Automatic chip grabbing device

Abstract

The invention discloses an automatic chip grabbing device, and relates to the field of chip grabbing, the automatic chip grabbing device comprises a manipulator body, the output end of the manipulator body is connected with a frame, the top of the frame is provided with a driving assembly, the output end of the driving assembly is hinged to a supporting rod, side plates are installed on the two sides of the frame, and the supporting rod is hinged to the supporting rod. A sliding plate is arranged in the side plate in a sliding mode, a sliding groove is formed in the sliding plate, a sliding block is arranged in the sliding groove in a sliding mode, the sliding block is hinged to the other end of the supporting rod, and a clamping plate is connected to the bottom of the sliding block. A sliding block can drive a clamping plate to slide towards the two sides, chips of different sizes can be grabbed conveniently, meanwhile, air is fed into a piston cylinder, then the sliding block can drive the clamping plate to move inwards, therefore, the side wall of the chip is grabbed, meanwhile, a piston can be driven to exhaust air in the piston cylinder into an air bag, and therefore the chip can be grabbed conveniently. And finally, discharging towards the top of the chip through the air bag.

Description

Technical Field

[0001] The invention relates to the field of chip grabbing, and in particular to an automatic chip grabbing device. Background Art

[0002] In electronics, a chip is a way to miniaturize a circuit and is often manufactured on the surface of a semiconductor wafer. It is a microelectronic device or component that uses a certain process to interconnect the transistors, diodes, resistors, capacitors, inductors and other components and wiring required in a circuit. It is made on a small piece or several small pieces of semiconductor wafers or dielectric substrates, and then packaged in a tube shell to become a microstructure with the required circuit function. At the same time, when processing chips, related grasping structures are needed to realize the grasping of the chip.

[0003] Most of the existing chip grasping devices grasp the chip through the cooperation of a suction cup and a manipulator, and each time the chip is grasped, the pin surface of the chip needs to be cleaned manually to prevent dust or other contaminants from affecting the chip during the grasping process. This process wastes too much manpower and material resources and reduces the overall grasping efficiency. At the same time, the suction cup directly adsorbs the top of the chip during the grasping process. If dust and impurities remain on the top of the chip and are not cleaned, it will affect the service life of the chip itself. At the same time, during the adsorption process, it is necessary to ensure that the suction force of the suction cup is not too large to prevent the suction cup from causing malfunctions in the chip pins or sensitive parts.

[0004] In summary, the above structure wastes too much manpower and material resources during the grasping process and reduces the overall grasping efficiency. At the same time, if dust and impurities remain on the top of the chip during the suction cup grasping process and are not cleaned up, it will affect the service life of the chip itself. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide an automatic chip grasping device to solve the technical problem of excessive waste of manpower and material resources in the grasping process and reducing the overall grasping efficiency. At the same time, if dust and impurities remain on the top of the chip during the suction cup grasping process and are not cleaned up, it will affect the service life of the chip itself.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic chip grasping device, comprising a manipulator body, an output end of the manipulator body is connected to a frame, a driving assembly is arranged on the top of the frame, and a support rod is hinged at the output end of the driving assembly, side panels are installed on both sides of the frame, a sliding plate is slidably arranged in the side panel, a sliding groove is provided on the sliding plate, and a slider is slidably arranged in the sliding groove, the slider is hinged to the other end of the support rod, and a clamping plate is connected to the bottom of the slider, a piston cylinder is arranged in the sliding plate, and a piston is slidably arranged in the piston cylinder, a guide column is connected to one side of the slider, and the other end of the guide column passes through the piston cylinder and is connected to the piston, and an air bag connected to the piston cylinder is installed at the bottom of the sliding plate.

[0007] By adopting the above technical solution, the slider will drive the clamping plate to slide to both sides of the sliding plate, so that the chip is on the inner side of the clamping plate. In this process, it is convenient to grab chips of different sizes, and at the same time, air is taken into the piston cylinder. Then the cylinder drives the sliding plate to slide upward. At this time, the slider will drive the clamping plate to move inward, thereby grabbing the side wall of the chip. In this process, the piston will be driven to discharge the gas in the piston cylinder into the airbag, and finally discharged to the top of the chip through the nozzle of the airbag, thereby automatically cleaning the dust and impurities on the chip surface during the chip grabbing process.

[0008] The present invention is further configured such that the bottom of the side panels are all slidably provided with base feet, the top of the base feet is provided with insertion rods, a gear rod is laterally slidably provided in the side panels, and a plug hole is provided on the gear rod, the plug hole and the plug rod are eccentrically arranged under normal conditions, a fixed gear meshing with the gear rod is rotatably provided in the side panels, and one side of the fixed gear passes through the side panel and is connected to an adsorption plate.

[0009] By adopting the above technical solution, the adsorption plate itself is in a horizontal setting in the initial state. When the manipulator body moves the grasping mechanism to the grasping area of ​​the chip, the dust and impurities in the area around the chip will be adsorbed by the adsorption plate, further improving the cleanliness of the chip grasping area. When grasping, the side plate will drive the bottom foot to press down, and the insertion rod will be inserted into the socket of the gear rod, thereby driving the fixed gear to rotate. At this time, the adsorption plate is in a vertical state, which relieves the obstruction of the adsorption plate to the grasping mechanism and further improves the overall grasping stability.

[0010] The present invention is further configured such that an air inlet is provided on one side of the airbag, and an array of nozzles is obliquely provided at the bottom of the airbag, and the nozzles are provided on one side of the bottom of the airbag facing the adsorption plate.

[0011] By adopting the above technical solution, when the subsequent adsorption plate is set to a setting state, when the dust and impurities on the top of the chip are cleaned and blown off by the nozzle, the dust and impurities will be adsorbed by the inner side of the adsorption plate, thereby preventing the blown-off dust and impurities from scattering, further improving the overall grasping environment.

[0012] The present invention is further configured such that the inner wall of the clamping plate is detachably provided with a protective cover.

[0013] By adopting the above technical solution, the protective cover can prevent the clamping plate itself from directly contacting the side wall of the chip, ensuring that no wear occurs during the chip grabbing process. At the same time, the protective cover can also realize the grabbing of chips of different sizes.

[0014] The present invention is further configured such that the driving assembly is a cylinder, and the cylinder is used to drive the support rod hinged at the output end to slide back and forth.

[0015] By adopting the above technical solution, it is convenient for the staff to control the sliding direction of the support under the action of the cylinder, thereby further improving the overall practicality of the device.

[0016] The present invention is further configured such that a limiting groove is provided in the sliding groove, and a limiting block cooperating with the limiting groove is provided on the side wall of the sliding block.

[0017] By adopting the above technical solution, the cooperation between the limit groove and the limit block can prevent the slider from falling during the sliding process in the slide groove, thereby further improving the sliding stability of the slider in the slide groove.

[0018] The present invention is further configured such that the top end of the insertion rod is configured in a conical frustum shape, and the bottom end of the insertion hole is configured in an open shape.

[0019] By adopting the above technical solution, the truncated cone-shaped setting makes it easier for the insertion rod to be stably inserted into the socket. At the same time, the opening-shaped setting of the socket facilitates guiding the insertion rod, ensuring that when the robot body squeezes the bottom foot, the insertion rod can stably drive the gear rod to slide.

[0020] The present invention is further configured such that guide blocks are arranged on both sides of the sliding plate, and guide grooves for the guide blocks to slide are arranged on the inner walls of the side plates.

[0021] By adopting the above technical solution, through the cooperation of the guide block and the guide groove, the sliding plate can be ensured to slide stably in the side plate during the downward sliding process of the cylinder output end, thereby further improving the overall practicality of the device.

[0022] The present invention is further configured such that the bottom of the foot is provided with a rough surface.

[0023] By adopting the above technical solution, the rough surface is provided to increase the sliding friction between the base and the table top, thereby preventing the side panel from shaking during the grasping process.

[0024] In summary, the present invention mainly has the following beneficial effects:

[0025] 1. The present invention is provided with a cylinder on the frame, and the slide plate is driven to slide up and down under the action of the cylinder. When grabbing the chip, the cylinder is started to drive the slide plate to slide downward, and the slide plate will drive the clamping plate to slide to both sides of the sliding plate, so that the chip is on the inner side of the clamping plate. In this process, it is convenient to grab chips of different sizes. Then, the cylinder drives the sliding plate to slide upward, and the slide plate will drive the clamping plate to move inward, thereby realizing the grabbing of the side wall of the chip. In this process, there is no need to contact the pins and sensitive parts on the surface of the chip, which prevents the chip from malfunctioning due to grabbing.

[0026] 2. The present invention provides an air bag at the bottom of the sliding plate, and the air bag is connected to the piston cylinder in the sliding plate. When the sliding plate moves downward, the slider drives the piston to move in the piston cylinder through the guide column to realize air intake in the piston cylinder. Then, when the side wall of the chip is clamped, the slider drives the guide column to move inward. In this process, the piston is driven to discharge the gas in the piston cylinder into the air bag, and finally discharged to the top of the chip through the nozzle of the air bag. In this way, dust and impurities on the chip surface are automatically cleaned during the chip grabbing process, which greatly reduces the workload of the staff and improves the overall grabbing efficiency.

[0027] 3. The present invention provides a foot at the bottom of the side plate, and a plug rod is installed on the foot. In the initial state, the adsorption plate itself is in a horizontal setting. When the manipulator body moves the grasping mechanism to the grasping area of ​​the chip, the dust and impurities in the area around the chip are adsorbed by the adsorption plate, which further improves the cleanliness of the chip grasping area. When grasping, the side plate drives the foot to press down, and the plug rod is inserted into the insertion hole of the gear rod, thereby driving the fixed gear to rotate. At this time, the adsorption plate is in a vertical state, which relieves the obstruction of the adsorption plate to the grasping mechanism, and further improves the overall grasping stability;

[0028] 4. The present invention arranges an array of nozzles at the bottom of the airbag, and the nozzles themselves are arranged toward one side of the adsorption plate. When the adsorption plate is subsequently set to a setting state, the dust and impurities on the top of the chip are cleaned and blown off by the nozzles. The dust and impurities will be adsorbed by the inner side of the adsorption plate, thereby preventing the blown-off dust and impurities from scattering, and further improving the overall grasping environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A perspective view of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the grabbing mechanism of the present invention;

[0031] Figure 3 It is a front view of the grabbing mechanism of the present invention;

[0032] Figure 4 It is a side view of the grabbing mechanism of the present invention;

[0033] Figure 5 A three-dimensional diagram of the adsorption plate of the present invention;

[0034] Figure 6 is a cross-sectional view of a sliding plate of the present invention;

[0035] Figure 7 For the present invention Figure 2 Enlarged view of A in the middle:

[0036] Figure 8 For the present invention Figure 6 Enlarged view of B.

[0037] In the figure: 1. Robot body; 2. Frame; 3. Cylinder; 4. Side plate; 5. Sliding plate; 6. Bottom foot; 7. Clamping plate; 8. Adsorption plate; 9. Airbag; 10. Support rod; 11. Insert rod; 12. Gear rod; 13. Fixed gear; 14. Socket; 15. Slide groove; 16. Slider; 17. Piston cylinder; 18. Piston; 19. Guide column; 20. Nozzle; 21. Air inlet. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] The following describes an embodiment of the present invention based on its overall structure.

[0040] Embodiment 1

[0041] A chip automatic grabbing device, such as Figure 1-Figure 8As shown, it includes a manipulator body 1, a frame 2, a side plate 4, a sliding mechanism, a clamping mechanism and a dust removal mechanism. The frame 2 is connected to one end of the manipulator body 1, and side plates 4 are arranged on both sides of the frame 2. An adsorption plate 8 is rotatably arranged in the side plate 4. In the initial state, the adsorption plate 8 itself is arranged horizontally. When the manipulator body 1 moves the grasping mechanism to the grasping area of ​​the chip, the dust and impurities in the area around the chip are adsorbed by the adsorption plate 8, which further improves the cleanliness of the chip grasping area. At the same time, a foot 6 is slidably arranged at the bottom of the side plate 4, and a plug rod 11 is arranged at the top of the foot 6. When grasping, the side plate 4 will drive the foot 6 to press down. , at this time, the insertion rod 11 is driven to slide upward. Since a gear rod 12 is provided in the side plate 4 for horizontal sliding, and a socket 14 is provided on the gear rod 12, the insertion rod 11 will be inserted into the socket 14 of the gear rod 12. Because the socket 14 and the insertion rod 11 are eccentrically arranged in a normal state, the insertion rod 11 will drive the gear rod 12 to slide a certain distance during the insertion process. A fixed gear 13 meshing with the gear rod 12 is rotatably provided in the side plate 4, and one side of the fixed gear 13 passes through the side plate and is connected to the adsorption plate 8, thereby realizing that the insertion rod 11 will drive the fixed gear 13 to rotate, so that the adsorption plate 8 is in a vertical state before grabbing the chip, further improving the stability of the overall grabbing;

[0042] Since the top of the frame 2 is provided with a cylinder 3, and the output end of the cylinder 3 is hinged with a support rod 10, when the staff starts the cylinder 3, the support rod 10 at the output end will slide, and a sliding plate 5 is slidably arranged in the side plate 4, and a slide groove 15 is provided on the sliding plate 5, and a slider 16 is slidably arranged in the slide groove 15, wherein the slider 16 is hinged to the other end of the support rod 10, and the bottom of the slider 16 is connected to the clamping plate 7. In the process of starting the cylinder, the support rod 10 will first drive the slider 16 to slide horizontally in the slide groove 15, thereby realizing the symmetrical clamping plate 7. The sliding plate 5 slides to both sides so that the chip is located inside the clamping plate 7. In this process, it is convenient to grab chips of different sizes. At the same time, a piston cylinder 17 is arranged inside the sliding plate 5, and a piston 18 is slidably arranged inside the piston cylinder 17. A guide column 19 is connected to one side of the slider 16, and the other end of the guide column 19 penetrates through the piston cylinder 17 and is connected to the piston 18. Therefore, in the process of the slider 16 driving the clamping plate 7 to slide to both sides, the piston 18 is driven to move inside the piston cylinder 17 under the action of the guide column 19, so that the piston cylinder 17 is in an air intake state.

[0043] When the slider 16 moves to one side of the slide groove 15, the cylinder 3 continues to drive the support rod 10 at the output end to move, at this time, the sliding plate 5 will slide downward, and when the clamping plate moves to the two sides of the chip to be grasped, the cylinder 3 will drive the support rod 10 to slide in the reverse direction. During this process, the support rod 10 will drive the slider 16 to move, so that the slider 16 drives the clamping plate 7 to grasp the side wall of the chip. During this process, there is no need to contact the pins and sensitive parts on the surface of the chip, which prevents the chip from malfunctioning due to grasping. At the same time, when the slider 16 drives the clamping plate 7 to move and grasp, the guide column 19 will drive the piston 18 to slide in the piston cylinder 17. Since an air bag 9 connected to the piston cylinder 17 is installed at the bottom of the sliding plate 5, during this process, the piston 18 will be driven to discharge the gas in the piston cylinder 17 into the air bag 9, and finally discharged to the top of the chip through the air bag 9, thereby realizing that the dust and impurities on the chip surface are automatically cleaned during the chip grasping process, which greatly reduces the workload of the staff and improves the overall grasping efficiency.

[0044] See also Figure 2 and Figure 6 A protective cover is detachably provided on the inner wall of the clamping plate 7, which can prevent the clamping plate 7 from directly contacting the side wall of the chip, thereby ensuring that no wear occurs during the chip grabbing process. At the same time, the protective cover can also realize the grabbing of chips of different sizes.

[0045] See also Figure 2 , Figure 6 and Figure 7 A limiting groove is provided in the slide groove 15, and a limiting block cooperating with the limiting groove is provided on the side wall of the slider 16. Through the cooperation of the limiting groove and the limiting block, the slider 16 is prevented from falling off during the sliding process in the slide groove 15, and the sliding stability of the slider 16 in the slide groove 15 is further improved. Guide blocks are provided on both sides of the sliding plate 5, and a guide groove for the guide block to slide is provided on the inner wall of the side plate 4. Through the cooperation of the guide block and the guide groove, the sliding plate 5 can be ensured to slide stably in the side plate 4 during the downward sliding of the output end of the cylinder 3, thereby further improving the overall practicality of the device.

[0046] See also Figure 5 The top of the insertion rod 11 is set in a conical cone shape, and the bottom of the insertion hole 14 is set in an open shape. The cone shape is convenient for the insertion rod 11 to be stably inserted into the insertion hole 14 later. At the same time, the open shape of the insertion hole 14 is convenient for guiding the insertion rod 11, ensuring that when the robot body 1 squeezes the bottom foot 6 later, the insertion rod 11 can stably drive the gear rod 12 to slide.

[0047] Embodiment 2

[0048] like Figure 6 An automatic chip grasping device shown has an overall structure similar to that of the first embodiment, wherein an air inlet 21 is provided on one side of the airbag 9, and when the slider 16 drives the piston 18 to slide in the piston cylinder 17, the external gas enters the piston cylinder 17 through the air inlet 21 through the cooperation of the piston 18 and the air inlet 21, and an array of nozzles 20 are obliquely arranged at the bottom of the airbag 9, and the nozzle 20 is arranged at the bottom of the airbag 9 toward the side of the adsorption plate 8, when the adsorption plate 8 is subsequently set to a setting state, when the dust and impurities on the top of the chip are cleaned and blown off by the nozzle 20, the dust and impurities will be adsorbed by the inner side of the adsorption plate 8, thereby preventing the dust and impurities blown off from scattering, and further improving the overall grasping environment.

[0049] The working principle of the present invention is as follows: when in use, the frame 2 is moved to the chip to be grasped area through the manipulator body 1, and then the cylinder 3 on the frame 2 is started, and the output end is driven to move downward under the action of the cylinder 3. At this time, the slider 16 drives the clamping plate 7 to move to both sides of the sliding plate 5 through the hinge of the support rod 10, which is convenient for subsequent grasping of the chip. At the same time, during the movement of the slider 16, the guide column 19 is driven to slide outward together, and at this time, the piston cylinder 17 is inhaled under the action of the piston 18;

[0050] Then, after the slider 16 is limited, the output end of the cylinder 3 will drive the sliding plate 5 to move downward until it moves to the chip to be grasped, and the cylinder 3 will slide in the reverse direction to reset. At this time, the slider 16 will drive the clamping plate 7 to move inward to grasp both sides of the chip. In this process, there is no need to contact the pins and sensitive parts on the surface of the chip, which prevents the chip from malfunctioning due to grasping. At the same time, in the process of the slider 16 sliding inward, the gas in the piston cylinder 17 will be discharged into the airbag 9, and then the gas will be blown to the top of the chip through the airbag 9, thereby realizing automatic cleaning of dust and impurities on the chip surface during the chip grasping process, which greatly reduces the workload of the staff and improves the overall grasping efficiency.

[0051] Although an embodiment of the present invention has been shown and described, this specific embodiment is only an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An automatic chip grabbing device, comprising a robot body (1), wherein the output end of the robot body (1) is connected to a frame (2), characterized in that: A driving assembly is arranged on the top of the frame (2), and a support rod (10) is hingedly arranged at the output end of the driving assembly. Side plates (4) are installed on both sides of the frame (2). A sliding plate (5) is slidably arranged in the side plate (4). A sliding groove (15) is provided on the sliding plate (5), and a slider (16) is slidably arranged in the sliding groove (15). The slider (16) is hinged to the other end of the support rod (10), and a clamping plate (7) is connected to the bottom of the slider (16). A piston cylinder (17) is arranged in the sliding plate (5), and a piston (18) is slidably arranged in the piston cylinder (17). A guide column (19) is connected to one side of the slider (16), and the other end of the guide column (19) penetrates into the piston cylinder (17) and is connected to the piston (18). An air bag (9) connected to the piston cylinder (17) is installed at the bottom of the sliding plate (5).

2. The chip automatic grabbing device according to claim 1, characterized in that: The bottom of each side plate (4) is slidably provided with a foot (6), the top of each foot (6) is provided with an insertion rod (11), a gear rod (12) is slidably provided in the side plate (4) and a plug hole (14) is provided on the gear rod (12), the plug hole (14) and the plug rod (11) are eccentrically arranged in a normal state, a fixed gear (13) is rotatably provided in the side plate (4) and meshes with the gear rod (12), one side of the fixed gear (13) passes through the side plate (4) and is connected to an adsorption plate (8).

3. The chip automatic grabbing device according to claim 2, characterized in that: An air inlet (21) is provided on one side of the airbag (9), and an array of nozzles (20) are obliquely provided at the bottom of the airbag (9), wherein the nozzles (20) are provided on one side of the bottom of the airbag (9) facing the adsorption plate (8).

4. The chip automatic grabbing device according to claim 1, characterized in that: The inner wall of the clamping plate (7) is detachably provided with a protective cover.

5. The chip automatic grabbing device according to claim 1, characterized in that: The driving component is a cylinder (3), and the cylinder (3) is used to drive a support rod (10) hinged at the output end to slide back and forth.

6. The chip automatic grabbing device according to claim 1, characterized in that: A limiting groove is provided in the slide groove (15), and a limiting block cooperating with the limiting groove is provided on the side wall of the slide block (16).

7. The chip automatic grabbing device according to claim 2, characterized in that: The top end of the insertion rod (11) is arranged in a conical frustum shape, and the bottom end of the insertion hole (14) is arranged in an open shape.

8. The chip automatic grabbing device according to claim 1, characterized in that: Guide blocks are arranged on both sides of the sliding plate (5), and guide grooves for the guide blocks to slide are provided on the inner walls of the side plates (4).

9. The chip automatic grabbing device according to claim 2, characterized in that: The bottom of the foot (6) is provided with a rough surface.

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