Rotary swing arm pick-and-place device

Abstract

The application discloses a rotary swing arm pick-and-place device, which comprises a driving motor and a rotary seat connected with a rotating shaft of the driving motor, wherein a rotary swing arm is installed on the rotary seat, the middle part of the rotary swing arm is vertically arranged with the rotating shaft of the driving motor, a first swing arm and a second swing arm are arranged on the rotary swing arm in a 180-degree mode, a suction head seat and a guide mechanism are respectively arranged on the first swing arm and the second swing arm, and the rear end of the suction head seat is connected with the guide mechanism; when the suction nozzle on the suction head seat is compressed, the guide mechanism limits the suction nozzle to move along the compression direction. The application solves the problem that the swing arm of the existing mechanical arm rotates along the lower end as an axis at a small angle when the swing arm picks and places a chip under the compression force, significantly improves the arrangement accuracy of chip products, and avoids the quality abnormality of part of chip products.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of semiconductor equipment, and particularly relates to a rotary swing arm pick-and-place device. BACKGROUND

[0002] With the development of light emitting diodes, after a wafer is cut into multiple dies or chips, the dies or chips are classified according to their quality, performance, and product characteristics, so that dies or chips of different grades are applied to different fields. In particular, in the industry of light emitting diodes (LEDs), the luminous brightness, wavelength, color temperature, and operating voltage of diodes will vary slightly due to slight differences in process conditions, and even on the same LED production wafer, there will be slight differences between the dies or chips. As the classification requirements for light emitting diodes become more and more precise, 150 classification items have been developed. In order to improve efficiency, a mechanical arm is generally used for classification. Therefore, the speed of picking and classifying dies or chips directly affects the production speed. In the prior art, an LED chip picking machine must go through several steps such as picking up an LED chip, rotating the LED chip, and placing the LED chip downward, to complete the process of placing the LED chip from a chip carrying surface to a chip attaching surface. Moreover, during the picking and attaching process, the forward and backward displacement of the swing arm will cause a slight displacement of the suction nozzle in the vertical direction, thereby affecting the attaching precision of the chip. As shown in FIG. 1, when the suction nozzle on the rotary swing arm picks up and attaches and places a chip, the suction nozzle will rotate slightly forward and backward (as shown by the arrow in FIG. 2) under the action of vertical pressure, thereby causing displacement of the suction nozzle in the vertical and horizontal directions. Since the vertical displacement error caused by the rotation of the suction nozzle is not easy to be detected during the process of sorting chips, it is often not discovered until the LED chip is placed on the chip attaching surface, at which time it is already impossible to handle, resulting in quality abnormalities. Figure 1 Figure 1 SUMMARY

[0003] The present application aims to solve the problem that the swing arm of the existing mechanical arm will rotate slightly around its lower end as an axis when subjected to a compressive force, causing the suction nozzle at the upper end of the swing arm to displace in the vertical direction, thereby affecting the arrangement precision of the chip products, and causing some chip products to have quality abnormalities. Therefore, the present application provides a rotary swing arm pick-and-place device, which can well ensure the arrangement precision of the products and control the position error within a reasonable range.

[0004] The technical solutions adopted by the present application are as follows:

[0005] ​​A rotary swing arm pick-and-place device comprises a driving motor and a rotary seat connected with the rotating shaft of the driving motor, a rotary swing arm is installed on the rotary seat, the middle part of the rotary swing arm is arranged vertically to the rotating shaft of the driving motor, a first swing arm and a second swing arm are arranged at 180° on the rotary swing arm, a suction head seat and a guide mechanism are respectively arranged on the first swing arm and the second swing arm, the rear end of the suction head seat is connected with the guide mechanism, a suction nozzle at the front end of the suction head seat extends out of the end of the rotary swing arm, and the guide mechanism limits the suction nozzle to move in the direction of pressure.

[0006] Preferably, the guide mechanism comprises a guide rod, a reset spring and a guide seat, the guide seat is arranged close to the edges of the first swing arm and the second swing arm, the guide rod is arranged vertically to the rotating shaft of the driving motor, the rear end of the guide rod is fixedly connected with the guide seat, a guide hole is arranged on the suction head seat, the guide rod penetrates through the guide hole on the suction head seat, and they form a sliding connection, a limiting block is arranged at the front end of the guide rod, and the reset spring is sleeved on the guide rod between the suction head seat and the guide seat.

[0007] Further, at least two guide holes are arranged in parallel on the guide seat, the guide rods correspondingly penetrate through the guide holes, and form a detachable fixed connection with the guide seat, and the reset spring is sleeved on each guide rod.

[0008] Or preferably, the guide mechanism comprises a guide rod, a reset spring, a guide seat and a sliding sleeve, the guide seat is arranged close to the edges of the first swing arm and the second swing arm, the guide rod is arranged vertically to the rotating shaft of the driving motor, the sliding sleeve is arranged penetrating through the guide seat, and they form a relative fixed connection, the front end of the guide rod forms a detachable fixed connection with the suction head seat, the guide rod penetrates through the sliding sleeve, and they form a sliding connection, a limiting block is arranged at the rear end of the guide rod, and the reset spring is sleeved on the guide rod between the suction head seat and the guide seat.

[0009] Further preferably, a limiting top screw is arranged on the limiting block, the limiting top screw is arranged along the parallel direction of the guide rod, and the limiting top screw abuts against the rear end of the sliding sleeve.

[0010] The limiting block is detachably clamped at the rear end of the guide rod.

[0011] Preferably, the sliding sleeve is a sliding bearing, the outer ring of the sliding bearing is tightly connected with the guide seat, and the inner ring of the sliding bearing forms an axial sliding connection with the guide rod.

[0012] The guiding seat is provided with at least two guiding holes in parallel, and each guiding hole is fixed with a sliding sleeve, and the guiding rod is correspondingly penetrated into the sliding sleeve, and the front end of each guiding rod is detachably fixed with the suction head seat, and the reset spring is sleeved on each guiding rod.

[0013] The suction head seat comprises a suction nozzle and a closed cavity with an inflation cavity, the suction nozzle is arranged at the front end of the closed cavity, the guiding rod is fixed at the rear end of the closed cavity, and the closed cavity is further provided with a pneumatic connector in communication with the closed cavity.

[0014] The guiding seat is provided with at least two guiding holes in parallel, and each guiding hole is fixed with a sliding sleeve, and the guiding rod is correspondingly penetrated into the sliding sleeve, and the front end of each guiding rod is detachably fixed with the suction head seat, and the reset spring is sleeved on each guiding rod.

[0015] The technical scheme of the present application has the following advantages:

[0016] A. The suction head seat with a suction nozzle is connected with the guiding mechanism, when the suction nozzle is pressed during taking and placing the chip, the suction nozzle only moves in one horizontal direction along the guiding mechanism, and the displacement of the suction nozzle in the vertical direction is avoided, so that the arrangement accuracy of the chip is ensured within the set range during the arrangement operation, thereby solving the technical problem that the rotation of the swing arm causes the arrangement accuracy of the chip to exceed the error range in the prior art, and the quality of the product is effectively controlled.

[0017] B. The limiting block is arranged at the rear end or the front end of the guiding rod in the guiding mechanism, the position of the suction nozzle can be adjusted in real time according to the requirement, the stress intensity of the suction nozzle is effectively controlled, the suction nozzle is subjected to the optimal pressing force during the suction or taking and placing of the chip, the service life of the suction nozzle is prolonged, and the adjustment operation is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application, the drawings required in the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 is a schematic diagram of the three-dimensional structure of the taking and placing device adopted in the prior art;

[0020] Figure 2 is a schematic diagram of the three-dimensional structure of the taking and placing device provided by the present application;

[0021] Figure 3 is a first connection structure diagram between the guiding mechanism and the suction head seat provided in the present application;

[0022] Figure 4is a second connecting structure diagram between the guiding mechanism and the suction head seat provided in the application;

[0023] Figure 5 is Figure 4 the plan view shown in the figure;

[0024] Figure 6 is Figure 5 the view shown in the figure.

[0025] The figure is marked as follows:

[0026] 1 - driving motor

[0027] 11 - rotating shaft

[0028] 2 - rotating seat

[0029] 3 - rotating swing arm

[0030] 31 - first swing arm, 32 - second swing arm

[0031] 4 - suction head seat

[0032] 41 - suction nozzle, 42 - closed cavity, 43 - pneumatic connector

[0033] 5 - guiding mechanism

[0034] 51 - guiding rod, 52 - reset spring, 53 - guiding seat, 54 - limiting block, 55 - sliding sleeve

[0035] 6 - limiting jackscrew

[0036] a - guiding hole. DETAILED DESCRIPTION

[0037] The technical solutions of the application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0038] As Figure 2 and Figure 3As shown in the figure, the present application provides a rotary swing arm pick-and-place device, which comprises a driving motor 1 and a rotary seat 2 connected with the rotating shaft 11 of the driving motor 1, a rotary swing arm 3 is installed on the rotary seat 2, the middle part of the rotary swing arm 3 is vertically arranged with the rotating shaft 11 of the driving motor 1, the rotary swing arm 3 is provided with a first swing arm 31 and a second swing arm 32 arranged at 180°, a suction head seat 4 and a guide mechanism 5 are respectively arranged on the first swing arm 31 and the second swing arm 32, the rear end of the suction head seat 4 is connected with the guide mechanism 5; the suction nozzle 41 located at the front end of the suction head seat 4 extends out of the end of the rotary swing arm 3, the first swing arm 31 and the second swing arm 32 in the rotary swing arm 3 respectively extend out of the outside of the rotary seat 2; when the suction nozzle 41 on the suction head seat 4 is pressed, the guide mechanism 5 limits the suction nozzle 41 to move along the direction of the pressure, so that the suction nozzle does not exist rotary displacement, and the accurate suction and placement of the chip can be realized, and the quality of the chip is greatly improved.

[0039] As shown in the figure, Figure 2 and Figure 3 As shown in the figure, the guide mechanism 5 preferably comprises a guide rod 51, a reset spring 52 and a guide seat 53, the guide seat 53 is arranged close to the edge of the first swing arm 31 and the second swing arm 32, the guide rod 51 is vertically arranged with the rotating shaft 11 of the driving motor 1, the rear end of the guide rod 51 is fixedly connected with the guide seat 53, a guide hole a is arranged on the suction head seat 4, the guide rod 51 penetrates through the guide hole a on the suction head seat 4, and the two form a sliding connection, and a limiting block 54 is arranged at the front end of the guide rod 51, the reset spring 52 is sleeved on the guide rod 51 between the suction head seat 4 and the guide seat 53, and the limiting block 54 here can be a pin shaft or a top wire and other structure members for limiting the suction head seat 4 which acts outside the guide hole a.

[0040] At least two guide holes a are arranged in parallel on the guide seat 53, the guide rod 51 penetrates through the guide holes a correspondingly, and forms a detachable fixed connection with the guide seat 53, and the reset spring 52 is sleeved on each guide rod 51 respectively, when the suction nozzle on the suction head seat 4 is compressed, the suction head seat 4 will transmit the force received by the suction nozzle to the suction head seat 4, the suction head seat 4 slides along the guide rod 51 and presses the reset spring 52, so that the suction nozzle 41 only moves in one direction, and when the force disappears, the suction head seat 4 and the suction nozzle 41 will restore to the original position under the action of the reset spring 52.

[0041] As another embodiment, the guide mechanism used in the present application can also be Figure 4 structure, in combination Figure 5 and Figure 6As shown, the guide mechanism 5 includes a guide rod 51, a reset spring 52, a guide seat 53 and a sliding sleeve 55, the guide seat 53 is arranged close to the edge of the first swing arm 31 and the second swing arm 32, the guide rod 51 is arranged vertically to the rotating shaft 11 of the driving motor 1, the sliding sleeve 55 penetrates through the guide seat 53, and the two are relatively fixedly connected, wherein the front end of the guide rod 51 is detachably fixedly connected with the suction head seat 4, the guide rod 51 penetrates through the sliding sleeve 55, and the two are slidably connected, and the rear end of the guide rod 51 is provided with a limiting block 54, and the reset spring 52 is sleeved on the guide rod 51 between the suction head seat 4 and the guide seat 53. When the suction nozzle on the suction head seat is subjected to a pressing force, the suction head seat is pressed to make the suction head seat drive the guide rod to move synchronously and in the same direction, and the guide rod 51 moves along the sliding sleeve 55 to the middle part of the rotating swing arm 3 at this time; when the pressing force on the suction nozzle 41 disappears, the suction head seat 4 and the guide rod 51 are gradually reset to the initial position under the action of the reset spring 52, and the displacement of the suction nozzle 41 in one degree of freedom is also ensured.

[0042] As shown in Figure 4 and Figure 5 The present application also provides a limiting top wire 6 on the limiting block 54, the limiting top wire 6 is arranged in parallel with the guide rod 51, and the rear end of the limiting top wire 6 is in abutment with the sliding sleeve 55. When it is necessary to adjust the position of the suction nozzle, the abutment position of the limiting top wire and the sliding sleeve 55 can be changed, and the forward and backward movement of the suction nozzle 41 can be realized under the action of the reset spring 52 by rotating the limiting top wire 6 in the positive and negative directions, and the position required can be adjusted.

[0043] The limiting block 54 is detachably clamped on the rear end of the guide rod 51, as shown in Figure 4 The structure includes an upper clamping block and a lower clamping block, the upper and lower clamping blocks are connected by a screw, the guide rod 51 is located in the through hole between the upper clamping block and the lower clamping block, and the limiting block 54 and the guide rod 51 can be fastened together by tightening the screw.

[0044] The sliding sleeve 55 can be preferably a copper sleeve or a sliding bearing, the outer ring of the sliding sleeve 55 is tightly connected with the guide seat 53, and the inner ring of the sliding sleeve 55 is axially slidably connected with the guide rod 51, and of course the sliding sleeve is not limited to the structure form described above.

[0045] As shown in Figure 4 The present application preferably provides at least two guide holes a arranged in parallel on the guide seat 53, one sliding sleeve 55 is fixed in each guide hole a, the guide rod 51 penetrates through the sliding sleeve 55, the front end of each guide rod 51 is detachably fixedly connected with the suction head seat 4, and the reset spring 52 is sleeved on each guide rod 51, and more stable and more accurate chip arrangement can be realized under the action of the reset springs 52 in the two sets of guide mechanisms. Of course, the guide holes a in the above can also be provided with three or more, and the guide holes a can be arranged upward and / or on the same horizontal plane.

[0046] In addition, the suction head seat 4 used in the present application comprises a suction nozzle 41 and a sealed cavity 42 with an air chamber, the suction nozzle 41 is arranged at the front end of the sealed cavity 42 and is in communication with the sealed cavity 42, the guide rod 51 is fixed at the rear end of the sealed cavity 52, and the sealed cavity 52 is further provided with a pneumatic connector 43 in communication therewith, which is used to supply pressure gas into the sealed cavity 52, so as to control the taking or placing action of the suction nozzle.

[0047] When the suction nozzle is pressed, the suction nozzle will retreat together with the suction head seat, and due to the presence of the guide mechanism, the suction nozzle can move in a horizontal direction, avoiding displacement in multiple directions, and thus the product arrangement accuracy will not be affected.

[0048] Therefore, the present application completely improves the existing structure of the swing arm, which will cause displacement of the suction nozzle in the up-down direction when compressed, thereby affecting the product arrangement accuracy. Since the guide mechanism used in the present application has no deflection component, the problems of the existing mechanism can be avoided.

[0049] Obviously, the above embodiments are only examples for clearly illustrating, but not limit the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A rotating arm picking and placing device, comprising a drive motor (1) and a rotating base (2) connected to the rotating shaft (11) of the drive motor (1), wherein a rotating arm (3) is mounted on the rotating base (2), and the middle part of the rotating arm (3) is perpendicular to the rotating shaft (11) of the drive motor (1), characterized in that, The rotating swing arm (3) is provided with a first swing arm (31) and a second swing arm (32) arranged at 180°, the first swing arm (31) and the second swing arm (32) are respectively provided with a suction head seat (4) and a guide mechanism (5), the rear end of the suction head seat (4) is connected with the guide mechanism (5), the guide seat (53) in the guide mechanism (5) is arranged close to the edge of the first swing arm (31) and the second swing arm (32), the suction nozzle (41) at the front end of the suction head seat (4) extends out of the end of the rotating swing arm (3); when the suction nozzle (41) is pressed, the guide mechanism (5) limits the suction nozzle (41) to move in the direction of the pressure. The suction head seat (4) comprises a suction nozzle (41) and a sealed cavity (42) with an inflation cavity, the suction nozzle (41) is arranged at the front end of the sealed cavity (42), a guide rod (51) is fixed at the rear end of the sealed cavity (42), and the sealed cavity (42) is further provided with a pneumatic connector (43) in communication therewith. The guide mechanism comprises a guide rod (51), a return spring (52), a guide seat (53) and a sliding sleeve (55), the guide seat (53) is arranged close to the edge of the first swing arm (31) and the second swing arm (32), the guide rod (51) is arranged vertically with the rotating shaft (11) of the driving motor (1), the sliding sleeve (55) is arranged through the guide seat (53) and is relatively fixedly connected with the guide seat (53), the front end of the guide rod (51) is detachably fixedly connected with the suction head seat (4), the guide rod (51) penetrates through the sliding sleeve (55) and is slidably connected with the sliding sleeve (55), and the rear end of the guide rod (51) is provided with a limiting block (54), and the return spring (52) is sleeved on the guide rod (51) between the suction head seat (4) and the guide seat (53). The limiting block (54) is further provided with a limiting top screw (6), the limiting top screw (6) is arranged in parallel with the guide rod (51), and the limiting top screw (6) abuts against the rear end of the sliding sleeve (55).

2. The rotary swing arm pick-and-place apparatus of claim 1, wherein, The limiting block (54) is detachably clamped at the rear end of the guide rod (51).

3. The rotary swing arm pick-and-place apparatus of claim 2, wherein, The sliding sleeve (55) is a sliding bearing, the outer ring of the sliding bearing is tightly connected with the guide seat (53), and the inner ring of the sliding bearing is axially slidably connected with the guide rod (51).

4. The rotary swing arm pick-and-place apparatus of claim 3, wherein, The guide seat (53) is provided with at least two guide holes (a) arranged in parallel, one sliding sleeve (55) is fixed in each guide hole (a), and the guide rod (51) penetrates through the sliding sleeve (55), the front end of each guide rod (51) is detachably fixedly connected with the suction head seat (4), and the return spring (52) is sleeved on each guide rod (51).

5. A rotary swing arm pick-and-place apparatus according to any one of claims 1-4, wherein, The guide seat (53) is provided with at least two guide holes (a) arranged in parallel, and the guide holes (a) are arranged in an up-down and / or horizontal manner.

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