Black rubber particle lead frame grabbing manipulator structure and use method

Abstract

The invention discloses a black rubber particle lead frame grabbing manipulator structure and a using method, and relates to the technical field of lead frame grabbing, the black rubber particle lead frame grabbing manipulator structure comprises a top beam, a displacement component is arranged at the bottom of the top beam, the displacement component comprises a U-shaped frame and a U-shaped frame, a threaded seat is longitudinally and slidably connected in the U-shaped frame, and a rotating unit is arranged at the bottom of the threaded seat; an electric hydraulic rod is installed at the bottom of the rotating unit, a material grabbing manipulator mechanism is arranged at the telescopic end of the electric hydraulic rod and comprises a fixing disc, two sets of suction cups are arranged at the bottom of the fixing disc, fixing boxes are connected to the two ends of the upper surface of the fixing disc, and movable toothed plates are transversely and slidably connected into the two sets of fixing boxes; side clamping plates are mounted at the outer ends of the bottom walls of the two groups of movable toothed plates. The material grabbing manipulator mechanism fixes the black rubber particle lead frame from multiple directions, the stability of the material grabbing manipulator structure in use is improved, the displacement component and the rotating unit can transfer the black rubber particle lead frame to different positions, and the displacement range of the material grabbing manipulator structure is wide.

Description

Technical Field

[0001] The invention relates to the technical field of lead frame grasping, and in particular to a black glue particle lead frame grasping manipulator structure and a use method thereof. Background Art

[0002] The lead frame is a part of an electronic component that connects the circuit on the chip to the external circuit. It is a metal structure, usually composed of gold-plated or tin-plated pins, which are connected to the circuit board by soldering or other methods. The lead frame ensures that the chip's signal can be reliably transmitted to the circuit board to ensure the normal operation of the electronic device. When the black plastic particle lead frame is in use, it needs to be moved to the specified position by the material grabbing robot structure.

[0003] Most of the existing black glue particle lead frame grabbing robot structures use suction cups to fix the black glue particle lead frame when in use. The connection of the black glue particle lead frame fixed only by the suction cup is not stable enough. The black glue particle lead frame is easy to fall due to bumps and collisions during the grabbing process of the grabbing robot structure. The black glue particle lead frame grabbing robot structure is not stable enough when in use, and most of the black glue particle lead frame grabbing robot structures have a limited displacement range, which is not convenient for moving the black glue particle lead frame to different positions. There are certain limitations in use. Therefore, we propose a black glue particle lead frame grabbing robot structure and a use method. Summary of the invention

[0004] The purpose of the present invention is to provide a black glue particle lead frame grasping robot structure and use method, so as to solve the problem proposed in the above background technology that the black glue particle lead frame fixed only by a suction cup is not connected stably enough, resulting in the black glue particle lead frame grasping robot structure being not stable enough during use and the black glue particle lead frame grasping robot structure having a limited displacement range.

[0005] To achieve the above object, the present invention provides the following technical solutions: A black glue pellet lead frame grasping manipulator structure comprises a top beam, a displacement component is arranged at the bottom of the top beam, the displacement component comprises a U-shaped frame, and the U-shaped frame is laterally slidably connected to the bottom wall of the top beam, a U-shaped frame is installed on the lower surface of the U-shaped frame, and a threaded seat is longitudinally slidably connected inside the U-shaped frame; A rotating unit is provided at the bottom of the threaded seat, and the rotating unit includes a mounting plate, which is welded to the bottom of the threaded seat, and the lower surface of the mounting plate is rotatably connected to a driven gear through a bearing, and an electric hydraulic rod is installed at the bottom of the driven gear; The telescopic end of the electric hydraulic rod is provided with a material grabbing robot mechanism, which includes a fixed plate. Two groups of suction cups are provided at the bottom of the fixed plate, and an intermediate plate with a limited black rubber particle lead frame is installed between adjacent suction cups. Fixed boxes are connected to both ends of the upper surface of the fixed plate, and movable tooth plates are connected to the two groups of fixed boxes in a transverse sliding manner. Side clamps for clamping the black rubber particle lead frame are installed at the outer ends of the bottom walls of the two groups of movable tooth plates.

[0006] Preferably, the upper surface of the fixed plate is provided with three groups of fixing frames distributed in a circular array, and the other ends of the three groups of fixing frames are connected to the outer wall of the bottom end of the electric hydraulic rod. A sealing box is also installed on the upper surface of the fixed plate, and an air pump is provided on the top of the sealing box. The input end of the air pump is connected to an air intake pipe, and the bottom end of the air intake pipe is connected to the inner cavity of the sealing box. Both side walls of the sealing box are installed with connecting bent pipes, and the bottom ends of the two groups of bent pipes pass through the fixed plate, and the bottom ends of the two groups of bent pipes are connected to the two groups of suction cups respectively.

[0007] Preferably, micro motors are installed on the front end outer walls of the two groups of fixed boxes, and the output end of the micro motor is connected to a rotating shaft, the other end of the rotating shaft is rotatably connected to the inner wall of the fixed box through a bearing, a rotating gear is sleeved on the rotating shaft, and the rotating gear is meshingly connected to the movable tooth plate, the movable tooth plate passes through the two side walls of the fixed box, and the two side walls of the fixed box are provided with openings that are penetrated, and the openings are slidably connected to the movable tooth plate.

[0008] Preferably, the open end of the U-shaped frame is opposite to the bottom wall of the top beam, a stepper motor is installed on the front end outer wall of the U-shaped frame, and the output end of the stepper motor is connected to a drive shaft, the other end of the drive shaft is rotatably connected to the inner wall of the U-shaped frame through a bearing, a traveling gear is sleeved on the drive shaft, a plurality of groups of meshing grooves are provided on the bottom wall of the top beam, and the meshing grooves are meshingly connected with the traveling gears, two groups of T-shaped sliders are installed on the outer wall of the open end of the U-shaped frame, two groups of T-shaped guide grooves are provided on the bottom wall of the top beam, and the two groups of T-shaped sliders are slidably connected to the two groups of T-shaped guide grooves respectively.

[0009] Preferably, the open end of the U-shaped frame faces downward, a reduction motor is installed on the front outer wall of the U-shaped frame, and a screw rod is connected to the output end of the reduction motor, the bottom end of the screw rod is rotatably connected to the rear inner wall of the U-shaped frame through a bearing, the screw rod is threadedly connected to the threaded seat, a limiting groove is provided on the top wall of the inner cavity of the U-shaped frame, and a connecting slider is slidably connected in the limiting groove, and the bottom of the connecting slider is connected to the top of the threaded seat.

[0010] Preferably, a servo motor is provided on the upper surface of the mounting plate, and a rotating rod is connected to the output end of the servo motor, the bottom end of the rotating rod passes through the mounting plate, and a driving gear is installed at the bottom of the rotating rod, and the driving gear is meshed with the driven gear.

[0011] Preferably, mounting rods are welded to both ends of the upper surface of the top beam, and rubber strips are provided at the bottom ends of the two side walls of the middle plate and the bottom ends of the inner side surfaces of the two sets of side clamping plates.

[0012] S1: First, the electrical ends of all electrical equipment are electrically connected to the external power supply and the electrical ends of the controller. The controller controls the stepper motor on the displacement component to work. The work of the stepper motor drives the travel gear on the drive shaft to rotate. Since the travel gear is meshed and connected with multiple groups of meshing grooves opened on the bottom wall of the top beam, and the U-shaped frame is slidably connected with the T-shaped guide groove through the T-shaped slider, the U-shaped frame slides horizontally on the bottom wall of the top beam, so that the bottom material grabbing manipulator mechanism is opposite to the horizontal position of the black rubber particle lead frame. At this time, the stepper motor stops working, and the work of the reduction motor drives the screw rod to rotate. After the threaded seat connected to the screw rod is limited by the sliding of the limit slide groove and the connecting slider, the bottom material grabbing manipulator mechanism is opposite to the longitudinal position of the black rubber particle lead frame, and the reduction motor stops working again; S2: The controller controls the servo motor on the rotating unit to work. The work of the servo motor drives the driving gear at the bottom of the rotating rod to rotate. Since the driving gear is meshed with the driven gear, and the driven gear is rotatably connected to the mounting plate through the bearing, the two sets of suction cups of the material grabbing manipulator mechanism are in contact with the lead frame of the black rubber particles in coordination with the extension and retraction of the electric hydraulic rod; S3: Then, the vacuum pump on the material grabbing manipulator mechanism works, so that the air inside the sealing box is sucked into the air inlet pipe at its input end, so that the air inside the two sets of bent pipes forms a negative pressure, so that the two sets of suction cups generate suction to fix the lead frame of the black glue particles; S4: The micro motors at the front end of the two sets of fixed boxes work synchronously to rotate the rotating gear on the rotating shaft. Since the rotating gear is meshed and connected with the moving tooth plate, the two side walls of the black glue particle lead frame at the bottom of the two sets of suction cups are clamped and limited with the middle plate, thereby improving the stability of the black glue particle lead frame fixation; S5: Finally, the displacement component, the rotation unit and the electric hydraulic rod work together to move the black rubber particle lead frame to the specified position, and the two sets of micro motors work in reverse to move the side clamps at the outer ends of the bottom walls of the two sets of moving tooth plates outward to release the limit on the black rubber particle lead frame. The vacuum pump works to extract the air inside the sealing box through the air inlet pipe, so that the air inside the two sets of bent pipes forms a positive pressure, so that the suction of the two sets of suction cups is released, that is, the fixation of the black rubber particle lead frame is released, and the black rubber particle lead frame is placed in the specified position.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses the operation of the vacuum pump on the material grabbing manipulator mechanism to cause the input end of the vacuum pump to draw air into the sealed box through the air inlet pipe, and the air inside the two sets of bent pipes forms a negative pressure, so that the two sets of suction cups generate suction to preliminarily fix the black glue particle lead frame. The micro motors at the front ends of the two sets of fixing boxes work synchronously to rotate the rotating gears on the rotating shaft. Since the rotating gears are meshed and connected with the moving toothed plates, the two side walls of the black glue particle lead frame at the bottom of the two sets of suction cups are clamped and limited in position in cooperation with the middle plate, and the black glue particle lead frame is fixed from multiple directions, thereby improving the stability of the black glue particle lead frame when being fixed, and preventing the black glue particle lead frame from falling due to bumps and collisions during the material grabbing process, thereby improving the stability of the black glue particle lead frame grabbing manipulator structure when in use; 2. The operation of the stepper motor on the displacement component drives the travel gear on the drive shaft to rotate. Since the travel gear is meshed and connected with multiple sets of meshing grooves and the U-shaped frame is slidably connected to the T-shaped guide groove through the T-shaped slider, the U-shaped frame slides horizontally on the bottom wall of the top beam to make the grabbing robot mechanism face the lateral position of the black rubber particle lead frame. The operation of the reduction motor drives the screw rod to rotate. After the threaded seat connected to the screw rod is limited by the sliding limit slide groove and the connecting slider, the bottom grabbing robot mechanism faces the longitudinal position of the black rubber particle lead frame. In conjunction with the operation of the servo motor on the rotating unit, the driving gear at the bottom of the rotating rod rotates. Since the driving gear is meshed and connected with the driven gear and the driven gear is rotatably connected to the mounting plate through the bearing, in conjunction with the extension and retraction of the electric hydraulic rod, the grabbing robot mechanism can quickly face the black rubber particle lead frame, which is convenient for moving the black rubber particle lead frame to different positions. The grabbing robot structure has a wide displacement range and good use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is another structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the connection structure between the top beam and the electric hydraulic rod of the present invention; Figure 4 It is a schematic diagram of the connection structure between the top beam and the electric hydraulic rod of the present invention when viewed from above; Figure 5 For the present invention Figure 4 The enlarged structural diagram at A in the middle; Figure 6 It is a cross-sectional schematic diagram of the connection structure between the top beam and the side of the U-shaped frame of the present invention; Figure 7 It is a schematic diagram of the structure of the material grabbing manipulator mechanism of the present invention; Figure 8 It is a schematic diagram of the structure of the material grabbing manipulator mechanism of the present invention when viewed from above; Fig. 9It is a schematic cross-sectional view of the front structure of the material grabbing robot mechanism of the present invention.

[0015] In the figure: 1, top beam; 2, mounting rod; 3, displacement component; 300, U-shaped frame; 301, U-shaped frame; 302, reduction motor; 303, lead screw; 304, threaded seat; 305, limit slide; 306, connecting slider; 307, stepping motor; 308, driving shaft; 309, walking gear; 310, meshing groove; 311, T-shaped guide groove; 312, T-shaped slider; 4, rotating unit; 400, mounting plate; 401, servo Motor; 402, driving gear; 403, driven gear; 5, electric hydraulic rod; 6, material grabbing manipulator mechanism; 600, fixed plate; 601, fixed frame; 602, sealing box; 603, vacuum pump; 604, bent pipe; 605, suction cup; 606, fixed box; 607, micro motor; 608, moving tooth plate; 609, side clamping plate; 610, middle plate; 611, rubber strip; 612, air inlet pipe; 613, rotating gear. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0017] See also Figure 1-9 The present invention provides a technical solution: a black glue particle lead frame grasping manipulator structure, comprising a top beam 1, a displacement component 3 is provided at the bottom of the top beam 1, the displacement component 3 comprises a U-shaped frame 300, and the U-shaped frame 300 is slidably connected to the bottom wall of the top beam 1 in a transverse direction, a U-shaped frame 301 is installed on the lower surface of the U-shaped frame 300, and a threaded seat 304 is slidably connected in a longitudinal direction in the U-shaped frame 301; before use, the positions of the components are installed, and the top beam 1 is installed at the top wall position of the room, the electrical ends of the electrical equipment are electrically connected to the electrical ends of the external power supply and the controller, the U-shaped frame 300 on the displacement component 3 can slide transversely on the bottom wall of the top beam 1, and the threaded seat 304 in the U-shaped frame 301 can slide longitudinally, so that the rotating unit 4, the electric hydraulic rod 5 and the grasping manipulator mechanism 6 at the bottom can move transversely and longitudinally, so that the grasping manipulator mechanism 6 can face the black glue particle lead frames at different positions, and the black glue particle lead frames at different positions can be moved to the designated positions; A rotating unit 4 is provided at the bottom of the threaded seat 304. The rotating unit 4 includes a mounting plate 400, which is welded to the bottom of the threaded seat 304. The lower surface of the mounting plate 400 is rotatably connected to a driven gear 403 through a bearing. An electric hydraulic rod 5 is installed at the bottom of the driven gear 403. The driven gear 403 on the rotating unit 4 can drive the electric hydraulic rod 5 fixedly connected at the bottom to rotate and adjust the angle. With the extension and retraction of the electric hydraulic rod 5, the material grabbing manipulator mechanism 6 can adjust the height and angle. The telescopic end of the electric hydraulic rod 5 is provided with a material grabbing manipulator mechanism 6, which includes a fixed plate 600, two groups of suction cups 605 are provided at the bottom of the fixed plate 600, and an intermediate plate 610 with a limited position black glue particle lead frame is installed between adjacent suction cups 605, and both ends of the upper surface of the fixed plate 600 are connected with fixed boxes 606, and the two groups of fixed boxes 606 are both connected with movable tooth plates 608 in a transverse sliding manner, and the outer ends of the bottom walls of the two groups of movable tooth plates 608 are installed with side clamps 609 for clamping the black glue particle lead frame; the two groups of suction cups 605 at the bottom of the material grabbing manipulator mechanism 6 are used to clamp the black glue particle lead frame. The lead frame is fixed by suction, and the movable tooth plate 608 is fixedly connected to the side clamping plate 609. The movable tooth plate 608 that is laterally slidably connected in the fixed box 600 can drive the side clamping plate 609 to move laterally, and cooperate with the middle plate 610 to clamp and limit the two side walls of the black glue particle lead frame sucked by the suction cup 605, so that the black glue particle lead frame is fixed from multiple directions, which improves the stability of the black glue particle lead frame when it is fixed, avoids the black glue particle lead frame from falling due to bumps and collisions during the grasping process, and improves the stability of the black glue particle lead frame grasping robot structure when in use.

[0018] Among them, the upper surface of the fixed plate 600 is provided with three groups of fixing frames 601 distributed in a circular array, and the other ends of the three groups of fixing frames 601 are connected to the outer wall of the bottom end of the electric hydraulic rod 5. The upper surface of the fixed plate 600 is also installed with a sealing box 602, and the top of the sealing box 602 is provided with an air pump 603, and the input end of the air pump 603 is connected to an air intake pipe 612, and the bottom end of the air intake pipe 612 is connected to the inner cavity of the sealing box 602. The two side walls of the sealing box 602 are installed with connecting bent pipes 604, and the bottom ends of the two groups of bent pipes 604 pass through the fixed plate 600, and the bottom ends of the two groups of bent pipes 604 are connected to the two groups of suction cups 605 respectively. The fixed plate 600 is fixedly connected to the outer wall of the bottom end of the electric hydraulic rod 5 through three groups of fixing frames 601, and the sealing box 602 is fixedly installed on the top of the fixed plate 600. When the two groups of suction cups 605 at the bottom of the grabbing manipulator mechanism 6 are aligned with the black glue particle lead frame, the vacuum pump 603 works to draw the air inside the sealing box 602 through the air inlet pipe 612 at its input end, and the air inside the two groups of curved pipes 604 forms a negative pressure, so that the two groups of suction cups 605 generate suction to preliminarily fix the black glue particle lead frame. When the black glue particle lead frame needs to be put down, the vacuum pump 603 works to draw the air inside the sealing box 602 through the air inlet pipe 612, so that the air inside the two groups of curved pipes 604 forms a positive pressure, so that the suction of the two groups of suction cups 605 is released, that is, the fixation of the black glue particle lead frame is released.

[0019] The front end outer walls of the two sets of fixed boxes 606 are both installed with micro motors 607, and the output end of the micro motor 607 is connected to a rotating shaft, and the other end of the rotating shaft is rotatably connected to the inner wall of the fixed box 606 through a bearing, and a rotating gear 613 is sleeved on the rotating shaft, and the rotating gear 613 is meshed and connected with a moving tooth plate 608, and the moving tooth plate 608 penetrates the two side walls of the fixed box 606, and the two side walls of the fixed box 606 are opened with openings that penetrate, and the openings are slidably connected with the moving tooth plate 608; the fixed box 600 It is fixedly connected to the fixed disk 600, the movable tooth plate 608 is fixedly connected to the side clamp plate 609, and the two groups of micro motors 607 at the front end of the two groups of fixed boxes 600 work synchronously. The synchronous work of the two groups of micro motors 607 causes the rotating gear 613 on the rotating shaft to rotate. Since the rotating gear 613 is meshed and connected with the movable tooth plate 608, in cooperation with the action of the middle plate 610, the two side walls of the black glue particle lead frame at the bottom of the two groups of suction cups 605 are clamped and limited, and the black glue particle lead frame is fixed from multiple directions.

[0020] The open end of the U-shaped frame 300 faces the bottom wall of the top beam 1, a stepper motor 307 is installed on the front outer wall of the U-shaped frame 300, and the output end of the stepper motor 307 is connected to a drive shaft 308, the other end of the drive shaft 308 is rotatably connected to the inner wall of the U-shaped frame 300 through a bearing, a travel gear 309 is sleeved on the drive shaft 308, a plurality of meshing grooves 310 are provided on the bottom wall of the top beam 1, and the meshing grooves 310 are meshed and connected with the travel gears 309, two groups of T-shaped sliders 312 are installed on the outer wall of the open end of the U-shaped frame 300, two groups of T-shaped guide grooves 311 are provided on the bottom wall of the top beam 1, and the two groups of T-shaped sliders 312 are slidably connected with the two groups of T-shaped guide grooves 311 respectively; Two groups of T-shaped sliders 312 are respectively fixedly connected to the two side walls of the opening end of the U-shaped frame 300. The operation of the stepper motor 307 can drive the travel gear 309 fixedly connected to the drive shaft 308 to rotate forward or reverse. Since the travel gear 309 is meshed and connected with multiple groups of meshing grooves 310 and the U-shaped frame 300 is slidably connected with the T-shaped guide groove 311 through the T-shaped slider 312, the U-shaped frame 300 can slide horizontally on the bottom wall of the top beam 1, so that the grabbing robot mechanism 6 can face the horizontal position of the black glue particle lead frame.

[0021] The open end of the U-shaped frame 301 faces downward, a reduction motor 302 is installed on the front outer wall of the U-shaped frame 301, and a screw rod 303 is connected to the output end of the reduction motor 302, the bottom end of the screw rod 303 is rotatably connected to the rear inner wall of the U-shaped frame 301 through a bearing, the screw rod 303 is threadedly connected to the threaded seat 304, a limited sliding groove 305 is provided on the top wall of the inner cavity of the U-shaped frame 301, and a connecting slider 306 is slidably connected in the limited sliding groove 305, and the bottom of the connecting slider 306 is connected to the top of the threaded seat 304; The connecting slider 306 is fixedly connected to the threaded seat 304, and the operation of the reduction motor 302 drives the screw rod 303 to rotate. After the threaded seat 304 threadedly connected to the screw rod 303 is limited by the sliding limit groove 305 and the connecting slider 306, the bottom mounting plate 400, the electric hydraulic rod 5 and the grabbing robot mechanism 6 are aligned with the longitudinal position of the black rubber particle lead frame.

[0022] A servo motor 401 is provided on the upper surface of the mounting plate 400, and a rotating rod is connected to the output end of the servo motor 401, the bottom end of the rotating rod passes through the mounting plate 400, and a driving gear 402 is installed at the bottom of the rotating rod, and the driving gear 402 is meshed and connected with a driven gear 403; the operation of the servo motor 401 can drive the driving gear 402 fixedly connected to the bottom of the rotating rod to rotate, and since the driving gear 402 is meshed and connected with the driven gear 403, and the driven gear 403 is rotationally connected to the lower surface of the mounting plate 400 through a bearing, the driven gear 403 rotates, so that the electric hydraulic rod 5 and the material grabbing robot mechanism 6 rotate to adjust the angle. Example

[0023] Reference Figure 1 and Figure 8This embodiment is different from the first embodiment in that: mounting rods 2 are welded at both ends of the upper surface of the top beam 1, and rubber strips 611 are provided at the bottom ends of the two side walls of the middle plate 610 and the bottom ends of the inner sides of the two sets of side clamps 609; the two sets of mounting rods 2 are welded to the top beam 1, and the tops of the two sets of mounting rods 2 can be connected to the top wall of the use room in conjunction with the mounting plate and bolts. The installation is simple and convenient, and it is easy to install and use in different positions. The rubber strips 611 play a role in protection and increasing friction, further improving the stability of the black rubber particle lead frame when it is fixed, and avoiding damage to its outer wall due to excessive force when clamping the black rubber particle lead frame.

[0024] A black glue particle lead frame grasping manipulator structure and use method comprises the following steps: S1: First, the top beam 1 is installed on the top wall of the room, and the electrical ends of each electrical device are electrically connected to the external power supply and the electrical ends of the controller. The controller can control the stepper motor 307 on the displacement component 3 to work, and the work of the stepper motor 307 drives the travel gear 309 on the drive shaft 308 to rotate. Since the travel gear 309 is meshed with the multiple groups of meshing grooves 310 opened on the bottom wall of the top beam 1, and the U-shaped frame 300 is slidably connected with the T-shaped guide groove 311 through the T-shaped slider 312, The U-shaped frame 300 slides horizontally on the bottom wall of the top beam 1, so that the material grabbing manipulator mechanism 6 at the bottom is facing the horizontal position of the black glue particle lead frame. At this time, the stepping motor 307 stops working, and the reduction motor 302 drives the screw rod 303 to rotate. The threaded seat 304 threadedly connected to the screw rod 303 is limited by the sliding limit slot 305 and the connecting slider 306, so that the material grabbing manipulator mechanism 6 at the bottom is facing the longitudinal position of the black glue particle lead frame, and the reduction motor 302 stops working again; S2: The controller controls the servo motor 401 on the rotating unit 4 to work, and the work of the servo motor 401 drives the driving gear 402 at the bottom of the rotating rod to rotate. Since the driving gear 402 is meshed and connected with the driven gear 403, and the driven gear 403 is rotatably connected with the mounting plate 400 through the bearing, the two groups of suction cups 605 of the material grabbing manipulator mechanism 6 are in contact with the lead frame of the black rubber particles in coordination with the extension and retraction of the electric hydraulic rod 5; S3: Then, the vacuum pump 603 on the material grabbing manipulator mechanism 6 works, so that the air inside the sealing box 602 is sucked into the air input end through the air inlet pipe 612, so that the air inside the two sets of curved pipes 604 forms a negative pressure, so that the two sets of suction cups 605 generate suction force to fix the black glue particle lead frame; S4: The micro motors 607 at the front ends of the two sets of fixed boxes 606 work synchronously to rotate the rotating gear 613 on the rotating shaft. Since the rotating gear 613 is meshed and connected with the moving tooth plate 608, the middle plate 610 cooperates to clamp and limit the two side walls of the black glue particle lead frame at the bottom of the two sets of suction cups 605, thereby improving the stability of the black glue particle lead frame fixation; S5: Finally, the displacement component 3, the rotation unit 4 and the electric hydraulic rod 5 work together to move the black rubber particle lead frame to the specified position, and the two groups of micro motors 607 work in reverse to move the side clamps 609 at the outer ends of the bottom walls of the two groups of movable tooth plates 608 outward, thereby releasing the limit on the black rubber particle lead frame. The vacuum pump 603 works to extract the air inside the sealing box 602 through the air inlet pipe 612, so that the air inside the two groups of curved pipes 604 forms a positive pressure, and the suction of the two groups of suction cups 605 is released, that is, the fixation of the black rubber particle lead frame is released, so that the black rubber particle lead frame is placed at the specified position.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A black glue pellet lead frame grasping manipulator structure, comprising a top beam (1), characterized in that: A displacement component (3) is provided at the bottom of the top beam (1), the displacement component (3) comprising a U-shaped frame (300), the U-shaped frame (300) being laterally slidably connected to the bottom wall of the top beam (1), a U-shaped frame (301) being installed on the lower surface of the U-shaped frame (300), and a threaded seat (304) being longitudinally slidably connected inside the U-shaped frame (301); A rotating unit (4) is provided at the bottom of the threaded seat (304), the rotating unit (4) comprising a mounting plate (400), the mounting plate (400) being welded to the bottom of the threaded seat (304), and a driven gear (403) is rotatably connected to the lower surface of the mounting plate (400) via a bearing, and an electric hydraulic rod (5) is installed at the bottom of the driven gear (403); The telescopic end of the electric hydraulic rod (5) is provided with a material grabbing manipulator mechanism (6), and the material grabbing manipulator mechanism (6) includes a fixed plate (600), and two groups of suction cups (605) are provided at the bottom of the fixed plate (600), and an intermediate plate (610) for limiting the position of the black glue particle lead frame is installed between adjacent suction cups (605), and both ends of the upper surface of the fixed plate (600) are connected to fixed boxes (606), and the two groups of fixed boxes (606) are both laterally slidably connected with movable tooth plates (608), and the outer ends of the bottom walls of the two groups of movable tooth plates (608) are installed with side clamping plates (609) for clamping the black glue particle lead frame.

2. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized in that: The upper surface of the fixed plate (600) is provided with three groups of fixing frames (601) distributed in a circular array, the other ends of the three groups of fixing frames (601) are connected to the outer wall of the bottom end of the electric hydraulic rod (5), and a sealing box (602) is also installed on the upper surface of the fixed plate (600), and a vacuum pump (603) is provided on the top of the sealing box (602).

3. The black glue pellet lead frame grasping manipulator structure according to claim 2 is characterized in that: The input end of the vacuum pump (603) is connected to an air inlet pipe (612), and the bottom end of the air inlet pipe (612) is in communication with the inner cavity of the sealing box (602). Both side walls of the sealing box (602) are provided with connecting curved pipes (604), the bottom ends of the two groups of curved pipes (604) pass through the fixed plate (600), and the bottom ends of the two groups of curved pipes (604) are respectively in communication with the two groups of suction cups (605).

4. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized in that: Micro motors (607) are installed on the front end outer walls of the two groups of fixed boxes (606), and the output end of the micro motor (607) is connected to a rotating shaft, and the other end of the rotating shaft is rotatably connected to the inner wall of the fixed box (606) through a bearing, and a rotating gear (613) is sleeved on the rotating shaft, and the rotating gear (613) is meshingly connected to a movable tooth plate (608), and the movable tooth plate (608) passes through the two side walls of the fixed box (606), and the two side walls of the fixed box (606) are provided with openings that are arranged therethrough, and the openings are slidably connected to the movable tooth plate (608).

5. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized in that: The open end of the U-shaped frame (300) faces the bottom wall of the top beam (1); a stepper motor (307) is installed on the front outer wall of the U-shaped frame (300); the output end of the stepper motor (307) is connected to a drive shaft (308); the other end of the drive shaft (308) is rotatably connected to the inner wall of the U-shaped frame (300) via a bearing; and a travel gear (309) is sleeved on the drive shaft (308).

6. The black glue pellet lead frame grasping manipulator structure according to claim 5 is characterized in that: The bottom wall of the top beam (1) is provided with a plurality of groups of meshing grooves (310), and the meshing grooves (310) are meshingly connected with the travel gears (309); two groups of T-shaped slide blocks (312) are installed on the outer wall of the open end of the U-shaped frame (300); the bottom wall of the top beam (1) is provided with two groups of T-shaped guide grooves (311), and the two groups of T-shaped slide blocks (312) are slidably connected with the two groups of T-shaped guide grooves (311) respectively.

7. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized by: The open end of the U-shaped frame (301) faces downwards, a reduction motor (302) is installed on the front end outer wall of the U-shaped frame (301), and the output end of the reduction motor (302) is connected to a screw rod (303), the bottom end of the screw rod (303) is rotatably connected to the rear inner wall of the U-shaped frame (301) through a bearing, the screw rod (303) is threadedly connected to the threaded seat (304), a limiting slide groove (305) is provided on the top wall of the inner cavity of the U-shaped frame (301), and a connecting slider (306) is slidably connected in the limiting slide groove (305), and the bottom of the connecting slider (306) is connected to the top of the threaded seat (304).

8. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized by: A servo motor (401) is provided on the upper surface of the mounting plate (400), and the output end of the servo motor (401) is connected to a rotating rod, the bottom end of the rotating rod passes through the mounting plate (400), and a driving gear (402) is installed at the bottom of the rotating rod, and the driving gear (402) is meshedly connected with a driven gear (403).

9. The black glue pellet lead frame grasping manipulator structure according to claim 1 is characterized by: Mounting rods (2) are welded to both ends of the upper surface of the top beam (1), and rubber strips (611) are provided at the bottom ends of the two side walls of the middle plate (610) and the bottom ends of the inner side surfaces of the two sets of side clamping plates (609).

10. The method for using the black glue pellet lead frame grasping manipulator structure according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: S1: First, the electrical ends of each electrical device are electrically connected to an external power source and the electrical ends of a controller. The controller controls the stepper motor (307) on the displacement component (3) to operate. The operation of the stepper motor (307) drives the travel gear (309) on the drive shaft (308) to rotate. Since the travel gear (309) is meshed with a plurality of meshing grooves (310) provided on the bottom wall of the top beam (1), and the U-shaped frame (300) is slidably connected with the T-shaped guide groove (311) through the T-shaped slider (312), the U-shaped frame (300) is moved in The bottom wall of the top beam (1) slides horizontally, so that the material grabbing manipulator mechanism (6) at the bottom is directly opposite to the horizontal position of the black glue particle lead frame, and the stepper motor (307) stops working at this time. The operation of the reduction motor (302) drives the screw rod (303) to rotate, and the threaded seat (304) threadedly connected to the screw rod (303) is limited by the sliding of the limit slide groove (305) and the connecting slider (306), so that the material grabbing manipulator mechanism (6) at the bottom is directly opposite to the longitudinal position of the black glue particle lead frame, and the reduction motor (302) stops working again; S2: The controller controls the servo motor (401) on the rotating unit (4) to work. The work of the servo motor (401) drives the driving gear (402) at the bottom of the rotating rod to rotate. Since the driving gear (402) is meshed and connected with the driven gear (403), and the driven gear (403) is rotationally connected to the mounting plate (400) through the bearing, the two groups of suction cups (605) of the material grabbing manipulator mechanism (6) are in contact with the black rubber particle lead frame in coordination with the extension and retraction of the electric hydraulic rod (5); S3: Then, the vacuum pump (603) on the material grabbing manipulator mechanism (6) works, so that the air inside the sealing box (602) is sucked into the air at its input end through the air inlet pipe (612), so that the air inside the two sets of curved pipes (604) forms a negative pressure, so that the two sets of suction cups (605) generate suction force, thereby fixing the lead frame of the black glue pellets; S4: The micro motors (607) at the front ends of the two sets of fixed boxes (606) work synchronously to rotate the rotating gear (613) on the rotating shaft. Since the rotating gear (613) is meshed and connected with the movable tooth plate (608), the middle plate (610) cooperates to clamp and limit the two side walls of the black glue particle lead frame at the bottom of the two sets of suction cups (605), thereby improving the stability of the black glue particle lead frame fixation; S5: Finally, the displacement component (3), the rotation unit (4) and the electric hydraulic rod (5) work together to move the black glue particle lead frame to the specified position, and the two sets of micro motors (607) work in reverse, so that the side clamps (609) at the outer ends of the bottom walls of the two sets of movable tooth plates (608) move outward, thereby releasing the limit on the black glue particle lead frame. The vacuum pump (603) works to extract the air inside the sealing box (602) through the air inlet pipe (612), so that the air inside the two sets of curved pipes (604) forms a positive pressure, so that the suction of the two sets of suction cups (605) is released, that is, the fixation of the black glue particle lead frame is released, and the black glue particle lead frame is placed at the specified position.

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