Automatic chip grabbing device

Abstract

The invention discloses an automatic chip grabbing device, and relates to the technical field of grabbing devices, and the automatic chip grabbing device comprises a mounting strip and a switching assembly; a mechanical arm is arranged on the rear side of the mounting strip, an adsorption assembly, an air suction assembly and an exhaust assembly are mounted at the right end of the lower side of the mounting strip, the adsorption assembly, the air suction assembly and the exhaust assembly are matched, a moving assembly is mounted on the edge of the left side of the mounting strip, and a dust suction assembly is mounted on the side face of the moving assembly; a blocking assembly is installed at the upper end of the dust suction assembly, and a cleaning assembly is installed at the lower end of the dust suction assembly. The switching assembly comprises a mounting frame, a first motor, a rotating shaft and an electric brush slip ring, the first motor is mounted in the mounting frame, the rotating shaft is fixed to an output shaft of the first motor, the electric brush slip ring is mounted on the circumferential surface of the rotating shaft, and the lower end of the rotating shaft is fixed to the upper side of the mounting strip. And the chip is prevented from falling off during adsorption.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping devices, and specifically to an automatic chip grasping device. Background Art

[0002] As the core carrier of modern electronic technology, a chip is a precision device that integrates components such as transistors on a microchip based on semiconductor processes. During the manufacturing process, the vacuum adsorption type manipulator has become the mainstream grasping solution due to its significant advantages: through the negative pressure adsorption principle, a mechanical device integrated with a vacuum chuck can quickly pick up and transfer chips with a positioning accuracy of micron level. This technology relies on a mature pneumatic control system and demonstrates characteristics such as convenient operation and stable operation in the chip packaging and testing links, effectively meeting the basic requirements of the semiconductor industry for high-precision automated production. However, the current technology faces three key challenges. The primary pain point is that the contact adsorption scheme has structural defects. The direct contact between the chuck and the chip surface is likely to cause adsorption failure and chip dropping due to residual contaminants. Therefore, we propose an automatic chip grasping device. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an automatic chip grasping device that can clean the chip before adsorption and avoid chip dropping during adsorption, effectively solving the problems in the background art.

[0004] To achieve the above objective, the present invention provides the following technical solution: an automatic chip grasping device, including a mounting bar and a switching component;

[0005] Mounting bar: A robotic arm is provided on the rear side. The right end of the lower side of the mounting bar is equipped with an adsorption component, an air extraction component, and an exhaust component. The adsorption component, the air extraction component, and the exhaust component cooperate with each other. A moving component is installed on the left side edge of the mounting bar. A dust extraction component is installed on the side of the moving component. A blocking component is installed at the upper end of the dust extraction component. A cleaning component is installed at the lower end of the dust extraction component;

[0006] Switching component: Comprising a mounting frame, a first motor, a rotating shaft, and a brush slip ring. The first motor is installed inside the mounting frame. A rotating shaft is fixed on the output shaft of the first motor. A brush slip ring is installed on the circumferential surface of the rotating shaft. The lower end of the rotating shaft is fixed on the upper side of the mounting bar. The robotic arm is connected to the upper side of the mounting frame. By setting the switching component, the mounting bar is driven to rotate to adjust the positions of the adsorption component and the cleaning component;

[0007] Among them: The input ends of the first motor, the robotic arm, and the brush slip ring are all electrically connected to the output end of an external PLC controller.

[0008] Furthermore, the adsorption component includes a first electric telescopic rod, a connecting frame, a connecting disc and a suction cup. The right end of the lower side of the installation strip is provided with a first electric telescopic rod. A connecting frame is fixed on the telescopic arm of the first electric telescopic rod. The lower end of the connecting frame is fixed with a connecting disc. An installation cavity is arranged in the middle of the connecting disc. A suction cup is fixed inside the installation cavity. The input end of the first electric telescopic rod is electrically connected to the output end of the brush slip ring. The chip is adsorbed by setting the adsorption component.

[0009] Furthermore, the air extraction component includes an air extraction pump and an air extraction pipe. The air extraction pump is installed inside the connecting frame. An air extraction pipe is fixed in the air extraction hole of the air extraction pump. The lower end of the air extraction pipe is connected to the suction cup. The input end of the air extraction pump is electrically connected to the output end of the brush slip ring. The air in the suction cup is pumped out by setting the air extraction component.

[0010] Furthermore, the exhaust component includes an exhaust pipe and an electromagnetic valve. An exhaust port is formed on the circumferential surface of the air extraction pipe. An exhaust pipe is fixed inside the exhaust port. An electromagnetic valve is installed on the circumferential surface of the exhaust pipe. The input end of the electromagnetic valve is electrically connected to the output end of the brush slip ring. Exhaust is carried out by setting the exhaust component.

[0011] Furthermore, the moving component includes a second electric telescopic rod and a connecting frame. The left end of the upper side of the installation strip is provided with a second electric telescopic rod. A connecting frame is fixed on the telescopic arm of the second electric telescopic rod. The input end of the second electric telescopic rod is electrically connected to the output end of the brush slip ring. The cleaning component is driven to move by setting the moving component.

[0012] Furthermore, the dust extraction component includes a U-shaped pipe, a storage bucket, an air extraction fan and a barrier net. The U-shaped pipe is fixed on the right side of the connecting frame. The right end of the U-shaped pipe is provided with a storage bucket. An opening is formed on the circumferential surface of the storage bucket. The upper end of the U-shaped pipe is fixed inside the opening. A barrier net is fixed inside the storage bucket. The barrier net is located below the opening. An air extraction fan is installed inside the storage bucket. The input end of the air extraction fan is electrically connected to the output end of the brush slip ring. Dust is extracted by setting the dust extraction component.

[0013] Furthermore, the blocking component includes a sealing ring and an arc-shaped sealing baffle. The upper end of the circumferential surface of the storage bucket is clamped with a sealing ring. The lower end of the sealing ring is fixed with an arc-shaped sealing baffle. A material taking port is formed on the right end of the circumferential surface of the storage bucket. The material taking port corresponds to the arc-shaped sealing baffle. An air exhaust port is formed on the lower end of the surface of the arc-shaped sealing baffle. The air exhaust port corresponds to the air extraction fan. Dust diffusion is avoided by setting the blocking component.

[0014] Further, the cleaning component includes a sealed barrel, a connecting ring, an air injection pump, and an air outlet pipe. A connecting ring is fixed to the lower end of the storage barrel. An annular opening is provided at the upper end of the sealed barrel, and the connecting ring is fixed inside the annular opening. An air injection pump is installed in the middle of the upper end of the sealed barrel, and an air outlet pipe is fixed inside the air outlet of the air injection pump. The air outlet pipe is located inside the sealed barrel. Fixing holes are provided on the circumferential surface of the connecting ring, and the lower end of the U-shaped pipe is fixed inside the fixing holes. The U-shaped pipe communicates with the inner cavity of the sealed barrel. The input end of the air injection pump is electrically connected to the output end of the electric brush slip ring. The chip is cleaned by setting the cleaning component.

[0015] Further, an annular groove is provided at the lower end of the sealed barrel, and a sealing rubber ring is fixed inside the annular groove. The sealing performance of the sealed barrel is improved by setting the sealing rubber ring.

[0016] Further, a mounting plate is fixed to the lower side of the robotic arm, and four corresponding mounting holes are provided at the edge of the mounting plate. It is convenient for users to install the robotic arm by setting the mounting plate and the mounting holes.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This automatic chip grasping device has the following advantages:

[0018] 1. By setting the cleaning component, during use, the second electric telescopic rod can be started to move the sealed barrel downward to cover the chip to be grasped inside, and then the air injection pump is started to spray compressed air onto the chip. In this case, the dust on the chip surface can be lifted, and after the lifting, it can be avoided that the dust adheres to the chip and affects the adsorption of the suction cup. At the same time, during the dust lifting process, the sealed barrel will effectively prevent the dust from spreading everywhere and contaminating other chips.

[0019] 2. By setting the extraction component, during the chip cleaning process, the exhaust fan can be started to draw the dust lifted inside the sealed barrel through the U-shaped pipe to the upper part of the barrier net. In this case, the dust can be stored, which is convenient for subsequent cleaning of the dust.

[0020] 3. By setting the switching component, after the chip is dust-removed, the first motor can be started to rotate the rotating shaft to drive the connecting disc to rotate and move the suction cup above the chip, and then the first electric telescopic rod is started to make the suction cup move downward and fit with the chip. After the fit, the air extraction pump is started to extract the air in the suction cup. In this case, the suction cup can suck up the cleaned chip to avoid the chip falling during adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front-side structural schematic diagram of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the switching component of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the adsorption component of the present invention;

[0024] Figure 4 This is a schematic structural diagram of the dust extraction component of the present invention;

[0025] Figure 5 This is a schematic structural diagram of the arc-shaped sealing baffle of the present invention.

[0026] In the figure: 1 mounting strip, 2 switching component, 21 mounting frame, 22 first motor, 23 rotating shaft, 24 brush slip ring, 3 adsorption component, 31 first electric telescopic rod, 32 connecting frame, 33 connecting disc, 35 suction cup, 4 air extraction component, 41 air extraction pump, 42 air extraction pipe, 5 exhaust component, 51 exhaust pipe, 52 solenoid valve, 6 moving component, 61 second electric telescopic rod, 62 connecting frame, 7 dust extraction component, 71 U-shaped pipe, 72 storage barrel, 73 air extraction fan, 74 barrier net, 8 blocking component, 81 sealing ring, 82 arc-shaped sealing baffle, 9 cleaning component, 91 sealing barrel, 92 connecting ring, 93 air injection pump, 94 air outlet pipe, 10 sealing rubber ring, 11 robotic arm, 12 mounting plate, 13 mounting hole. Detailed implementation manners

[0027] 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.

[0028] Please refer to Figures 1-5 , this embodiment provides a technical solution: an automatic chip grasping device, including a mounting strip 1 and a switching component 2;

[0029] Mounting bar 1: A robotic arm 11 is provided at the rear side. At the right end of the lower side of the mounting bar 1, an adsorption assembly 3, an air extraction assembly 4, and an exhaust assembly 5 are installed. The adsorption assembly 3, the air extraction assembly 4, and the exhaust assembly 5 cooperate with each other. A moving assembly 6 is installed at the left side edge of the mounting bar 1. A dust extraction assembly 7 is installed on the side of the moving assembly 6. A blocking assembly 8 is installed at the upper end of the dust extraction assembly 7. A cleaning assembly 9 is installed at the lower end of the dust extraction assembly 7. The adsorption assembly 3 includes a first electric telescopic rod 31, a connecting frame 32, a connecting disk 33, and a suction cup 35. The first electric telescopic rod 31 is installed at the right end of the lower side of the mounting bar 1. A connecting frame 32 is fixed on the telescopic arm of the first electric telescopic rod 31. A connecting disk 33 is fixed at the lower end of the connecting frame 32. An installation cavity is provided in the middle of the connecting disk 33. A suction cup 35 is fixed inside the installation cavity. The input end of the first electric telescopic rod 31 is electrically connected to the output end of the brush slip ring 24. The air extraction assembly 4 includes an air extraction pump 41 and an air extraction pipe 42. The air extraction pump 41 is installed inside the connecting frame 32. An air extraction pipe 42 is fixed in the air extraction hole of the air extraction pump 41. The lower end of the air extraction pipe 42 is connected to the suction cup 35. The input end of the air extraction pump 41 is electrically connected to the output end of the brush slip ring 24. The exhaust assembly 5 includes an exhaust pipe 51 and a solenoid valve 52. An exhaust port is opened on the circumferential surface of the air extraction pipe 42. An exhaust pipe 51 is fixed inside the exhaust port. A solenoid valve 52 is installed on the circumferential surface of the exhaust pipe 51. The input end of the solenoid valve 52 is electrically connected to the output end of the brush slip ring 24. The moving assembly 6 includes a second electric telescopic rod 61 and a connecting frame 62. The second electric telescopic rod 61 is installed at the left end of the upper side of the mounting bar 1. A connecting frame 62 is fixed on the telescopic arm of the second electric telescopic rod 61. The input end of the second electric telescopic rod 61 is electrically connected to the output end of the brush slip ring 24. The dust extraction assembly 7 includes a U-shaped pipe 71, a storage bucket 72, an air extraction fan 73, and a barrier net 74. The U-shaped pipe 71 is fixed on the right side of the connecting frame 62. A storage bucket 72 is provided at the right end of the U-shaped pipe 71. An opening is opened on the circumferential surface of the storage bucket 72. The upper end of the U-shaped pipe 71 is fixed inside the opening. A barrier net 74 is fixed inside the storage bucket 72. The barrier net 74 is located below the opening. An air extraction fan 73 is installed inside the storage bucket 72. The input end of the air extraction fan 73 is electrically connected to the output end of the brush slip ring 24. The blocking assembly 8 includes a sealing ring 81 and an arc-shaped sealing baffle 82. The sealing ring 81 is clamped at the upper end of the circumferential surface of the storage bucket 72. The arc-shaped sealing baffle 82 is fixed at the lower end of the sealing ring 81. A material taking port is opened on the right end of the circumferential surface of the storage bucket 72. The material taking port corresponds to the arc-shaped sealing baffle 82. An air exhaust port is opened at the lower end of the surface of the arc-shaped sealing baffle 82.The exhaust port corresponds to the exhaust fan 73. The cleaning component 9 includes a sealed barrel 91, a connecting ring 92, an air injection pump 93, and an air outlet pipe 94. A connecting ring 92 is fixed to the lower end of the storage barrel 72. An annular opening is provided at the upper end of the sealed barrel 91, and the connecting ring 92 is fixed inside the annular opening. An air injection pump 93 is installed in the middle of the upper end of the sealed barrel 91. An air outlet pipe 94 is fixed inside the air outlet of the air injection pump 93. The air outlet pipe 94 is located inside the sealed barrel 91. Fixing holes are provided on the circumferential surface of the connecting ring 92. The lower end of the U-shaped pipe 71 is fixed inside the fixing hole. The U-shaped pipe 71 communicates with the inner cavity of the sealed barrel 91. The input end of the air injection pump 93 is electrically connected to the output end of the brush slip ring 24. The chip is cleaned by setting the cleaning component 9, the dust is prevented from spreading by setting the blocking component 8, dust is sucked by setting the dust suction component 7, the cleaning component 9 is driven to move by setting the moving component 6, exhaust is carried out by setting the exhaust component 5, the air in the suction cup 35 is pumped out by setting the air extraction component 4, and the chip is adsorbed by setting the adsorption component 3;

[0030] Switching component 2: It includes an installation frame 21, a first motor 22, a rotating shaft 23, and a brush slip ring 24. A first motor 22 is installed inside the installation frame 21. A rotating shaft 23 is fixed to the output shaft of the first motor 22. A brush slip ring 24 is installed on the circumferential surface of the rotating shaft 23. The lower end of the rotating shaft 23 is fixed on the upper side of the installation strip 1. The robotic arm 11 is connected to the upper side of the installation frame 21. The position of the adsorption component 3 and the cleaning component 9 is adjusted by setting the switching component 2 to drive the installation strip 1 to rotate;

[0031] Among them: The input ends of the first motor 22, the robotic arm 11, and the brush slip ring 24 are all electrically connected to the output end of an external PLC controller.

[0032] Among them: An annular groove is provided at the lower end of the sealed barrel 91, and a sealing rubber ring 10 is fixed inside the annular groove. The sealing performance of the sealed barrel 91 is improved by setting the sealing rubber ring 10.

[0033] Among them: An installation plate 12 is fixed to the lower side of the robotic arm 11. Four corresponding installation holes 13 are provided on the edge of the installation plate 12. It is convenient for users to install the robotic arm 11 by setting the installation plate 12 and the installation holes 13.

[0034] The working principle of a chip automatic grasping device provided by the present invention is as follows: First, control the robotic arm 11 to move the sealed barrel 91. When the sealed barrel 91 moves above the chip to be grasped, the external PLC controller will automatically start the second electric telescopic rod 61 to move the sealed barrel 91 downward to cover the chip to be grasped inside it. Then, the external PLC controller will automatically start the air injection pump 93 to spray compressed air onto the chip. In this case, the dust on the chip surface can be lifted, and after the lifting, it can avoid the dust adhering to the chip and affecting the adsorption of the suction cup 35. At the same time, during the dust-raising process, the sealed barrel 91 will effectively prevent the dust from spreading everywhere and polluting other chips. During the process of cleaning the chip, the external PLC controller will automatically start the exhaust fan 72 to draw the dust lifted inside the sealed barrel 91 through the U-shaped pipe 71 to above the barrier net 72. In this case, the cleaning of the dust on the chip surface can be completed. Then, the external PLC controller will automatically control the second electric telescopic rod 61 to reset, and at the same time, automatically start the first motor 22 to rotate the rotating shaft 23 to drive the connecting plate 33 to rotate and move the suction cup 35 above the chip. Then, start the first electric telescopic rod 31 to move the suction cup 35 downward to fit with the chip. After the fit, the external PLC controller will automatically start the air extraction pump 41 to extract the air in the suction cup 35. In this case, the suction cup 35 can suck up the chip. Then, control the robotic arm 11 to place the chip at the required position. After placement, the external PLC controller will automatically turn off the air extraction pump 41 and open the solenoid valve 52 to allow the external gas to enter the inside of the suction cup 35, so that the suction cup 35 can be separated from the chip. After separation, the grasping of the chip can be completed, which is extremely convenient.

[0035] It should be noted that the external PLC controller disclosed in the above embodiments, the specific model is Siemens S7-200, and the robotic arm 11, the first motor 22, the first electric telescopic rod 31, the second electric telescopic rod 61, the air extraction pump 41, the solenoid valve 52, the exhaust fan 72 and the air injection pump 93 can be freely configured according to the actual application scenario. The external PLC controller controls the operation of the robotic arm 11, the first motor 22, the first electric telescopic rod 31, the second electric telescopic rod 61, the air extraction pump 41, the solenoid valve 52, the exhaust fan 72 and the air injection pump 93 by using the commonly used methods in the prior art.

[0036] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. An automatic chip grasping device, characterized in that: It includes an installation bar (1) and a switching component (2); Installation bar (1): A robotic arm (11) is provided on the rear side. An adsorption component (3), an air extraction component (4), and an exhaust component (5) are installed at the right end of the lower side of the installation bar (1). The adsorption component (3), the air extraction component (4), and the exhaust component (5) cooperate with each other. A moving component (6) is installed on the left side edge of the installation bar (1). A dust extraction component (7) is installed on the side of the moving component (6). A blocking component (8) is installed at the upper end of the dust extraction component (7). A cleaning component (9) is installed at the lower end of the dust extraction component (7); Switching component (2): It includes an installation frame (21), a first motor (22), a rotating shaft (23), and a brush slip ring (24). The first motor (22) is installed inside the installation frame (21). A rotating shaft (23) is fixed on the output shaft of the first motor (22). A brush slip ring (24) is installed on the circumferential surface of the rotating shaft (23). The lower end of the rotating shaft (23) is fixed on the upper side of the installation bar (1). The robotic arm (11) is connected to the upper side of the installation frame (21); Among them: The input ends of the first motor (22), the robotic arm (11), and the brush slip ring (24) are all electrically connected to the output end of an external PLC controller.

2. The automatic chip grasping device according to claim 1, wherein: The adsorption component (3) includes a first electric telescopic rod (31), a connecting frame (32), a connecting disk (33), and a suction cup (35). The first electric telescopic rod (31) is installed at the right end of the lower side of the installation bar (1). A connecting frame (32) is fixed on the telescopic arm of the first electric telescopic rod (31). A connecting disk (33) is fixed at the lower end of the connecting frame (32). An installation cavity is provided in the middle of the connecting disk (33). A suction cup (35) is fixed inside the installation cavity. The input end of the first electric telescopic rod (31) is electrically connected to the output end of the brush slip ring (24).

3. The automatic chip grasping device according to claim 2, characterized in that: The air extraction component (4) includes an air extraction pump (41) and an air extraction pipe (42). The air extraction pump (41) is installed inside the connecting frame (32). An air extraction pipe (42) is fixed in the air extraction hole of the air extraction pump (41). The lower end of the air extraction pipe (42) is connected to the suction cup (35). The input end of the air extraction pump (41) is electrically connected to the output end of the brush slip ring (24).

4. The automatic chip grabbing device according to claim 3, characterized in that: The exhaust component (5) includes an exhaust pipe (51) and a solenoid valve (52). An exhaust port is opened on the circumferential surface of the air extraction pipe (42). An exhaust pipe (51) is fixed inside the exhaust port. A solenoid valve (52) is installed on the circumferential surface of the exhaust pipe (51). The input end of the solenoid valve (52) is electrically connected to the output end of the brush slip ring (24).

5. The automatic chip grasping device according to claim 1, characterized in that: The moving component (6) includes a second electric telescopic rod (61) and a connecting frame (62). The second electric telescopic rod (61) is installed at the left end of the upper side of the installation bar (1). A connecting frame (62) is fixed on the telescopic arm of the second electric telescopic rod (61). The input end of the second electric telescopic rod (61) is electrically connected to the output end of the brush slip ring (24).

6. The automatic chip grasping device according to claim 5, characterized in that: The dust extraction assembly (7) includes a U-shaped pipe (71), a storage bucket (72), an exhaust fan (73) and a barrier net (74). The right side of the connecting frame (62) is fixed with a U-shaped pipe (71). The right end of the U-shaped pipe (71) is provided with a storage bucket (72). An opening is formed on the circumferential surface of the storage bucket (72). The upper end of the U-shaped pipe (71) is fixed inside the opening. A barrier net (74) is fixed inside the storage bucket (72). The barrier net (74) is located below the opening. An exhaust fan (73) is installed inside the storage bucket (72). The input end of the exhaust fan (73) is electrically connected to the output end of the brush slip ring (24).

7. The automatic chip grasping device according to claim 6, characterized in that: The blocking assembly (8) includes a sealing ring (81) and an arc-shaped sealing baffle (82). The upper end of the circumferential surface of the storage bucket (72) is clamped with a sealing ring (81). The lower end of the sealing ring (81) is fixed with an arc-shaped sealing baffle (82). A material taking port is formed on the right end of the circumferential surface of the storage bucket (72). The material taking port corresponds to the arc-shaped sealing baffle (82). An air outlet is formed at the lower end of the surface of the arc-shaped sealing baffle (82). The air outlet corresponds to the exhaust fan (73).

8. An automatic chip grasping device according to claim 6, characterized in that: The cleaning assembly (9) includes a sealing bucket (91), a connecting ring (92), an air injection pump (93) and an air outlet pipe (94). The lower end of the storage bucket (72) is fixed with a connecting ring (92). An annular opening is formed at the upper end of the sealing bucket (91). The connecting ring (92) is fixed inside the annular opening. An air injection pump (93) is installed in the middle of the upper end of the sealing bucket (91). An air outlet pipe (94) is fixed inside the air outlet of the air injection pump (93). The air outlet pipe (94) is located inside the sealing bucket (91). Fixing holes are formed on the circumferential surface of the connecting ring (92). The lower end of the U-shaped pipe (71) is fixed inside the fixing holes. The U-shaped pipe (71) communicates with the inner cavity of the sealing bucket (91). The input end of the air injection pump (93) is electrically connected to the output end of the brush slip ring (24).

9. The automatic chip grasping device according to claim 8, wherein: An annular groove is formed at the lower end of the sealing bucket (91). A sealing rubber ring (10) is fixed inside the annular groove.

10. A chip automatic grasping device according to claim 1, characterized in that: A mounting plate (12) is fixed on the lower side of the robotic arm (11). Four corresponding mounting holes (13) are formed on the edge of the mounting plate (12).

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