Pick-and-place mechanism, pick-and-place unit and chip carrying device

Abstract

The utility model provides a pick-and-place mechanism, a pick-and-place unit and a chip carrying device, and relates to the technical field of semiconductor chip carrying, the pick-and-place mechanism provided by the utility model comprises a driving assembly, a fixed seat, a plate, a suction nozzle seat, a guide rail, a connecting seat, a suction nozzle assembly and an elastic piece; one end of the fixing seat is provided with a first installation position, the other end of the fixing seat is connected with one end of the suction nozzle seat, the other end of the suction nozzle seat is in sliding fit with the suction nozzle assembly, and a guide rail extending vertically is installed on the suction nozzle seat. The driving assembly and the plate are installed on the fixing base and the suction nozzle base, the power output end of the driving assembly is connected with the connecting base, the connecting base is in sliding fit with the guide rail through the sliding block and connected with the suction nozzle assembly, the connecting base is provided with a second installation position, one end of the elastic piece is connected with the first installation position, and the other end of the elastic piece is connected with the second installation position. According to the pick-and-place mechanism, the number of parts can be reduced, the pick-and-place mechanism is convenient to assemble and maintain, the rigidity of the pick-and-place mechanism is improved, the tail end shaking phenomenon is effectively relieved, and the stability of long-term running is sufficient.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductor chip transportation, in particular to a pick-and-place mechanism, a pick-and-place unit and a chip transportation device. Background Art

[0002] In today's thriving integrated circuit industry chain, integrated circuit test sorting machines are important equipment for the packaging and testing of integrated circuit products. Their packaging and testing efficiency and the range of packaging and testing products are important links in ensuring the production efficiency of the industry chain. The sorting and testing of integrated circuit products presents the characteristics of diverse product types, high precision requirements, stable production needs, and high production capacity requirements. Therefore, the performance of the pick-and-place robot used to pick and place products in the sorting machine is particularly important.

[0003] The existing chip handling device can realize variable spacing of the nozzle in the X direction. The exquisite structure is widely used in the automated process of simultaneous chip handling. However, the common chip handling devices on the market currently have the following problems: the number of supporting parts of the pick-and-place mechanism in the chip handling device is too large, and the supporting points of each supporting part are few. The supporting parts only realize the support limit function for one or two structures on it, which makes the pick-and-place mechanism difficult to assemble and maintain. At the same time, due to the large number of connection points in the pick-and-place mechanism, it is easy to cause the pick-and-place mechanism to be insufficiently rigid, and there is a phenomenon of end shaking, and the long-term running stability is insufficient. Utility Model Content

[0004] The utility model aims to provide a pick-and-place mechanism, a pick-and-place unit and a chip transport device, which can reduce the number of parts, facilitate the assembly and maintenance of the pick-and-place mechanism, improve the rigidity of the pick-and-place mechanism, effectively alleviate the phenomenon of terminal shaking, and ensure long-term running stability.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] In a first aspect, the utility model provides a pick-and-place mechanism, including a drive assembly, a fixing seat, a plate, a nozzle seat, a guide rail, a connecting seat, a nozzle assembly and an elastic member;

[0007] One end of the fixing seat has a mounting position 1, and the other end is connected to one end of the nozzle seat, the other end of the nozzle seat is slidably matched with the nozzle assembly, and the nozzle seat is provided with the guide rail extending vertically;

[0008] The driving assembly and the plate are both installed on the fixing seat and the nozzle seat. The power output end of the driving assembly is connected to the connecting seat. The connecting seat is slidably matched with the guide rail through a slider and is connected to the nozzle assembly. The connecting seat has a mounting position two. One end of the elastic member is connected to the mounting position one, and the other end thereof is connected to the mounting position two.

[0009] Furthermore, the connection seat further comprises a compression spring installation position and a positioning protrusion, the pick-and-place mechanism comprises a sensor installed on the plate, and the positioning protrusion cooperates with the sensor;

[0010] And / or, the connecting seat includes an integrally formed connecting block, and the connecting block integrates the second mounting position, the compression spring mounting position and the positioning protrusion.

[0011] Furthermore, the driving assembly includes a first motor, an active member, a transmission member and a driven member, the first motor is connected to the fixed seat, the active member is connected to the first motor, the driven member is connected to the nozzle seat, the transmission member is connected between the active member and the driven member, and the transmission member is the power output end of the driving assembly.

[0012] Furthermore, the fixing seat includes an integrally formed fixing plate, on which the first mounting position, a motor mounting position for mounting the first motor, and a nozzle seat mounting position for mounting the nozzle seat are integrated.

[0013] Furthermore, the nozzle seat includes an integrally formed mounting rod, the mounting rod is integrated with a mounting platform and a guide seat that slidably cooperates with the nozzle assembly, and the guide seat is integrated with a first reinforcing rib mounting position.

[0014] Furthermore, one end of the nozzle seat that is slidably matched with the nozzle assembly is connected to the follower, and the guide rail is connected between the two ends of the nozzle seat.

[0015] Furthermore, one end of the connecting seat is slidably matched with the guide rail through the slider and is provided with the compression spring mounting position, and the compression spring mounting position is connected to the suction nozzle assembly through a connecting rod, and the other end of the connecting seat is provided with the vertically extending positioning protrusion, and the two ends of the connecting seat are connected to the power output end of the driving assembly and have the second mounting position.

[0016] In a second aspect, the utility model further provides a pick-and-place unit, comprising a connecting plate, a first reinforcing rib, and two pick-and-place mechanisms described in the above scheme, wherein:

[0017] One ends of the two nozzle seats are connected by the connecting plate, and the other ends are connected by the first reinforcing rib. The connecting plate is connected to one end of the nozzle seat close to the driving assembly, and the first reinforcing rib is connected to one end of the nozzle seat close to the nozzle assembly.

[0018] In a third aspect, the utility model further provides a chip handling device, comprising a support seat, a pitch-changing mechanism, and a pick-and-place unit as described in the above scheme, wherein the pitch-changing mechanism is installed on the support seat, and a plurality of the pick-and-place units are arranged side by side on the support seat, wherein:

[0019] One of the pick-and-place units is fixedly connected to the support seat, and the connecting plates in the remaining pick-and-place units are connected to the distance-changing mechanism and slidably cooperate with the support seat. The distance-changing mechanism is used to drive the pick-and-place units connected thereto to slide relative to the support seat.

[0020] Furthermore, the support seat is provided with a plurality of slide rails arranged opposite to and in parallel, the extension direction of the slide rails is parallel to the arrangement direction of the plurality of pick-and-place units, and the pick-and-place units connected to the variable pitch mechanism are slidably matched with the plurality of slide rails.

[0021] Furthermore, the pitch changing mechanism includes a second motor and a transmission structure, the second motor is installed on the support seat through a motor mounting seat, one end of the transmission structure is connected to the second motor, and the other end is installed on the support seat through a follower mounting seat, and the transmission structure is connected to the connecting plate.

[0022] Furthermore, a second reinforcing rib is connected between the motor mounting seat and the driven member mounting seat.

[0023] The pick-and-place mechanism, pick-and-place unit and chip handling device provided by the utility model can produce the following beneficial effects:

[0024] In the pick-and-place mechanism provided by the first aspect of the utility model, the fixed seat mainly integrates the functions of fixing the drive assembly, installing the elastic part, connecting the nozzle seat and connecting the plate; the connecting seat mainly integrates the functions of connecting the power output end of the drive assembly and sliding cooperation with the guide rail through the slider; the nozzle seat mainly integrates the functions of fixing the drive assembly, fixing the guide rail and sliding cooperation with the nozzle assembly.

[0025] Compared with the prior art, the fixed seat, nozzle seat and connecting seat in the pick-and-place mechanism provided by the first aspect of the utility model integrate multiple functions of the original supporting parts, reduce the number of parts, facilitate the assembly and maintenance of the pick-and-place mechanism, reduce the number of connection points in the pick-and-place mechanism, improve the rigidity of the pick-and-place mechanism, effectively alleviate the phenomenon of terminal shaking, and ensure long-term treadmill stability.

[0026] Compared with the prior art, the pick-and-place unit provided in the second aspect of the utility model includes a connecting plate, a first reinforcing rib and two pick-and-place mechanisms. The two ends of the two nozzle seats are respectively connected by the connecting plate and the first reinforcing rib, which can effectively strengthen the structure of the pick-and-place unit, ensure stability during operation, and reduce shaking.

[0027] Compared with the prior art, the chip transport device provided in the third aspect of the utility model includes a support base, a distance changing mechanism and multiple pick-and-place units. The pick-and-place units can slide relative to the support base under the drive of the distance changing mechanism to achieve distance change. The above-mentioned chip transport device has the advantages of small end shaking and sufficient long-term running stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of a three-dimensional structure of a pick-and-place mechanism provided by an embodiment of the utility model at a first viewing angle;

[0030] Figure 2 A schematic diagram of the three-dimensional structure of a pick-and-place mechanism provided by an embodiment of the utility model at a second viewing angle;

[0031] Figure 3 A schematic diagram of a three-dimensional structure of a fixing seat provided in an embodiment of the utility model;

[0032] Figure 4 A schematic diagram of the three-dimensional structure of a nozzle holder provided in an embodiment of the utility model;

[0033] Figure 5 A three-dimensional structural schematic diagram of a connecting socket provided in an embodiment of the utility model;

[0034] Figure 6 A schematic diagram of a three-dimensional structure of a pick-and-place unit provided in an embodiment of the utility model;

[0035] Figure 7 A schematic diagram of the three-dimensional structure of a chip transport device provided by an embodiment of the utility model;

[0036] Figure 8 A schematic diagram of the three-dimensional structure of a driving assembly, a connecting plate and a slide rail provided in an embodiment of the utility model when they cooperate;

[0037] Fig. 9 A schematic diagram of the three-dimensional structure of a top structure of a support base provided in an embodiment of the utility model.

[0038] Icons: 1-driving assembly; 11-first motor; 12-active element; 13-transmission element; 14-driven element; 2-fixed seat; 21-mounting position 1; 22-motor mounting position; 23-nozzle seat mounting position; 3-plate; 4-nozzle seat; 41-mounting table; 42-guide seat; 421-first reinforcing rib mounting position; 5-guide rail; 6-connecting seat; 61-mounting position 2; 62-compression spring mounting position; 63-arrival protrusion; 7-nozzle assembly; 8 - slider; 9 - sensor; 10 - connecting rod; 011 - connecting plate; 012 - first reinforcing rib; 013 - supporting seat; 014 - pitch changing mechanism; 0141 - second motor; 0142 - driving wheel set; 0143 - driven wheel set; 0144 - first belt; 0145 - second belt; 015 - slide rail; 016 - motor mounting seat; 017 - driven member mounting seat; 018 - second reinforcing rib; 019 - compression spring; 020 - elastic member. DETAILED DESCRIPTION

[0039] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] 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, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0043] The first aspect of the present invention provides a pick-and-place mechanism. Figures 1 to 5 As shown, it includes a driving assembly 1, a fixing seat 2, a plate 3, a nozzle seat 4, a guide rail 5, a connecting seat 6, a nozzle assembly 7 and an elastic member 020;

[0044] One end of the fixing seat 2 has a mounting position 21, and the other end is connected to one end of the nozzle seat 4. The other end of the nozzle seat 4 is slidably matched with the nozzle assembly 7. A vertically extending guide rail 5 is installed on the nozzle seat 4.

[0045] The driving assembly 1 and the plate 3 are both installed on the fixed seat 2 and the nozzle seat 4. The power output end of the driving assembly 1 is connected to the connecting seat 6. The connecting seat 6 is slidably matched with the guide rail 5 through the slider 8 and is connected to the nozzle assembly 7. The connecting seat 6 has a mounting position 2 61. One end of the elastic member 020 is connected to the mounting position 1 21, and the other end is connected to the mounting position 2 61.

[0046] When using, Figure 1 As shown, the power output end of the driving assembly 1 drives the connecting seat 6 to slide relative to the guide rail 5, so that the connecting seat 6 drives the suction nozzle assembly 7 to slide relative to the suction nozzle seat 4, thereby realizing the up and down movement of the suction nozzle assembly 7. Since the fixing seat 2 has a mounting position 1 21 and the connecting seat 6 has a mounting position 2 61, an elastic member 020 can be connected between the mounting position 1 21 and the mounting position 2 61. The elastic member 020 can be a structure with a certain elasticity such as a tension spring or an elastic band. Preferably, the elastic member 020 adopts a tension spring. In the case of a sudden power failure of the driving assembly 1, the tension spring can pull the connecting seat 6 to prevent the connecting seat 6 and the suction nozzle assembly 7 from falling directly.

[0047] In the pick-and-place mechanism provided in the above embodiment, the fixed seat 2 integrates the functions of fixing the drive component 1, installing the elastic member 020, connecting the nozzle seat 4 and connecting the plate 3; the connecting seat 6 integrates the power output end of the connecting drive component 1 and the function of slidingly cooperating with the guide rail 5 through the slider 8; the nozzle seat 4 mainly integrates the functions of fixing the drive component 1, fixing the guide rail 5 and slidingly cooperating with the nozzle assembly 7.

[0048] Compared with the prior art, the fixed seat 2, the nozzle seat 4 and the connecting seat 6 in the pick-and-place mechanism provided in the first aspect of the utility model all integrate the functions of multiple original supporting parts, which reduces the number of parts and facilitates the assembly and maintenance of the pick-and-place mechanism. At the same time, it can reduce the connection points in the pick-and-place mechanism, improve the rigidity of the pick-and-place mechanism, effectively alleviate the phenomenon of terminal shaking, and ensure long-term treadmill stability.

[0049] In an optional embodiment, if Figure 5 As shown, the connection seat 6 also includes a compression spring installation position 62 and a positioning protrusion 63 , and the pick-and-place mechanism includes a sensor 9 installed on the plate 3 , and the positioning protrusion 63 cooperates with the sensor 9 .

[0050] In the above embodiment, since the connection seat 6 has a position-in-place protrusion 63 that cooperates with the sensor 9 on the plate 3, when the driving assembly 1 drives the connection seat 6 to move up to the position-in-place protrusion 63 triggering the sensor 9, it is proved that the connection seat 6 and the suction nozzle assembly 7 have moved up to the position, which is convenient for controlling the driving assembly 1 to stop. In addition, the compression spring 019 can be installed on the compression spring installation position 62. When the connection seat 6 moves up to an excessive position due to misoperation, the compression spring 019 can contact the structure above the connection seat 6, thereby playing a buffering role and preventing the connection seat 6 from hard collision with the structure above.

[0051] In an optional embodiment, if Figure 5 As shown, the connecting seat includes an integrally formed connecting block, which integrates a mounting position 2 61, a compression spring mounting position 62 and a positioning protrusion 63. The positioning protrusion 63 can cooperate with the sensor 9 on the plate 3, and the compression spring mounting position 62 can install the compression spring 019.

[0052] The above-mentioned connecting seat 6 not only integrates the power output end of the connecting drive component 1 and the function of sliding cooperation with the guide rail 5 through the slider, but also integrates the compression spring installation position 62 and the positioning protrusion 63 that cooperates with the sensor. It has better integration, reduces the number of parts, and is more convenient for assembly and maintenance of the pick-up and place mechanism.

[0053] In an optional embodiment, if Figures 1 to 3 As shown, the fixing seat 2 has one end with a mounting position 21 connected to the plate 3, as shown in FIG. Figure 1 As shown, the fixing seat 2 is provided with a mounting position 21 at one end which is the top of the fixing seat 2, the mounting position 21 can be connected to a mounting column, one end of the elastic member 020 is hooked in the through hole at the end of the mounting column, and the fixing seat 2 and the plate 3 can be connected by connecting members such as screws.

[0054] In an optional embodiment, if Figure 1 As shown, a driving assembly 1 is installed at one end of the fixing seat 2 connected to the nozzle seat 4.

[0055] Specifically, the fixing seat 2 and the nozzle seat 4 as well as the fixing seat and the driving assembly 1 can be connected by connecting members such as screws.

[0056] In an optional embodiment, the fixing seat 2 includes an integrally formed fixing plate, on which a mounting position 21, a motor mounting position 22 for mounting the first motor 11 in the driving assembly 1, and a nozzle seat mounting position 23 for mounting the nozzle seat 4 are integrated.

[0057] In an optional embodiment, if Figure 3 As shown, the fixing plate includes a straight portion and a bent portion; the straight portion is used to install the nozzle holder 4 and the first motor 11 in the driving assembly 1, and the motor mounting position 22 for mounting the first motor 11 is higher than the nozzle holder mounting position 23 for mounting the nozzle holder 4; the bent portion is bent in an L shape, one end of the bent portion is connected to the top of the straight portion, and the other end is connected to the plate 3 and has a mounting position 21, and a transmission structure connected to the first motor 11 can be arranged below the bent portion. The above arrangement allows the plate 3 and the elastic member 020 to be located on the side of the transmission structure, so as not to interfere with the transmission structure, thereby saving installation space.

[0058] Specifically, the straight portion and the bent portion adopt an integrated structure.

[0059] In an optional implementation, the plate 3 may be a sheet metal used for routing.

[0060] In an optional embodiment, the driving component 1 includes a first motor 11, an active member 12, a transmission member 13 and a driven member 14, the first motor 11 is connected to one side of the fixed base 2, the active member 12 is connected to the first motor 11 and is located on the other side of the fixed base 2, the driven member 14 is connected to the nozzle base 4, the transmission member 13 is connected between the active member 12 and the driven member 14, and the transmission member 13 is the power output end of the driving component 1.

[0061] When in use, the power output shaft of the first motor 11 drives the active member 12 to rotate, and the power of the active member 12 is transmitted to the driven member 14 through the transmission member 13. In this process, since the transmission member 13 is the power output end of the drive assembly 1, that is, the transmission member 13 is connected to the connecting seat 6, it can drive the connecting seat 6 to slide up and down relative to the guide rail 5.

[0062] In the above embodiment, the first motor 11 and the follower 14 in the driving component 1 are supported by the cooperation of the fixed seat 2 and the nozzle seat 4, so that the driving component 1 has a certain length dimension in the height direction, thereby realizing the up and down movement of the connecting seat 6 to meet the action requirements when taking and placing the chip.

[0063] Among them, the transmission structure composed of the active member 12, the transmission member 13 and the driven member 14 can be a chain transmission structure or a belt transmission structure. In a preferred embodiment, in order to facilitate the connection between the connecting seat 6 and the transmission member 13, the transmission structure is a belt transmission structure, and the connecting seat 6 is connected to a pressure plate through connecting members such as screws, and a clamping channel for clamping the transmission member 13 is formed between the pressure plate and the connecting seat 6.

[0064] In an optional embodiment, one end of the nozzle holder 4 and the nozzle assembly 7 that are slidably matched is connected to the follower 14, such as Figure 1As shown, the nozzle holder 4 can be slidably matched with the nozzle assembly 7 on the left side and connected with the follower 14 on the right side.

[0065] The above arrangement makes it difficult for the nozzle assembly 7 to interfere with the transmission structure in the driving assembly 1, and the layout is more reasonable.

[0066] In an optional embodiment, if Figure 1 As shown, the guide rail 5 is connected between the two ends of the nozzle seat 4, and the guide rail 5 is preferably installed on the side where the nozzle seat 4 is connected to the follower 14, which is more convenient for cooperating with the connecting seat 6 to guide the movement of the connecting seat 6.

[0067] In an optional embodiment, the nozzle seat 4 includes an integrally formed mounting rod, the mounting rod is integrated with a mounting platform 41 and a guide seat 42 that slidably cooperates with the nozzle assembly 7, and the guide seat 42 is integrated with a first reinforcing rib mounting position 421.

[0068] Specifically, the rod body, the mounting platform 41 and the guide seat 42 thereon have an integrated structure.

[0069] In an optional embodiment, if Figure 1 and Figure 5 As shown, one end of the connecting seat 6 is slidably matched with the guide rail 5 through the slider 8 and is provided with a compression spring mounting position 62. The compression spring mounting position 62 is connected to the suction nozzle assembly 7 through the connecting rod 10. The other end of the connecting seat 6 is provided with a vertically extending positioning protrusion 63. The two ends of the connecting seat 6 are connected to the power output end of the driving assembly 1 and are provided with a second mounting position 61.

[0070] In the above-mentioned embodiment, the positions of the left end, the right end and the middle part of the connecting seat 6 are fully utilized; the left end of the connecting seat 6 is provided with a compression spring mounting position 62, which is used to install the compression spring and is also used to connect the connecting rod 10 and the slider 8; the middle part of the connecting seat 6 is used to connect with the transmission member 13 in the driving assembly 1; the right end of the connecting seat 6 is provided with a positioning protrusion 63, which can cooperate with the sensor 9 to detect whether the suction nozzle assembly 7 connected to the connecting seat 6 has moved up into position.

[0071] Specifically, the connection seat 6 and the positioning protrusion 63 thereon have an integrated structure.

[0072] The sensor 9 may be an infrared sensor, a grating sensor or the like.

[0073] In summary, the fixed seat 2, the nozzle seat 4 and the connecting seat 6 in the pick-and-place mechanism provided in the above embodiment are highly integrated and can provide installation positions for various parts, which reduces the number of supporting parts to a certain extent, facilitates the assembly and maintenance of the pick-and-place mechanism, and can also alleviate the phenomenon of terminal shaking, ensuring long-term treadmill stability.

[0074] An embodiment of the second aspect of the present utility model provides a pick-and-place unit. The pick-and-place unit provided by the embodiment of the second aspect of the present utility model includes a connecting plate 011, a first reinforcing rib 012, and two of the above-mentioned pick-and-place mechanisms. Among the two pick-and-place mechanisms:

[0075] One ends of two suction nozzle seats 4 are connected by the connecting plate 011, and the other ends are connected by the first reinforcing rib 012. The connecting plate 011 is connected to one end of the suction nozzle seat 4 close to the driving assembly 1, and the first reinforcing rib 012 is connected to one end of the suction nozzle seat 4 close to the suction nozzle assembly 7.

[0076] In the pick-and-place unit provided by the above embodiment, the suction nozzle seats 4 of the two pick-and-place mechanisms are connected by the connecting plate 011 and the first reinforcing rib 012. As Figure 6 shown, a structure similar to a "mouth" shape is formed among the connecting plate 011, the first reinforcing rib 012, and the two pick-and-place mechanisms, making the structures of the two pick-and-place mechanisms more stable, the strength of the pick-and-place unit higher, and the pick-and-place accuracy higher.

[0077] In addition, in the above embodiment, the suction nozzle seat 4 also functions to install the connecting plate 011 and the first reinforcing rib 012, further enhancing the functional integration of the suction nozzle seat 4.

[0078] When the suction nozzle seat 4 includes an integrally formed mounting rod, in an alternative embodiment, as Figure 4 shown, the mounting rod includes a rod body. The top end of the rod body protrudes with a mounting platform 41 in a direction away from the transmission structure in the driving assembly 1. The mounting platform 41 mounts the connecting plate 011. The bottom end of the rod body protrudes with a guide seat 42 in a direction away from the transmission structure in the driving assembly 1. The guide seat 42 has a guide hole. The suction nozzle assembly 7 passes through the guide hole and is in sliding fit with the guide hole. The guide seat 42 is also integrated with a first reinforcing rib mounting position 421 for mounting the first reinforcing rib 012.

[0079] Both between the mounting platform 41 and the connecting plate 011 and between the guide seat 42 and the first reinforcing rib 012 can be connected by connecting members such as screws.

[0080] An embodiment of the third aspect of the present utility model provides a chip handling device. As Figure 7 shown, the chip handling device provided by the embodiment of the third aspect of the present utility model includes a support seat 013, a pitch-changing mechanism 014, and the above-mentioned pick-and-place unit. The pitch-changing mechanism 014 is mounted on the support seat 013, and a plurality of pick-and-place units are arranged side by side on the support seat 013. Among them:

[0081] One pick-and-place unit is fixedly connected to the support seat 013 , and the connecting plates 011 in the other pick-and-place units are connected to the variable pitch mechanism 014 and slidably cooperate with the support seat 013 . The variable pitch mechanism 014 is used to drive the pick-and-place units connected thereto to slide relative to the support seat 013 .

[0082] When the chip transport device provided in the above embodiment needs to change the distance, the pick-and-place unit fixedly connected to the support seat 013 is fixed, and the remaining pick-and-place units slide relative to the support seat 013 under the drive of the distance changing mechanism 014 to reduce or increase the distance between adjacent pick-and-place units.

[0083] The chip transport device provided in the embodiment of the third aspect of the utility model includes multiple pick-and-place units. The pick-and-place units can slide relative to the support seat 013 driven by the distance changing mechanism 014 to achieve distance changing. The above-mentioned chip transport device has the advantages of small end shaking and sufficient long-term running stability.

[0084] In an optional embodiment, a plurality of relatively and parallel slide rails 015 are provided on the support seat 013 , the extension direction of the slide rails 015 is parallel to the arrangement direction of the plurality of pick-and-place units, and the pick-and-place units connected to the variable pitch mechanism 014 slidably cooperate with the plurality of slide rails 015 .

[0085] In the above embodiment, each slide rail 015 can guide the pick-and-place unit connected to the pitch-changing mechanism 014, thereby effectively reducing the shaking amount of the pick-and-place unit after installation.

[0086] Specifically, the slide rails 015 can be configured as two, three, four or five.

[0087] In a preferred embodiment, Figure 8 As shown, the slide rail 015 can be configured as two, in the pick-and-place unit connected to the variable distance mechanism 014, as shown in FIG. Figure 6 As shown, two sliders may be connected to the bottom end of the connecting plate 011 , and the two sliders are respectively slidably matched with the two slide rails 015 in a one-to-one correspondence.

[0088] It should be noted that any structure that can drive the pick-and-place unit to move and change the pitch can be the pitch-changing mechanism 014 mentioned in the above embodiment. For example, the pitch-changing mechanism 014 includes a camshaft, and the pick-and-place unit cooperates with the guide groove on the camshaft. The distance between the pick-and-place units is changed by the rotation of the camshaft. Alternatively, the pitch-changing mechanism 014 includes a belt mechanism, and the pick-and-place unit is connected to the belt in the belt mechanism. The distance between the pick-and-place units is changed by the movement of the belt.

[0089] In an optional embodiment, if Fig. 9As shown, the pitch changing mechanism 014 includes a second motor 0141 and a transmission structure. The second motor 0141 is installed on the support seat 013 through a motor mounting seat 016. One end of the transmission structure is connected to the power output shaft of the second motor 0141, and the other end is installed on the support seat 013 through a follower mounting seat 017. The transmission structure is connected to the connecting plate 011.

[0090] In the above embodiment, the second motor 0141 provides power for the transmission structure, and the transmission structure is used to achieve the variable pitch of each pick-and-place unit.

[0091] In an optional embodiment, if Figure 8 As shown, the transmission structure includes a driving wheel group 0142, a driven wheel group 0143, a first belt 0144 and a second belt 0145. The second motor 0141 drives the driving wheel group 0142 to rotate, and drives the driven wheel group 0143 to rotate through the first belt 0144 and the second belt 0145.

[0092] Specifically, Figure 8 For example, the driving wheel set 0142 includes two driving wheels, one large and one small, which rotate synchronously. Correspondingly, the driven wheel set 0143 includes two driven wheels, one large and one small, which rotate synchronously. The large driving wheel is connected to the large driven wheel through a first belt 0144, and the small driving wheel is connected to the small driven wheel through a second belt 0145. When the driving wheel set 0142 rotates one circle, the moving distance of the first belt 0144 is twice the moving distance of the second belt 0145.

[0093] like Figure 8 As shown, there are four pick-and-place units, each of which has a connecting plate 011; the leftmost connecting plate 011 is connected to the top of the second belt 0145; the second connecting plate 011 from the left is fixedly connected to the support seat 013; since the distance moved by the third connecting plate 011 from the left relative to the second connecting plate 011 from the left during the pitch change process is equal to the distance moved by the leftmost connecting plate 011 relative to the second connecting plate 011 from the left, the third connecting plate 011 from the left is connected to the bottom end of the second belt 0145, so that the third connecting plate 011 from the left and the leftmost connecting plate 011 move the same distance but in opposite directions; the rightmost connecting plate 011 is connected to the bottom end of the first belt 0144, so that the moving distance of the rightmost connecting plate 011 is equal to twice the moving distance of the third connecting plate 011 from the left.

[0094] In an optional embodiment, if Fig. 9 As shown, a second reinforcing rib 018 is connected between the motor mounting seat 016 and the driven member mounting seat 017. The second reinforcing rib 018 can effectively prevent the support seat 013 from bending, ensure the position accuracy of the nozzle assembly 7 on the support seat 013 when the spacing is changed, and accurately pick and place the chip.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A pick-and-place mechanism, characterized in that: It comprises a driving assembly (1), a fixing seat (2), a plate (3), a nozzle seat (4), a guide rail (5), a connecting seat (6), a nozzle assembly (7) and an elastic member (020); One end of the fixing seat (2) has a mounting position (21), and the other end is connected to one end of the suction nozzle seat (4), the other end of the suction nozzle seat (4) is slidably matched with the suction nozzle assembly (7), and the suction nozzle seat (4) is provided with the guide rail (5) extending vertically; The driving assembly (1) and the plate (3) are both mounted on the fixing seat (2) and the nozzle seat (4); the power output end of the driving assembly (1) is connected to the connecting seat (6); the connecting seat (6) is slidably matched with the guide rail (5) through a slider (8) and is connected to the nozzle assembly (7); the connecting seat (6) has a second mounting position (61); one end of the elastic member (020) is connected to the first mounting position (21), and the other end thereof is connected to the second mounting position (61).

2. The pick-and-place mechanism according to claim 1, characterized in that: The connecting seat (6) further comprises a compression spring mounting position (62) and a positioning protrusion (63); the pick-and-place mechanism comprises a sensor (9) mounted on the plate (3); the positioning protrusion (63) cooperates with the sensor (9); And / or, the connection seat comprises an integrally formed connection block, wherein the connection block integrates the second mounting position (61), the compression spring mounting position (62) and the positioning protrusion (63).

3. The pick-and-place mechanism according to claim 1, characterized in that: The driving assembly (1) comprises a first motor (11), an active member (12), a transmission member (13) and a driven member (14); the first motor (11) is connected to the fixing seat (2); the active member (12) is connected to the first motor (11); the driven member (14) is connected to the nozzle seat (4); the transmission member (13) is connected between the active member (12) and the driven member (14); and the transmission member (13) is a power output end of the driving assembly (1).

4. The pick-and-place mechanism according to claim 3, characterized in that: The fixing seat (2) comprises an integrally formed fixing plate, on which the first mounting position (21), a motor mounting position (22) for mounting the first motor (11), and a nozzle seat mounting position (23) for mounting the nozzle seat (4) are integrated.

5. The pick-and-place mechanism according to claim 1, characterized in that: The nozzle seat (4) comprises an integrally formed mounting rod, the mounting rod being integrated with a mounting platform (41) and a guide seat (42) slidably matched with the nozzle assembly (7), the guide seat (42) being integrated with a first reinforcing rib mounting position (421).

6. A pick-and-place unit, characterized in that: It comprises a connecting plate (011), a first reinforcing rib (012) and two pick-and-place mechanisms according to any one of claims 1 to 5, wherein: One ends of the two suction nozzle seats (4) are connected via the connecting plate (011), and the other ends are connected via the first reinforcing rib (012); the connecting plate (011) is connected to one end of the suction nozzle seat (4) close to the driving assembly (1), and the first reinforcing rib (012) is connected to one end of the suction nozzle seat (4) close to the suction nozzle assembly (7).

7. A chip transport device, characterized in that: It comprises a support base (013), a pitch changing mechanism (014) and a plurality of pick-and-place units according to claim 6, wherein the pitch changing mechanism (014) is mounted on the support base (013), and the plurality of pick-and-place units are arranged side by side on the support base (013), wherein: One of the pick-and-place units is fixedly connected to the support seat (013), and the connecting plates (011) in the other pick-and-place units are connected to the distance-changing mechanism (014) and slidably cooperate with the support seat (013), and the distance-changing mechanism (014) is used to drive the pick-and-place units connected thereto to slide relative to the support seat (013).

8. The chip transport device according to claim 7, characterized in that: The support seat (013) is provided with a plurality of slide rails (015) arranged opposite to and in parallel, the extension direction of the slide rails (015) is parallel to the arrangement direction of the plurality of pick-and-place units, and the pick-and-place units connected to the variable pitch mechanism (014) are slidably matched with the plurality of slide rails (015).

9. The chip transport device according to claim 7, characterized in that: The pitch-changing mechanism (014) comprises a second motor (0141) and a transmission structure; the second motor (0141) is mounted on the support seat (013) via a motor mounting seat (016); one end of the transmission structure is connected to the second motor (0141), and the other end is mounted on the support seat (013) via a driven member mounting seat (017); and the transmission structure is connected to the connecting plate (011).

10. The chip transport device according to claim 9, characterized in that: A second reinforcing rib (018) is connected between the motor mounting seat (016) and the driven member mounting seat (017).

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