Multifunctional visual positioning gripping device

Abstract

The utility model provides a multi-functional visual positioning gripping device, including support base, motion control mechanism, fixed block, visual positioning module and function module, the motion control mechanism is fixedly installed on the support base, the fixed block is connected with the movable end of motion control mechanism, the visual positioning module is connected with the function module, and the visual positioning module is connected with the function module. The visual positioning module is connected to the fixing block, and the functional module is detachably connected to the fixing block through an adapter. The visual positioning module is matched with the motion control mechanism, high-precision positioning grabbing of chips is achieved, meanwhile, the functional modules are detachably connected with the fixing blocks through the adapters, quick replacement of the functional modules is achieved, different functional modules can be selected and replaced according to different requirements, and the production efficiency is improved. The problem that an existing grabbing device is single in function is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of camera modules, and in particular relates to a multifunctional visual positioning and grabbing device. Background Art

[0002] During the camera module assembly process, the chip needs to be packaged. In the current chip packaging process, accurate positioning and stable gripping of the chip are the key to ensuring the packaging quality. However, traditional gripping devices often have problems such as low positioning accuracy and unstable gripping, which affect the efficiency and quality of chip packaging; and existing chip gripping devices can only achieve the single function of gripping, and other processing of the chip (such as marking) requires additional equipment to complete, which not only has high production costs but also low efficiency. Utility Model Content

[0003] The purpose of the utility model is to provide a multifunctional visual positioning grabbing device, which can at least solve some of the defects existing in the prior art.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A multifunctional visual positioning grasping device comprises a supporting base, a motion control mechanism, a fixed block, a visual positioning module and a functional module, wherein the motion control mechanism is fixedly mounted on the supporting base, the fixed block is connected to the movable end of the motion control mechanism, the visual positioning module is connected to the fixed block, and the functional module is detachably connected to the fixed block via an adapter.

[0006] Furthermore, the motion control mechanism includes a rotating chassis, a power servo and a mechanical transmission arm, the rotating chassis is fixedly mounted on the upper surface of the support base, the mechanical transmission arm is mounted on the rotating chassis, the power servo is mounted on the lower part of the mechanical transmission arm, and the mechanical transmission arm is connected to the power servo by electrical signals.

[0007] Furthermore, the mechanical transmission arm includes a transmission link assembly 1, a transmission link assembly 2 and a servo mounting plate, there are two servo mounting plates, which are relatively fixedly installed on the rotating chassis; the transmission link assembly 1 includes a first link, a second link and a third link, the bottoms of the first link and the second link are hinged to one of the servo mounting plates, the upper end of the first link, the upper end of the second link and one end of the third link are hinged through a triangular connecting plate, and the other end of the third link is hinged to the fixed block; the transmission link assembly 2 includes a column, a fourth link and a fifth link, the column is located between the two servo mounting plates and is fixed on the rotating chassis, the bottom of the fourth link is hinged to the other servo mounting plate, the upper end of the fourth link is hinged to one end of the fifth link, and the fifth link is hinged to the upper end of the column, and the other end of the fifth link is hinged to the fixed block.

[0008] Furthermore, the visual positioning module is rotatably connected to the side of the fixed block via an adapter block, and the rotation angle of the adapter block relative to the fixed block is 0 to 90°.

[0009] Furthermore, the visual positioning module is a visual lens.

[0010] Furthermore, the adapter includes a fixed part, a plug-in part, and a fixing seat for fixing the plug-in part and the fixed part, one end of the fixed part is connected to the fixed block, and a card slot is provided on the end face of the other end, the plug-in part is installed on the functional module, and a card block matching the card slot of the fixed part is provided at the end of the plug-in part, the fixed seat is sleeved on the fixed part, and the plug-in part is fixedly connected to the fixed seat with threads.

[0011] Furthermore, a shock absorbing member is provided between the plug-in portion and the functional module, and the shock absorbing member includes two shock absorbing plates arranged opposite to each other and a shock absorbing ball provided between the two shock absorbing plates.

[0012] Furthermore, the functional module is a suction nozzle, a mechanical clamp or a marking pen.

[0013] Furthermore, the fixed block is a right-angled triangle block with a hollow middle, the visual positioning module and the functional module are respectively located on two right-angled sides of the right-angled triangle block, and the movable end of the motion control mechanism is hinged to the hypotenuse of the right-angled triangle block.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] The multifunctional visual positioning and grasping device provided by the utility model realizes high-precision positioning and grasping of chips through the cooperation of the visual positioning module and the motion control mechanism. At the same time, the functional module and the fixed block are designed to be detachably connected through an adapter to realize rapid replacement of the functional modules. Different functional modules can be selected according to different needs, thereby solving the problem of single function of existing grasping devices.

[0016] The present invention will be described in further detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model multifunctional visual positioning grabbing device;

[0018] Figure 2 It is a structural schematic diagram of the motion control mechanism in the utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure between the functional module and the fixed block in the utility model;

[0020] Figure 4 It is a cross-sectional view of the connection between the functional module and the fixed block in the utility model;

[0021] Figure 5 It is a structural schematic diagram of the plug-in portion of the transfer connector of the utility model.

[0022] Explanation of the reference numerals in the accompanying drawings: 1. Support base; 2. Rotating chassis; 3. Power servo; 4. Mechanical transmission arm; 5. Fixed block; 6. Visual positioning module; 7. Adapter; 8. Functional module; 9. Servo mounting plate; 10. First connecting rod; 11. Second connecting rod; 12. Triangular connecting plate; 13. Third connecting rod; 14. Fourth connecting rod; 15. Column; 16. Fifth connecting rod; 17. Fixed part; 18. Fixed seat; 19. Plug-in part; 20. Shock absorber; 21. Shock absorber plate; 22. Shock absorber ball; 23. Block. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a conflicting connection or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present utility model, unless otherwise specified, "plurality" means two or more.

[0027] like Figure 1 As shown, this embodiment provides a multifunctional visual positioning and grasping device, including a supporting base 1, a motion control mechanism, a fixed block 5, a visual positioning module 6 and a functional module 8, wherein the motion control mechanism is fixedly mounted on the supporting base 1, the fixed block 5 is connected to the active end of the motion control mechanism, the visual positioning module 6 is connected to the fixed block 5, and the functional module 8 is detachably connected to the fixed block 5 via an adapter 7; wherein, the visual positioning module 6 can optionally use a visual lens. During operation, the image information of the chip to be grasped is detected by the visual positioning module 6, and the motion control mechanism drives the functional module 8 to move according to the detection result of the visual positioning module 6, so that the functional module 8 is aligned with the chip to be grasped, thereby realizing high-precision positioning and grasping of the chip, saving labor costs and improving production efficiency; at the same time, the functional module 8 can be selected according to actual needs. For example, the functional module 8 can be selected but not limited to a suction nozzle, a mechanical clamp, a marking pen, etc. The suction nozzle can realize the adsorption and grasping function of the chip, the mechanical clamp can realize the mechanical clamping and grasping function of the chip, and the marking pen can realize the classification and marking function of the chip information. The adapter 7 can be used to realize the rapid replacement of functional modules 8 with different functions, so that the device has multi-functional characteristics and expands the application range of the device.

[0028] In an optional implementation, the visual positioning module 6 is rotatably connected to the side of the fixed block 5 via an adapter block, and the rotation angle of the adapter block relative to the fixed block 5 is 0 to 90 degrees. By rotating the visual positioning module 6, the angle of the visual positioning module 6 is adjusted, so that chips within a larger range can be visually positioned, further increasing the device's grasping range for chips. In this embodiment, the visual lens is adjusted to be vertically downward.

[0029] In an optional implementation, the fixed block 5 adopts a right-angled triangle block structure with a hollow middle. Specifically, the fixed block 5 includes two right-angled triangle side panels arranged opposite to each other and a bottom plate and a side plate respectively connecting two right-angled sides of the two right-angled triangle side panels. The visual positioning module 6 and the functional module 8 are respectively located on the two right-angled sides of the fixed block, and the movable end of the motion control mechanism is hinged to the hypotenuse of the fixed block 5. The fixed block structure of this embodiment is light in weight, which reduces the driving force required by the motion control mechanism to drive the fixed block to move, thereby reducing energy consumption.

[0030] As a specific implementation method, Figure 1 and Figure 2 As shown, the motion control mechanism includes a rotating chassis 2, a power steering gear 3 and a mechanical transmission arm 4. The rotating chassis 2 is fixedly mounted on the upper surface of the supporting base 1, the mechanical transmission arm 4 is mounted on the rotating chassis 2, the power steering gear 3 is mounted on the lower part of the mechanical transmission arm 4, and the mechanical transmission arm 4 is electrically connected to the power steering gear 3. The rotating chassis 2 rotates 360° in the horizontal plane, thereby driving the mechanical transmission arm 4 to rotate, so as to adjust the position of the visual positioning module 6 and the functional module 8 on the mechanical transmission arm 4 in the horizontal plane. The power steering gear 3 is used to drive the mechanical transmission arm 4 to move, so as to adjust the position of the visual positioning module 6 and the functional module 8 in the vertical plane. The mechanical transmission arm 4 is used to drive the visual positioning module 6 and the functional module 8 to move.

[0031] Optional implementations, such as Figure 2As shown, the mechanical transmission arm 4 includes a transmission link assembly 1, a transmission link assembly 2 and a servo mounting plate 9. There are two servo mounting plates 9, which are relatively fixedly installed on the rotating chassis 2, and the power servo 3 is installed on the servo mounting plate 9. In this embodiment, the stability and accuracy of the movement of the visual positioning module 6 and the functional module 8 driven by the mechanical transmission arm 4 are ensured by designing two sets of transmission links, namely the transmission link assembly 1 and the transmission link assembly 2. Specifically, the transmission connecting rod assembly 1 includes a first connecting rod 10, a second connecting rod 11 and a third connecting rod 13. The bottoms of the first connecting rod 10 and the second connecting rod 11 are hinged to one of the steering gear mounting plates 9. The upper end of the first connecting rod 10, the upper end of the second connecting rod 11 and one end of the third connecting rod 13 are hinged through a triangular connecting plate 12. The ends of the first connecting rod 10, the second connecting rod 11 and the third connecting rod 13 are respectively connected to the three corners of the triangular connecting plate 12. The three are hinged through the triangular connecting plate 12 to ensure the stability of the three during movement. The other end of the third connecting rod 13 is hinged to the fixed block 5; the second connecting rod 11 is controlled to rotate by the power steering gear 3 on the steering gear mounting plate 9. Since the first connecting rod 10, the second connecting rod 11 and the third connecting rod 13 are hinged together through the triangular connecting plate 12, the movement of the second connecting rod 11 drives the first connecting rod 10 and the third connecting rod 13 to rotate accordingly. The movement of the third connecting rod 13 can drive the fixed block 5 to move up and down accordingly; similarly, the transmission connecting rod assembly 2 includes a column 15, a fourth connecting rod 14 and a fifth connecting rod 16, the column 15 is located between the two steering gear mounting plates 9 and is fixed on the rotating chassis 2, the bottom of the fourth connecting rod 14 is hinged to the other steering gear mounting plate 9, the upper end of the fourth connecting rod 14 is hinged to one end of the fifth connecting rod 16, and the fifth connecting rod 16 is hinged to the upper end of the column 15, and the other end of the fifth connecting rod 16 is hinged to the fixed block 5; the fourth connecting rod 14 is controlled to rotate by the power steering gear 3, thereby driving the fifth connecting rod 16 to rotate accordingly, and the movement of the fifth connecting rod 16 can also drive the fixed block 5 to move up and down accordingly, and the setting of the column 15 supports the movement of the fifth connecting rod 16, thereby ensuring the stability of the movement of the fixed block 5 driven by the fifth connecting rod 16. Preferably, in this embodiment, the first connecting rod 10 is arranged parallel to the column 15, the second connecting rod 11 is arranged parallel to the fourth connecting rod 14, the third connecting rod 13 is arranged parallel to the fifth connecting rod 16, and the third connecting rod 13 and the fifth connecting rod 16 are respectively connected to the two ends of the hypotenuse of the fixing block 5.

[0032] As a specific implementation method, Figure 3 , Figure 4 and Figure 5As shown, the adapter 7 includes a fixing portion 17, a plug-in portion 19 and a fixing seat 18 for fixing the plug-in portion 19 and the fixing portion 17. One end of the fixing portion 17 is connected to the bottom plate of the fixing block 5, and a card slot is provided on the other end surface. The plug-in portion 19 is installed on the functional module 8. A card block 23 matching the card slot of the fixing portion 17 is provided at the end of the plug-in portion 19. The fixing seat 18 is sleeved on the fixing portion 17, and the plug-in portion 19 is fixedly connected to the fixing seat 18 by threads. Different functional modules 8 used in conjunction with the device are all provided with a plug-in portion 19. When replacing a different functional module 8, the fixing seat 18 is rotated to move the fixing seat 18 upward along the fixing portion 17, thereby releasing the threaded connection between the fixing seat 18 and the plug-in portion 19, and then the plug-in portion 19 is pulled out from the card slot of the fixing portion 17 to remove the functional module 8; and when installing another functional module 8, it is only necessary to insert the card block 23 of the plug-in portion 19 on the functional module 8 into the card slot of the fixing portion 17, and then move the fixing seat 18 downward, rotate the fixing seat 18, and make the fixing seat 18 and the plug-in portion 19 threadedly fixedly connected, thereby realizing the rapid replacement of different functional modules 8.

[0033] Furthermore, a shock absorbing member 20 is provided between the plug-in portion 19 and the functional module 8, and the shock absorbing member 20 is used to protect the functional module 8 and extend the service life of the device; specifically, the shock absorbing member 20 includes two shock absorbing plates 21 arranged relatively to each other and a shock absorbing ball 22 arranged between the two shock absorbing plates 21. Preferably, a plurality of shock absorbing balls 22 can be provided. In the present embodiment, four are provided, which are respectively located at the four corners of the shock absorbing plate 21.

[0034] To sum up, the multifunctional visual positioning and grasping device provided by the utility model realizes high-precision positioning and grasping of chips through the cooperation of the visual positioning module and the motion control mechanism. At the same time, the functional module and the fixed block are designed to be detachably connected through an adapter to realize the rapid replacement of the functional module. Different functional modules can be selected according to different needs, thereby solving the problem of single function of the existing grasping device.

[0035] The above examples are merely illustrative of the present invention and do not constitute a limitation on the protection scope of the present invention. All designs that are identical or similar to the present invention fall within the protection scope of the present invention.

Claims

1. A multifunctional visual positioning and grasping device, characterized in that: It includes a supporting base, a motion control mechanism, a fixed block, a visual positioning module and a functional module. The motion control mechanism is fixedly installed on the supporting base, the fixed block is connected to the active end of the motion control mechanism, the visual positioning module is connected to the fixed block, and the functional module is detachably connected to the fixed block via an adapter.

2. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The motion control mechanism includes a rotating chassis, a power steering gear and a mechanical transmission arm. The rotating chassis is fixedly mounted on the upper surface of the support base, the mechanical transmission arm is mounted on the rotating chassis, the power steering gear is mounted on the lower part of the mechanical transmission arm, and the mechanical transmission arm is connected to the power steering gear by electrical signals.

3. The multifunctional visual positioning and grasping device according to claim 2, characterized in that: The mechanical transmission arm includes a transmission link assembly 1, a transmission link assembly 2 and a steering gear mounting plate. There are two steering gear mounting plates, which are relatively fixedly installed on the rotating chassis; the transmission link assembly 1 includes a first link, a second link and a third link. The bottoms of the first link and the second link are hinged to one of the steering gear mounting plates, the upper end of the first link, the upper end of the second link and one end of the third link are hinged through a triangular connecting plate, and the other end of the third link is hinged to the fixed block; the transmission link assembly 2 includes a column, a fourth link and a fifth link. The column is located between the two steering gear mounting plates and is fixed on the rotating chassis. The bottom of the fourth link is hinged to the other steering gear mounting plate, the upper end of the fourth link is hinged to one end of the fifth link, and the fifth link is hinged to the upper end of the column, and the other end of the fifth link is hinged to the fixed block.

4. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The visual positioning module is rotatably connected to the side of the fixed block through an adapter block, and the rotation angle of the adapter block relative to the fixed block is 0 to 90 degrees.

5. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The visual positioning module is a visual lens.

6. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The adapter includes a fixing part, a plug-in part, and a fixing seat for fixing the plug-in part and the fixing part. One end of the fixing part is connected to the fixing block, and a card slot is provided on the end surface of the other end. The plug-in part is installed on the functional module, and a card block matching the card slot of the fixing part is provided at the end of the plug-in part. The fixing seat is sleeved on the fixing part, and the plug-in part is fixedly connected to the fixing seat with threads.

7. The multifunctional visual positioning and grasping device according to claim 6, characterized in that: A shock absorbing member is arranged between the plug-in portion and the functional module, and the shock absorbing member comprises two shock absorbing plates arranged opposite to each other and a shock absorbing ball arranged between the two shock absorbing plates.

8. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The functional module is a suction nozzle, a mechanical clamp or a marking pen.

9. The multifunctional visual positioning and grasping device according to claim 1, characterized in that: The fixed block is a right-angled triangle block with a hollow middle, the visual positioning module and the functional module are respectively located on two right-angled sides of the right-angled triangle block, and the movable end of the motion control mechanism is hinged to the hypotenuse of the right-angled triangle block.

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