Integrated circuit (IC) sucking and grabbing integrated mechanical arm

Abstract

The utility model provides an integrated circuit (IC) sucking and grabbing integrated mechanical arm, which belongs to the field of semiconductors and comprises a base, the lower end face of the base is fixedly connected with a moving air cylinder, the upper end face of the base is fixedly connected with a first sliding rail, the first sliding rail is connected with a sliding frame in a sliding mode, and the side wall of the sliding frame is fixedly connected with a connecting rod. The telescopic end of the moving air cylinder is fixedly connected to the connecting rod, and a control assembly is installed on the sliding frame. A clamping assembly; the clamping assembly comprises a second sliding rail fixedly connected to the upper end face of the sliding frame, a moving frame is slidably connected to the second sliding rail, and the control assembly is installed on the moving frame. The clamping jaw is controlled to move so as to clamp a product, automatic carrying of the product on a production line is achieved, the conveying stability is high, when a workpiece is grabbed, the suction nozzle sucks the product firstly so that the product can be fixed, the product can be clamped by the clamping jaw conveniently, and the stability of carrying work is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductors, in particular to an IC suction and gripping integrated robotic arm. Background Art

[0002] A semiconductor IC is a microelectronic device or component. By semiconductor processes, a certain number of common electronic components, such as resistors, capacitors, transistors, etc., and the connections between these components are integrated together to form a circuit with specific functions.

[0003] The production of semiconductor ICs is a complex and delicate process. When producing semiconductor ICs, it is often necessary to place the products on the production line. Currently, in the industry, when transferring products, most still use semi-automatic or partially automatic devices for transfer, with poor stability and a high abnormal rate. Summary of the Utility Model

[0004] In view of the deficiencies in the prior art, the utility model provides an IC suction and gripping integrated robotic arm.

[0005] An embodiment of the utility model provides an IC suction and gripping integrated robotic arm, including:

[0006] A base, a moving cylinder is fixedly connected to the lower end surface of the base, a first slide rail is fixedly connected to the upper end surface of the base, a sliding frame is slidably connected to the first slide rail, a connecting rod is fixedly connected to the side wall of the sliding frame, the telescopic end of the moving cylinder is fixedly connected to the connecting rod, and a control component is installed on the sliding frame;

[0007] A gripping component; the gripping component includes a second slide rail fixedly connected to the upper end surface of the sliding frame, a moving frame is slidably connected to the second slide rail, the control component is installed on the moving frame, a clamping cylinder is fixedly installed on the end surface of the moving frame away from the sliding frame, two clamping jaws are fixedly installed on the clamping cylinder, and a suction component is installed on the moving frame.

[0008] Further, the control component includes two rotating gears rotatably connected to the upper end surface of the sliding frame, the two rotating gears are driven by a synchronous belt, the moving frame is fixedly connected to the synchronous belt, a servo motor is fixedly installed on the lower end surface of the sliding frame, the rotating end of the servo motor rotatably penetrates the sliding frame, and the rotating end of the servo motor is fixedly connected to one of the rotating gears.

[0009] Further, the sucking component includes a third slide rail fixedly connected to the upper end face of the moving frame. An adjusting frame is slidably connected to the third slide rail. A sucking cylinder is fixedly connected to the side wall of the adjusting frame. A suction nozzle is fixedly installed on the sucking cylinder. The suction nozzle is located between the two clamping jaws. An L-shaped plate is fixedly connected to the lower end face of the moving frame. A front-back moving cylinder is fixedly installed on the side wall of the L-shaped plate. The telescopic end of the front-back moving cylinder is fixedly connected to the adjusting frame.

[0010] Further, a support rod is fixedly connected to the side wall of the base, and a stop induction switch is fixedly installed on the support rod.

[0011] Further, anti-slip patterns are provided on both of the two clamping jaws.

[0012] Further, the synchronous belt is a precision synchronous belt.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The moving cylinder drives the sliding frame to slide, the servo motor drives the precision synchronous belt to rotate, and then drives the moving frame to move. By controlling the moving amount of the moving frame, the clamping cylinder can be controlled to move, so as to control the clamping jaws to move, thereby clamping the product, realizing the automatic handling of the products on the production line, and having strong conveying stability.

[0015] 2. When grasping the workpiece, the sucking cylinder starts to work, and the suction nozzle first sucks the product to fix the product, which is convenient for the clamping jaws to clamp the product, and improves the stability of the handling work. Description of the Drawings

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the IC suction and grasping integrated robotic arm in the embodiment of the utility model.

[0017] Figure 2 It is a three-dimensional side view of the structure of the IC suction and grasping integrated robotic arm in the embodiment of the utility model.

[0018] Figure 3 It is a three-dimensional bottom view of the structure of the IC suction and grasping integrated robotic arm in the embodiment of the utility model.

[0019] In the above drawings: 1 base, 2 moving cylinder, 3 first slide rail, 4 sliding frame, 5 connecting rod, 6 second slide rail, 7 moving frame, 8 clamping jaw, 9 rotating gear, 10 synchronous belt, 11 servo motor, 12 third slide rail, 13 adjusting frame, 14 sucking cylinder, 15 suction nozzle, 16 L-shaped plate, 17 front-back moving cylinder, 18 clamping cylinder, 19 support rod, 20 stop induction switch. Detailed Embodiment

[0020] The technical solution in the present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] As Figures 1 - 3 shown, an IC suction and gripping integrated robotic arm is proposed in an embodiment of the present utility model, including:

[0022] A base 1, a motion cylinder 2 is fixedly connected to the lower end surface of the base 1, a first slide rail 3 is fixedly connected to the upper end surface of the base 1, a sliding frame 4 is slidably connected to the first slide rail 3, a connecting rod 5 is fixedly connected to the side wall of the sliding frame 4, the telescopic end of the motion cylinder 2 is fixedly connected to the connecting rod 5, and a control component is installed on the sliding frame 4;

[0023] A gripping component; the gripping component includes a second slide rail 6 fixedly connected to the upper end surface of the sliding frame 4, a moving frame 7 is slidably connected to the second slide rail 6, the control component is installed on the moving frame 7, a clamping cylinder 18 is fixedly installed on the end surface of the moving frame 7 away from the sliding frame 4, two clamping jaws 8 are fixedly installed on the clamping cylinder 18, and anti-slip patterns are provided on both clamping jaws 8, which improves the friction between the clamping jaws 8 and the product and improves the stability of product transportation. A suction component is installed on the moving frame 7;

[0024] The control component includes two rotating gears 9 rotatably connected to the upper end surface of the sliding frame 4, the two rotating gears 9 are driven by a synchronous belt 10, the synchronous belt 10 is a precision synchronous belt, and precision synchronous belts usually have higher precision requirements and are suitable for occasions with higher requirements for transmission precision. The moving frame 7 is fixedly connected to the synchronous belt 10, a servo motor 11 is fixedly installed on the lower end surface of the sliding frame 4, the rotating end of the servo motor 11 rotatably penetrates the sliding frame 4, and the rotating end of the servo motor 11 is fixedly connected to one of the rotating gears 9;

[0025] The suction component includes a third slide rail 12 fixedly connected to the upper end surface of the moving frame 7, an adjusting frame 13 is slidably connected to the third slide rail 12, an adsorption cylinder 14 is fixedly connected to the side wall of the adjusting frame 13, a suction nozzle 15 is fixedly installed on the adsorption cylinder 14, the suction nozzle 15 is located between the two clamping jaws 8, an L-shaped plate 16 is fixedly connected to the lower end surface of the moving frame 7, a front and rear motion cylinder 17 is fixedly installed on the side wall of the L-shaped plate 16, the telescopic end of the front and rear motion cylinder 17 is fixedly connected to the adjusting frame 13, a support rod 19 is fixedly connected to the side wall of the base 1, and a stop induction switch 20 is fixedly installed on the support rod 19. The stop induction switch 20 is a prior art technology that can control the movement amount of the clamping jaws 8 and can accurately control the position of the product during product transfer, so it will not be elaborated here.

[0026] The detailed working process of the present utility model is as follows:

[0027] When clamping and handling work is required, the moving cylinder 2 starts to work. The telescopic end of the moving cylinder 2 drives the sliding frame 4 to slide on the first slide rail 3. At the same time, the servo motor 11 starts to work. The rotating end of the servo motor 11 drives one of the rotating gears 9 to start rotating. Subsequently, the synchronous belt 10 moves on the two rotating gears 9. The moving frame 7 located on the synchronous belt 10 starts to move on the second slide rail 6, thereby controlling the movement of the clamping cylinder 18, causing the clamping cylinder 18 to move to the designated position. Subsequently, the product to be clamped will be in front of the two jaws 8. Then, the front and rear moving cylinder 17 starts to work, causing the adjusting frame 13 to slide on the third slide rail 12, moving the suction nozzle 15 between the two jaws 8. At the same time, the suction nozzle 15 contacts the product. At this time, the adsorption cylinder 14 starts to work. The adsorption cylinder 14 uses the suction nozzle 15 to adsorb the product first. Then, the front and rear moving cylinder 17 contracts, moving the product between the two jaws 8, facilitating the clamping of the product by the jaws 8 and improving the stability of the handling work. Subsequently, the clamping cylinder 18 controls the two jaws 8 to approach, enabling the two jaws 8 to clamp the product. Then, the moving cylinder 2 cooperates with the servo motor 11 to work, controlling the movement of the jaws 8 to transport the clamped product to the designated position, realizing the automatic handling of the products on the production line, with strong conveying stability. And the stop induction switch 20 can control the movement amount of the jaws 8, accurately controlling the position of the product during product transfer.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. IC suction and grasping integrated robotic arm, characterized in that, Including: A base (1), a motion cylinder (2) is fixedly connected to the lower end face of the base (1), a first slide rail (3) is fixedly connected to the upper end face of the base (1), a sliding frame (4) is slidably connected to the first slide rail (3), a connecting rod (5) is fixedly connected to the side wall of the sliding frame (4), the telescopic end of the motion cylinder (2) is fixedly connected to the connecting rod (5), and a control assembly is installed on the sliding frame (4). A clamping assembly; the clamping assembly includes a second slide rail (6) fixedly connected to the upper end face of the sliding frame (4), a moving frame (7) is slidably connected to the second slide rail (6), the control assembly is installed on the moving frame (7), a clamping cylinder (18) is fixedly installed on the end face of the moving frame (7) away from the sliding frame (4), two clamping jaws (8) are fixedly installed on the clamping cylinder (18), and a suction assembly is installed on the moving frame (7).

2. The IC suction and grasping integrated robotic arm according to claim 1, characterized in that, Wherein: The control assembly includes two rotating gears (9) rotatably connected to the upper end face of the sliding frame (4), the two rotating gears (9) are driven by a synchronous belt (10), the moving frame (7) is fixedly connected to the synchronous belt (10), a servo motor (11) is fixedly installed on the lower end face of the sliding frame (4), the rotating end of the servo motor (11) rotatably penetrates the sliding frame (4), and the rotating end of the servo motor (11) is fixedly connected to one of the rotating gears (9).

3. The IC suction and grasping integrated robotic arm according to claim 1, wherein Wherein: The suction assembly includes a third slide rail (12) fixedly connected to the upper end face of the moving frame (7), an adjusting frame (13) is slidably connected to the third slide rail (12), an adsorption cylinder (14) is fixedly connected to the side wall of the adjusting frame (13), a suction nozzle (15) is fixedly installed on the adsorption cylinder (14), the suction nozzle (15) is located between the two clamping jaws (8), an L-shaped plate (16) is fixedly connected to the lower end face of the moving frame (7), a front and rear motion cylinder (17) is fixedly installed on the side wall of the L-shaped plate (16), and the telescopic end of the front and rear motion cylinder (17) is fixedly connected to the adjusting frame (13).

4. The IC suction and gripping integrated robotic arm according to claim 1, characterized in that, Wherein: A support rod (19) is fixedly connected to the side wall of the base (1), and a stop induction switch (20) is fixedly installed on the support rod (19).

5. The IC suction and grasping integrated robotic arm according to claim 1, characterized in that, Wherein: Anti-slip patterns are provided on both of the two clamping jaws (8).

6. The IC suction and grasping integrated robotic arm according to claim 2, wherein, Wherein: The synchronous belt (10) is a precision synchronous belt.

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