Double-station PPU manipulator

Abstract

The utility model discloses a double-station PPU mechanical arm. The manipulator is applied to the technical field of mechanical design. The mechanical arm comprises a fixing assembly, a power assembly, a sliding rail assembly, a bearing assembly and a suction head assembly. When the suction head assembly is located at the first position, vacuum of two suction heads of the suction head assembly is started, and the chip is sucked at the same time; when the two suction heads suck the chip, the front-back position of the first track is adjusted through the adjusting screw, so that the two suction heads suck the center position of the chip; when the suction head assembly continuously moves to a third position through the second position, the swing arm in-place sensor is blocked by the swing arm in-place shading sheet and sends out an in-place signal, so that the vacuum of the two suction heads is switched into blowing, and the chip is placed in a specified position; and the front and back positions of the second track are adjusted through the adjusting screw, so that the two suction heads accurately place the chip on a specified position. According to the scheme, the sucking and placing positions of the PPU manipulator can be adjusted.

Description

Technical Field

[0001] The present application relates to the field of mechanical design technology, and in particular to a dual-station PPU manipulator. Background Art

[0002] During testing and sorting, it is usually necessary to suck and shift the chips a small distance. The existing sucking and shifting equipment is often independent, which increases the cost and usage area. In addition, the existing PPU manipulators basically work in a single station, and the sucking and placement positions of the PPU manipulators are not adjustable.

[0003] Therefore, an improved mechanism is needed to improve the above-mentioned technical problems. Utility Model Content

[0004] Based on this, it is necessary to provide a dual-station PPU manipulator that can adjust the suction and placement positions of the PPU manipulator in order to address the above technical problems.

[0005] In a first aspect, the present application provides a dual-station PPU manipulator, which includes a fixing assembly, a power assembly, a slide rail assembly, a bearing assembly, and a suction head assembly;

[0006] The fixing assembly includes a fixing base and a connecting plate; the power assembly includes a motor, a reducer and a slide rail base plate, the motor and the reducer are fixed on the back of the slide rail base plate, and the power assembly is fixed on the connecting plate through the slide rail base plate; the slide rail assembly includes a first rail, a second rail, an adjusting screw, a swing arm, a swing arm in-position sensor and a swing arm in-position shading sheet; the bearing assembly includes two bearings; the suction head assembly includes a suction head connecting block, two spring brackets, two springs, two suction head brackets and two suction heads;

[0007] When the suction head assembly is in the first position, the vacuum of the two suction heads is turned on, and the chip is sucked at the same time; wherein, the two spring brackets move up and down in the suction head connection block, and will not directly penetrate the suction head connection block downward. Under the action of the two springs, the two suction head brackets are always in an ejected state. When the two suction heads suck the chip, the front and rear positions of the first track are adjusted by adjusting the screws, so that the two suction heads suck the center position of the chip;

[0008] After the two suction heads pick up the chip, the motor outputs to the swing arm through the reducer, so that the swing arm swings within a certain angle range. The swing arm drives the bearing through the cam pair, and the other bearing moves in the slide groove formed by the first track and the second track;

[0009] When the suction head assembly continues to move from the second position to the third position, the swing arm in-position sensor is blocked by the swing arm in-position light shielding sheet and sends out an in-position signal, so that the vacuum of the two suction heads is switched to blowing, thereby placing the chip in the specified position; the front and rear positions of the second track are adjusted by adjusting the screws, so that the two suction heads can accurately place the chip in the specified position.

[0010] In one embodiment, the slide rail assembly further includes a first guide rail and a slider and a first guide rail connecting block, and the bearing assembly includes a second guide rail and a slider, a spindle and a spindle connecting plate;

[0011] The bearing assembly is connected to the first guide rail and the slider through the first guide rail connecting block to control the forward and backward movement of the chip; the two bearings and the spindle are connected to the second guide rail and the slider through the spindle connecting plate, and the second guide rail and the slider make up and down linear motion under the linear side effect.

[0012] In one of the embodiments, the slide rail assembly further includes two adjustment screw fixing seats and two adjustment connecting blocks;

[0013] Two adjusting screw fixing seats are fixed together with the first rail, the second rail, the swing arm in-position sensor, the first guide rail and the slider through bolts on the front side of the slide rail bottom plate; two adjustment connecting blocks are respectively fixed on the first rail and the second rail, and are connected with two adjusting screws fixed on the two adjusting screw fixing seats; the first rail and the second rail are controlled to move forward and backward respectively by rotating the two adjusting screws to adjust the front and rear positions of suction and placement; the swing arm is connected to the output shaft of the reducer; the first guide rail connecting block is fixed on the first guide rail and the slider, and the swing arm in-position shading sheet is fixed on the first guide rail connecting block to send an in-position signal after the swing arm in-position sensor is blocked by the swing arm in-position shading sheet.

[0014] In one of the embodiments, the bearing assembly further includes a second guide rail connecting block;

[0015] The second guide rail connecting block is fixed to the first guide rail connecting block by bolts, and is connected to the second guide rail and the slider; the core shaft connecting plate is fixed to the uppermost end of the second guide rail and the slider, and the core shaft connects two bearings to the core shaft connecting plate by nuts; one of the bearings moves in the slide groove of the swing arm, and the other bearing moves in the slide grooves of the first rail and the second rail.

[0016] In one embodiment, the suction head assembly further includes a second guide rail connecting block, two guide sleeves, two guide pillars, a tracheal support and a counterweight;

[0017] The suction head assembly is fixed to the lowermost end of the second guide rail and the slider through a suction head connecting block, and two guide sleeves and two guide posts are connected through a linear pair to make linear up and down movements; two spring brackets pass through the suction head connecting block and two springs to be connected to the two suction head brackets; two suction heads are connected to the two suction head brackets, and an air pipe bracket is fixed to the suction head connecting block to fix the air pipe that provides vacuum to the two suction heads; a counterweight block is fixed to the suction head connecting block so that the center of gravity of the entire suction head assembly is as close as possible to the position of the fixed guide rail.

[0018] The above-mentioned double-station PPU manipulator includes a fixed component, a power component, a slide rail component, a bearing component and a suction head component; when the suction head component is in the first position, the vacuum of the two suction heads of the suction head component is turned on, and the chip is sucked at the same time; when the two suction heads suck the chip, the front and rear positions of the first track are adjusted by adjusting the screws, so that the two suction heads suck the center position of the chip; when the suction head assembly continues to move from the second position to the third position, the swing arm in-position sensor is blocked by the swing arm in-position light shielding sheet and sends an in-position signal, so that the vacuum of the two suction heads is switched to blowing, thereby placing the chip in the designated position; the front and rear positions of the second track are adjusted by adjusting the screws, so that the two suction heads can accurately place the chip in the designated position. The above scheme can adjust the suction and placement positions of the PPU manipulator by adjusting the front and rear positions of the first track and the second track. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A structural diagram of a dual-station PPU manipulator in one embodiment;

[0020] Figure 2 A process diagram of a double-station PPU manipulator moving from a first position to a third position via a second position in one embodiment;

[0021] Figure 3 is a structural diagram of a fixing component in one embodiment;

[0022] Figure 4 is a structural diagram of a power assembly in one embodiment;

[0023] Figure 5 is a structural diagram of a slide rail assembly in one embodiment;

[0024] Figure 6 is a structural diagram of a bearing assembly in one embodiment;

[0025] Figure 7 FIG. 4 is a structural diagram of a suction head assembly in one embodiment.

[0026] Description of reference numerals:

[0027] 100-fixed assembly; 200-power assembly; 300-slide rail assembly; 400-bearing assembly; 500-suction head assembly; 101-fixed base; 102-connecting plate; 201-motor; 202-reducer; 203-slide rail bottom plate; 301-first track; 302-second track; 303-adjusting connection block; 304-adjusting screw fixing seat; 305-adjusting screw; 306-swing arm; 307-swing arm in place sensor; 3 08-first guide rail and slider; 309-first guide rail connecting block; 310-swing arm in place shading plate; 401-second guide rail and slider; 402-second guide rail connecting block; 403-bearing; 404-core shaft connecting plate; 405-core shaft; 501-suction head connecting block; 502-spring bracket; 503-guide sleeve; 504-guide column; 505-spring; 506-suction head bracket; 507-suction head; 508-trachea bracket; 509-counterweight block. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0029] When testing and sorting, it is usually necessary to absorb and shift the chips over a small distance. Existing absorption and shifting equipment is often independent, which increases the cost and usage area. In addition, existing PPU manipulators basically work in a single station, and the absorption and placement positions of the PPU manipulators are not adjustable. Based on this, the embodiment of the present application provides a dual-station PPU manipulator to improve the above technical problems.

[0030] In one embodiment, Figure 1 A structural diagram of a dual-station PPU manipulator in one embodiment; Figure 2 A process diagram of a double-station PPU manipulator moving from a first position to a third position via a second position in one embodiment; Figure 3 is a structural diagram of a fixing component in one embodiment; Figure 4 is a structural diagram of a power assembly in one embodiment; Figure 5 is a structural diagram of a slide rail assembly in one embodiment; Figure 6 is a structural diagram of a bearing assembly in one embodiment;

[0031] Figure 7 1 is a structural diagram of a suction head assembly in an embodiment. The manipulator includes a fixing assembly 100 , a power assembly 200 , a slide rail assembly 300 , a bearing assembly 400 and a suction head assembly 500 .

[0032] like Figure 1-7As shown, optionally, the fixing assembly 100 includes a fixing base 101 and a connecting plate 102; the power assembly 200 includes a motor 201, a reducer 202 and a slide rail base plate 203, the motor 201 and the reducer 202 are fixed on the back of the slide rail base plate 203 and the power assembly 200 is fixed on the connecting plate 102 through the slide rail base plate 203; the slide rail assembly 300 includes a first rail 301, a second rail 302, an adjusting screw 305, a swing arm 306, a swing arm in-position sensor 307 and a swing arm in-position shading sheet 311; the bearing assembly 400 includes two bearings 403; the suction head assembly 500 includes a suction head connecting block 501, two spring brackets 502, two springs 505, two suction head brackets 506 and two suction heads 507.

[0033] When the suction head assembly 500 is in the first position, the vacuum of the two suction heads 507 is turned on and the chip is sucked at the same time; wherein, the two spring brackets 502 move up and down in the suction head connecting block 501 without directly penetrating the suction head connecting block 501 downwards, and under the action of the two springs 505, the two suction head brackets 506 are always in an ejected state, and when the two suction heads 507 suck the chip, the front and rear positions of the first track 301 are adjusted by adjusting the screws 305 so that the two suction heads 507 suck the center position of the chip.

[0034] It should be noted that the two suction heads 507 simultaneously suck and place chips, which can improve the operating efficiency of the manipulator; at the same time, the manipulator has a simple structure, is easy to maintain and service, and also reduces maintenance costs.

[0035] After the two suction heads 507 absorb the chip, the motor 201 outputs to the swing arm through the reducer 202 to make the swing arm swing within a certain angle range. The swing arm drives the bearing 403 through the cam pair, and the other bearing 403 moves in the slide groove formed by the first track 301 and the second track 302.

[0036] When the suction head assembly 500 continues to move from the second position to the third position, the swing arm in-position sensor 307 is blocked by the swing arm in-position light shielding sheet 311 and sends out an in-position signal, so that the vacuum of the two suction heads 507 is switched to blowing, thereby placing the chip in the specified position; the front and rear positions of the second track 302 are adjusted by adjusting the screw 305, so that the two suction heads 507 can accurately place the chip in the specified position.

[0037] It should be noted that after the chip is put down, the suction head assembly 500 returns to the first position again.

[0038] Optionally, the slide rail assembly 300 also includes a first guide rail and slider 308 and a first guide rail connecting block 309, and the bearing assembly 400 includes a second guide rail and slider 401, a core shaft 405 and a core shaft connecting plate 404; the bearing assembly 400 is connected to the first guide rail and slider 308 through the first guide rail connecting block 309 to control the forward and backward movement of the chip; two bearings 403 and the core shaft 405 are connected to the second guide rail and slider 401 through the core shaft connecting plate 404, and the second guide rail and slider 401 perform up and down linear motion under linear side effect.

[0039] Optionally, the slide rail assembly 300 also includes two adjusting screw fixing seats 304 and two adjusting connecting blocks 303; the two adjusting screw fixing seats 304 are fixed together with the first rail 301, the second rail 302, the swing arm in-position sensor 307, the first guide rail and the slider 308 on the front side of the slide rail base plate 203 by bolts; the two adjusting connecting blocks 303 are respectively fixed on the first rail 301 and the second rail 302, and are connected to the two adjusting screws 305 fixed on the two adjusting screw fixing seats 304; the first rail 301 and the second rail 302 are controlled to move forward and backward respectively by rotating the two adjusting screws 305 to adjust the front and rear positions of suction and placement; the swing arm is connected to the output shaft of the reducer 202; the first guide rail connecting block 309 is fixed on the first guide rail and the slider 308, and the swing arm in-position shading sheet 311 is fixed on the first guide rail connecting block 309 to send a position signal after the swing arm in-position sensor 307 is blocked by the swing arm in-position shading sheet 311.

[0040] Optionally, the bearing assembly 400 also includes a second guide rail connecting block 402; the second guide rail connecting block 402 is fixed to the first guide rail connecting block by bolts, and is connected to the second guide rail and the slider; the core shaft connecting plate 404 is fixed to the uppermost end of the second guide rail and the slider, and the core shaft 405 connects two bearings 403 to the core shaft connecting plate 404 through a nut; one of the bearings 403 moves in the slide groove of the swing arm, and the other bearing 403 moves in the slide grooves of the first rail 301 and the second rail 302.

[0041] Optionally, the suction head assembly 500 further includes a second guide rail connecting block 402, two guide sleeves 503, two guide pillars 504, an air pipe bracket 508 and a counterweight 509; the suction head assembly 500 is fixed to the lowermost end of the second guide rail and the slider through the suction head connecting block 501, and the two guide sleeves 503 and the two guide pillars 504 are connected by a linear pair to make linear up and down movements; the two spring brackets 502 pass through the suction head connecting block 501 and the two springs 505 and are connected to the two suction head brackets 506; the two suction heads 507 are connected to the two suction head brackets 506, and the air pipe bracket 508 is fixed on the suction head connecting block 501 for fixing the air pipe that provides vacuum to the two suction heads 507; the counterweight 509 is fixed on the suction head connecting block 501 so that the center of gravity of the entire suction head assembly 500 is as close as possible to the position of the fixed guide rail.

[0042] The above-mentioned double-station PPU manipulator includes a fixed component, a power component, a slide rail component, a bearing component and a suction head component; when the suction head component is in the first position, the vacuum of the two suction heads of the suction head component is turned on, and the chip is sucked at the same time; when the two suction heads suck the chip, the front and rear positions of the first track are adjusted by adjusting the screws, so that the two suction heads suck the center position of the chip; when the suction head assembly continues to move from the second position to the third position, the swing arm in-position sensor is blocked by the swing arm in-position light shielding sheet and sends an in-position signal, so that the vacuum of the two suction heads is switched to blowing, thereby placing the chip in the designated position; the front and rear positions of the second track are adjusted by adjusting the screws, so that the two suction heads can accurately place the chip in the designated position. The above scheme can adjust the suction and placement positions of the PPU manipulator by adjusting the front and rear positions of the first track and the second track.

[0043] It should be noted that the information involved in this application (including but not limited to the information related to the dual-station PPU robot in this application, etc.) is information or data that has been fully authorized by all parties.

[0044] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0045] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A dual-station PPU manipulator, characterized in that: The manipulator comprises a fixing assembly, a power assembly, a slide rail assembly, a bearing assembly and a suction head assembly; The fixing assembly includes a fixing base and a connecting plate; the power assembly includes a motor, a reducer and a slide rail base plate, the motor and the reducer are fixed to the back of the slide rail base plate and the power assembly is fixed to the connecting plate through the slide rail base plate; the slide rail assembly includes a first rail, a second rail, an adjusting screw, a swing arm, a swing arm in-position sensor and a swing arm in-position shading sheet; the bearing assembly includes two bearings; the suction head assembly includes a suction head connecting block, two spring brackets, two springs, two suction head brackets and two suction heads; When the suction head assembly is at the first position, the vacuum of the two suction heads is turned on, and the chip is sucked at the same time; wherein the two spring brackets move up and down in the suction head connecting block without directly penetrating the suction head connecting block downward, and under the action of the two springs, the two suction head brackets are always in an ejected state, and when the two suction heads suck the chip, the front and rear positions of the first track are adjusted by the adjusting screw so that the two suction heads suck the center position of the chip; After the two suction heads absorb the chip, the motor outputs to the swing arm through the reducer, so that the swing arm swings within a certain angle range, and the swing arm drives the bearing through the cam pair, and the other bearing moves in the slide groove formed by the first track and the second track; When the suction head assembly continues to move from the second position to the third position, the swing arm in-position sensor is blocked by the swing arm in-position light shielding sheet and sends out an in-position signal, so that the vacuum of the two suction heads is switched to blowing, thereby placing the chip in the specified position; the front and rear positions of the second track are adjusted by the adjusting screw, so that the two suction heads can accurately place the chip in the specified position.

2. The robot according to claim 1, characterized in that: The slide rail assembly also includes a first guide rail and a slider and a first guide rail connecting block, and the bearing assembly includes a second guide rail and a slider, a spindle and a spindle connecting plate; The bearing assembly is connected to the first guide rail and the slider through the first guide rail connecting block to control the forward and backward movement of the chip; the two bearings and the mandrel are connected to the second guide rail and the slider through the mandrel connecting plate, and the second guide rail and the slider make up and down linear motion under linear side effect.

3. The robot according to claim 2, characterized in that: The slide rail assembly also includes two adjusting screw fixing seats and two adjusting connecting blocks; The two adjusting screw fixing seats are fixed together with the first rail, the second rail, the swing arm in-position sensor, the first guide rail and the slider on the front side of the slide rail bottom plate through bolts; the two adjustment connecting blocks are respectively fixed on the first rail and the second rail, and are connected with the two adjusting screws fixed on the two adjusting screw fixing seats; The first rail and the second rail are controlled to move forward and backward respectively by rotating the two adjusting screws to adjust the front and rear positions of suction and placement; the swing arm is connected to the output shaft of the reducer; the first guide rail connecting block is fixed on the first guide rail and the slider, and the swing arm in-position shading sheet is fixed on the first guide rail connecting block to send an in-position signal after the swing arm in-position sensor is blocked by the swing arm in-position shading sheet.

4. The robot according to claim 2, characterized in that: The bearing assembly also includes a second guide rail connecting block; The second guide rail connecting block is fixed to the first guide rail connecting block by bolts, and is connected to the second guide rail and the slider; the core shaft connecting plate is fixed to the uppermost end of the second guide rail and the slider, and the core shaft connects two bearings to the core shaft connecting plate by nuts; one of the bearings moves in the slide groove of the swing arm, and the other bearing moves in the slide grooves of the first rail and the second rail.

5. The robot according to claim 1, characterized in that: The suction head assembly also includes a second guide rail connecting block, two guide sleeves, two guide pillars, a trachea bracket and a counterweight block; The suction head assembly is fixed to the lowermost end of the second guide rail and the slider through the suction head connecting block, and the two guide sleeves and the two guide pillars are connected by a linear pair to make linear up and down movements; the two spring brackets pass through the suction head connecting block and the two springs to be connected to the two suction head brackets; the two suction heads are connected to the two suction head brackets, and the air pipe bracket is fixed to the suction head connecting block to fix the air pipe that provides vacuum to the two suction heads; the counterweight block is fixed to the suction head connecting block so that the center of gravity of the entire suction head assembly is as close as possible to the position of the fixed guide rail.

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