A sheet material feeding mechanism
By adjusting the cross-shaped movement design of the components, the alignment problem between the gripper components and the substrate was solved, achieving precise alignment and rapid pick-and-place of the gripper components and the sheet, thus improving the stability and accuracy of sheet feeding.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU XUXINXIANG INTELLIGENT EQUIP CO LTD
- Filing Date
- 2026-04-10
- Publication Date
- 2026-06-05
AI Technical Summary
In the prior art, the position of the gripper relative to the substrate is not adjustable or is inconvenient to adjust, which makes it impossible for the gripper and the substrate to be aligned, resulting in inconvenience in gripping the sheet.
An adjustment assembly, including a first adjustment section and a second adjustment section, is adopted. The slide plate is driven to move by a lead screw stepper motor. Combined with a limit post and a through-beam sensor, the gripper assembly can move in a cross shape in the horizontal plane to ensure that the gripper assembly is aligned with the sheet.
It improves the accuracy and safety of the gripper assembly in picking up materials, ensuring that the gripper assembly is aligned with the sheet before gripping, and enabling fast and accurate sheet picking and placing.
Smart Images
Figure CN122161396A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of semiconductor component packaging equipment technology, and in particular to a sheet feeding mechanism. Background Technology
[0002] Semiconductor packaging refers to semiconductor devices or integrated circuits containing one or more discrete housings made of metal, plastic, glass, or ceramic. When feeding semiconductor wafers, grippers are used to hold the wafers to ensure stability during wafer transport. For processing speed, multiple wafers are typically held simultaneously, hence the use of multiple grippers. These grippers are mounted on a substrate, which drives their synchronous movement. In existing technologies, the position of the grippers relative to the substrate is not adjustable or inconvenient to adjust, but the transported wafers may have positional misalignment. This leads to misalignment between the grippers and the substrate, causing difficulties in gripping. Summary of the Invention
[0003] To overcome the above-mentioned shortcomings, the present invention aims to provide a sheet feeding mechanism that can quickly adjust the position of the gripper assembly to ensure that the gripper assembly can be aligned with the sheet before the sheet is picked up or placed.
[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a sheet feeding mechanism, comprising:
[0005] substrate; An adjustment assembly is located above the substrate. The adjustment assembly includes a first adjustment part and a second adjustment part. The first adjustment part is disposed on the substrate, and the second adjustment part is connected to the output end of the first adjustment part and reciprocates along a first direction under the drive of the first adjustment part. A gripper assembly is located below the substrate. The gripper assembly is connected to the output end of the second adjustment unit and reciprocates along a second direction under the drive of the second adjustment unit, wherein the first direction and the second direction are perpendicular to each other in the horizontal plane.
[0006] The beneficial effects of this invention are as follows: by setting an adjustment component to adjust the position of the gripper assembly, the position of the gripper assembly relative to the substrate is adjustable. Adjusting the position of the gripper assembly in the horizontal plane ensures that the gripper assembly is aligned with the sheet before clamping, thereby improving the accuracy of the gripper assembly when gripping the material. The first adjustment part and the second adjustment part cooperate to realize the cross movement of the gripper, thereby adjusting the position of the gripper.
[0007] Furthermore, the first adjustment unit includes a first lead screw stepper motor fixed on the substrate, with a first slide plate threaded onto the first lead screw of the first lead screw stepper motor, and the second adjustment unit is connected to the first slide plate. The lead screw stepper motor drives the first slide plate to move, achieving rapid and precise movement of the first slide plate to meet the adjustment requirements of the gripper assembly in the first direction.
[0008] Furthermore, the second adjustment unit includes a second lead screw stepper motor fixed to the first slide plate. The second lead screw of the second lead screw stepper motor is threadedly connected to the second slide plate, and the gripper assembly is connected to the second slide plate. The first adjustment unit drives the second adjustment unit to move in the first direction, and the second adjustment unit, in turn, drives the second slide plate to move via the lead screw stepper motor, thereby achieving rapid and precise movement of the second slide plate to meet the adjustment requirements of the gripper assembly in the second direction.
[0009] Furthermore, a first guide rail is provided on the upper surface of the substrate, and a first slider is provided on the first slide plate to slide along the first guide rail. The first guide rail guides the first slide plate and improves the stability of the sliding of the first slide plate.
[0010] The substrate is provided with two limiting posts spaced apart along a first direction, and the first slider slides between the two limiting posts. When the first slider comes into contact with the limiting posts, the limiting posts restrict the first slider from moving forward, thereby limiting the movement distance of the first slider, and at this time the first slide plate can no longer move forward.
[0011] Furthermore, the first adjustment unit also includes a detection component one, which includes a through-beam sensor one, a through-beam sensor two, and a light-shielding plate one. The through-beam sensor one and the through-beam sensor two are fixed on the substrate and spaced apart along a first direction, while the light-shielding plate one is fixed on the first sliding plate. The limiting post and the detection component one cooperate with each other; one mechanically blocks the first sliding plate, while the other limits the sliding of the first sliding plate by controlling the opening and closing of the first lead screw stepper motor. If either one malfunctions, the other can continue to control the movement distance of the first sliding plate. When the two cooperate, safety and control accuracy are improved.
[0012] Furthermore, a second guide rail is provided on the upper surface of the first slide plate, and a second slider is provided on the second slide plate that slides along the second guide rail. The second guide rail guides the movement of the second slider, improving the stability of the second slider's movement.
[0013] The upper surface of the first sliding plate is provided with two protrusions spaced apart along a second direction, and the second slider slides between the two protrusions. When the second slider comes into contact with a protrusion, the protrusion limits the second slider from moving forward, thereby limiting the movement distance of the second slider, and at this time the second sliding plate can no longer move forward.
[0014] Furthermore, the second adjustment unit also includes a second detection element, which comprises a third and fourth through-beam sensor and a second light-shielding plate. The third and fourth through-beam sensors are fixed to the first sliding plate and spaced apart along the second direction, while the second light-shielding plate is fixed to the second sliding plate. The boss and the second detection element cooperate with each other; one mechanically blocks the second sliding plate, while the other limits the sliding of the second sliding plate by controlling the opening and closing of the second lead screw stepper motor. If either one malfunctions, the other can continue to control the movement distance of the second sliding plate. The cooperation between the two improves safety and control accuracy.
[0015] Furthermore, the adjustment assembly is connected to the gripper assembly via a connecting frame. The upper end of the connecting frame is fixedly connected to the adjustment assembly, and the lower end vertically passes through the substrate and is fixedly connected to the gripper assembly. The substrate has clearance holes for the connecting frame to pass through. The dimensions of the clearance holes in the first and second directions are larger than the dimensions of the portion of the connecting frame passing through the substrate. The connecting frame ensures that the adjustment assembly and the gripper assembly are located on opposite sides of the substrate, making the overall structure more compact. The size of the clearance holes needs to ensure that the connecting frame can be adjusted in both the first and second directions within them.
[0016] Furthermore, the substrate is provided with multiple adjustment components and gripper components that correspond one-to-one with the adjustment components, so that the feeding mechanism can simultaneously pick up and place multiple sheets.
[0017] Furthermore, both the first and second lead screw stepper motors have built-in encoders. These encoders control the number of rotations of the lead screw stepper motors, thereby controlling the movement distance of the first and second slide plates. Attached Figure Description
[0018] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of another embodiment of the present invention; Figure 3 This is a schematic diagram of the adjustment component in an embodiment of the present invention.
[0019] In the picture: 1. Substrate; 2. Adjustment assembly; 21. First adjustment unit; 211. First lead screw stepper motor; 212. First sliding plate; 213. First guide rail; 214. Limiting post; 215. Through-beam sensor one; 216. Through-beam sensor two; 217. Light-shielding plate one; 22. Second adjustment unit; 221. Second lead screw stepper motor; 222. Second sliding plate; 223. Second guide rail; 224. Boss; 225. Through-beam sensor three; 226. Through-beam sensor four; 227. Light-shielding plate two; 3. Gripper assembly; 311. Connecting plate; 32. Gripper body; 313. Cylinder; 4. Connecting bracket. Detailed Implementation
[0020] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.
[0021] The present invention provides a sheet feeding mechanism for clamping and transporting sheets.
[0022] See appendix Figure 1 As shown, the sheet feeding mechanism includes a substrate 1, on which an adjustment component 2 is provided. The adjustment component 2 is connected to a gripper component 3. The upper end of the gripper component 3 is connected to the adjustment component 2, and the lower end is suspended. The adjustment component 2 is used to adjust the position of the gripper component 3 relative to the substrate 1 in a first direction and a second direction. The first direction and the second direction are perpendicular in the horizontal plane.
[0023] In this application, the position of the gripper assembly 3 is adjusted by setting the adjustment component 2, so that the position of the gripper assembly 3 relative to the substrate 1 is adjustable. The position of the gripper assembly 3 in the horizontal plane is adjusted to ensure that the gripper assembly 3 is aligned with the sheet before clamping, thereby improving the accuracy of the gripper assembly 3 when gripping the material.
[0024] The adjustment component 2 is located above the substrate 1, and the gripper component 3 is located below the substrate 1. That is, the adjustment component 2 and the gripper component 3 are located on both sides of the substrate 1. Since the sheet needs to be clamped below the substrate 1, in order not to interfere with the clamping of the sheet and to make room for the sheet, the adjustment component 2 is fixed above the substrate 1, which makes the overall structure more compact.
[0025] The adjustment assembly 2 includes a first adjustment part 21 and a second adjustment part 22. The first adjustment part 21 is disposed on the substrate 1, and the second adjustment part 22 is connected to the output end of the first adjustment part 21 and reciprocates along a first direction under the drive of the first adjustment part 21. The gripper assembly 3 is connected to the output end of the second adjustment part 22 and reciprocates along a second direction under the drive of the second adjustment part 22.
[0026] In this application, the first adjustment part 21 and the second adjustment part 22 cooperate to realize the cross movement of the gripper, thereby adjusting the position of the gripper.
[0027] See appendix Figure 2 and attached Figure 3 As shown, the first adjustment unit 21 includes a first lead screw stepper motor 211 fixed on the base plate 1. A first slide plate 212 is threadedly connected to the first lead screw of the first lead screw stepper motor 211. The first lead screw extends along a first direction. When the first lead screw rotates, the first slide plate 212 reciprocates along the first direction. The second adjustment unit 22 is connected to the first slide plate 212.
[0028] A first guide rail 213 is provided on the upper surface of the substrate 1, and a first slider is provided on the first slide plate 212 that slides along the first guide rail 213. The first guide rail 213 extends in a first direction to guide the movement of the first slide plate 212. In one embodiment, two first guide rails 213 are provided, and the two first guide rails 213 are spaced apart in a second direction to improve the stability of the sliding of the first slide plate 212.
[0029] To limit the travel distance of the first skateboard 212, see Appendix. Figure 2 As shown, two limiting posts 214 are provided on the substrate 1, and the two limiting posts 214 are spaced apart along the first direction. The first slider is located between the two limiting posts 214. When the first slider comes into contact with the limiting post 214, the limiting post 214 restricts the first slider from moving forward, thereby limiting the movement distance of the first slider. At this time, the first slide plate 212 can no longer move forward.
[0030] To precisely control the movement distance of the first slide plate 212 and prevent it from moving too far, the first adjustment unit 21 further includes a detection element 1, which is used to detect the movement position of the first slide plate 212. The detection element 1 includes a through-beam sensor 215, a through-beam sensor 216, and a light-shielding plate 217. The through-beam sensor 215 and the through-beam sensor 216 are fixed on the substrate 1 and spaced apart along the first direction, and the light-shielding plate 217 is fixed on the first slide plate 212.
[0031] The light-shielding plate 217 can block the transmitted light from the through-beam sensor 215 or the through-beam sensor 216 respectively. When the transmitted light from the through-beam sensor 215 or the through-beam sensor 216 is blocked, it means that the first slide plate 212 has moved to the limit position. At this time, the through-beam sensor 215 or the through-beam sensor 216 sends a signal, and the first lead screw stepper motor 211 stops rotating, that is, it stops driving the first slide plate 212 to continue to move forward.
[0032] The limiting post 214 and the first detection element cooperate with each other. One mechanically blocks the first slide plate 212, while the other limits the sliding of the first slide plate 212 by controlling the opening and closing of the first lead screw stepper motor 211. If either one malfunctions, the other can continue to control the movement distance of the first slide plate 212. When the two cooperate, safety and control accuracy are improved. When the first slider and the limiting post 214 abut, the light shield 217 blocks the transmitted light from the through-beam sensor 215 or the through-beam sensor 216.
[0033] See appendix Figure 2 As shown, the through-beam sensor 215 and through-beam sensor 216 have the same structure, and a light-shielding plate 217 moves between them. Taking through-beam sensor 215 as an example, it includes a fixed base 1 and a fixed base 2 spaced apart along a second direction, forming a gap between them for the light-shielding plate to pass through. A transmitter and a receiver are respectively mounted on the fixed base 1 and the fixed base 2, forming an through-beam beam along the second direction between them. When the light-shielding plate 217 moves between the fixed base 1 and the fixed base 2, it blocks the through-beam beam, preventing the receiver from receiving it. At this time, through-beam sensor 215 emits a first signal (e.g., 1). When the light-shielding plate 217 moves out from between the fixed base 1 and the fixed base 2, the through-beam beam is no longer blocked, and the receiver can receive it. At this time, through-beam sensor 215 emits a second signal (e.g., 0).
[0034] The second adjustment unit 22 has a similar structure to the first adjustment unit 21; see appendix. Figure 2 As shown, the second adjustment unit 22 includes a second lead screw stepper motor 221 fixed on the first slide plate 212. The second lead screw of the second lead screw stepper motor 221 is threadedly connected to the second slide plate 222. The second lead screw extends along the second direction. When the second lead screw rotates, the second slide plate 222 reciprocates along the second direction. The gripper assembly 3 is connected to the second slide plate 222.
[0035] A second guide rail 223 is provided on the upper surface of the first slide plate 212, and a second slider is provided on the second slide plate 222 that slides along the second guide rail 223. The second guide rail 223 extends in a second direction to guide the movement of the second slide plate 222. In this embodiment, the widths of both the second slide plate 222 and the second slide plate 222 in the first direction are relatively short, so only one second guide rail 223 is required.
[0036] In one embodiment, the length of the second slide plate 222 in the second direction is less than the length of the first slide plate 212 in the second direction, thereby saving materials and meeting the usage requirements.
[0037] To limit the travel distance of the second skateboard 222, see Appendix. Figure 3As shown, the upper surface of the first slide plate 212 is provided with two protrusions 224, which are spaced apart along the second direction. The second slider is located between the two protrusions 224. When the second slider abuts against the protrusions 224, the protrusions 224 limit the second slider from moving forward, thereby limiting the movement distance of the second slider. At this time, the second slide plate 222 can no longer move forward.
[0038] To precisely control the movement distance of the second slide plate 222 and prevent it from moving too far, the second adjustment unit 22 also includes a detection element two, which is used to detect the movement position of the second slide plate 222. The detection element two includes a third through-beam sensor 225, a fourth through-beam sensor 226, and a second light-shielding plate 227. The third and fourth through-beam sensors 225 and 226 are fixed on the first slide plate 212 and spaced apart along the second direction, while the second light-shielding plate 227 is fixed on the second slide plate 222.
[0039] The second light-blocking plate 227 can block the transmitted light from the third light-emitting sensor 225 or the fourth light-emitting sensor 226 respectively. When the transmitted light from the third light-emitting sensor 225 or the fourth light-emitting sensor 226 is blocked, it means that the second slide plate 222 has moved to the limit position. At this time, the third light-emitting sensor 225 or the fourth light-emitting sensor 226 sends a signal, and the second lead screw stepper motor 221 stops rotating, that is, it stops driving the second slide plate 222 to continue to move forward.
[0040] The boss 224 and the second detection element cooperate with each other. One mechanically blocks the second slide plate 222, while the other limits the sliding of the second slide plate 222 by controlling the opening and closing of the second lead screw stepper motor 221. If either one malfunctions, the other can continue to control the movement distance of the second slide plate 222. When the two cooperate, safety and control accuracy are improved. When the second slider and the boss 224 abut against each other, the second light shield 227 blocks the transmitted light from the third through-beam sensor 225 or the fourth through-beam sensor 226.
[0041] The structures of through-beam sensor 3 225 and through-beam sensor 4 226 are the same as those of through-beam sensor 1 215.
[0042] In one embodiment, both the first lead screw stepper motor 211 and the second lead screw stepper motor 221 have encoders, which can be set to control the number of rotations of the first lead screw stepper motor 211 and the second lead screw stepper motor 221, thereby controlling the moving distance of the gripper assembly 3. The encoder, the limiting post 214 or the boss 224, and the first detection element or the second detection element provide triple protection for limiting the moving distance of the gripper assembly 3, ensuring that the gripper assembly 3 will not move too much.
[0043] See appendix Figure 1As shown, the adjustment component 2 is connected to the connecting frame 4 and the gripper assembly 3. The upper end of the connecting frame 4 is fixedly connected to the second sliding plate 222. The connecting frame 4 passes vertically through the substrate 1 and is fixedly connected to the gripper assembly 3 at the bottom. The substrate 1 has a clearance hole for the connecting frame 4 to pass through. The size of the clearance hole in the first direction and the second direction is larger than the size of the part of the connecting frame 4 passing through the substrate 1. The clearance hole needs to meet the position adjustment of the connecting frame 4 in the first direction and the second direction.
[0044] In one embodiment, the substrate 1 is provided with a plurality of adjustment components 2 and gripper components 3 corresponding to each adjustment component 2, thereby enabling synchronous gripping of multiple sheets. See appendix. Figure 1 As shown, at this time, the substrate 1 is provided with two adjustment components 2 and four gripper components 3, which can grip two sheets at the same time.
[0045] In this embodiment, when the feeding mechanism is in use, before gripping the sheet, the position of the gripper assembly 3 is finely adjusted according to the feeding position of the sheet. This includes the first adjustment part 21 simultaneously adjusting the position of the second adjustment part 22 and the gripper assembly 3 in the first direction, and the second adjustment part 22 adjusting the position of the gripper assembly 3 in the second direction, so as to ensure that the gripper assembly 3 and the feeding or unloading position of the sheet are aligned, and the sheet can be picked up and placed accurately.
[0046] In one embodiment, the gripper assembly 3 includes a connecting plate 311, on which at least one set of gripper portions are provided, each gripper portion including two gripper bodies 32 that can move relative to or away from each other.
[0047] In one embodiment, the gripper assembly 3 further includes a cylinder 313 corresponding to each gripper body 32. The cylinder 313 is located within the connecting plate 311, and its piston is fixedly connected to the gripper body 32 and used to drive the corresponding gripper body 32 to move. The connecting plate 311 has an air passage, which includes branch air passages connected to each of the cylinders 313 and a main air passage formed by the convergence of all branch air passages. The main air passage is connected to an air supply pipe. When one air pipe supplies air to the air passage, it supplies air to all cylinders 313. When air is supplied to a cylinder 313, its piston extends, driving the gripper body 32 away from the connecting plate 311, at which point the paired gripper bodies 32 move away from each other. When the air supply is cut off, the piston rod of the cylinder 313 automatically resets, causing the gripper body 32 to move closer to the connecting plate 311, at which point the paired gripper bodies 32 move closer to each other.
[0048] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.
Claims
1. A sheet feeding mechanism, characterized in that: include: substrate; An adjustment assembly is located above the substrate. The adjustment assembly includes a first adjustment part and a second adjustment part. The first adjustment part is disposed on the substrate, and the second adjustment part is connected to the output end of the first adjustment part and reciprocates along a first direction under the drive of the first adjustment part. A gripper assembly is located below the substrate. The gripper assembly is connected to the output end of the second adjustment unit and reciprocates along a second direction under the drive of the second adjustment unit, wherein the first direction and the second direction are perpendicular to each other in the horizontal plane.
2. The sheet feeding mechanism according to claim 1, characterized in that: The first adjustment unit includes a first lead screw stepper motor fixed on the substrate, and a first slide plate is threadedly connected to the first lead screw of the first lead screw stepper motor. The second adjustment unit is connected to the first slide plate.
3. The sheet feeding mechanism according to claim 2, characterized in that: The second adjustment unit includes a second lead screw stepper motor fixed on the first slide plate, the second lead screw of the second lead screw stepper motor being threadedly connected to the second slide plate, and the gripper assembly being connected to the second slide plate.
4. The sheet feeding mechanism according to claim 2, characterized in that: A first guide rail is provided on the upper surface of the substrate, and a first slider is provided on the first slide plate to slide along the first guide rail; two limiting posts are provided on the substrate at intervals along a first direction, and the first slider slides between the two limiting posts.
5. The sheet feeding mechanism according to claim 2, characterized in that: The first adjustment part further includes a detection element one, which includes a through-beam sensor one, a through-beam sensor two, and a light-shielding plate one. The through-beam sensor one and the through-beam sensor two are fixed on the substrate and are spaced apart along a first direction. The light-shielding plate one is fixed on the first sliding plate.
6. The sheet feeding mechanism according to claim 3, characterized in that: The upper surface of the first slide plate is provided with a second guide rail, and the second slide plate is provided with a second slider that slides along the second guide rail; the upper surface of the first slide plate is provided with two protrusions spaced apart along a second direction, and the second slider slides between the two protrusions.
7. The sheet feeding mechanism according to claim 3, characterized in that: The second adjustment part further includes a detection element two, which includes a through-beam sensor three, a through-beam sensor four, and a light-shielding plate two. The through-beam sensor three and the through-beam sensor four are fixed on the first slide plate and are spaced apart along the second direction. The light-shielding plate two is fixed on the second slide plate.
8. The sheet feeding mechanism according to any one of claims 1-7, characterized in that: The adjustment component is connected to the gripper assembly via a connecting frame. The upper end of the connecting frame is fixedly connected to the adjustment component, and the lower end passes vertically through the substrate and is fixedly connected to the gripper assembly. The substrate has a clearance hole for the connecting frame to pass through. The size of the clearance hole in the first direction and the second direction is larger than the size of the portion of the connecting frame passing through the substrate.
9. The sheet feeding mechanism according to claim 1, characterized in that: The substrate is provided with a plurality of adjustment components and a gripper component corresponding to each adjustment component.
10. The sheet feeding mechanism according to claim 3, characterized in that: Both the first lead screw stepper motor and the second lead screw stepper motor have built-in encoders.