Visual rectification positioning and clamping device

Abstract

The application discloses a visual deviation rectification positioning and clamping device and belongs to the technical field of semiconductor processing equipment. In order to solve the problem that the current technology may not have a dual-mode intelligent switching function and cannot automatically adjust the working mode according to the actual situation of a PCB and has poor flexibility, the application comprises a chip mounter and a visual sensor fixed to the chip mounter and used for monitoring the posture of the PCB after the PCB is positioned, a hydraulic drive assembly electrically connected with a controller, a hydraulic telescopic assembly in communication with the hydraulic drive assembly through a hose, and a suction cup assembly with a push-pull structure fixedly connected to an output end of the hydraulic telescopic assembly. The application has a dual-mode intelligent switching function. When the visual sensor monitors that the PCB needs to be rectified, the controller controls the hydraulic telescopic assembly to be switched to mode one, energy is released to enable the suction cup assembly to be adsorbed and rotated to achieve the rectification effect. When rectification is not needed, the hydraulic telescopic assembly is switched to mode two, energy is released to enable the suction cup assembly to adsorb and fix the PCB.

Description

Technical Field

[0001] This invention relates to the field of semiconductor processing equipment technology, specifically to a visual correction positioning clamping device. Background Technology

[0002] In the semiconductor and circuit board processing fields, existing positioning and clamping methods have many problems. Traditional fixing methods are not secure enough to fix the workpiece, and the positioning is inaccurate, which can easily lead to defective products. When using SPI to inspect the workpiece, it is required that the workpiece be fixed in the set position and that the four corners be kept on the same horizontal plane to ensure the accuracy of the test data. However, existing devices are difficult to meet this requirement. At the same time, in automated production lines, the existing transport rail clamping and positioning has a low degree of automation and often requires manual operation. The positioning is not fast or accurate enough, the efficiency is low and the labor cost is high, which cannot meet the needs of rapid automated production. In addition, the clamping and positioning of circuit boards in laser drilling machines is complicated and inefficient.

[0003] Current technology may not have the function of intelligent switching between dual modes, and cannot automatically adjust the working mode according to the actual situation of the workpiece, resulting in poor flexibility. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, a visual correction and positioning clamping device is provided, featuring a dual-mode intelligent switching function, capable of automatically adjusting the working mode according to the actual condition of the workpiece, offering high flexibility.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A visual correction positioning clamping device is provided, including a pick-and-place machine and a visual sensor fixed to the pick-and-place machine for monitoring the posture of the PCB board after it is in place, a hydraulic drive component electrically connected to a controller, and a hydraulic telescopic component connected to the hydraulic drive component through a hose, the output end of which is fixedly connected to a suction cup component with a push-pull structure. The hydraulic telescopic assembly has a power storage structure that divides it into a left hydraulic chamber and a right hydraulic chamber, which are respectively connected to the hydraulic drive assembly; the power storage structure has a locking and unlocking state that is independently controlled by the controller; the suction cup assembly is connected to the middle space of the power storage structure through a hose; The device is configured to: The hydraulic drive assembly first injects fluid into the right hydraulic chamber to compress the accumulator structure, which then moves the suction cup assembly to the center above the PCB board. Simultaneously, the push-pull structure pushes the suction cup assembly to adhere to the PCB board. If the visual sensor detects that the PCB board is rotating, the right side of the accumulator structure locks and the left side unlocks. The fluid in the left hydraulic chamber flows back, and the accumulator structure releases its stored force to the left, increasing the space in the middle and creating a negative pressure suction. At the same time, the transmission drives the suction cup assembly to rotate to correct its deviation. If no rotation occurs, the left side locks and the right side unlocks. The fluid in the right hydraulic chamber flows back, and the accumulator structure releases its stored force to the right, creating a negative pressure suction, and does not rotate.

[0006] According to some embodiments of the present invention, the hydraulic drive assembly includes a hydraulic oil storage tank, two hydraulic pumps are fixedly connected inside the hydraulic oil storage tank, and a dust cover is fixedly connected to the hydraulic oil storage tank.

[0007] According to some embodiments of the present invention, the hydraulic telescopic assembly includes an L-shaped bracket, which is fixedly connected to a pick-and-place machine. A hydraulic pipe is fixedly connected to the L-shaped bracket, and sealing caps are fixedly connected to both ends of the hydraulic pipe. A left hydraulic port and a right hydraulic port are provided on the hydraulic pipe, which are arranged sequentially from left to right. A hydraulic solenoid valve is fixedly connected to both the left and right hydraulic ports. The two hydraulic solenoid valves are respectively connected to two hydraulic pumps through hoses. An airflow port is provided between the left and right hydraulic ports.

[0008] According to some embodiments of the present invention, the power storage structure includes a left piston and a right piston slidably connected within the hydraulic pipe, and a hydraulic spring sleeved on the hydraulic rod. The left piston and the right piston are arranged sequentially from left to right. The left piston, together with a sealing cap and the inner wall of the hydraulic pipe, forms a left hydraulic chamber. The right piston, together with another sealing cap and the inner wall of the hydraulic pipe, forms a right hydraulic chamber. The left hydraulic port is located at the position corresponding to the left hydraulic chamber, and the right hydraulic port is located at the position corresponding to the right hydraulic chamber.

[0009] According to some embodiments of the present invention, a hydraulic rod is coaxially arranged with the hydraulic pipe, the hydraulic rod is slidably connected to both the left piston and the right piston, the left piston and the right piston are coaxially arranged, the left end of the hydraulic spring is fixedly connected to the left piston, and the right end of the hydraulic spring is fixedly connected to the right piston.

[0010] According to some embodiments of the present invention, a working chamber is provided on the hydraulic rod, and a rotating shaft is rotatably connected in the working chamber. A left cam and a right cam are fixedly connected to the rotating shaft. The left cam is located at the position corresponding to the left piston, and the right cam is located at the position corresponding to the right piston. A motor is fixedly connected to the hydraulic rod, and the output end of the motor is fixedly connected to the rotating shaft.

[0011] According to some embodiments of the present invention, a left locking rod and a right locking rod are slidably connected to the hydraulic rod. The left locking rod is located at a position corresponding to the left cam, and the right locking rod is located at a position corresponding to the right cam. A left connecting spring and a right connecting spring are respectively sleeved on the left locking rod and the right locking rod. One end of the left connecting spring and the right connecting spring are fixedly connected to the inner wall of the working chamber, and the other end of one end of the left connecting spring and the right connecting spring are fixedly connected to the left locking rod and the right locking rod, respectively. A left locking hole and a right locking hole are respectively opened on the left piston and the right piston.

[0012] According to some embodiments of the present invention, the suction cup assembly includes a right-angle frame, which is fixedly connected to a hydraulic rod. A slider is fixedly connected to the upper end of the right-angle frame, and a groove is provided on the L-shaped bracket, in which the slider is slidably connected.

[0013] According to some embodiments of the present invention, a cylinder is fixedly connected to the L-shaped bracket, a connecting block is fixedly connected to the output end of the cylinder, a suction cup body is rotatably connected to the connecting block, a disc is rotatably connected to the right-angle bracket, an airflow pipe is slidably connected to the disc, the lower end of the airflow pipe is fixedly connected to and communicates with the suction cup body, an airflow solenoid valve is fixedly connected to the upper end of the airflow pipe, the airflow solenoid valve is communicated with the airflow port through a hose, and the left piston, the right piston, and the hydraulic pipe form a pneumatic chamber.

[0014] According to some embodiments of the present invention, a toothed ring is fixedly connected to the disc, a slide rod is slidably connected to the right-angle bracket, a connecting rod is fixedly connected to the left end of the slide rod, a rack is fixedly connected to the connecting rod, the right end of the slide rod is fixedly connected to the left piston, a correction spring is sleeved on the slide rod, the left end of the correction spring is fixedly connected to the right-angle bracket, the right end of the correction spring is fixedly connected to the slide rod, and a distance sensor is fixedly connected to both sealing covers.

[0015] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows: 1. It has a dual-mode intelligent switching function. When the vision sensor detects that the workpiece needs to be corrected, the controller controls the hydraulic telescopic component to switch to mode one, releasing energy to make the suction cup component adsorb and rotate to achieve the correction effect; when correction is not needed, it switches to mode two, releasing energy to make the suction cup component adsorb and fix the workpiece. 2. Using a non-contact adsorption method, the suction cup assembly adsorbs onto the upper surface of the workpiece without causing physical damage, thus ensuring the quality of the workpiece. 3. By linking the controller with the vision sensor, the hydraulic pump is started on demand and the oil pressure is precisely adjusted, avoiding the overshoot or lag problems of traditional mechanical valves, ensuring smooth movement of the telescopic components, and synchronous completion of hydraulic oil delivery and energy storage, resulting in a shorter drive response time. 4. By integrating a vision sensor with a hydraulic drive system, high-precision dynamic correction and rapid response can be achieved. The vision sensor monitors the position and status of the workpiece and transmits the information to the controller. The controller controls the hydraulic telescopic component to move the suction cup component precisely to the center of gravity of the workpiece and performs correction operations based on the monitoring results. 5. The modular design allows each component of the device to be manufactured, installed, and maintained independently, facilitating replacement and upgrades, thereby significantly improving production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall three-dimensional structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall three-dimensional structure of the L-shaped bracket according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall three-dimensional structure of the hydraulic telescopic assembly according to an embodiment of the present invention; Figure 4 This is a front view of the overall three-dimensional structure of the hydraulic telescopic assembly according to an embodiment of the present invention. Figure 1 ; Figure 5 This is a front view of the overall three-dimensional structure of the hydraulic telescopic assembly according to an embodiment of the present invention. Figure 2 ; Figure 6 This is a three-dimensional sectional view of the hydraulic telescopic assembly according to an embodiment of the present invention; Figure 7 Embodiments of the present invention Figure 6 Enlarged view of region A in the middle; Figure 8 This is a three-dimensional sectional view of the hydraulic rod according to an embodiment of the present invention; Figure 9 Embodiments of the present invention Figure 8 Enlarged view of region B in the middle.

[0017] In the diagram: 1. Pick and place machine; 2. Vision sensor; 3. Hydraulic drive assembly; 31. Hydraulic oil reservoir; 32. Hydraulic pump; 33. Dust cover; 4. Hydraulic telescopic assembly; 41. L-shaped bracket; 411. Slide groove; 42. Hydraulic pipe; 421. Hydraulic rod; 4211. Working chamber; 4212. Rotary shaft; 4213. Left cam; 4214. Right cam; 4215. Motor; 4216. Left locking rod; 4217. Right locking rod; 4218. Left connecting spring; 4219. Right connecting spring; 422. Hydraulic spring; 43. Sealing cover; 4 4. Left hydraulic port; 45. Right hydraulic port; 46. Hydraulic solenoid valve; 47. Airflow port; 48. Left piston; 481. Left hydraulic chamber; 482. Left locking hole; 49. Right piston; 491. Right hydraulic chamber; 492. Right locking hole; 5. Suction cup assembly; 51. Right-angle bracket; 511. Slide rod; 512. Connecting rod; 513. Rack; 514. Correcting spring; 52. Slider; 53. Cylinder; 54. Connecting block; 55. Suction cup body; 56. Disc; 561. Gear ring; 57. Airflow pipe; 58. Airflow solenoid valve; 59. Air pressure chamber. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The PCB board will be described in detail below as an example.

[0020] During the PCB transport process, the PCB is transported with the center position of the PCB as the reference. That is, the PCB is transported while keeping the center position of the PCB unchanged. After being transported to the target position, the PCB may rotate around the center position due to other external factors, which will affect the subsequent surface mount operation of the PCB. A visual correction positioning clamping device, referring to Figure 1 , Figure 2 and Figure 5 As shown, it includes a pick-and-place machine 1 and a vision sensor 2 fixed to the pick-and-place machine 1 for monitoring the posture of the PCB board after it is in place, a hydraulic drive assembly 3 electrically connected to the controller, and a hydraulic telescopic assembly 4 connected to the hydraulic drive assembly 3 through a hose. The output end of the assembly is fixedly connected to a suction cup assembly 5 with a push-pull structure. The hydraulic telescopic assembly 4 is equipped with a power storage structure, which divides it into a left hydraulic chamber 481 and a right hydraulic chamber 491. The two chambers are respectively connected to the hydraulic drive assembly 3. The power storage structure has a locking and unlocking state that is independently controlled by the controller. The suction cup assembly 5 is connected to the middle space of the power storage structure through a hose. The device is configured as follows: The hydraulic drive assembly 3 first injects fluid into the right hydraulic chamber 491 to compress the accumulator structure, which in turn moves the suction cup assembly 5 to the center above the PCB board. At the same time, the push-pull structure pushes the suction cup assembly 5 to adhere to the PCB board. If the vision sensor 2 detects that the PCB board is rotating, the right side of the accumulator structure is locked and the left side is unlocked. The fluid in the left hydraulic chamber 481 flows back, and the accumulator structure releases its stored force to the left, increasing the space in the middle and creating a negative pressure suction. At the same time, the transmission drives the suction cup assembly 5 to rotate to correct the deviation. If no rotation occurs, the left side is locked and the right side is unlocked. The fluid in the right hydraulic chamber 491 flows back, and the accumulator structure releases its stored force to the right to create a negative pressure suction, without rotating. When the vision sensor 2 detects that the PCB board has been transported to the center position of the pick-and-place machine 1, the hydraulic drive component 3 works, and the hydraulic telescopic component 4 extends through hydraulic action, thereby pushing the suction cup component 5 to move towards the center position of the PCB board. When the suction cup component 5 moves to the center position of the PCB board, the hydraulic drive component 3 stops working. During the entire process of the extension of the hydraulic telescopic component 4, it continuously stores energy. After the hydraulic drive component 3 stops working, that is, after the suction cup component 5 stops moving to the center position of the PCB board, the vision sensor 2 monitors whether the PCB board needs to be corrected. The vision sensor 2 transmits the monitoring result to the controller, which is existing technology and is not shown in the figure. When the PCB board needs alignment, the controller switches the hydraulic telescopic component 4 to mode one and releases energy, causing the suction cup component 5 to quickly adhere to the upper surface of the PCB board for fixation. Simultaneously, the suction cup component 5 rotates to achieve alignment. When the PCB board does not need alignment, the controller switches the hydraulic telescopic component 4 to mode two, releasing energy to quickly adhere the suction cup component 5 to the upper surface of the PCB board for fixation. This device integrates a vision sensor 2 with a hydraulic drive system, achieving high-precision dynamic alignment and rapid response. Its dual-mode intelligent switching and modular design significantly improve production efficiency, while non-contact adsorption avoids PCB damage.

[0021] Reference Figure 1 and Figure 2As shown, the hydraulic drive assembly 3 includes a hydraulic oil storage tank 31, with two hydraulic pumps 32 fixedly connected inside. A dust cover 33 is fixedly connected to the hydraulic oil storage tank 31 to isolate dust and metal debris, preventing the hydraulic oil from being contaminated. When the vision sensor 2 detects that the PCB board has been transported to the center position of the pick-and-place machine 1, the vision sensor 2 transmits the monitoring information to the controller. The controller controls one of the hydraulic pumps 32 to start, so that the hydraulic pump 32 delivers the hydraulic oil in the hydraulic oil tank to the hydraulic telescopic assembly 4 through a hose to increase the hydraulic pressure in the hydraulic telescopic assembly 4, thereby achieving the effect of driving the hydraulic telescopic assembly 4 to extend and retract, and enabling the hydraulic telescopic assembly 4 to store energy. Through the linkage between the controller and the vision sensor 2, the hydraulic pump 32 is started as needed and the oil pressure is precisely adjusted to avoid the overshoot or lag problems of traditional mechanical valves, ensuring smooth movement of the telescopic assembly, and that the hydraulic oil delivery and energy storage are completed simultaneously, resulting in a shorter drive response time.

[0022] Reference Figures 2-4 As shown, the hydraulic telescopic assembly 4 includes an L-shaped bracket 41, which is fixedly connected to the pick-and-place machine 1. A hydraulic pipe 42 is fixedly connected to the L-shaped bracket 41, and sealing caps 43 are fixedly connected to both ends of the hydraulic pipe 42. The hydraulic pipe 42 has a left hydraulic port 44 and a right hydraulic port 45, which are arranged sequentially from left to right. A hydraulic solenoid valve 46 is fixedly connected to both the left hydraulic port 44 and the right hydraulic port 45. When the vision sensor 2 detects that the PCB board has been transported to the center position of the pick-and-place machine 1, The controller controls the hydraulic solenoid valve 46 fixedly connected to the right hydraulic port 45 to open. The two hydraulic solenoid valves 46 are connected to the two hydraulic pumps 32 through hoses respectively. At the same time, the hydraulic pump 32 connected to the hydraulic solenoid valve 46 is started, so that hydraulic oil enters the hydraulic pipe 42 from the right hydraulic port 45 through the hose. During this process, the hydraulic solenoid valve 46 fixedly connected to the left hydraulic port 44 is always in the closed state. The hydraulic pump 32 is a gear pump type, which can deliver in both directions. An airflow port 47 is opened between the left hydraulic port 44 and the right hydraulic port 45.

[0023] Reference Figures 5-7As shown, the power storage structure includes a left piston 48 and a right piston 49 slidably connected within the hydraulic pipe 42, and a hydraulic spring 422 sleeved on the hydraulic rod 421. The left piston 48 and the right piston 49 are arranged sequentially from left to right. The left piston 48, a sealing cover 43, and the inner wall of the hydraulic pipe 42 form a left hydraulic chamber 481. In the initial state, that is, before the PCB board is transported to the center position of the pick-and-place machine 1, the left hydraulic chamber 481 is filled with hydraulic oil. The right piston 49, another sealing cover 43, and the inner wall of the hydraulic pipe 42 form a right hydraulic chamber 491. The left hydraulic port 44 is located at the position corresponding to the left hydraulic chamber 481, and the right hydraulic port 45 is located at the position corresponding to the right hydraulic chamber 491. When the vision sensor 2 detects that the PCB board is transported to the center position of the pick-and-place machine 1, the controller controls the hydraulic solenoid valve 46 fixedly connected to the right hydraulic port 45 to open, and at the same time starts the hydraulic pump 32 connected to the hydraulic solenoid valve 46, so that the hydraulic oil enters the hydraulic pipe 42 through the right hydraulic port 45 through the hose, that is, enters the right hydraulic chamber 491, thereby increasing the hydraulic pressure in the right hydraulic chamber 491.

[0024] Reference Figure 2 and Figures 5-9 As shown, a hydraulic rod 421 is coaxially arranged with the hydraulic pipe 42. The hydraulic rod 421 is slidably connected to the left piston 48 and the right piston 49. The left piston 48 and the right piston 49 are coaxially arranged. The left end of the hydraulic spring 422 is fixedly connected to the left piston 48, and the right end of the hydraulic spring 422 is fixedly connected to the right piston 49.

[0025] A working chamber 4211 is provided on the hydraulic rod 4211. A rotating shaft 4212 is rotatably connected in the working chamber 4211. A left cam 4213 and a right cam 4214 are fixedly connected to the rotating shaft 4212. The left cam 4213 is located at the position corresponding to the left piston 48, and the right cam 4214 is located at the position corresponding to the right piston 49. A motor 4215 is fixedly connected to the hydraulic rod 421, and the output end of the motor 4215 is fixedly connected to the rotating shaft 4212.

[0026] A left locking rod 4216 and a right locking rod 4217 are slidably connected to the hydraulic rod 421. The left locking rod 4216 is located at the position corresponding to the left cam 4213, and the right locking rod 4217 is located at the position corresponding to the right cam 4214. A left connecting spring 4218 and a right connecting spring 4219 are respectively sleeved on the left locking rod 4216 and the right locking rod 4217. One end of the left connecting spring 4218 and the right connecting spring 4219 are fixedly connected to the inner wall of the working chamber 4211, and the other end of the left connecting spring 4218 and the right connecting spring 4219 are fixedly connected to the left locking rod 4216 and the right locking rod 4217 respectively. A left locking hole 482 and a right locking hole 492 are respectively opened on the left piston 48 and the right piston 49. In the initial state of the left hydraulic chamber 481, i.e., before the PCB board has been transported to the center position of the pick-and-place machine 1, the motor 4215 is stationary. At this time, the right locking rod 4217 is inserted into the right locking hole 492 under the action of the right cam 4214, and the right piston 49 and hydraulic rod 421 are locked. The left locking rod 4216 is disengaged from the left locking hole 482, i.e., the left piston 48 and hydraulic rod 421 are unlocked. The right connecting spring 4219 is compressed. When the vision sensor 2 detects that the PCB board has been transported to the center position of the pick-and-place machine 1, the controller controls the hydraulic solenoid valve 46 fixedly connected to the right hydraulic port 45 to open. Simultaneously, the hydraulic pump 32 connected to the hydraulic solenoid valve 46 is started, so that the hydraulic oil storage tank 31 is transported by the hydraulic pump 32 through the hose to the right hydraulic chamber 491, which increases the hydraulic pressure in the right hydraulic chamber 491, thereby pushing the right piston 49 to move to the left. Since the right piston 49 and the hydraulic rod 421 are in a locked state, the right piston 49 drives the hydraulic rod 421 to move to the left in sync when it moves to the left. At the same time, since the left hydraulic chamber 481 is full of hydraulic oil, when the right piston 49 moves to the left, the distance between it and the left piston 48 gradually shortens, and the left piston 48 is in a stationary state, so the hydraulic spring 422 can be compressed to store energy.

[0027] The suction cup assembly 5 includes a right-angle frame 51, which is fixedly connected to a hydraulic rod 421. When the hydraulic rod 421 moves to the left, it drives the right-angle frame 51 to move to the left in sync. A slider 52 is fixedly connected to the upper end of the right-angle frame 51. A groove 411 is provided on the L-shaped bracket 41, and the slider 52 is slidably connected in the groove 411.

[0028] A cylinder 53 is fixedly connected to the L-shaped bracket 41. A connecting block 54 is fixedly connected to the output end of the cylinder 53. A suction cup body 55 is rotatably connected to the connecting block 54. A disc 56 is rotatably connected to the right-angle bracket 51. An airflow pipe 57 is slidably connected to the disc 56. The lower end of the airflow pipe 57 is fixedly connected to and communicates with the suction cup body 55. An airflow solenoid valve 58 is fixedly connected to the upper end of the airflow pipe 57. When the vision sensor 2 detects that the PCB board has been transported to the center position of the pick-and-place machine 1, the controller controls the airflow solenoid valve 58 to open. The airflow solenoid valve 58 is connected to the airflow port 47 through a hose. The left piston 48, the right piston 49, and the hydraulic pipe 42 form a pneumatic chamber 59. As piston 49 moves to the left, hydraulic spring 422 is compressed, and the distance between right piston 49 and left piston 48 gradually decreases. The air pressure chamber 59 shrinks, and its internal air pressure increases, causing gas to flow out through airflow solenoid valve 58, airflow pipe 57, and suction cup body 55. At the same time, when right-angle bracket 51 moves to the left, it drives suction cup body 55 to move to the left in sync, that is, suction cup body 55 moves towards the center of gravity of PCB board. When vision sensor 2 detects that suction cup body 55 has moved to the center of PCB board, all components stop working. At this time, cylinder 53 extends, which causes connecting block 54 to drive suction cup body 55 and airflow pipe 57 to move downward in sync, so that suction cup body 55 is attached to the upper surface of PCB board.

[0029] A toothed ring 561 is fixedly connected to the disc 56, and a slide rod 511 is slidably connected to the right-angle bracket 51. A connecting rod 512 is fixedly connected to the left end of the slide rod 511, and a rack 513 is fixedly connected to the connecting rod 512. The right end of the slide rod 511 is fixedly connected to the left piston 48. A correction spring 514 is sleeved on the slide rod 511. The left end of the correction spring 514 is fixedly connected to the right-angle bracket 51, and the right end of the correction spring 514 is fixedly connected to the slide rod 511. When the hydraulic rod 421 drives the suction cup body 55 to move towards the center of the PCB board, the slide rod 511 and the right-angle bracket 51 move relative to each other, which stretches the correction spring 514. At the same time, the toothed ring 561 and the rack 513 also move relative to each other. Meanwhile, the hydraulic spring 422 is compressed to store energy, causing the suction cup body 55 to rotate. At this time, the suction cup body 55 does not contact the upper surface of the PCB board, so it will not affect the position of the PCB board. After the suction cup body 55 moves above the center position of the PCB board, all components stop working. At this time, the cylinder 53 extends, pushing the suction cup body 55 closer to the center of gravity of the PCB board until the suction cup body 55 is in close contact with the surface of the PCB board. The cylinder 53 then stops extending. According to the above, when the vision sensor 2 detects that the PCB board needs to be corrected, it transmits the monitoring information to the controller. The controller controls the hydraulic solenoid valve 46 located on the left hydraulic chamber 481 to open, and the hydraulic oil in the left hydraulic chamber 481 flows into the hydraulic oil reservoir through the hose. Inside the storage box 31, the hydraulic solenoid valve 46 located on the right hydraulic chamber 491 is closed. At this time, under the combined action of the hydraulic spring 422 and the correction spring 514, the left piston 48 drives the slide rod 511, the connecting rod 512 and the rack 513 to move to the left, thereby causing the gear ring 561 to rotate. At the same time, it drives the disc 56, the airflow pipe 57 and the suction cup body 55 to rotate. Since the suction cup body 55 is in close contact with the outer surface of the PCB board, the suction cup body 55, the PCB board and the air pressure chamber 59 form a common cavity. When the left piston 48 moves to the left, the volume of the air pressure chamber 59 increases, which in turn increases the overall volume of the chamber and decreases the air pressure. This causes the suction cup body 55 to adhere to the outer surface of the PCB board, achieving a fixing effect. During the entire process of the left piston 48 moving to the left, initially, the increase in the volume of the air pressure chamber 59 is small, resulting in a small negative pressure and weak adsorption capacity. As the volume of the air pressure chamber 59 continues to increase, the negative pressure gradually increases. Later, under the action of the negative pressure, the adsorption force of the suction cup body 55 on the PCB board gradually strengthens, thereby achieving a fixing effect on the PCB board. After the suction cup body 55 has achieved a fixing effect on the PCB board, the rotation of the suction cup body 55 causes the PCB board to rotate, thereby achieving a correction effect. When the vision sensor 2 detects that the PCB board does not need to be corrected, it transmits the monitoring information to the controller. The controller controls the hydraulic solenoid valve 46 located on the left hydraulic chamber 481 to close, and at the same time controls the hydraulic solenoid valve 46 located on the right hydraulic chamber 491 to open, so that the hydraulic oil in the right hydraulic chamber 491 flows out. At the same time, the motor 4215 is started, so that the motor 4215 drives the rotating shaft 4212 to rotate at an angle, which in turn drives the left cam 4213 and the right cam 4214 to rotate synchronously. This causes the left cam 4213 to lift the left locking rod 4216, so that the left locking rod 4216 is inserted into the left locking hole 482. At the same time, the left connecting spring 4218 is compressed, and the right locking rod 4217 is disengaged from the right locking hole 492 under the action of the right connecting spring 4219. At this time, under the action of the hydraulic spring 422, the right piston 49 moves to the right, which causes the volume of the air pressure chamber 59 to gradually increase. Under the action of negative pressure, the suction cup body 55 adsorbs the PCB board, thereby achieving the effect of fixing the PCB board. Distance sensors 515 are fixedly connected to both sealing covers 43 to monitor the distance between the left piston 48 and the right piston 49. After the PCB board mounting operation is completed, each component controls the hydraulic oil volume of the right hydraulic chamber 491 and the right hydraulic chamber through the controller based on the monitoring results of the distance sensors 515, so that the distance between the left piston 48 and the right piston 49 reaches the initial state, thereby resetting each component in preparation for the next operation.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A visual correction positioning clamping device, characterized in that: Includes a pick-and-place machine (1) and a vision sensor (2) fixed to the pick-and-place machine (1) for monitoring the posture of the PCB board after it is in place, a hydraulic drive assembly (3) electrically connected to the controller, a hydraulic telescopic assembly (4) connected to the hydraulic drive assembly (3) through a hose, and a suction cup assembly (5) with a push-pull structure fixedly connected to its output end. The hydraulic telescopic assembly (4) is provided with a power storage structure, which is divided into a left hydraulic chamber (481) and a right hydraulic chamber (491), and the two chambers are respectively connected to the hydraulic drive assembly (3); the power storage structure has a locking and unlocking state independently controlled by the controller; the suction cup assembly (5) is connected to the middle space of the power storage structure through a hose; The device is configured to: The hydraulic drive assembly (3) first injects liquid into the right hydraulic chamber (491) to compress the accumulator structure, which drives the suction cup assembly (5) to move above the center of the PCB board. At the same time, the push-pull structure pushes the suction cup assembly (5) to stick to the PCB board. If the visual sensor (2) detects that the PCB board is rotating, the right side of the accumulator structure is locked and the left side is unlocked. The liquid in the left hydraulic chamber (481) flows back, and the accumulator structure releases the stored force to the left to increase the middle space and form a negative pressure suction. At the same time, the transmission drives the suction cup assembly (5) to rotate to correct the deviation. If no rotation occurs, the left side is locked and the right side is unlocked. The liquid in the right hydraulic chamber (491) flows back, and the accumulator structure releases the stored force to the right to form a negative pressure suction, and does not rotate.

2. The visual correction positioning clamping device according to claim 1, characterized in that: The hydraulic drive assembly (3) includes a hydraulic oil storage tank (31), which is fixedly connected to two hydraulic pumps (32), and a dust cover (33) is fixedly connected to the hydraulic oil storage tank (31).

3. The visual correction positioning clamping device according to claim 2, characterized in that: The hydraulic telescopic assembly (4) includes an L-shaped bracket (41), which is fixedly connected to the pick-and-place machine (1). A hydraulic pipe (42) is fixedly connected to the L-shaped bracket (41), and sealing caps (43) are fixedly connected to both ends of the hydraulic pipe (42). A left hydraulic port (44) and a right hydraulic port (45) are provided on the hydraulic pipe (42). The left hydraulic port (44) and the right hydraulic port (45) are arranged sequentially from left to right. A hydraulic solenoid valve (46) is fixedly connected to both the left hydraulic port (44) and the right hydraulic port (45). The two hydraulic solenoid valves (46) are connected to two hydraulic pumps (32) through hoses respectively. An airflow port (47) is provided between the left hydraulic port (44) and the right hydraulic port (45).

4. The visual correction positioning clamping device according to claim 3, characterized in that: The power storage structure includes a left piston (48) and a right piston (49) slidably connected in the hydraulic pipe (42), and a hydraulic spring (422) sleeved on the hydraulic rod (421). The left piston (48) and the right piston (49) are arranged sequentially from left to right. The left piston (48), a sealing cover (43), and the inner wall of the hydraulic pipe (42) form a left hydraulic chamber (481). The right piston (49), another sealing cover (43), and the inner wall of the hydraulic pipe (42) form a right hydraulic chamber (491). The left hydraulic port (44) is located at the position corresponding to the left hydraulic chamber (481), and the right hydraulic port (45) is located at the position corresponding to the right hydraulic chamber (491).

5. The visual correction positioning clamping device according to claim 4, characterized in that: A hydraulic rod (421) is coaxially arranged with the hydraulic pipe (42). The hydraulic rod (421) is slidably connected to the left piston (48) and the right piston (49). The left piston (48) and the right piston (49) are coaxially arranged. The left end of the hydraulic spring (422) is fixedly connected to the left piston (48), and the right end of the hydraulic spring (422) is fixedly connected to the right piston (49).

6. The visual correction positioning clamping device according to claim 5, characterized in that: The hydraulic rod (421) has a working chamber (4211), and a rotating shaft (4212) is rotatably connected inside the working chamber (4211). A left cam (4213) and a right cam (4214) are fixedly connected to the rotating shaft (4212). The left cam (4213) is located at the position corresponding to the left piston (48), and the right cam (4214) is located at the position corresponding to the right piston (49). A motor (4215) is fixedly connected to the hydraulic rod (421), and the output end of the motor (4215) is fixedly connected to the rotating shaft (4212).

7. The visual correction positioning clamping device according to claim 6, characterized in that: The hydraulic rod (421) is slidably connected to a left locking rod (4216) and a right locking rod (4217). The left locking rod (4216) is located at the position corresponding to the left cam (4213), and the right locking rod (4217) is located at the position corresponding to the right cam (4214). A left connecting spring (4218) and a right connecting spring (4219) are respectively sleeved on the left locking rod (4216) and the right locking rod (4217). One end of the left connecting spring (4218) and the right connecting spring (4219) are fixedly connected to the inner wall of the working chamber (4211), and the other end of one end of the left connecting spring (4218) and the right connecting spring (4219) are fixedly connected to the left locking rod (4216) and the right locking rod (4217) respectively. A left locking hole (482) and a right locking hole (492) are respectively opened on the left piston (48) and the right piston (49).

8. The visual correction positioning clamping device according to claim 5, characterized in that: The suction cup assembly (5) includes a right-angle frame (51), which is fixedly connected to a hydraulic rod (421). A slider (52) is fixedly connected to the upper end of the right-angle frame (51). A groove (411) is provided on the L-shaped bracket (411), and the slider (52) is slidably connected in the groove (411).

9. The visual correction positioning clamping device according to claim 8, characterized in that: A cylinder (53) is fixedly connected to the L-shaped bracket (41). A connecting block (54) is fixedly connected to the output end of the cylinder (53). A suction cup body (55) is rotatably connected to the connecting block (54). A disc (56) is rotatably connected to the right-angle bracket (51). An airflow pipe (57) is slidably connected to the disc (56). The lower end of the airflow pipe (57) is fixedly connected to and communicates with the suction cup body (55). An airflow solenoid valve (58) is fixedly connected to the upper end of the airflow pipe (57). The airflow solenoid valve (58) is connected to the airflow port (47) through a hose. The left piston (48), the right piston (49), and the hydraulic pipe (42) form a pneumatic chamber (59).

10. The visual correction positioning clamping device according to claim 9, characterized in that: A toothed ring (561) is fixedly connected to the disc (56), a slide rod (511) is slidably connected to the right angle bracket (51), a connecting rod (512) is fixedly connected to the left end of the slide rod (511), a rack (513) is fixedly connected to the connecting rod (512), the right end of the slide rod (511) is fixedly connected to the left piston (48), a correction spring (514) is sleeved on the slide rod (511), the left end of the correction spring (514) is fixedly connected to the right angle bracket (51), the right end of the correction spring (514) is fixedly connected to the slide rod (511), and a distance sensor (515) is fixedly connected to both sealing covers (43).

Images