A gripper head placement device

Abstract

The present invention relates to the technical field of chip processing, and particularly relates to a gripper head placement device, which includes a clamping driver and two clamping arms for clamping a placement seat. A clamping block for clamping the placement seat is arranged at the bottom of the clamping arm. A thin-film pressure sensor is arranged on one side of the clamping block in contact with the placement seat. Each lateral pushing mechanism includes a horizontal sliding seat, a return spring, a pusher and a soft pad. The horizontal sliding seat is connected to the clamping arm in a horizontally movable manner. The clamping block is connected to the bottom of the horizontal sliding seat. The pusher is used to push the clamping block close to the placement seat. This gripper head placement device can still ensure the installation accuracy of the placement seat on the positioning clamping seat when depressions occur at all or some positions between the clamping block and the placement seat. And according to the actual situation, since the clamping block is a plate-like structure, the speed of depression generation on the placement seat can be slowed down to increase the service life of the placement seat.

Description

Technical Field

[0001] The present invention relates to the technical field of chip processing, and particularly relates to a gripper head placement device. Background Art

[0002] After the chip base is punched, a photographing detection method based on a CCD camera is used. After detection, the chip base on the adsorption seat is placed on the placement seat 10 by a suction gun. The placement seat 10 is made of plastic. Among them, the placement seat 10 needs to be installed on the horizontal moving mechanism through a gripper head placement device, and a positioning clamping seat 1 for fixing the placement seat 10 is provided on the horizontal moving mechanism. When the placement seat 10 is placed on the positioning clamping seat 1 by the gripper head placement device, high precision is required. If there is a slight deviation in precision, the chip base cannot be accurately adsorbed in the positioning card slot of the placement seat 10.

[0003] Therefore, as Figure 1 shown, three rotating compressors are respectively provided on the symmetric two sides of the positioning clamping seat 1. The compressor is a prior art. On the other side, a pressing cylinder 11 is provided. By pushing, one side of the placement seat 10 can be pressed against the positioning clamping seat 1, so as to achieve accurate positioning and installation, and avoid the shaking of the placement seat 10 caused by the gap during movement. Among them, the pressing direction of the pressing cylinder 11 is the same as the movement direction of the horizontal moving mechanism. It should be explained that when the placement seat 10 is placed on the positioning clamping seat 1, there are gaps between the four outer edges of the placement seat 10 and the positioning clamping seat 1. This is the reason why the pressing cylinder 11 needs to push the placement seat 10. The existence of this gap is to avoid the misalignment of the placement seat 10 caused by friction when the placement seat 10 is placed on the positioning clamping seat 1.

[0004] Based on the accuracy control in the above-mentioned prior art, it can be seen that when the placement seat 10 is installed on the positioning clamping seat 1, high precision is required. If there is a slight error, the chip base cannot be placed on the placement seat 10. However, when the applicant used it, it was found that due to the long-term and frequent operation of the gripper head placement device on the placement seat 10, the contact position between the two was sunken. The main reason for the depression is the extrusion of the placement seat 10 by the gripper head placement device, which causes the deformation of the plastic. Since the placement seat 10 has a complex structure, high precision, and a large quantity requirement, it cannot be replaced by a metal structure. But if this depression cannot be solved, after the depression occurs, the pressing cylinder 11 will not be able to push the placement seat 10 to move horizontally, so it is necessary to replace and discard the placement seat 10. And when depressions occur at all contact points, it will lead to the inability to clamp the placement seat 10.

[0005] Therefore, a gripper head placement device needs to be designed to ensure the installation accuracy of the placement seat 10 on the positioning clamping seat 1 even when the placement seat 10 is sunken. Summary of the Invention

[0006] Aiming at the above-mentioned technical deficiencies, the purpose of the present invention is to provide a gripper head placement device that can still ensure the installation accuracy of the placement seat on the positioning clamping seat when the placement seat is sunken.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: The present invention provides a gripper head placement device, including a clamping driver and two clamping arms for clamping the placement seat. A clamping block for clamping the placement seat is provided at the bottom of the clamping arm. An avoidance hole for inserting the clamping block is provided on the positioning clamping seat. A moving slide is provided at the top of the clamping driver for driving it to move horizontally towards the supply seat box and the return seat box. The feature is that a horizontal pushing mechanism is provided on the clamping arm. The horizontal pushing mechanism is used to drive the clamping block to approach or move away from the placement seat. A thin-film pressure sensor is provided on the side of the clamping block in contact with the placement seat. Each horizontal pushing mechanism includes a horizontal slide seat, a return spring, a pusher, and a soft pad. The horizontal slide seat is horizontally movably connected to the clamping arm. The clamping block is connected to the bottom of the horizontal slide seat. The pusher is used to push the clamping block towards the placement seat. The return spring is used to apply an elastic force to the clamping block to move it away from the placement seat. When the pusher pushes the clamping block, the soft pad is located between the clamping block and the pusher, and the soft pad can be installed between the clamping block or the pusher.

[0008] Preferably, the clamping block is an extrusion column, and the extrusion column is fixedly installed at the bottom of the horizontal slide seat.

[0009] Preferably, the horizontal pushing mechanism is connected to the clamping arm through a longitudinal pushing mechanism. The longitudinal pushing mechanism includes an electric push rod I, a hinged rod, a slide seat I, and a slide rail I. The slide rail I is fixedly installed on the clamping arm. The slide seat I is longitudinally slidably installed on the slide rail I. The horizontal pushing mechanism is fixedly installed on the slide seat I. The electric push rod I is fixedly installed on the clamping arm. One end of the hinged rod is hinged to the slide seat I, and the other end of the hinged rod is hinged to the output end of the electric push rod I.

[0010] Preferably, the clamping block is an extrusion plate.

[0011] Preferably, the horizontal pushing mechanism is connected to the clamping arm through a longitudinal synchronous pushing mechanism. The longitudinal synchronous pushing mechanism includes an electric push rod II, a connecting frame, two slide rails II, and multiple slide seats II respectively connected to the horizontal pushing mechanism. The two slide rails II are respectively fixedly installed on the two clamping arms. The slide seats II are slidably connected to the slide rails II. Multiple slide seats II are fixedly connected to the connecting frame. The electric push rod II is used to push multiple horizontal pushing mechanisms to slide horizontally along the slide rails II through the connecting frame.

[0012] Preferably, the clamping block is rotatably mounted at the bottom of the horizontal sliding seat. Two angle limiting posts for limiting the angle of the clamping block are provided at the bottom of the horizontal sliding seat, so that the clamping block can only rotate clockwise or counterclockwise by [X] degrees.

[0013] Preferably, the horizontal sliding seat includes a sliding plate, a contact plate and two sliding columns. A guide plate slidably connected to the sliding columns is provided on the clamping arm. The sliding plate is fixedly mounted at one end of the sliding column, and the contact plate is fixedly mounted at the other end of the sliding column.

[0014] Preferably, the pusher includes an electric push rod three, a sliding sleeve, a sliding pressure plate and a trapezoidal block. The inclined surface of the trapezoidal block contacts the sliding pressure plate. The sliding pressure plate is fixedly mounted on the top of the trapezoidal block. The sliding sleeve is slidably connected to the sliding pressure plate. A soft pad is provided between the sliding sleeve and the trapezoidal block. The electric push rod three is used to push the trapezoidal block downward.

[0015] The beneficial effects of the present invention are as follows: For this grasping head placement device, when depressions occur at all or some positions between the clamping block and the placement seat, it can still ensure the installation accuracy of the placement seat on the positioning clamping seat. And according to the actual situation, since the clamping block is a plate-like structure, it can slow down the speed of depression generation on the placement seat, so as to increase the service life of the placement seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the prior art.

[0018] Figure 2 It is a partial three-dimensional structural schematic diagram of Embodiment 1 of the present invention. <-

[0019] Figure 3 It is a three-dimensional structural schematic diagram of the lateral pushing mechanism.

[0020] Figure 4 It is a three-dimensional structural schematic diagram of the longitudinal pushing mechanism.

[0021] Figure 5 It is a partial three-dimensional structural schematic diagram of Embodiment 3.

[0022] Figure 6 It is a three-dimensional structural schematic diagram of the longitudinal synchronous pushing mechanism.

[0023] Figure 7 It is a partial three-dimensional structural schematic diagram of Embodiment 4.

[0024] Figure 8 is Figure 7 the partial front view of

[0025] Explanation of reference numerals in the drawings: 1 - positioning and clamping seat; 1a - avoidance hole; 2 - clamping driver; 3 - clamping block; 4 - lateral pushing mechanism; 4a - horizontal sliding seat; 4a1 - sliding plate; 4a2 - sliding column; 4a3 - abutting plate; 4b - return spring; 4c - pusher; 4c1 - electric push rod three; 4c2 - sliding sleeve; 4c3 - sliding pressure plate; 4c4 - trapezoidal block; 4d - soft pad; 5 - longitudinal pushing mechanism; 5a - electric push rod one; 5b - hinged rod; 5c - sliding seat one; 5d - slide rail one; 6 - longitudinal synchronous pushing mechanism; 6a - electric push rod two; 6b - connecting frame; 6c - sliding seat two; 6d - slide rail two; 7 - angle limiting column; 10 - placing seat; 11 - tightening cylinder; 12 - seat supply box; 13 - seat return box. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] Embodiment 1: This embodiment mainly solves the problem of accuracy when there are grooves in some positions between the clamping block 3 and the placing seat 10. This embodiment provides a placing device for a gripping head, including a clamping driver 2 and two clamping arms for clamping the placing seat 10. Among them, a clamping block 3 for clamping the placing seat 10 is provided at the bottom of the clamping arm, and an avoidance hole 1a for the clamping block 3 to insert is opened on the positioning and clamping seat 1. In this application, the structure of the placing seat 10 in all the drawings is only for illustration. This is because the black shadow area of the actual product structure of the placing seat 10 is relatively large, which is not convenient for showing the innovative points of the present invention.

[0028] A moving slide is provided at the top of the clamping driver 2 for driving it to move horizontally towards the seat supply box 12 and the seat return box 13, so that the two clamping blocks 3 can clamp the placing seat 10 in the seat supply box 12 and place it on the positioning and clamping seat 1, or place the placing seat 10 with the chip base installed on the seat return box 13. Moreover, a lifter for driving the placing seat 10 up or down is provided in the seat supply box 12 and the seat return box 13. Avoidance holes two for the clamping block 3 to insert are also opened on the seat supply box 12 and the seat return box 13. Specifically, as Figure 2As shown, the clamping arm is provided with a lateral push mechanism 4, which is used to drive the clamping block 3 to move closer to or away from the placement seat 10. The side of the clamping block 3 that contacts the placement seat 10 is provided with a thin film pressure sensor. The thin film pressure sensor belongs to the prior art and will not be described in detail in this embodiment. When the placement seat 10 in the seat supply box 12 is clamped, due to the presence of a depression at the contact position between the clamping block 3 and the placement seat 10, if the clamping block 3 is driven by the clamping driver 2 to clamp, not all clamping blocks 3 can reliably clamp the placement seat 10. There are cases where the clamping of some placement seats 10 is unreliable or even fails to clamp. In this case, the clamping blocks 3 that are not in contact with the placement seat 10 will be sensed by the thin film pressure sensor and a signal will be transmitted to the controller. The controller controls the lateral push mechanism 4 at the corresponding position to push the clamping block 3 to contact the placement seat 10, thereby clamping the corresponding placement seat 10. After the placement seat 10 is placed on the positioning clamping seat 1, it is pushed horizontally by pressing against the cylinder 11 so that one side of the placement seat 10 contacts the positioning clamping seat 1. In the above process, since the depression is in a clamping relationship between the clamping block 3, the placement seat 10 will be unable to be pushed. To this end, each lateral pushing mechanism 4 includes a horizontal slide 4a, a return spring 4b, a pusher 4c and a cushion 4d. The horizontal slide 4a is horizontally movably connected to the clamping arm, and the clamping block 3 is connected to the bottom of the horizontal slide 4a. The movement of the clamping block 3 is guided by the horizontal slide 4a. The pusher 4c is used to push the clamping block 3 close to the placement seat 10. The return spring 4b is used to apply an elastic force to the clamping block 3 away from the placement seat 10. Through the coordination of the pusher 4c and the return spring 4b, the clamping block 3 can achieve reciprocating movement. When the pusher 4c pushes the clamping block 3, the soft pad 4d is located between the clamping block 3 and the pusher 4c. The soft pad 4d can be installed between the clamping block 3 or the pusher 4c. In this application, it is installed on the pusher 4c. The soft pad 4d is mainly used to avoid the placement seat 10 when the cylinder 11 pushes the placement seat 10. That is, the soft pad 4d is compressed, allowing the placement seat 10 to be pushed horizontally.

[0029] from Figure 3 As can be seen, the pusher 4c is not fixedly connected to the horizontal slide 4a. Its main function is to prevent the soft pad 4d from being pushed or squeezed by the pusher 4c when no depression is formed. Because the soft pad 4d has elastic fatigue, if it becomes compressed due to long-term use, it will be impossible to determine whether there is a depression on the placement seat 10.

[0030] like Figure 3 As shown, in this embodiment 1, the clamping block 3 is an extrusion column, which is fixedly installed at the bottom of the horizontal slide 4a, so that the recess between the clamping block 3 and the placement seat 10 is arc-shaped, so that it can be pushed more easily when the placement seat 10 is pushed horizontally.

[0031] As Figure 3 shown, the horizontal sliding seat 4a includes a sliding plate 4a1, a contact plate 4a3 and two sliding columns 4a2. A guide plate slidably connected to the sliding columns 4a2 is provided on the clamping arm. The sliding plate 4a1 is fixedly installed at one end of the sliding columns 4a2, and the contact plate 4a3 is fixedly installed at the other end of the sliding columns 4a2. By pushing the contact plate 4a3 with the pusher 4c, the sliding plate 4a1 can slide on the guide plate through the sliding columns 4a2, thereby changing the horizontal position of the clamping block 3.

[0032] As Figure 3 shown, the pusher 4c includes an electric push rod three 4c1, a sliding sleeve 4c2, a sliding pressure plate 4c3 and a trapezoidal block 4c4. The inclined surface of the trapezoidal block 4c4 contacts the sliding pressure plate 4c3. The sliding pressure plate 4c3 is fixedly installed on the top of the trapezoidal block 4c4. The sliding sleeve 4c2 is slidably connected to the sliding pressure plate 4c3. A soft pad 4d is provided between the sliding sleeve 4c2 and the trapezoidal block 4c4. The electric push rod three 4c1 is used to push the trapezoidal block 4c4 downward. When the trapezoidal block 4c4 is pushed, the trapezoidal block 4c4 will push the sliding plate 4a1 to move through the contact plate 4a3. When the clamping block 3 is subjected to the pressure exerted by the placement seat 10, the soft pad 4d will be compressed.

[0033] Embodiment 2: If the method of Embodiment 1 is adopted, it can only be used when grooves appear at some positions between the clamping block 3 and the placement seat 10. If depressions exist at all positions, when the placement seat 10 is horizontally pushed, it cannot play a role in limiting and guiding. Therefore, further design is required to solve the device when depressions appear at all positions. The difference from Embodiment 1 is that, as Figure 4 shown, the lateral translation mechanism 4 is connected to the clamping arm through the longitudinal translation mechanism 5. The longitudinal translation mechanism 5 includes an electric push rod one 5a, a hinged rod 5b, a sliding seat one 5c and a slide rail one 5d. The slide rail one 5d is fixedly installed on the clamping arm. The sliding seat one 5c is longitudinally slidably installed on the slide rail one 5d. The lateral translation mechanism 4 is fixedly installed on the sliding seat one 5c. The electric push rod one 5a is fixedly installed on the clamping arm. One end of the hinged rod 5b is hinged to the sliding seat one 5c, and the other end of the hinged rod 5b is hinged to the output end of the electric push rod one 5a. By controlling the electric push rod one 5a, the sliding seat one 5c can reciprocate along the slide rail one 5d. If the pressure sensors on all four clamping blocks 3 cannot contact and sense the placement seat 10, it means that depressions exist at all positions. At this time, the sliding seat one 5c needs to drive the lateral translation mechanism 4 to switch positions, and the new position to be switched to does not have depressions. At this time, by contacting and clamping the clamping block 3 with the placement seat 10, the accuracy can be ensured.

[0034] Embodiment 3: The difference from Embodiment 2 is that since the clamping block 3 can be longitudinally adjusted, the clamping block 3 is not limited to a columnar structure, as Figure 5As shown, the clamping block 3 is an extrusion plate, that is, the clamping block 3 has a plate-like structure. Due to the plate-like structure of the clamping block 3, the contact area between the clamping block 3 and the placement seat 10 is increased, and the extrusion force of the clamping block 3 on the placement seat 10 is reduced. During long-term use, the speed of depression generation is slower, making the placement seat 10 last longer.

[0035] Embodiment 4: Compared with the methods of Embodiment 2 and Embodiment 3, this embodiment proposes a new solution method. It is no longer limited to only changing the contact position between the clamping block 3 and the placement seat 10 to solve the depression problem, but also has the method of linearly sliding the clamping block 3 along the placement seat 10. The difference from Embodiment 1 is that, as Figure 6 shown, the lateral pushing mechanism 4 is connected to the clamping arm through the longitudinal synchronous pushing mechanism 6. The longitudinal synchronous pushing mechanism 6 includes an electric push rod two 6a, a connecting frame 6b, two slide rails two 6d, and multiple slide seats two 6c respectively connected to the lateral pushing mechanism 4. The two slide rails two 6d are respectively fixedly installed on the two clamping arms. The slide seat two 6c is slidably connected to the slide rail two 6d. Multiple slide seats two 6c are fixedly connected to the connecting frame 6b. The electric push rod two 6a is used to push multiple lateral pushing mechanisms 4 to slide horizontally along the slide rail two 6d through the connecting frame 6b. After the clamping block 3 clamps the placement seat 10, by driving the electric push rod two 6a to drive multiple clamping blocks 3 to move horizontally, the horizontal displacement of the placement seat 10 can be realized, so that one side of the placement seat 10 is in contact with the positioning clamping seat 1. It should be explained that the moving direction of the placement seat 10 is parallel to the length direction of the slide rail two 6d, and the slide rail two 6d is parallel to the pushing direction of the abutting air cylinder 11.

[0036] According to needs, when the placement seat 10 is initially clamped, the clamping position of the multiple clamping blocks 3 on the placement seat 10 can be changed by pushing the electric push rod two 6a.

[0037] And the plate-like structure of the clamping block 3 will be better than the columnar structure. Since the depression structures on different placement seats 10 are different, but if the clamping block 3 has a plate-like structure, since the clamping block 3 cannot rotate, the clamping block 3 cannot be completely fitted with the placement seat 10. Therefore, as Figure 7 and Figure 8 shown, the clamping block 3 is rotatably installed at the bottom of the horizontal slide seat 4a. Two angle limit posts 7 for limiting the angle of the clamping block 3 are provided at the bottom of the horizontal slide seat 4a, so that the clamping block 3 can only rotate 5 degrees clockwise or counterclockwise. Through these 5 degrees, the clamping block 3 can be fitted with the placement seat 10. And the angle of the clamping block 3 can be positioned by the angle limit posts 7 to avoid large deviation of the clamping block 3 and cause collision with the placement seat 10.

[0038] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. A gripping head placement device, comprising a clamping drive (2) and two clamping arms for clamping a placement seat (10), the bottom of the clamping arm is provided with a clamping block (3) for clamping the placement seat (10), a avoidance hole (1a) for inserting the clamping block (3) is provided on the positioning clamping seat (1), and the top of the clamping drive (2) is provided with a movable slide for driving it to move horizontally toward a supply seat box (12) and a return seat box (13), characterized in that: The clamping arm is provided with a lateral pushing mechanism (4), which is used to drive the clamping block (3) to move closer to or away from the placement seat (10), and a thin film pressure sensor is provided on the side of the clamping block (3) that contacts the placement seat (10); Each lateral pushing mechanism (4) includes a horizontal slide (4a), a return spring (4b), a pusher (4c) and a soft pad (4d); the horizontal slide (4a) is horizontally movably connected to the clamping arm; the clamping block (3) is connected to the bottom of the horizontal slide (4a); the pusher (4c) is used to push the clamping block (3) close to the placement seat (10); the return spring (4b) is used to apply an elastic force to the clamping block (3) away from the placement seat (10); when the pusher (4c) pushes the clamping block (3), the soft pad (4d) is located between the clamping block (3) and the pusher (4c); and the soft pad (4d) can be installed between the clamping block (3) or the pusher (4c); There are four clamping blocks (3), which are arranged in two rows and are respectively installed on four horizontal slides (4a).

2. A grab head placement device according to claim 1, characterized in that: The clamping block (3) is an extrusion column, which is fixedly mounted on the bottom of the horizontal slide (4a).

3. A grab head placement device according to claim 1, characterized in that: The lateral sliding mechanism (4) is connected to the clamping arm through the longitudinal sliding mechanism (5). The longitudinal sliding mechanism (5) includes an electric push rod (5a), a hinged rod (5b), a slide (5c) and a slide rail (5d). The slide rail (5d) is fixedly mounted on the clamping arm. The slide (5c) is longitudinally slidably mounted on the slide rail (5d). The lateral sliding mechanism (4) is fixedly mounted on the slide (5c). The electric push rod (5a) is fixedly mounted on the clamping arm. One end of the hinged rod (5b) is hinged to the slide (5c). The other end of the hinged rod (5b) is hinged to the output end of the electric push rod (5a).

4. A grab head placement device according to claim 3, characterized in that: The clamping block (3) is an extrusion plate.

5. The grab head placement device according to claim 1, characterized in that: The clamping block (3) is rotatably mounted on the bottom of the horizontal slide (4a). The bottom of the horizontal slide (4a) is provided with two angle limiting columns (7) for limiting the angle of the clamping block (3), so that the clamping block (3) can only rotate 5 degrees clockwise or counterclockwise.

6. A grab head placement device according to claim 1, characterized in that: The horizontal slide (4a) comprises a slide plate (4a1), a contact plate (4a3) and two slide columns (4a2); a guide plate slidably connected to the slide columns (4a2) is provided on the clamping arm; the slide plate (4a1) is fixedly mounted on one end of the slide column (4a2); and the contact plate (4a3) is fixedly mounted on the other end of the slide column (4a2).

7. A grab head placement device according to claim 1, characterized in that: The pusher (4c) comprises an electric push rod (4c1), a sliding sleeve (4c2), a sliding pressure plate (4c3) and a trapezoidal block (4c4); the inclined surface of the trapezoidal block (4c4) contacts the sliding pressure plate (4c3); the sliding pressure plate (4c3) is fixedly mounted on the top of the trapezoidal block (4c4); the sliding sleeve (4c2) is slidably connected to the sliding pressure plate (4c3); a soft pad (4d) is arranged between the sliding sleeve (4c2) and the trapezoidal block (4c4); and the electric push rod (4c1) is used to push the trapezoidal block (4c4) downward.

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