Turret type mounting head

Abstract

The utility model relates to the technical field of semiconductor packaging equipment. The turret type mounting head comprises a main rotating assembly fixed on a mounting rack, a turret assembly coaxially connected with the main rotating assembly, a Z-axis assembly mounted on the mounting rack and arranged on one side of the turret assembly, an extrusion follower connected with the Z-axis assembly, and a plurality of single suction nozzle assemblies circumferentially and movably mounted on the turret assembly, the angle motor is connected with the multiple single suction nozzle assemblies through a transmission mechanism, and the control system is connected with the main rotating assembly, the Z-axis assembly and the angle motor. The extrusion follower is matched with the single suction nozzle assembly at the lowest mounting station; gas paths are sequentially arranged along the single suction nozzle assembly, the rotating tower assembly and the main rotating assembly; the end, away from the main rotating assembly, of the turret assembly and the multiple single suction nozzle assemblies define a mounting space, and the angle motor is arranged in the mounting space. The turret-type mounting head provided by the utility model has the advantages of miniaturization, light weight, low cost and the like.

Description

Technical Field

[0001] This utility model relates to a turret-type mounting head, belonging to the field of semiconductor packaging equipment technology. Background Technology

[0002] The placement head is the core actuator of semiconductor packaging equipment, consisting of multiple individual nozzle assemblies for picking up products. Existing placement heads are mainly of two types: linear and turret. In linear placement heads, the individual nozzle assemblies are arranged in a straight line, with each nozzle controlled by independent Z-axis and R-axis motors (height and correction angle). Furthermore, the airflow path is also independently controlled for each nozzle, and the required airflow components increase with the number of nozzles. This results in drawbacks such as a complex control system, difficult maintenance, high manufacturing costs, and large size. Turret-type placement heads typically mount multiple single nozzle assemblies onto a motor-driven turret (such as the turret-type nozzle structure disclosed in utility model patent CN212333925U), switching nozzles to the placement station by rotation. This structure largely eliminates the disadvantages of straight-line placement heads, but still suffers from problems such as large size, limited correction angle (unable to rotate and correct the nozzle within a 360° angle range), inability to identify the angle of the adsorbed product or nozzle during placement, resulting in difficulty in accurate alignment, low efficiency, and complex air path structure.

[0003] In the prior art, invention patent CN105552005B discloses a flip-chip bonding and mounting device, including a large turntable unit and a vision unit. The large turntable unit includes a base, a direct-drive motor, a first air path rotary joint, a large turntable, a large turntable nozzle assembly, a slide, a large turntable nozzle pressure rod, a first rotary motor, and a synchronous belt. The vision unit includes six vision cameras: a wafer disk oblique-view camera, a large turntable bottom-view camera, a small turntable side-view camera, a large turntable top-view camera, a small turntable bottom-view camera, and a small turntable top-view camera. This patent utilizes the large turntable nozzle assembly to pick up and release chips, the large turntable nozzle pressure rod to press the nozzle assembly to achieve vertical movement, the first rotary motor and its associated synchronous belt to achieve rotational movement, multiple vision cameras to achieve precise chip alignment during transfer and pickup, and the first air path rotary joint to achieve air transmission and distribution between multiple sets of different nozzles during rotational movement. In other words, this patent can basically solve the problems of limited correction angle, difficulty in accurate alignment, low efficiency, and adsorption and release of multiple different nozzles that exist in general turret-type placement heads.

[0004] However, this patent still has the following drawbacks:

[0005] 1. Due to its structure being a large turntable rotating around the Z-axis (resulting in a large outer diameter for arranging the suction cup components), and the need to install a first rotary motor, a first air passage rotary joint, etc. at the bottom of the large turntable to achieve the above functions, as well as a direct drive motor, a wafer disk oblique view camera, a large turntable upward view camera, a slide, a large turntable suction nozzle pressure rod, etc. on the base, the overall structure is bulky, heavy, and has high manufacturing costs. It cannot be used as a miniaturized and lightweight placement head, and its application scenarios are limited.

[0006] 2. The arrangement of the oblique-view camera on the wafer disk and the top-view camera on the large turntable in its vision unit makes it difficult to accurately identify the angle of the nozzle assembly when it rotates (especially when the rotation center axis of the large turntable structure is at an angle to the Z-axis), and its accuracy needs to be improved.

[0007] 3. The technical solution in this patent can only achieve adsorption and release of multiple different nozzles, but cannot achieve pressure holding (when the nozzle of the placement station adsorbs or releases the product, the other nozzles need to hold pressure to adsorb the other products), or it does not solve the problems of existing placement heads using independent pressure holding air paths for each nozzle, resulting in complex air path structure and large size. Utility Model Content

[0008] The present invention aims to provide a turret-type mounting head that reduces structural volume, manufacturing costs, and applicability, and has the advantages of miniaturization and lightweight.

[0009] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0010] A turret-type placement head includes a main rotating assembly fixed to a mounting frame, a turret assembly coaxially connected to the main rotating assembly, a Z-axis assembly mounted on the mounting frame and located on one side of the turret assembly, a compression follower connected to the Z-axis assembly, a plurality of single nozzle assemblies circumferentially and movably mounted on the turret assembly, an angle motor connected to the plurality of single nozzle assemblies via a transmission mechanism, and a control system respectively connected to the main rotating assembly, the Z-axis assembly, and the angle motor; the compression follower cooperates with the single nozzle assembly at the lowest placement position; gas passages are sequentially arranged along the single nozzle assemblies, the turret assembly, and the main rotating assembly; the end of the turret assembly away from the main rotating assembly and the plurality of single nozzle assemblies form an installation space, and the angle motor is located within the installation space.

[0011] The system controls the operation by controlling the main rotating assembly to drive the turret assembly to rotate, which in turn drives several single-nozzle assemblies to rotate and cycle to the lowest placement position. Then, the angle motor drives several single-nozzle assemblies to rotate to a suitable angle via a transmission mechanism. Finally, the Z-axis assembly drives the extrusion follower to move along the Z-axis, thereby extruding the single-nozzle assembly at the lowest placement position and allowing it to adsorb or release the product through a gas path. By placing the angle motor within the installation space (i.e., the angle motor and the main rotating assembly are installed facing each other), the structural volume of the original placement head is significantly reduced, its weight is decreased, manufacturing costs are lowered, and its applicability is enhanced. The miniaturization and weight reduction effects are significant.

[0012] Furthermore, the angle motor, turret assembly, and main rotating assembly are arranged coaxially.

[0013] Furthermore, the transmission mechanism is a gear transmission mechanism, which includes a large gear connected to the angle motor and a small gear connected to a plurality of single suction nozzle assemblies, wherein the large gear meshes with the plurality of small gears.

[0014] Furthermore, the angle motor is an external rotor motor, which is sleeved on a fixed shaft passing through the turret assembly, and the external rotor motor is fixed to the mounting bracket or the main rotating assembly through the fixed shaft.

[0015] Furthermore, the fixed shaft passes coaxially through the turret assembly and the main rotating assembly in sequence, and is fixed to the mounting frame or the main rotating assembly; the fixed shaft is a hollow shaft.

[0016] Furthermore, a large gear connected to the external rotor motor is sleeved on the fixed shaft, and a small gear is provided on the single suction nozzle assembly. The large gear meshes with several small gears to form a transmission mechanism.

[0017] Furthermore, a vision positioning component is connected to one end of the fixed shaft near the single nozzle assembly. The vision positioning component is concentrically positioned opposite any single nozzle assembly that is farthest from the lowest placement station. An encoder is provided between the fixed shaft and the external rotor motor. The vision positioning component and the encoder are respectively connected to the control system.

[0018] Furthermore, the central axis of the turret assembly forms an acute angle with the Z-axis, and at least one single nozzle assembly is in the lowest mounting position.

[0019] Furthermore, the Z-axis assembly is connected to a position switch that is connected to the control system, and the position switch is located on the side of the single nozzle assembly at the lowest mounting position.

[0020] Furthermore, the gas path includes an adsorption-release gas path and a pressure-holding gas path; the single nozzle assembly includes a gas guide path, and the turret assembly includes a transition path that corresponds to and communicates with several gas guide paths; the main rotating assembly includes an air ring and a motor stator fixed in the motor housing, and a main rotating shaft sequentially sleeved in the air ring and the motor stator. The main rotating shaft is provided with a transition path that corresponds to and communicates with several transition paths. The air ring is provided with a control hole, an arc-shaped channel, and a pressure-holding hole; the adsorption-release gas path is composed of the gas guide path, transition path, transition path, and control hole sequentially connected at the lowest mounting position; the pressure-holding gas path is composed of the gas guide path, transition path, transition path, arc-shaped channel, and pressure-holding hole sequentially connected away from the lowest mounting position.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] 1. The turret-type placement head of this utility model solves the problems of miniaturization and weight reduction of existing placement heads by placing the angle motor in the installation space, thereby reducing manufacturing costs and enhancing applicability.

[0023] 2. The turret-type mounting head of this utility model can further optimize the structure and further improve the effect of miniaturization and weight reduction by placing the angle motor in the installation space and setting the angle motor, turret assembly and main rotating assembly coaxially.

[0024] 3. The turret-type mounting head of this utility model can correct the angle of the nozzle in a 360° range by placing the angle motor in the installation space and connecting it to several single nozzle assemblies through a gear transmission mechanism, which is conducive to the miniaturization and weight reduction of the structure.

[0025] 4. The turret-type mounting head of this utility model adopts an external rotor motor for the angle motor and fixes the external rotor motor through the hollow shaft that coaxially passes through the turret assembly and the main rotating assembly. This is beneficial for circuit connection and for miniaturization and weight reduction of the structure.

[0026] 5. The turret-type placement head of this utility model improves the alignment accuracy when adsorbing products by setting a visual positioning component and setting it concentrically opposite to any single suction nozzle component that is far away from the lowest placement station.

[0027] 6. The turret-type mounting head of this utility model reduces the outer diameter of the single nozzle assembly by making the central axis of the turret assembly form an acute angle with the Z-axis, which is beneficial for the installation of other components and for miniaturization.

[0028] 7. The turret-type placement head of this utility model has a position switch set on one side of the single nozzle assembly at the lowest placement position, which can perform position detection while the single nozzle assembly is adsorbing the product, thereby improving placement accuracy.

[0029] 8. The turret-type placement head of this utility model is equipped with an adsorption and release air path and a pressure holding air path. When the single nozzle assembly at the lowest placement station adsorbs or releases the product, the other single nozzle assemblies can hold the pressure and adsorb the product. That is, the adsorption, release and pressure holding functions of all nozzles are realized through only two air paths. This simplifies the air path structure of the existing placement head, reduces the structural volume, reduces the manufacturing cost, enhances the applicability, and further realizes miniaturization and weight reduction. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0031] Figure 2 This is a partial structural schematic diagram of the present invention;

[0032] Figure 3 This is a partial sectional view of the mounting structure of the angle motor and fixed shaft described in this utility model;

[0033] Figure 4 This is a perspective view of the installation structure of the turret assembly and the single suction nozzle assembly described in this utility model;

[0034] Figure 5 This is a cross-sectional view of the installation structure of the turret assembly and the single suction nozzle assembly described in this utility model;

[0035] Figure 6 This is a schematic diagram of the internal structure of the main rotating assembly described in this utility model;

[0036] Figure 7 This is a schematic diagram of the structure of the gas ring described in this utility model;

[0037] Figure 8 This is a schematic diagram of the Z-axis assembly described in this utility model;

[0038] Figure 9 This is a cross-sectional view of the single suction nozzle assembly described in this utility model.

[0039] In the figure

[0040] 1. Mounting bracket; 2. Main rotating assembly; 21. Motor housing; 22. Motor stator; 23. Main rotating shaft; 231. Transition path; 24. Gas ring; 241. Control hole; 242. Arc-shaped channel; 243. Pressure holding hole; 3. Turret assembly; 31. Turret bracket; 311. Columnar mounting hole; 32. Air circuit adapter ring; 321. Adapter path; 4. Z-axis assembly; 41. Linear motor; 42. Origin switch; 43. Z-axis sliding plate; 4. Z-axis magnetic scale; 5. Extrusion follower; 6. Single suction nozzle assembly; 61. Rotating shaft; 611. Air guide passage; 62. Extrusion seat; 63. Return spring; 64. Suction nozzle; 7. External rotor motor; 71. Internal stator; 72. External rotor housing; 8. Large gear; 9. Small gear; 10. Fixed shaft; 11. Position switch; 12. Encoder; 13. Protective cover; 14. Vision positioning assembly; 15. Control air connector; 16. Pressure holding air connector. Detailed Implementation

[0041] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other. For ease of description, the terms "up," "down," "left," and "right" appearing below only indicate that they correspond to the up, down, left, and right directions in the accompanying drawings and do not limit the structure.

[0042] Example 1

[0043] like Figures 1 to 9As shown, this embodiment provides a high-speed turret-type placement head. The placement head includes a main rotating assembly 2 fixed to a mounting frame 1, a turret assembly 3 coaxially connected to the main rotating assembly 2, a Z-axis assembly 4 mounted on the mounting frame 1 and located on one side of the turret assembly 3, a compression follower 5 connected to the Z-axis assembly 4, a plurality of single-nozzle assemblies 6 circumferentially and movably mounted on the turret assembly 3, an angle motor connected to the plurality of single-nozzle assemblies 6 via a transmission mechanism, and a control system respectively connected to the main rotating assembly 2, the Z-axis assembly 4, and the angle motor. The extrusion follower 5 cooperates with the single-nozzle assembly 6 at the lowest placement position. At least one single-nozzle assembly 6 is at the lowest placement position. Gas paths for adsorbing, releasing, and maintaining pressure on the product are sequentially arranged along the single-nozzle assembly 6, turret assembly 3, and main rotating assembly 2. The lower end of the turret assembly 3, the end away from the main rotating assembly 2, and several single-nozzle assemblies 6 form an installation space. The angle motor is located within the installation space, and the angle motor and the main rotating assembly 2 are arranged facing each other. The angle motor is installed by fixing it to the mounting bracket 1, the main rotating assembly 2, or any external structure, such as a structure used to support and fix the mounting bracket 1. By placing the angle motor within the installation space, compared to existing placement heads that expose the angle motor or arrange the angle motor and the main rotating assembly 2 on the same side, this placement head can significantly reduce the structural volume, weight, manufacturing cost, and applicability, achieving miniaturization and weight reduction.

[0044] It should be noted that the lowest placement station is the position closest to the Z-axis assembly 4. The single nozzle assembly 6 at this lowest placement station can be parallel to the Z-axis, or parallel to the Z-axis assembly 4, or in other words, it can be in a vertical plane.

[0045] In this embodiment, the angle motor, turret assembly 3, and main rotating assembly 2 are arranged coaxially. By arranging the main rotating assembly 2, turret assembly 3, and angle motor as a whole from top to bottom on the same axis, and by placing the angle motor within the installation space, the miniaturization and weight reduction effects of this mounting head are more significant.

[0046] In this embodiment, the transmission mechanism is a gear transmission mechanism, which includes a large gear 8 connected to the angle motor and small gears 9 connected to several single suction nozzle assemblies 6. The large gear 8 and the several small gears 9 mesh and are arranged in a planetary distribution. The angle motor drives the large gear 8 to rotate, which in turn drives the several small gears 9 to rotate, thereby driving the several single suction nozzle assemblies 6 to rotate, realizing continuous rotational adjustment of the suction nozzle 64 within a 360° angle range. This mounting head, by setting the angle motor, turret assembly 3, and main rotating assembly 2 coaxially, and by placing the angle motor within the installation space and connecting it to the several single suction nozzle assemblies 6 using a gear transmission mechanism, facilitates structural miniaturization and weight reduction.

[0047] In this embodiment, as Figure 2 and Figure 3 As shown, the angle motor is an external rotor motor 7 mounted on a fixed shaft 10 that passes through the turret assembly 3. The external rotor motor 7 is fixed to the mounting bracket 1 or the main rotating assembly 2 via the fixed shaft 10. The fixed shaft 10 passes coaxially through the turret assembly 3 and the main rotating assembly 2 from bottom to top and is fixed to the mounting bracket 1 or the main rotating assembly 2. The fixed shaft 10 remains stationary. One end of the fixed shaft 10 that passes through the main rotating assembly 2, i.e., the upper end, is fixed to the motor housing 21 of the main rotating assembly 2 or to the mounting bracket 1. The external rotor motor 7 includes an inner stator 71 mounted on the fixed shaft 10 and an external rotor housing 72 mounted outside the inner stator 71. The external rotor housing 72 is mounted on the fixed shaft 10 via bearings. A large gear 8 is fixed to the end of the external rotor housing 72 via bearings and mounted on the fixed shaft 10. Several single suction nozzle assemblies 6 each have a small gear 9. The large gear 8 and several small gears 9 mesh to form a transmission mechanism and are distributed in a planetary pattern. The external rotor motor 7 operates by driving the internal stator 71 to rotate the external rotor housing 72, which in turn drives the large gear 8 to rotate around the fixed shaft 10. This, in turn, drives all the small gears 9 to rotate simultaneously, thus achieving the angle adjustment function of the suction nozzle 64. The fixed shaft 10 is a hollow shaft. To avoid wire tangling, the wiring runs from the outside of the main rotating assembly 2, passing through the hollow shaft from top to bottom to supply power to the external rotor motor 7. This mounting head utilizes the external rotor motor 7 as the angle motor and fixes it through the hollow shaft that coaxially passes through the turret assembly 3 and the main rotating assembly 2. Furthermore, by placing the angle motor within the mounting space and connecting it to several single suction nozzle assemblies 6 using a gear transmission mechanism, it facilitates wiring connections and promotes structural miniaturization and weight reduction.

[0048] In this embodiment, a protective cover 13 is fixed to the lower end of the fixed shaft 10 and located on the outside of the outer rotor motor 7. The protective cover 13 provides structural protection for the outer rotor motor 7. Both the large gear 8 and the small gear 9 are magnetic gears, which facilitates meshing between the two and reduces wear.

[0049] In this embodiment, the central axis of the turret assembly 3 (or the central axis of the circumferentially arranged single-nozzle assemblies 6) forms an acute angle with the Z-axis. That is, when viewed from the vertical plane, the main rotating assembly 2, the turret assembly 3, and the angle motor are all tilted, with an acute angle of 30°. This reduces the outer diameter of the single-nozzle assemblies 6 and facilitates the installation of other components, thus promoting miniaturization.

[0050] In this embodiment, a position switch 11 connected to the control system is attached to the Z-axis assembly 4. The position switch 11 is a photoelectric switch and is located on one side of the single nozzle assembly 6 at the lowest placement position. This allows for position detection while the single nozzle assembly 6 is adsorbing the product, improving placement accuracy.

[0051] In this embodiment, as Figure 1 and Figure 8 As shown, the Z-axis assembly 4 is used to perform the mounting action (up and down movement) of the nozzle 64. The Z-axis assembly 4 is vertically arranged, or parallel to the Z-axis. The Z-axis assembly 4 includes a linear motor 41, a Z-axis guide rail, and an origin switch 42 fixed to the mounting frame 1; a Z-axis sliding plate 43 fixed to the mover of the linear motor 41 and slidably connected to the Z-axis guide rail; and a Z-axis magnetic scale 44 fixed to the Z-axis sliding plate 43 and cooperating with the origin switch 42. The linear motor 41 is connected to the control system. The extrusion follower 5 and the position switch 11 are respectively mounted one above the other on the Z-axis sliding plate 43. The extrusion follower 5 has a columnar structure and can be designed as a cam. The mounting frame 1 is welded from several plates and is used to mount the main rotating assembly 2 and the Z-axis assembly 4. The linear motor 41 operates by driving the stator of the linear motor 41 to move the mover of the linear motor 41 up and down, thereby driving the Z-axis sliding plate 43 to move up and down along the Z-axis guide rail. This causes the extrusion follower 5 to extrude the single suction nozzle assembly 6 at the lowest mounting position downwards or reset upwards, and also causes the position switch 11 to follow the single suction nozzle assembly 6 downwards and detect whether the material is adsorbed in place or reset upwards.

[0052] In this embodiment, as Figure 2 and Figure 4 and Figure 5As shown, the turret assembly 3 includes a turret bracket 31 and an air passage transition ring 32 fixed to the turret bracket 31. The turret bracket 31 is frustum-shaped, with a plurality of columnar mounting holes 311 arranged circumferentially for mounting the single nozzle assembly 6. The air passage transition ring 32 has an annular structure. A plurality of transition passages 321 are provided between the turret bracket 31 and the air passage transition ring 32 for corresponding communication with the internal air passages of the single nozzle assembly 6. A transition passage 321 consists of a circumferentially oriented transition hole of an air passage transition ring 32 communicating with the internal air passage of the single nozzle assembly 6, a circumferentially oriented transition hole of a turret bracket 31 communicating with the internal air passage of the main rotating assembly 2, and an intermediate channel located between the air passage transition ring 32 and the turret bracket 31 for connecting the transition hole and the transition hole. The transition hole is a closed hole located inside the air passage transition ring 32, meaning that the two ends of the transition hole do not penetrate the air passage transition ring 32. The air passage transition ring 32 and the turret bracket 31 are concentrically arranged, one smaller and one larger, one above and one below. There are 20 of each of the single nozzle assembly 6, the columnar mounting holes 311, and the transition passage 321. The output end, i.e., the lower end, of the main rotating shaft 23 of the main rotating assembly 2 is fitted and fixed inside the air passage transition ring 32, while the air passage contact of the lower end of the main rotating shaft 23 is aligned with the transition hole on the turret bracket 31.

[0053] In this embodiment, as Figure 4 and Figure 5 and Figure 9As shown, each single suction nozzle assembly 6 includes a rotating shaft 61 movably mounted within the turret assembly 3, a pressing seat 62 fixed to the upper end of the rotating shaft 61, a return spring 63 disposed between the pressing seat 62 and the turret assembly 3, and a suction nozzle 64 elastically connected to the lower end of the rotating shaft 61. The rotating shaft 61 is connected to an angle motor via a transmission mechanism. The rotating shaft 61 is fitted into a columnar mounting hole 311 via bearings at both ends. The rotating shaft 61 can rotate circumferentially and move vertically relative to the turret support 31. A small gear 9 is fixed on the rotating shaft 61. The rotating shaft 61 is hollow inside and communicates with the suction nozzle 64 to form an air guide passage 611. An air guide tube is provided inside the rotating shaft 61 and communicates with the transition passage 321 in the air path transition ring 32 via the air guide tube. The bottom end of the return spring 63 is fixed to the upper part of the turret bracket 31 or to the bearing at the upper end of the rotating shaft 61, and the top end of the return spring 63 is fixed to the extrusion seat 62. The return spring 63 serves both to keep the rotating shaft 61 from falling and to reset the nozzle 64 after it is pressed down. When the extrusion follower 5 presses down on the extrusion seat 62 of the single nozzle assembly 6 at the lowest mounting position, the nozzle 64 moves downward and contacts the product. The position switch 11 detects this (after the nozzle 64 contacts the product and reaches the bottom, the nozzle 64 and the product will rebound upward a certain distance due to the elastic connection between the nozzle 64 and the rotating shaft 61, thus being detected) and feeds the detection result signal back to the control system. Then the extrusion follower 5 rises to reset, and the nozzle 64 and the product also rise to reset with the return spring 63. Then the turret assembly 3 switches to the next single nozzle assembly 6 to execute the next cycle.

[0054] In this embodiment, as Figure 6 As shown, the main rotating assembly 2 includes a motor stator 22 fixed within the motor housing 21 and a main rotating shaft 23 sleeved within the motor stator 22. The motor housing 21 is fixed to the mounting bracket 1, the main rotating shaft 23 has a hollow structure, and the motor stator 22 is connected to the control system. The fixed shaft 10 passes coaxially from bottom to top through the turret bracket 31 of the turret assembly 3, the air passage transition ring 32 of the turret assembly 3, and the main rotating shaft 23 of the main rotating assembly 2. After passing through the main rotating shaft 23, the fixed shaft 10 is fixed to the motor housing 21. The motor stator 22 drives the main rotating shaft 23 to rotate, causing the air passage transition ring 32 and the turret bracket 31 to rotate together, while the fixed shaft 10 and the external rotor motor 7 mounted on it remain stationary.

[0055] The working principle of this embodiment is as follows: the operation is controlled by the control system, that is, the main rotating component 2 drives the turret component 3 to rotate, which drives several single nozzle components 6 to rotate and switch to the lowest placement position. Then, the angle motor is controlled to drive several single nozzle components 6 to rotate and adjust to a suitable angle through the gear transmission mechanism. Then, the Z-axis component 4 is controlled to drive the extrusion follower 5 to move downward along the Z-axis direction, thereby extruding the single nozzle component 6 at the lowest placement position downward, so that the nozzle 64 of the single nozzle component 6 contacts and adsorbs the product through the gas path.

[0056] The beneficial effects of this embodiment are as follows: by placing the angle motor in the installation space and arranging the angle motor, turret assembly 3, and main rotating assembly 2 coaxially from bottom to top, and by adopting a planetary gear transmission mechanism, this turret-type mounting head significantly reduces the structural volume and weight of the original mounting head, making the entire equipment operate at high speed and efficiency, reducing manufacturing costs, enhancing applicability, and adapting to various usage scenarios. The miniaturization and weight reduction effects are significant.

[0057] Example 2

[0058] The difference between this embodiment and embodiment one is that a vision positioning component 14 is connected to the lower end of the fixed shaft 10 near the single nozzle assembly 6. The vision positioning component 14 is concentrically positioned opposite any single nozzle assembly 6 that is far from the lowest mounting station. An encoder 12 is provided between the fixed shaft 10 and the external rotor motor 7. The vision positioning component 14 and the encoder 12 are respectively connected to the control system.

[0059] In this embodiment, for ease of installation, the visual positioning component 14 is fixedly installed to the protective cover 13 at the lower end of the fixed shaft 10, and the encoder 12 is installed between the protective cover 13 at the lower end of the fixed shaft 10 and the outer rotor housing 72. At this time, the protective cover 13 serves both to protect the inner structure and to install the visual positioning component 14 and the encoder 12.

[0060] In this embodiment, the visual positioning component 14 is located at the highest mounting station, that is, the visual positioning component 14 is concentrically positioned opposite the single suction nozzle component 6, which is furthest from the Z-axis component 4, and is located at a certain distance directly below the single suction nozzle component 6. The visual positioning component 14 can image the product adsorbed on the suction nozzle 64, identify the target angle data, record it, and feed the signal back to the control system. When the target product moves to the mounting station, the control system sends a command and controls the external rotor motor 7 to operate based on the identification result of the visual positioning component 14 and the corresponding reading data of the encoder 12, thereby controlling the suction nozzle 64 and the target product to rotate for angle adjustment.

[0061] In this embodiment, the corresponding lines of the visual positioning component 14 and the encoder 12 can be set through the fixed shaft 10, which is a hollow structure. This avoids wire tangling, simplifies the structure, and reduces system complexity.

[0062] The beneficial effects of this embodiment are as follows: by setting the visual positioning component 14 and setting it concentrically opposite to any single nozzle component 6 that is far away from the lowest placement station, this turret placement head can improve the alignment accuracy when adsorbing products. It can solve the problem that existing placement heads have difficulty in accurately identifying the angle of the nozzle 64 component when it rotates by using a conventional arrangement of several vision cameras (especially when the central axis of the turret component 3 forms an acute angle with the Z-axis, and the vision camera is not easy to install at this time).

[0063] Example 3

[0064] The difference between this embodiment and Embodiment 1 or Embodiment 2 is that the gas path includes an adsorption and release gas path and a pressure-holding gas path; the single suction nozzle assembly 6 includes a gas guiding passage 611, and the turret assembly 3 includes a connecting passage 321 that corresponds to and is connected to several gas guiding passages 611; as Figure 6 and Figure 7 As shown, the main rotating assembly 2 includes an air ring 24 and a motor stator 22 fixed inside the motor housing 21, and a main rotating shaft 23 sequentially sleeved inside the air ring 24 and the motor stator 22. The main rotating shaft 23 is provided with transition passages 231 that are connected one-to-one with a plurality of transition passages 321 (transition holes). The air ring 24 is provided with a control hole 241, an arc-shaped channel 242, and a pressure holding hole 243. The adsorption and release gas route is composed of the air guide passage 611, the transition passage 321, the transition passage 231, and the control hole 241 sequentially connected at the lowest mounting position. The pressure holding gas route is composed of the air guide passage 611, the transition passage 321, the transition passage 231, the arc-shaped channel 242, and the pressure holding hole 243 sequentially connected away from the lowest mounting position.

[0065] In this embodiment, the air guide passage 611 at the lowest mounting position and the transition passage 321 connected to the air guide passage 611 at the lowest mounting position constitute the first nozzle air path; a plurality of air guide passages 611 away from the lowest mounting position and the transition passages 321 connected to the plurality of air guide passages 611 away from the lowest mounting position in a one-to-one correspondence constitute the second nozzle air path; the first nozzle air path and the transition passage 231 connected to the first nozzle air path constitute the third nozzle air path; the second nozzle air path and the transition passage 231 connected to the second nozzle air path constitute the fourth nozzle air path. The adsorption and release air path consists of the third nozzle air path and the control hole 241 connected to the third nozzle air path; the pressure holding air path consists of the fourth nozzle air path, the arc-shaped channel 242 connected to the fourth nozzle air path, and the pressure holding hole 243 connected to the arc-shaped channel 242.

[0066] In this embodiment, there are 20 air guide passages 611, 20 transition passages 321, 20 transition passages 231, 1 control hole 241, 1 arc-shaped channel 242, and 1 pressure-holding hole 243. The transition passage 231 consists of an axial channel on the main rotating shaft 23 and radial channels communicating with the axial channel. Of the 20 radial channels, one communicates with the control hole 241, and the remaining 19 communicate with the arc-shaped channel 242. The control hole 241 and the pressure-holding hole 243 are radial holes at both ends of the air ring 24. The control hole 241 is connected to an external air extraction / discharge device via a control air connector 15 on the motor housing 21, and the pressure-holding hole 243 is connected to an external air extraction device via a pressure-holding air connector 16 on the motor housing 21. The arc-shaped channel 242 is a discontinuous groove or arc-shaped groove on the circumferential direction of the inner wall of the air ring 24. In this embodiment, one adsorption-release gas path consists of a gas guide path 611 located at the lowest placement position, a transition path 321, a transition path 231, and a control hole 241 connected sequentially. One pressure-holding gas path consists of 19 gas guide paths 611 located away from the lowest placement position, 19 transition paths 321, 19 transition paths 231, an arc-shaped channel 242, and a pressure-holding hole 243 connected sequentially. The adsorption-release gas path is always connected to the nozzle 64 located at the lowest placement position for product adsorption or release; the pressure-holding gas path is connected to the remaining 19 nozzles 64, maintaining a constant vacuum and pressure. This placement head controls the placement action of all nozzles 64 through three motors and controls the adsorption state of all nozzles 64 through two gas paths.

[0067] In this embodiment, to reduce air pressure loss, a check valve is provided at each transition passage 321 (at the location of the intermediate channel, i.e., between the transition hole and the transition hole). The suction nozzle 64 with adsorbed product maintains its adsorption state, while the suction nozzle 64 without adsorbed product reduces air pressure loss under the action of the internal check valve.

[0068] The beneficial effects of this embodiment are as follows: by using two air paths to achieve the adsorption, release and pressure holding functions of all nozzles 64, this turret-type placement head can solve the problems of existing placement heads having no pressure holding air path for each nozzle 64 or using an independent pressure holding air path, resulting in complex air path structure and large size. It can simplify the air path structure of existing placement heads, reduce system complexity, reduce structural volume, reduce manufacturing cost, enhance applicability, and further achieve miniaturization and weight reduction.

[0069] The above embodiments should be understood as being used only to illustrate the present invention more clearly, and not to limit the scope of the present invention. After reading the present invention, any modifications of the embodiments by those skilled in the art in various equivalent forms fall within the scope defined by the appended claims.

Claims

1. A turret-type mounting head, comprising a main rotating assembly (2) fixed to a mounting frame (1), a turret assembly (3) coaxially connected to the main rotating assembly (2), a Z-axis assembly (4) mounted on the mounting frame (1) and located on one side of the turret assembly (3), a compression follower (5) connected to the Z-axis assembly (4), a plurality of single nozzle assemblies (6) circumferentially and movably mounted on the turret assembly (3), an angle motor connected to the plurality of single nozzle assemblies (6) via a transmission mechanism, and a control system respectively connected to the main rotating assembly (2), the Z-axis assembly (4), and the angle motor; the compression follower (5) cooperates with the single nozzle assembly (6) at the lowest mounting position; gas passages are sequentially provided along the single nozzle assembly (6), the turret assembly (3), and the main rotating assembly (2); characterized in that, The turret assembly (3) is located away from the main rotating assembly (2) and forms an installation space with several single suction nozzle assemblies (6), and the angle motor is located in the installation space.

2. The turret-type mounting head according to claim 1, characterized in that, The angle motor, turret assembly (3), and main rotating assembly (2) are arranged coaxially.

3. The turret-type mounting head according to claim 1, characterized in that, The transmission mechanism is a gear transmission mechanism, which includes a large gear (8) connected to the angle motor and a small gear (9) connected to a plurality of single suction nozzle assemblies (6). The large gear (8) meshes with the plurality of small gears (9).

4. The turret-type mounting head according to claim 1, characterized in that, The angle motor is an external rotor motor (7), which is mounted on a fixed shaft (10) that passes through the turret assembly (3). The external rotor motor (7) is fixed to the mounting frame (1) or the main rotating assembly (2) through the fixed shaft (10).

5. The turret-type mounting head according to claim 4, characterized in that, The fixed shaft (10) passes through the turret assembly (3) and the main rotating assembly (2) coaxially in sequence, and is fixed to the mounting frame (1) or the main rotating assembly (2); the fixed shaft (10) is a hollow shaft.

6. The turret-type mounting head according to claim 4 or 5, characterized in that, A large gear (8) connected to the external rotor motor (7) is sleeved on the fixed shaft (10), and a small gear (9) is provided on the single suction nozzle assembly (6). The large gear (8) and several small gears (9) mesh together to form a transmission mechanism.

7. The turret-type mounting head according to claim 4 or 5, characterized in that, A vision positioning component (14) is connected to one end of the fixed shaft (10) near the single nozzle assembly (6). The vision positioning component (14) is concentrically positioned opposite any single nozzle assembly (6) that is far from the lowest mounting station. An encoder (12) is provided between the fixed shaft (10) and the external rotor motor (7). The vision positioning component (14) and the encoder (12) are respectively connected to the control system.

8. The turret-type placement head according to any one of claims 1 to 5, characterized in that, The central axis of the turret assembly (3) forms an acute angle with the Z-axis, and at least one single nozzle assembly (6) is in the lowest mounting position.

9. The turret-type mounting head according to any one of claims 1 to 5, characterized in that, The Z-axis assembly (4) is connected to a position switch (11) that is connected to the control system. The position switch (11) is located on one side of the single nozzle assembly (6) at the lowest mounting position.

10. The turret-type placement head according to any one of claims 1 to 5, characterized in that, The gas path includes an adsorption and release gas path and a pressure-holding gas path; the single nozzle assembly (6) includes a gas guide path (611), and the turret assembly (3) includes a connecting path (321) corresponding to each of the gas guide paths (611); the main rotating assembly (2) includes a gas ring (24) and a motor stator (22) fixed in the motor housing (21), and a main rotating shaft (23) sequentially sleeved in the gas ring (24) and the motor stator (22), and the main rotating shaft (23) is provided with a connection to each of the connecting paths (321). A corresponding connecting transition path (231) is provided on the air ring (24), which is provided with a control hole (241), an arc-shaped channel (242), and a pressure holding hole (243). The adsorption and release gas route is composed of the gas guide path (611), the transfer path (321), the transition path (231), and the control hole (241) located at the lowest mounting position in sequence. The pressure holding gas route is composed of the gas guide path (611), the transfer path (321), the transition path (231), the arc-shaped channel (242), and the pressure holding hole (243) located away from the lowest mounting position in sequence.

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