Manipulator pick-and-place device and automatic probe assembling machine

Abstract

The utility model discloses a mechanical arm taking and placing device and an automatic probe assembling machine. The mechanical arm taking and placing device comprises a six-axis mechanical arm and a material taking and placing assembly arranged at the upper end of the six-axis mechanical arm. The material taking and placing assembly comprises a rotating disc, a negative pressure system and at least one set of adsorption parts arranged on the rotating disc. The adsorption part comprises a linear driving guide rail, a material suction cylinder mounted on the linear driving guide rail, and a negative pressure suction head mounted on the material suction cylinder; the negative pressure system is connected with the material suction air cylinder so as to drive the material suction air cylinder to move on the linear driving guide rail. The embodiment of the utility model provides the manipulator taking and placing device capable of automatically taking and placing the parts of the probe, so that the automatic taking and placing of the parts are realized when the probe is assembled, the defect that the assembly is realized by manual taking and placing is avoided, and the probe assembly efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of semiconductor detection technology, and in particular to a robot pick-and-place device and a probe automatic assembly machine. Background Art

[0002] An essential step in the manufacturing process of printed circuit boards is to conduct probe testing. In order to prevent the probe from damaging the PCB board, the probe is usually set to have a certain degree of elasticity. The probe generally includes a probe cover, a spring and a probe head.

[0003] Due to the small diameter of the probe, the diameters of raw materials such as the probe cover, spring and probe head are further reduced. Therefore, when assembling the probe, it is difficult to position and pick up the raw materials. In the actual production process, manual picking of raw materials is more common, which seriously limits the assembly efficiency of the probe.

[0004] Therefore, the prior art has defects and deficiencies and needs further improvement and development. Utility Model Content

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a robot pick-and-place device and a probe automatic assembly machine, aiming to solve the problem of difficulty in automatic picking during probe assembly in the prior art.

[0006] A technical solution adopted by this application to solve the technical problem is as follows:

[0007] In a first aspect, this embodiment discloses a robot pick-and-place device, comprising:

[0008] A six-axis manipulator and a material picking and placing assembly arranged on the upper end of the six-axis manipulator;

[0009] The material picking and placing assembly comprises: a rotating disk, a negative pressure system, and at least one set of adsorption parts arranged on the rotating disk;

[0010] The adsorption part comprises: a linear drive rail, a material suction cylinder installed on the linear drive rail, and a negative pressure suction head installed on the material suction cylinder;

[0011] The negative pressure system is connected to the suction cylinder so that the suction cylinder drives the negative pressure suction head to perform reciprocating linear motion on the linear driving guide rail.

[0012] Optionally, the adsorption parts are provided in multiple groups and are evenly installed on the edge of the rotating disk.

[0013] Optionally, a vacuum pressure sensor is provided on the negative pressure suction head.

[0014] Optionally, an elastic component is provided between the negative pressure suction head and the suction cylinder.

[0015] Optionally, the six-axis robot includes: a base, a rotating axis connected to the base, a first movable arm arranged above the rotating axis, a second movable arm movably connected to the first movable arm, and a third movable arm connected to the second movable arm, and the rotation direction of the second movable arm is perpendicular to the rotation direction of the third movable arm.

[0016] Optionally, the rotating shaft and the first movable arm, the first movable arm and the second movable arm, and the second movable arm and the third movable arm are all rotationally connected.

[0017] Optionally, the adsorption portion further includes a communication module, and the communication module is a 5G module and / or a wireless Wi-Fi module.

[0018] Optionally, the negative pressure suction head is connected to the suction cylinder through a vacuum tube.

[0019] Optionally, the at least one group of adsorption parts includes a first adsorption part, a second adsorption part and a third adsorption part respectively corresponding to the probe components.

[0020] In a second aspect, this embodiment further discloses a probe automatic assembly machine, which includes: the above-mentioned robot pick-up and placement device.

[0021] Beneficial effects:

[0022] The present embodiment provides a manipulator pick-and-place device and a probe automatic assembly machine, the manipulator pick-and-place device includes: a six-axis manipulator and a material pick-and-place assembly arranged on the upper end of the six-axis manipulator; the material pick-and-place assembly includes: a rotating disk, a negative pressure system, and at least one group of adsorption parts arranged on the rotating disk; the adsorption part includes: a linear drive guide rail, a suction cylinder installed on the linear drive guide rail, and a negative pressure suction head installed on the suction cylinder; the negative pressure system is connected to the suction cylinder so that the suction cylinder drives the negative pressure suction head to perform reciprocating linear motion on the linear drive guide rail. The present embodiment provides a manipulator pick-and-place device that can automatically pick up and place probe parts, so as to realize automatic pick-up and placement of parts when assembling the probe, thereby avoiding the disadvantage of manual pick-up and placement to achieve assembly, and improving the efficiency of probe assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot pick-and-place device provided in this application;

[0024] Figure 2 It is a schematic diagram of the structure of the adsorption member provided in this application;

[0025] Figure 3 It is a schematic diagram of the structure of the automatic probe assembly machine provided in this application;

[0026] Description of reference numerals:

[0027] 110, rotating disk; 120, suction cylinder; 130, linear drive guide rail; 140, negative pressure suction head; 220, six-axis manipulator; 2201, rotating axis; 2202, first movable arm; 2203, second movable arm; 2204, third movable arm; 100, flexible vibration disk feeding mechanism; 200, manipulator picking mechanism; 300, oil point control mechanism; 400, chassis; 500, detection device. DETAILED DESCRIPTION

[0028] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0029] In the manufacturing process of printed circuit boards, it is usually necessary to use a probe to detect the printed circuit boards to determine whether the conductive points on the printed circuit boards can conduct electricity normally. Therefore, the probe is an important detection tool in the manufacturing process of printed circuit boards.

[0030] The probe is generally composed of a probe head, a spring and a probe cover. In the existing manufacturing process of the test probe, manual operation is required. However, due to the small size of the components of the probe, manual sorting requires a lot of manpower costs, and the manual operation efficiency is low and the rate of unqualified products is high. Therefore, it cannot meet the needs of large-scale and high-volume production.

[0031] In order to solve the above problems, the present embodiment provides a manipulator pick-and-place device and a probe automatic assembly machine, the manipulator pick-and-place device comprises: a six-axis manipulator and a material pick-and-place assembly arranged on the upper end of the six-axis manipulator; the material pick-and-place assembly comprises: a rotating disk, a negative pressure system, and at least one group of adsorption parts arranged on the rotating disk; the adsorption part comprises: a linear drive guide rail, a suction cylinder installed on the linear drive guide rail, and a negative pressure suction head installed on the suction cylinder; the negative pressure system is connected to the suction cylinder so that the suction cylinder performs reciprocating linear motion on the linear drive guide rail that drives the negative pressure suction head. The present embodiment provides a manipulator pick-and-place device that can automatically pick up and place probe parts, so as to realize the automatic pick-up and placement of parts when assembling the probe, thereby avoiding the disadvantage of manual pick-up and placement to realize assembly, and improving the efficiency of probe assembly.

[0032] In a first aspect, this embodiment discloses a robot pick-and-place device, such as Figure 1 As shown, including:

[0033] A six-axis manipulator 220 and a material picking and placing assembly arranged at the upper end of the six-axis manipulator 220 .

[0034] The material picking and placing assembly includes: a rotating disk 110 , a negative pressure system, and at least one set of adsorption parts arranged on the rotating disk 110 .

[0035] The suction part includes: a linear driving guide rail 130 , a suction cylinder 120 installed on the linear driving guide rail 130 , and a negative pressure suction head 140 installed on the suction cylinder 120 .

[0036] The negative pressure system is connected to the suction cylinder 120 so that the suction cylinder 120 drives the negative pressure suction head 140 to perform reciprocating linear motion on the linear driving guide rail 130 .

[0037] The robot picking and placing device provided in this embodiment realizes the all-round rotation of the negative pressure suction head by providing a six-axis robot, aligns the negative pressure suction head with the probe component to be picked up, and then uses the suction cylinder to drive the negative pressure suction head to move linearly on the linear drive guide rail, so as to realize the forward movement of the negative pressure suction head to the location of the probe component.

[0038] Since the negative pressure suction head can absorb the probe parts to be picked up, when the negative pressure suction head is controlled to move to the position of the probe parts to be picked up, the probe parts are absorbed onto the negative pressure suction head to complete the picking of the parts. Then the negative pressure suction head is controlled to move to the placement position of the designated probe parts, and the suction force in the negative pressure suction head is controlled to be reduced, so that the probe parts absorbed on the negative pressure suction head fall into or are inserted into the designated position, thereby realizing the picking of the probe parts.

[0039] Furthermore, since there are three types of probe parts to be picked up, in order to improve the picking efficiency of probe parts and further improve the probe assembly efficiency, the adsorption parts on the rotating disk are provided with multiple groups and are evenly installed on the edge of the rotating disk. By providing multiple groups of adsorption parts, more probe parts to be assembled can be picked up within a fixed picking time, and then multiple groups of probes can be assembled within the same time, thereby improving the assembly efficiency.

[0040] In order to improve the accuracy during assembly and avoid the situation where the negative pressure suction head fails to adsorb probe parts, resulting in missing parts in the product after the probe is assembled, a vacuum pressure sensor is provided on the negative pressure suction head, and the vacuum pressure sensor is used to determine whether the negative pressure suction head has successfully adsorbed the probe parts. If the pressure value on the negative pressure suction head measured by the vacuum pressure sensor is the same as when no object is adsorbed, it is determined that no probe parts are adsorbed on the negative pressure suction head; if the pressure value on the vacuum pressure sensor changes, it is determined that a probe part is picked up; if the pressure value returns to the same as when the negative pressure suction head does not adsorb any probe parts, it can be determined that the probe parts have fallen off the negative pressure suction head.

[0041] Furthermore, in order to prevent the suction head from damaging the probe parts due to the suction force or pressure between the suction head and the probe parts and the parts to be picked up, an elastic component is provided between the suction head and the suction cylinder, and the suction force and pressure are buffered by the elastic component to reduce the damage that the suction head may cause to the probe parts. In a specific implementation, the elastic component may be composed of multiple groups of springs or only one spring.

[0042] Further, combined with Figure 1 As shown, the six-axis manipulator includes: a base, a rotating shaft 2201 connected to the base, a first movable arm 2202 arranged above the rotating shaft 2201, a second movable arm 2203 movably connected to the first movable arm 2202, and a third movable arm 2204 connected to the second movable arm 2203, and the rotation direction of the second movable arm 2203 is perpendicular to the rotation direction of the third movable arm 2203.

[0043] The six-axis manipulator provided in this embodiment uses the first movable arm, the second movable arm and the third movable arm to respectively realize rotational movement in different directions, so that the rotating disk located at the upper end of the manipulator can be moved to a specified position, such as the position of a positioned probe component.

[0044] Specifically, the rotating shaft and the first movable arm, the first movable arm and the second movable arm, and the second movable arm and the third movable arm are all rotationally connected.

[0045] In order to smoothly pick up the probe components, the adsorption part also includes a communication module, and the communication module is a 5G module and / or a wireless Wi-Fi module.

[0046] The communication module is used to receive the position information of the probe component to be picked up, and according to the position information, the six-axis manipulator is controlled to move the negative pressure suction head to the position of the probe component, thereby picking up the probe component. In the specific implementation, the communication method in the communication module set on the adsorption part needs to be the same as the communication module installed on the mechanism that sends the position of the probe component, so as to establish a communication connection between the adsorption part and the mechanism that sends the position of the probe component, thereby realizing the smooth transmission of the position of the probe component.

[0047] Furthermore, the negative pressure suction head is connected to the suction cylinder through a vacuum tube to achieve control of the adsorption force in the negative pressure suction head.

[0048] Further, combined with Figure 2 As shown, since there are three types of probe parts, in one embodiment, the at least one group of adsorption parts includes a first adsorption part, a second adsorption part and a third adsorption part corresponding to the probe parts, respectively. Specifically, the first adsorption part, the second adsorption part and the third adsorption part correspond to the three probe parts, respectively. The first adsorption part, the second adsorption part and the third adsorption part are all mounted on the rotating disk 110 and are evenly and symmetrically arranged. Specifically, since the negative pressure suction head on each adsorption part is used to adsorb the probe parts, the size of the negative pressure suction head can be set to match the size of the probe parts, and then the suction cylinder 120 and the linear drive guide 130 are also arranged to match the negative pressure suction head.

[0049] Furthermore, in order to realize the installation of the adsorption part on the rotating disk, the adsorption part is also provided with a mounting base, one end of which is fixedly connected to the edge of the rotating disk, and the other end of which is fixedly connected to the linear driving track.

[0050] In the second aspect, this embodiment also discloses a probe automatic assembly machine, combined with Figure 3 As shown, the probe automatic assembly machine includes: a chassis 400, a flexible vibration plate feeding mechanism 100 arranged above the chassis, a robot pick-up and placement device 200, an oil dot control mechanism 300 and a detection device 500, etc.

[0051] In the specific implementation, since there are three kinds of parts of the probe, three groups of flexible vibration disk feeding mechanisms are set up respectively, and different parts are placed in the material bins of the three flexible vibration disk feeding structures respectively. Under the vibration of the second vibration base, the parts flow into the backlight vibration disk from the discharge port. At the same time, the positioning part located on the backlight vibration disk takes a picture of the backlight vibration disk, and analyzes the picture to obtain the position information of the probe parts in the backlight vibration disk, and transmits the located part position information to the robot picking mechanism.

[0052] The robot pick-and-place device uses the communication module to establish a communication connection with the flexible vibration plate feeding mechanism, obtains the position information of the probe parts transmitted by the positioning parts from the flexible vibration plate feeding mechanism, and uses the six-axis robot to control the negative pressure suction head to move to the position of the probe parts, automatically picks up the corresponding parts, and places the sucked parts to the specified position.

[0053] After the robot pick-and-place device rotates the sucked probe head component to the specified position, the oil injection module controls the output size and time of the oil volume and injects a fixed amount of oil into the probe cover. When the robot assembles all the mechanical parts into the probe cover in sequence, the assembly and inspection device automatically clamps the mechanical parts and rolls the assembled probe assembly to the standard size, and inspects the probe product rolled to the standard size.

[0054] Specifically, the detection device includes: a CCD visual detection component and a force test component. The CCD visual detection component detects the size of the assembled probe, and the positioned product is driven by the servo motor to perform contact force detection on the force test component to ensure that the force of the parts is within the tolerance range.

[0055] In addition, you can also set up a force-checking PPU handling module: the product is transported to the next module through the PPU transverse movement module, and a finished product discharge counting module: the parts transported from the upper workstation are counted and enter the packaging box through the guide groove.

[0056] The present embodiment provides a manipulator pick-and-place device and a probe automatic assembly machine, wherein the manipulator pick-and-place device is provided with a six-axis manipulator and a material pick-and-place assembly located at the upper end of the six-axis manipulator. A negative pressure system, at least one set of adsorption parts arranged on a rotating disk; the adsorption part includes: a linear drive guide rail, a suction cylinder installed on the linear drive guide rail, and a negative pressure suction head installed on the suction cylinder; the negative pressure system is connected to the suction cylinder so that the suction cylinder drives the negative pressure suction head to perform reciprocating linear motion on the linear drive guide rail. The present embodiment provides a manipulator pick-and-place device that can automatically pick up and place probe parts, so as to realize automatic pick-up and placement of parts during probe assembly, thereby avoiding the disadvantage of requiring manual pick-up and placement to realize assembly, and improving the efficiency of probe assembly.

[0057] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" and "several" both mean two or more.

[0058] It should be understood that the application of the present application is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A robot pick-and-place device, characterized in that: include: A six-axis manipulator and a material picking and placing assembly arranged on the upper end of the six-axis manipulator; The material picking and placing assembly comprises: a rotating disk, a negative pressure system, and at least one set of adsorption parts arranged on the rotating disk; The adsorption part comprises: a linear drive rail, a material suction cylinder installed on the linear drive rail, and a negative pressure suction head installed on the material suction cylinder; The negative pressure system is connected to the suction cylinder so that the suction cylinder drives the negative pressure suction head to perform reciprocating linear motion on the linear driving guide rail.

2. The robot pick-and-place device according to claim 1, characterized in that: The adsorption parts are arranged in multiple groups and are evenly installed on the edge of the rotating disk.

3. The robot pick-and-place device according to claim 1, characterized in that: The negative pressure suction head is provided with a vacuum pressure sensor.

4. The robot pick-and-place device according to claim 1, characterized in that: An elastic component is arranged between the negative pressure suction head and the suction cylinder.

5. The robot pick-and-place device according to claim 1, characterized in that: The six-axis manipulator includes: a base, a rotating shaft connected to the base, a first movable arm arranged above the rotating shaft, a second movable arm movably connected to the first movable arm, and a third movable arm connected to the second movable arm, and the rotation direction of the second movable arm is perpendicular to the rotation direction of the third movable arm.

6. The robot pick-and-place device according to claim 5, characterized in that: The rotating shaft and the first movable arm, the first movable arm and the second movable arm, and the second movable arm and the third movable arm are all rotationally connected.

7. The robot pick-and-place device according to claim 1, characterized in that: The adsorption part also includes a communication module, and the communication module is a 5G module and / or a wireless wifi module.

8. The robot pick-and-place device according to claim 1, characterized in that: The negative pressure suction head is connected to the material suction cylinder through a vacuum tube.

9. The robot pick-and-place device according to claim 1, characterized in that: The at least one group of adsorption parts includes a first adsorption part, a second adsorption part and a third adsorption part respectively corresponding to the probe parts.

10. A probe automatic assembly machine, characterized in that: include: A robot pick-and-place device as claimed in any one of claims 1 to 9.

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