensures the displacement accuracy of the nozzle, thereby ensuring the placement accuracy. The output shaft, transmission parts, and lifting rod of the angle motor are set coaxially. The output shaft of the angle motor can directly drive the transmission parts to rotate, and through the transmission parts, drive the lifting rod and nozzle to rotate, so as to adjust the angle of the surface-mounted components adsorbed on the nozzle. Compared with the transmission methods of belt drive or gear drive used in related technologies to achieve nozzle rotation, this structure avoids the accumulation of transmission errors caused by intermediate transmission components such as transmission belts and transmission teeth during nozzle rotation, and can achieve more precise angle control, further improving the placement accuracy of the machine head. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the head of a pick-and-place machine according to one embodiment; Figure 2 for Figure 1 The exploded view of the pick-and-place machine head after the removal of some structural components; Figure 3 for Figure 1 The diagram shows the assembled lifting mechanism and nozzle mechanism of the pick-and-place machine head. Figure 4 for Figure 3 A full sectional view of the assembled lifting mechanism and suction nozzle mechanism shown. Figure 5 for Figure 4 An enlarged schematic diagram of point A after the lifting mechanism and suction nozzle mechanism are assembled; Figure 6 for Figure 1Left view of the head of the pick-and-place machine shown; Figure 7 This is a schematic diagram of the head of a pick-and-place machine according to one embodiment, from another perspective. Figure 8 for Figure 7 A schematic diagram of the moving camera mechanism of the pick-and-place machine head; Figure 9 for Figure 8 A magnified view of point B of the moving camera mechanism shown.

[0018] Figure label: Machine head 10, heat dissipation channel 10a, mounting bracket 100, guide component 101, first support 110, positioning pin 111, camera bracket 113, second support 120, suction nozzle mechanism 200, angle motor 210, transmission component 220, lifting rod 230, first rod 231, second rod 233, air passage 233a, suction nozzle 240, outer cylinder 241, conical cavity 241a, inner cylinder 243, limiting groove 243a, mating part 2431, suction end 2433, elastic sleeve 245, limiting ball 247, lifting mechanism 300, linear motor 310 311, 320, 320a, 320b, 320c, 330, 341, 343, 351, 353, 360, 400, 500, 600, 700, 710, 710a, 711, 720, 730, 740, 750, 750, 760, 710, 720, 730, 731, 740, 750, 760, 750, 760, 750, 760, 750, 760, 770, 720, 730, 731, 740, 750, 760, 750, 760. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0020] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] refer to Figure 1 This invention discloses a pick-and-place machine head 10, which is movably disposed on the machine body (not shown). The pick-and-place machine can be used to mount surface mount components onto a circuit board. Surface mount components include, but are not limited to, LED chips. During the mounting process, the pick-and-place machine's loading mechanism moves the circuit board to the mounting area, and the head 10 can move relative to the machine body. After acquiring the surface mount component, it mounts the surface mount component onto the circuit board in the mounting area.

[0023] Combination Figure 2 The machine head 10 includes a mounting bracket 100, at least two suction nozzle mechanisms 200, and at least two lifting mechanisms 300. The mounting bracket 100 provides support for the suction nozzle mechanisms 200 and the lifting mechanisms 300. Figure 3 , Figure 4 and Figure 5 Each suction nozzle mechanism 200 includes a rotary motor 210 connected to the mounting frame 100, a transmission component 220 linked to the output shaft of the rotary motor 210, a lifting rod 230 slidably engaged with the transmission component 220, and a suction nozzle 240 connected to the lifting rod 230. The transmission component 220 is approximately cylindrical and can be rotatably connected to the mounting frame 100 via bearings. The lifting rod 230 is approximately cylindrical. The output shaft of the rotary motor 210, the transmission component 220, and the lifting rod 230 are coaxially arranged so that the rotary motor 210 drives the transmission component 220, the lifting rod 230, and the suction nozzle 240 to rotate relative to the mounting frame 100. The rotary motor 210 can be a servo motor to improve the control accuracy of the suction nozzle 240's rotation. The output shaft of the rotary motor 210 can be connected to the transmission component 220 via a coupling to achieve a transmission connection between the output shaft of the rotary motor 210 and the transmission component 220, and to achieve their coaxial arrangement. Because of the coaxial arrangement, there is no need to use intermediate transmission components such as gear transmission or belt transmission to link the angle motor 210 and the transmission component 220. This avoids the cumulative error caused by intermediate transmission links during the angle control of the nozzle 240 by the angle motor 210, thereby ensuring the accuracy of the angle control of the nozzle 240 and improving the accuracy of the mounting process of the machine head 10.

[0024] At least two lifting mechanisms 300 correspond one-to-one with at least two suction nozzle mechanisms 200. (Reference) Figure 2In this embodiment, the machine head 10 is equipped with ten suction nozzle mechanisms 200 and ten lifting mechanisms 300. All suction nozzle mechanisms 200 are arranged along the lateral movement direction of the machine head 10, and all lifting mechanisms 300 are also arranged along the lateral movement direction of the machine head 10. The suction nozzle mechanisms 200 and lifting mechanisms 300 correspond one-to-one. The lateral movement direction can also be understood as the width direction of the machine head 10. Each suction nozzle mechanism 200 and its corresponding lifting mechanism 300 can be regarded as an independent working unit. During the surface mount processing of the machine head 10, the machine head 10 first moves laterally to the position of the surface mount component. The lifting mechanism 300 drives the suction nozzle 240 to descend. After the surface mount component is picked up by the negative pressure effect, the lifting mechanism 300 drives the suction nozzle 240 to rise. The rotary motor 210 can drive the suction nozzle 240 to rotate, adjust the angle of the surface mount component adsorbed on it, and ensure the matching of the surface mount component with the mounting position of the circuit board. This head 10 structure can pick up ten surface mount components in a single picking process and then move them to the mounting area for mounting, thereby improving the efficiency of the mounting process. Of course, in other embodiments, the number of nozzle mechanisms 200 and lifting mechanisms 300 can be increased or decreased.

[0025] Continue to refer to Figure 2 , Figure 3 and Figure 4 Each lifting mechanism 300 includes a linear motor 310 connected to the mounting frame 100, and a connector 320 linked to the output shaft of the linear motor 310. The connector 320 is connected to the lifting rod 230, so that the linear motor 310 drives the connector 320 and the lifting rod 230 to rise and fall relative to the mounting frame 100. The direction of movement (lifting direction) of the output shaft of the linear motor 310 is parallel to the output shaft of the rotary motor 210. The linear motor 310 has relatively high control precision. When closed-loop control is used, the movement distance of the output shaft of the linear motor 310 can be precisely controlled, thereby precisely controlling the lifting distance of the lifting rod 230, reducing the accumulation of errors in the intermediate transmission links, and thus ensuring the accuracy of the mounting process of the machine head 10. In some embodiments, the mounting bracket 100 may be provided with a guide member 101, and the output shaft of the linear motor 310 is connected to a slide rail 311. The slide rail 311 and the guide member 101 are slidably engaged. The guide member 101 and the slide rail 311, which have high structural rigidity, play an auxiliary guiding and supporting role for the output shaft of the linear motor 310, further ensuring the smooth movement of the output shaft of the linear motor 310, preventing the output shaft of the linear motor 310 from moving skewed, and further ensuring the surface mounting accuracy of the machine head 10.

[0026] It is understood that in the embodiments of this application, the coaxial and parallel settings need to take into account the existence of engineering errors and meet the engineering requirements for coaxiality and parallelism errors, and should not be interpreted as strict geometric constraints.

[0027] The above-mentioned machine head 10 includes a mounting frame 100, at least two suction nozzle mechanisms 200, and at least two lifting mechanisms 300. Each suction nozzle mechanism 200 includes a rotary motor 210 connected to the mounting frame 100, a transmission component 220 linked to the output shaft of the rotary motor 210, a lifting rod 230 slidably engaged with the transmission component 220, and a suction nozzle 240 connected to the lifting rod 230. The output shaft of the rotary motor 210, the transmission component 220, and the lifting rod 230 are coaxially arranged so that the rotary motor 210 drives the transmission component 220 and the lifting rod. 230 and nozzle 240 rotate relative to mounting frame 100; at least two nozzle mechanisms 200 correspond one-to-one with each other, each lifting mechanism 300 includes a linear motor 310 connected to mounting frame 100, and a connector 320 linked to the output shaft of linear motor 310. The connector 320 is connected to lifting rod 230 so that the lifting rod 230 can be driven to lift relative to mounting frame 100 by linear motor 310. The moving direction of the output shaft of linear motor 310 is parallel to the output shaft of angle motor 210. Because the linear motor 310 drives the lifting rod 230 to move up and down through the connector 320, it ensures the lifting displacement accuracy of the nozzle 240, thereby ensuring the placement accuracy. The output shaft of the angle motor 210, the transmission component 220, and the lifting rod 230 are coaxially arranged, allowing the output shaft of the angle motor 210 to directly drive the transmission component 220 to rotate, and through the transmission component 220, drive the lifting rod 230 and the nozzle 240 to rotate, thereby adjusting the angle of the surface mount components adsorbed on the nozzle 240. Compared with the transmission methods of belt drive or gear drive used in related technologies to achieve the rotation of the nozzle 240, this structure avoids the accumulation of transmission errors caused by intermediate transmission components such as transmission belts and transmission teeth during the rotation of the nozzle 240, and can achieve more precise angle control, further improving the placement accuracy of the head 10. Moreover, due to the reduction of intermediate transmission links, the transmission efficiency of the nozzle mechanism 200 is further improved, and the energy consumption of the head 10 can be reduced, improving the overall structural compactness of the head 10, that is, improving the integration of the head 10.

[0028] refer to Figure 4The lifting rod 230 includes a first rod 231 and a second rod 233 fixedly connected. The first rod 231 passes through the transmission member 220 and slides in cooperation with the transmission member 220. The length of the first rod 231 is greater than that of the second rod 233, thereby providing sufficient length support for the lifting and lowering movement of the suction nozzle 240 through the transmission member 220, and ensuring that the first rod 231 and the transmission member 220 have sufficient contact length to ensure that the torque of the rotary motor 210 on the transmission member 220 is reliably applied to the lifting rod 230, ensuring the accuracy and smoothness of the rotation control of the lifting rod 230. The connecting member 320 is sleeved on the second rod 233 and rotates in cooperation with the second rod 233. In the axial direction of the lifting rod 230, the relative position of the second rod 233 and the connecting member 320 remains unchanged, that is, there is no relative movement between the second rod 233 and the connecting member 320 in the axial direction of the lifting rod 230.

[0029] Simultaneously combined Figure 5 The connector 320 has a sealing cavity 320a, and the second rod 233 passes through the sealing cavity 320a and has an air passage 233a communicating with the sealing cavity 320a. The air passage 233a communicates with the nozzle 240. The first rod 231 and the second rod 233 can be integrally formed to ensure the structural rigidity of the lifting rod 230. The first rod 231 can be a solid rod to improve its structural rigidity. The first rod 231 and the transmission component 220 can be splined, allowing the first rod 231 to slide relative to the transmission component 220 along its axial direction. When the rotary motor 210 drives the transmission component 220 to rotate, the lifting rod 230 and the transmission component 220 rotate synchronously relative to the mounting frame 100. Since the first rod 231 is a solid rod, its diameter can be appropriately reduced, and the diameter of the transmission component 220 can also be reduced accordingly. This improves the structural compactness of the nozzle mechanism 200 while ensuring structural rigidity, and reduces the overall size of the machine head 10 to reduce the footprint of the pick-and-place machine. The connector 320 and the sealing cavity 320a formed therein are located near the nozzle 240, and the air passage 233a of the second rod 233 is also located near the nozzle 240.

[0030] In related technologies, a long sleeve is typically used to house a long hollow rod. The hollow rod forms an air passage extending from one end to the opposite end. One end of the hollow rod is connected to a suction nozzle, establishing communication between the nozzle and the interior of the hollow rod. The sleeve is connected to an external vacuum generator (e.g., a vacuum pump) to facilitate the generation of negative pressure within the sleeve. This negative pressure effect at the suction nozzle is achieved after the hollow rod rises and falls, thus enabling the suction of surface-mount components. In this technology, the air path from the sleeve and hollow rod to the suction nozzle is relatively long, the sealing structure of the entire air path is complex, and the processing and assembly of components are quite difficult. In this application, a sealing cavity 320a is provided on the connector 320 near the nozzle 240 to connect to an external vacuum generating mechanism. The air path between the air inlet 320b on the connector 320 for connecting the external vacuum generating mechanism and the nozzle 240 is greatly shortened. This not only simplifies the air path design inside the nozzle mechanism 200 and reduces the difficulty of sealing the air path, but also improves the response speed. That is, the nozzle 240 can pick up and release surface mount components faster and more efficiently, thereby improving the placement efficiency of the head 10.

[0031] Furthermore, the suction nozzle 240 may include an outer cylinder 241, an inner cylinder 243, an elastic sleeve 245, and limiting balls 247. The outer cylinder 241 is threadedly connected to the second rod 233 and has a conical cavity 241a that communicates with the air passage 233a. One end of the inner cylinder 243 passes through the conical cavity 241a and has a mating part 2431 that matches the shape of the cavity wall of the conical cavity 241a. The inner cylinder 243 has a suction end 2433 for suctioning surface mount components, and the suction end 2433 is located at the opposite end of the inner cylinder 243. The limiting balls 247 are located in the outer cylinder 241 and are arranged in multiple circumferentially along the inner cylinder 243, for example, more than three limiting balls 247 are arranged circumferentially along the outer cylinder 241. The elastic sleeve 245 is sleeved on the outer cylinder 241 and abuts against the limiting balls 247.

[0032] For example, the outer cylinder 241 has a through hole (not shown). The limiting ball 247 can be inserted into the through hole from the outside of the outer cylinder 241. Then, an elastic sleeve 245 is fitted onto the outside of the outer cylinder 241, using the elastic sleeve 245 to press against the limiting ball 247, causing the limiting ball 247 to protrude from the inner surface of the outer cylinder 241. The elastic sleeve 245 can be a silicone sleeve or a rubber sleeve. The opening diameter of the through hole on the inner surface of the outer cylinder 241 is smaller than the diameter of the limiting ball 247. When the inner cylinder 243 is not inserted into the outer cylinder 241, this structure prevents the limiting ball 247 from falling out of the through hole, thereby ensuring the reliable positioning of the limiting ball 247 in the outer cylinder 241. The inner cylinder 243 is circumferentially spaced with multiple limiting grooves 243a for accommodating the limiting ball 247, with each limiting groove 243a corresponding to a specific limiting ball 247. One of the inner cylinder 243 and the outer cylinder 241 may be provided with a guide groove, and the other with a guide pin. During the process of inserting the inner cylinder 243 into the outer cylinder 241, the sliding cooperation of the guide groove and the guide pin guides the inner cylinder 243 to be inserted into the outer cylinder 241 along a preset path, so as to ensure that the limiting ball 247 enters the corresponding limiting groove 243a after the outer cylinder 241 is inserted into the inner cylinder 243.

[0033] After the inner cylinder 243 is inserted into the outer cylinder 241 to a certain depth, the outer surface of the inner cylinder 243 presses the limiting ball 247, causing the limiting ball 247 to move outward of the outer cylinder 241 and press the elastic sleeve 245, causing the elastic sleeve 245 to deform elastically until the limiting groove 243a moves to the position of the limiting ball 247. The force of the elastic sleeve 245 on the limiting ball 247 can make each limiting ball 247 snap into the corresponding limiting groove 243a. The pressing action of the elastic sleeve 245 on the limiting ball 247 limits the inner cylinder 243 in the outer cylinder 241, preventing the inner cylinder 243 from easily coming out of the outer cylinder 241 and preventing the inner cylinder 243 from easily rotating relative to the outer cylinder 241. During this process, the conical cavity 241a and the mating part 2431 can achieve the alignment effect between the outer cylinder 241 and the inner cylinder 243, preventing the inner cylinder 243 from being misaligned relative to the outer cylinder 241. This ensures the assembly accuracy of the suction end 2433 of the suction nozzle 240 relative to the outer cylinder 241 and guarantees the sealing effect between the outer cylinder 241 and the inner cylinder 243. This suction nozzle 240 structure allows the inner cylinder 243 to be detachably mounted on the outer cylinder 241. In case of a malfunction such as blockage, the inner cylinder 243 can be easily removed from the outer cylinder 241 and replaced with a new inner cylinder 243, facilitating the maintenance of the suction nozzle 240 and reducing maintenance costs.

[0034] Continue to refer to Figure 5The second rod 233 protrudes from the end of the connector 320 opposite to the first rod 231. The lifting mechanism 300 includes a first fastener 330, a first bearing 341, a first sealing ring 351, a second sealing ring 353, a second bearing 343, and a limiting pin 360 arranged sequentially along the axial direction of the lifting rod 230. The second rod 233 passes through the first fastener 330, the first bearing 341, the first sealing ring 351, the second sealing ring 353, and the second bearing 343. The sealing cavity 320a is located between the first sealing ring 351 and the second sealing ring 353. The first fastener 330 is sleeved on the end of the second rod 233 away from the first rod 231 and threadedly connected to the second rod 233 to abut against the inner ring of the first bearing 341. The limiting pin 360 passes through the end of the second rod 233 away from the first fastener 330 and abuts against the inner ring of the second bearing 343. During the assembly of the nozzle mechanism 200 and the connector 320, the first fastener 330 rotates relative to the second rod 233 to gradually press against the inner ring of the first bearing 341. During this process, the second rod 233 can move downward relative to the connector 320, thereby causing the limiting pin 360 to press against the inner ring of the second bearing 343. When the rotary motor 210 drives the lifting rod 230 to rotate relative to the mounting bracket 100 through the transmission component 220, the first fastener 330, the second rod 233, and the limiting pin 360 rotate relative to the connector 320, thereby enabling the lifting rod 230 to rotate smoothly relative to the connector 320 and ensuring the sealing effect of the sealing cavity 320a during rotation, preventing vacuum leakage and increasing the energy consumption of the machine head 10. Moreover, during the process of the connector 320 driving the lifting rod 230 to move up and down, this structural arrangement can prevent the lifting rod 230 from axially shifting relative to the connector 320, which would affect the mounting process.

[0035] Furthermore, during the process of the nozzle 240 rotating relative to the connector 320 to adjust the angle of the surface mount element adsorbed thereon, the air inlet 320b on the connector 320 for connecting to the external vacuum generator can remain stationary relative to the mounting bracket 100, or only move linearly relative to the mounting bracket 100. That is, the pipe connected to the air inlet 320b does not undergo torsional deformation. This setting can prevent the pipe from fatigue failure due to repeated torsion and extend the service life of the pipe.

[0036] Furthermore, after the first fastener 330 moves along the second rod 233 to disengage from the inner ring of the first bearing 341, the limiting pin 360 can disengage from the second rod 233, allowing the lifting rod 230 to be pulled out from the side of the connector 320 away from the transmission member 220. Specifically, the maximum diameter of the entire lifting rod 230 is no greater than the inner diameter of the inner rings of the first bearing 341 and the second bearing 343. During the disassembly of the lifting rod 230, the first fastener 330 is loosened, causing it to disengage from the inner ring of the first bearing 341. The limiting pin 360 then no longer abuts against the inner ring of the second bearing 343. After removing the limiting pin 360 from the lifting rod 230, the entire lifting rod 230 can be pulled out from the side of the connector 320 away from the transmission member 220. When the lifting rod 230 of the suction mechanism 200 is worn or malfunctions, this structure allows the lifting rod 230 to be easily detached from the connector 320 and replaced with a new lifting rod 230 and suction nozzle 240, improving the convenience of maintenance.

[0037] See again Figure 2 In some embodiments, the mounting frame 100 includes a first support frame 110 and a second support frame 120. All lifting mechanisms 300 are located on the first support frame 110, and all suction nozzle mechanisms 200 are located on the second support frame 120. The first support frame 110 and the second support frame 120 are detachably connected. In this structural arrangement, the lifting mechanism 300 and the first support frame 110 are assembled into an independent module, and the suction nozzle mechanism 200 and the second support frame 120 are assembled into an independent module. When one of the modules fails, it can be easily disassembled for maintenance, avoiding the need to disassemble the entire machine head 10 for maintenance, thereby improving the convenience of maintenance.

[0038] Furthermore, the first support frame 110 is integrally formed, and each linear motor 310 is detachably connected to the first support frame 110. The first support frame 110 may include multiple positioning pins 111 for positioning the second support frame 120 on the first support frame 110, and camera brackets 113 respectively arranged on opposite sides in the lateral direction, with all linear motors 310 spaced apart along the lateral direction. The positioning pins 111 can cooperate with pin holes (not shown) on the second support frame 120 to achieve assembly positioning of the second support frame 120 on the first support frame 110. Of course, the positioning pins 111 can be located on the second support frame 120, while the pin holes are located on the first support frame 110. Figure 1The integrally molded first support 110 can be processed to achieve high positional accuracy, thus serving as the assembly reference for all linear motors 310 and cameras 400, ensuring the assembly accuracy of the linear motors 310 and cameras 400 on the first support 110. During the placement process of the machine head 10, the camera 400, connected to the camera bracket 113, is generally used to photograph the surface mount components at the pick-up position and the circuit board in the placement area. Combined with image recognition and other technologies, the placement positioning accuracy is ensured. The second support 120 can also be integrally molded to serve as the assembly reference for all nozzle mechanisms 200, ensuring the assembly accuracy of the nozzle mechanisms 200 on the second support 120. With the positioning action of the positioning pin 111, the assembly accuracy of the first support 110 and the second support 120 is guaranteed, thereby ensuring the relative positional accuracy of the lifting mechanism 300 and the nozzle mechanism 200, such as ensuring the parallelism of the lifting rod 230 and the moving direction of the output shaft of the linear motor 310, and thus ensuring the placement accuracy of the machine head 10.

[0039] refer to Figure 3 In some embodiments, the connector 320 has two or more connecting holes 320c. The axial direction of the connecting holes 320c is parallel to the axial direction of the lifting rod 230. The center line connecting all the connecting holes 320c can be perpendicular to the output shaft of the lifting rod 230 or the linear motor 310. Each suction nozzle mechanism 200 includes a second fastener (not shown) passing through the connecting hole 320c. The second fastener is detachably connected to the output shaft of the corresponding linear motor 310, and in the lateral direction, the width of the connecting hole 320c is greater than the diameter of the second fastener. This structural arrangement allows for fine adjustment of the position of the second fastener in the lateral direction of the connecting hole 320c, thereby adjusting the relative position of the connector 320 and the output shaft of the linear motor 310 in the lateral direction. This ensures that the lifting rod 230 and the output shaft of the linear motor 310 are parallel, preventing the lifting rod 230 from becoming skewed during lifting, which could cause jamming or wear of the moving parts and reduce the mounting accuracy. Compared to a circular hole, this structure with connecting hole 320c reduces the assembly precision requirements between the connector 320 and the output shaft of the linear motor 310, and also reduces the relative positional precision requirements of the two connecting holes 320c. This, in turn, lowers the machining precision requirements of the connector 320 and the assembly precision requirements of the output shaft of the linear motor 310 relative to the lifting rod 230, avoiding excessively high machining costs due to excessively high assembly precision requirements for the connector 320. Furthermore, after the connector 320 is assembled with the lifting rod 230, it can be pre-assembled with the output shaft of the linear motor 310. Based on the trial operation, the assembly position of the connector 320 and the output shaft of the linear motor 310 can be further adjusted, thereby ensuring the smooth operation of the lifting mechanism 300.

[0040] Specifically, in some embodiments, a flexible element, such as a rubber ring, can be embedded in the connecting hole 320c. The second fastener passes through the flexible element and achieves a fixed connection between the connector 320 and the output shaft of the linear motor 310. The flexible element can further reduce the machining accuracy requirements of the connecting hole 320c and can adapt to the lifting process of the lifting rod 230 in the lateral direction (perpendicular to the extension direction of the lifting rod 230) and longitudinal direction (parallel to the extension direction of the lifting rod 230). While absorbing impact and reducing vibration, it also reduces the swaying of the output shaft of the linear motor 310 and the connector 320 during the reciprocating lifting process, preventing the second fastener from wearing or loosening and reducing the mounting accuracy. Furthermore, due to the presence of the flexible component, even if assembly errors accumulated during the assembly of the linear motor 310 and the connector 320, and the assembly of the connector 320 and the lifting rod 230, cause errors in the parallelism between the extension direction of the lifting rod 230 and the output shaft of the linear motor 310, the flexible component can still achieve an elastic connection between the connector 320 and the output shaft of the linear motor 310. The smoothness of the lifting rod 230's lifting and lowering is ensured through the lateral and longitudinal adaptive deformation of the flexible component. In other words, the flexible component can further reduce the operational reliability and service life of the lifting rod 230 and the connector 320, and the connector 320 and the output shaft of the linear motor 310.

[0041] refer to Figure 1 and combined Figure 6 In some embodiments, the machine head 10 includes a cooling fan 500 and a control board 600, the control board 600 integrating the control circuit of the angle motor 210. Of course, the control board 600 can also integrate the control circuit of the linear motor 310. The control board 600 is connected to the end of the first support 110 away from the suction nozzle 240. In the lateral direction, cooling fans 500 are respectively provided on opposite sides of the first support 110. The ends of the angle motor 210 and the linear motor 310 away from the suction nozzle 240, together with the control board 600 and the mounting bracket 100, form a heat dissipation channel 10a. Two cooling fans 500 are correspondingly located at both ends of the heat dissipation channel 10a. During the operation of the machine head 10, one of the two cooling fans 500 draws air from the cooling channel 10a, while the other blows air into the cooling channel 10a. This simultaneously cools the control board 600, the linear motor 310, and the angle motor 210, preventing these components from overheating, ensuring the reliability of the machine head 10, and extending the service life of these components.

[0042] refer to Figure 7 , Figure 8 and Figure 9In some embodiments, the camera head 10 further includes a movable camera mechanism 700 connected to the first support frame 110 on the side opposite to the second support frame 120. The movable camera mechanism 700 includes a support frame 710 detachably connected to the first support frame 110, a drive motor 720 fixedly connected to the support frame 710, a belt drive assembly 730 disposed on the support frame 710 and linked to the output end of the drive motor 720, a movable camera 740 linked to the belt drive assembly 730, a magnetic encoder 750 fixedly connected to the support frame 710, and a tension bearing 760 detachably connected to the support frame 710. The support frame 710 has two or more spaced and parallel guide rails 711, each guide rail 711 extending in the lateral direction. The movable camera 740 slides with the guide rails 711 to improve the stability of the movable camera 740's support and movement through the multiple guide rails 711.

[0043] For example, in Figure 8 In the illustrated embodiment, three guide rails 711 are provided to ensure reliable support for the moving camera 740. One guide rail 711 guides and limits the top of the moving camera 740, and the other two guide rails 711 guide and limit the bottom of the moving camera 740. The orthographic projection of the three guide rails 711 onto a geometric plane perpendicular to the lateral direction can form a triangle. The output shaft of the drive motor 720 is perpendicular to the lateral direction and the axial direction of the lifting rod 230. In the direction parallel to the output shaft of the drive motor 720, two spaced guide rails 711 that contact the bottom of the moving camera 740 can apply an upward force to the moving camera 740 to balance its weight. The guide rail 711 that contacts the top of the moving camera 740 can apply a downward force to the moving camera 740. This ensures the smooth movement of the moving camera 740 while preventing the side of the moving camera 740 away from the first support 110 from swaying downward and causing unnecessary tension on the transmission belt 731 of the belt drive assembly 730, thus affecting the stability and reliability of the belt drive. This further ensures the smooth movement and detection accuracy of the moving camera 740.

[0044] A magnetic encoder 750 extends along the length of one of the guide rails 711. During the placement process of the machine head 10, a moving camera 740 moves relative to the mounting bracket 100 to take pictures of the surface mount components adsorbed on the nozzle 240. Combined with image recognition and other technologies, the camera detects the angle of the surface mount components on the nozzle 240, thereby facilitating the control of the rotation of the nozzle 240 by the angle motor 210 and ensuring the accuracy of the placement process.

[0045] The drive motor 720 can be a servo motor to improve the displacement control accuracy of the moving camera 740. The magnetic encoder 750 can further improve the displacement control accuracy of the moving camera 740, enabling the moving camera 740 to take pictures at a preset position. Specifically, the position of the magnetic encoder 750 relative to the mounting bracket 100 remains fixed, while the positions of the connector 320 and its nozzles 240 remain unchanged in the lateral direction of the mounting bracket 100. After all the nozzles 240 pick up the surface mount components and rise to the initial position, the moving camera 740 moves from one end of the mounting bracket 100 to the other in the lateral direction. By corresponding the position of the magnetic encoder 750 with each nozzle 240, the moving camera 740 can be precisely controlled to take pictures of each nozzle 240, thereby improving control accuracy and ensuring the placement processing efficiency and processing accuracy of the machine head 10.

[0046] refer to Figure 9 The support frame 710 may have two or more adjustment holes 710a for adjusting the position of the tension bearing 760 within the support frame 710. The tension bearing 760 abuts against the drive belt 731 of the belt drive assembly 730, thereby adjusting the tension of the drive belt 731. Specifically, in some embodiments, the centers of the multiple adjustment holes 710a gradually move downward relative to the suction nozzle 240, or the centers of the multiple adjustment holes 710a gradually move closer to the suction nozzle 240. After moving the tension bearing 760 from the upper adjustment hole 710a to the lower adjustment hole 710a, the tension bearing 760 further presses down on the drive belt 731 of the belt drive assembly 730, thereby ensuring the internal tension of the drive belt 731, preventing slippage of the drive belt 731 during operation, and ensuring the operational reliability of the moving camera 740.

[0047] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A machine head, characterized in that, The mounting head is used in a pick and place machine, and the mounting head includes: Mounting rack; At least two suction nozzle mechanisms are provided. Each suction nozzle mechanism includes a rotary motor fixedly connected to the mounting frame, a transmission component linked to the output shaft of the rotary motor, a lifting rod slidably engaged with the transmission component, and a suction nozzle connected to the lifting rod. The mounting frame provides support for the rotary motor and the transmission component, and the transmission component is rotatably connected to the mounting frame. The lifting rod includes an integrally formed first rod and a second rod, the first rod being longer than the second rod. The first rod passes through the transmission component and is slidably engaged with the transmission component via a spline. The suction nozzle is connected to the second rod. The output shaft of the rotary motor, the transmission component, and the first and second rods of the lifting rod are coaxially arranged to drive the transmission component, the lifting rod, and the suction nozzle to rotate relative to the mounting frame via the rotary motor. At least two lifting mechanisms correspond one-to-one with at least two of the aforementioned suction nozzle mechanisms. Each lifting mechanism includes a linear motor connected to the mounting frame and a connector linked to the output shaft of the linear motor. The connector is sleeved on the second rod of the lifting rod and rotatably engages with the second rod. The relative position of the second rod and the connector remains unchanged along the axial direction of the lifting rod, so that the lifting rod can be raised and lowered relative to the mounting frame by the linear motor driving the lifting rod to slide along the transmission member. The moving direction of the output shaft of the linear motor is parallel to the output shaft of the rotary motor. The connector has a sealing cavity, the second rod passes through the sealing cavity and has an air passage communicating with the sealing cavity. The air passage communicates with the suction nozzle. The connector has an air inlet for connecting to an external vacuum generating mechanism.

2. The machine head according to claim 1, characterized in that, The suction nozzle includes an outer cylinder, an inner cylinder, an elastic sleeve, and limiting balls. The outer cylinder is threaded to the second rod and has a conical cavity that communicates with the air passage. One end of the inner cylinder passes through the conical cavity and has a mating part that matches the shape of the cavity wall. The inner cylinder has a suction end. The limiting balls are located on the outer cylinder and are arranged in multiple circumferentially along the inner cylinder. The inner cylinder has multiple limiting grooves arranged circumferentially to accommodate the limiting balls. Each limiting groove corresponds to one limiting ball. The elastic sleeve is fitted onto the outer cylinder and abuts against the limiting balls, so that the inner cylinder can be inserted and removed from the outer cylinder.

3. The machine head according to claim 1, characterized in that, The second rod protrudes from the end of the connector opposite to the first rod; the lifting mechanism includes a first fastener, a first bearing, a first sealing ring, a second sealing ring, a second bearing, and a limiting pin arranged sequentially along the axial direction of the lifting rod. The sealing cavity is located between the first sealing ring and the second sealing ring. The second rod passes through the first fastener, the first bearing, the first sealing ring, the second sealing ring, and the second bearing. The first fastener is threaded to the end of the second rod away from the first rod to abut against the inner ring of the first bearing. The limiting pin passes through the end of the second rod away from the first fastener and abuts against the inner ring of the second bearing. After the first fastener moves along the second rod to disengage from the inner ring of the first bearing, the limiting pin can disengage from the second rod, so that the lifting rod can be pulled out from the side of the connector away from the transmission member.

4. The machine head according to any one of claims 1-3, characterized in that, The mounting frame includes a first support and a second support. All of the lifting mechanisms are located on the first support, and all of the suction nozzle mechanisms are located on the second support. The first support and the second support are detachably connected.

5. The machine head according to claim 4, characterized in that, The first support frame is integrally formed, and each of the linear motors is detachably connected to the first support frame; the first support frame includes a plurality of positioning pins for positioning the second support frame on the first support frame, and camera brackets respectively provided on opposite sides in the lateral direction, and all the linear motors are arranged at intervals along the lateral direction.

6. The machine head according to claim 5, characterized in that, The connector has a connecting hole, the axis of which is parallel to the axis of the lifting rod. Each suction nozzle mechanism includes a second fastener that passes through the connecting hole. The second fastener is detachably connected to the output shaft of the corresponding linear motor, and in the lateral direction, the width of the connecting hole is greater than the diameter of the second fastener.

7. The machine head according to claim 5, characterized in that, The machine head includes a cooling fan and a control board. The control board is connected to the end of the first support frame away from the suction nozzle. In the lateral direction, the cooling fan is provided on opposite sides of the first support frame. The ends of the angle motor and the linear motor away from the suction nozzle, together with the control board and the mounting frame, form a heat dissipation channel. The two cooling fans are correspondingly located at both ends of the heat dissipation channel.

8. The machine head according to claim 5, characterized in that, The camera head includes a movable camera mechanism connected to the first support frame on the side opposite to the second support frame. The movable camera mechanism includes a support frame detachably connected to the first support frame, a drive motor fixedly connected to the support frame, a belt drive assembly disposed on the support frame and linked to the output end of the drive motor, a movable camera linked to the belt drive assembly, a magnetic encoder fixedly connected to the support frame, and a tension bearing detachably connected to the support frame. The support frame has two or more spaced guide rails, each of which extends along the lateral direction. The movable camera slides with the guide rails, and the magnetic encoder extends along the length of one of the guide rails. The support frame has two or more adjustment holes for adjusting the position of the tension bearing on the support frame, and the tension bearing abuts against the belt drive assembly.

9. A pick-and-place machine, characterized in that, It includes a fuselage and a head as described in any one of claims 1-8, wherein the head is movably disposed on the fuselage.

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