Grabbing device and visual inspection equipment

Abstract

The utility model provides a gripping device and visual inspection equipment. The gripping device comprises a driving assembly; the grabbing assembly is arranged on the driving assembly, the driving assembly is used for driving the grabbing assembly to move, and the grabbing assembly comprises a sliding seat part and a plurality of grabbing parts arranged on the sliding seat part in a sliding mode; the adjusting assembly is used for adjusting the distance between the grabbing parts when the driving assembly drives the grabbing parts to move; the chip grabbing device has the advantages that the distance between the grabbing parts can be adjusted according to grabbing requirements, meanwhile, the used grabbing parts can be rapidly and accurately selected so as to adapt to the distances of different chips on a chip tray, the chips can be grabbed, the overall structure is small and exquisite, the weight is light, the chip grabbing device can move at a higher speed, the overall efficiency is improved, and the working efficiency is improved. Compared with a traditional mode that the suction nozzle needs to be replaced, more materials can be saved, and more switching time can be saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of semiconductor vision detection, and particularly relates to a grasping device and a vision detection device. Background Art

[0002] With the development of technology and the progress of living standards, chips play a crucial role in daily production and life. The demand for chips in all walks of life is increasing day by day, and the chip manufacturing industry has also become an important reflection of a country's manufacturing level.

[0003] Because there are many types and different sizes of chips, how to make a device compatible with as many sizes as possible to improve the flexibility of the device and production efficiency is an important issue to be considered in the process of developing and manufacturing chip equipment.

[0004] In the process after the back-end packaging of chip production is completed, there are relatively large differences in the size and dimensions of chips. However, in the process of chip production and transfer, a chip tray with a standard external dimension is used for loading. Since the chip sizes are different, the number of chips loaded in each row of the tray is different, and the spacing between chips in the tray is also different. In this case, in order to improve the picking and placing efficiency of chips, picking and placing multiple chips or even an entire row or multiple rows of chips is a relatively effective way.

[0005] Currently, there are usually two methods for traditional chip picking and placing mechanisms when producing different chips. One is to replace the entire row of suction nozzles with suction nozzles having the same spacing as the chips in the tray. This method is cumbersome to replace and requires multiple sets of suction nozzles to meet different production requirements. The other is to add a lifting mechanism and a variable pitch device to the suction nozzle. This device usually consists of a motor, a variable pitch mechanism, a suction nozzle lifting cylinder, and a suction nozzle assembled together, resulting in a complex, large-sized, and heavy suction nozzle device, which is not conducive to the high-speed operation of the equipment and also has higher requirements for the weight and rigidity of the equipment. Summary of the Utility Model

[0006] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0007] To solve the above problems, the first aspect of the utility model provides a grasping device, including:

[0008] A driving component;

[0009] A grasping component, the grasping component is arranged on the driving component, the driving component is used to drive the grasping component to move, and the grasping component includes a sliding seat part and a plurality of grasping parts slidably arranged on the sliding seat part;

[0010] Adjusting assembly, when the driving assembly drives the grasping part to move, the adjusting assembly adjusts the distance between the grasping parts.

[0011] Optionally, the grasping part includes a rod base and a locking member. The rod base is arranged on the sliding seat part, and the locking member is arranged between the sliding seat part and the rod base. The locking member is used to fix the grasping part on the sliding seat part;

[0012] The adjusting assembly includes an unlocking member, and the unlocking member unlocks the locking member so that the locking member disengages from the sliding seat part.

[0013] Optionally, the locking member includes:

[0014] A pressing member, the first end of the pressing member is rotatably arranged on the rod base;

[0015] A first elastic member, the first elastic member is arranged between the pressing member and the rod base. When the first elastic member is in a natural state, the second end of the pressing member presses on the sliding seat part.

[0016] Optionally, the unlocking member includes:

[0017] An adjusting sliding seat;

[0018] A first unlocking rod, the first unlocking rod is arranged on the adjusting sliding seat;

[0019] A first driving member, the first driving member is arranged on the adjusting sliding seat, and the first driving member drives the first unlocking rod to move towards the pressing member, so that the second end of the pressing member disengages from the sliding seat part.

[0020] Optionally, the grasping part further includes:

[0021] A suction rod, the suction rod is slidably arranged on the rod base. A third elastic member is arranged between the suction rod and the rod base. A first clamping block is arranged on the rod base, and a second elastic member is arranged between the rod base and the first clamping block. A ventilation joint is arranged at the top of the suction rod, and a second clamping block is arranged on the suction rod. The second clamping block is located below the ventilation joint. When the second elastic member is in a natural state, the first clamping block is clamped with the second clamping block;

[0022] A suction nozzle body, the suction nozzle body is arranged at the bottom of the suction rod.

[0023] Optionally, the adjusting assembly further includes:

[0024] A second unlocking rod, the second unlocking rod is slidably arranged on the adjusting sliding seat;

[0025] A second driving member, which is arranged on the adjusting sliding seat and is used to drive the second unlocking rod to move towards the second unlocking rod, so that the first clamping block disengages from the ventilation joint.

[0026] Optionally, the sliding seat portion includes:

[0027] A mounting seat, which is arranged on the driving assembly;

[0028] A guiding shaft, at least two guiding shafts are arranged on the mounting seat, and the rod seat is slidably arranged on the guiding shaft;

[0029] A limiting strip, which is arranged on the mounting seat. When the first elastic member is in a natural state, the second end of the pressing member presses against the limiting strip.

[0030] Optionally, the driving assembly includes:

[0031] A first driving part, which is used to drive the grasping assembly to move in a first direction;

[0032] A second driving part, which is arranged on the first driving part, the grasping assembly is arranged on the second driving part, and the second driving part is used to drive the grasping assembly to move in a second direction.

[0033] Optionally, the second driving assembly includes:

[0034] A fixed seat, which is arranged on the first driving part;

[0035] A sliding table, which is slidably arranged on the fixed seat;

[0036] A third driving member, which is arranged on the fixed seat;

[0037] A transmission member, which is arranged between the sliding table and the third driving member, and the third driving member can drive the sliding table to move through the transmission member.

[0038] Optionally, it further includes a detection assembly, and the detection assembly includes:

[0039] A mounting plate, which is arranged on both sides of the grasping part;

[0040] A first detection member, which is oppositely arranged on the mounting plate; [[ID=...]]

[0041] A second detection member, which is oppositely arranged on the mounting plate and is located below the first detection member.

[0042] The second aspect of the present utility model provides a vision inspection device, including: a conveying component and a grasping device as proposed in any one of the above technical solutions, and the grasping component is arranged on the conveying component.

[0043] Advantageous effects

[0044] In the embodiments of the present utility model, the provided grasping device and vision inspection device have the following advantageous effects: the distance between the grasping parts can be adjusted according to the grasping requirements, and at the same time, the used grasping parts can be quickly and accurately selected to adapt to the distances between different chips on the chip tray, so as to realize the grasping of the chips. The overall structure is small and light in weight, can move at a higher speed, and improves the overall efficiency. Compared with the traditional mode that requires replacing the suction nozzle, it can save more materials and switching time. Description of the drawings

[0045] Figure 1 It is a structural diagram of the present utility model;

[0046] Figure 2 It is a structural diagram of the grasping component of the present utility model;

[0047] Figure 3 It is a structural diagram of the grasping part of the present utility model;

[0048] Figure 4 It is a structural diagram of the rod seat of the present utility model;

[0049] Figure 5 It is a structural diagram of the suction rod of the present utility model;

[0050] Figure 6 It is a structural diagram of the adjusting component of the present utility model;

[0051] Figure 7 It is a structural diagram of the sliding seat part of the present utility model;

[0052] Figure 8 It is a structural diagram of the detection component of the present utility model;

[0053] Figure 9 It is a structural diagram of the suction nozzle body of the present utility model;

[0054] Figure 10 It is a structural diagram of the second driving part of the present utility model.

[0055] The reference numerals are shown as:

[0056] 1. Driving assembly; 11. First driving part; 12. Second driving part; 121. Fixed seat; 122. Slide table; 123. Third driving member; 124. Transmission member; 2. Gripping assembly; 21. Slide seat part; 211. Mounting seat; 212. Guide shaft; 213. Limiting strip; 22. Gripping part; 221. Rod seat; 222. Locking member; 2221. Pressing member; 2222. First elastic member; 223. Suction rod; 2231. First quick-change buckle; 2232. Transfer rod; 224. Third elastic member; 225. First clamping block; 226. Second elastic member; 227. Ventilation joint; 228. Second clamping block; 229. Suction nozzle body; 2291. Second quick-change buckle; 2292. Mounting rod; 2293. Suction nozzle; 3. Adjusting assembly; 31. Unlocking member; 311. Adjusting slide seat; 312. First unlocking rod; 313. First driving member; 32. Second unlocking rod; 33. Second driving member; 34. First extension sensor; 35. Second extension sensor; 4. Detection assembly; 41. Mounting plate; 42. First detection member; 43. Second detection member. Detailed implementation mode

[0057] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus should not be construed as a limitation to the present invention.

[0058] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0059] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0060] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0061] See also Figure 1-6 As shown, according to the first embodiment of the present invention, a gripping device is provided, comprising:

[0062] Drive component 1;

[0063] A grabbing assembly 2, the grabbing assembly 2 being disposed on the driving assembly 1, the driving assembly 1 being used to drive the grabbing assembly 2 to move, the grabbing assembly 2 comprising a slide portion 21 and a plurality of grabbing portions 22 slidably disposed on the slide portion 21;

[0064] The adjusting component 3 is used to adjust the distance between the grabbing parts 22 when the driving component 1 drives the grabbing parts 22 to move.

[0065] The gripping device provided by the embodiment of the present invention includes a drive component 1, a gripping component 2 and an adjustment component 3, wherein the gripping component 2 includes a slide portion 21 and a plurality of gripping components 22. When in use, each gripping component 22 on the gripping component 2 can grip a target object, and then the gripping component 2 is driven to move by the drive component 1 to realize the production flow of the target object; wherein, through the setting of the adjustment component 3, the adjustment component 3 cooperates with the drive component 1 to adjust the spacing between the gripping components 22 on the slide portion 21. During the production flow process, when faced with gripping objects of different specifications, there is no need to waste time replacing the gripping components 22, which greatly reduces the operation links and time costs, thereby effectively improving production efficiency. The efficient cooperation between the drive component 1 and the adjustment component 3 makes it possible to adjust the spacing between the gripping components 22 quickly and accurately, and can complete the switching gripping of different targets in a short time, providing a strong guarantee for the continuous and stable operation of the production line. Whether experienced technicians or new employees, they can easily get started, reducing the requirements for the operator's skill level. At the same time, this convenient operation method also reduces the risk of production accidents caused by operational errors and improves production safety and reliability.

[0066] See also Figure 2-7 As shown, in a feasible embodiment, the grabbing portion 22 includes a rod seat 221 and a locking member 222. The rod seat 221 is provided on the sliding portion 21, and the locking member 222 is provided between the sliding portion 21 and the rod seat 221. The locking member 222 is used to fix the grabbing portion 22 on the sliding portion 21.

[0067] The adjusting assembly 3 includes an unlocking member 31 which unlocks the locking member 222 to disengage the locking member 222 from the sliding seat portion 21.

[0068] In this technical solution, the rod seat 221 of the grasping portion 22 is slidably connected to the sliding seat portion 21. The rod seat 221 is connected to the sliding seat portion 21 through structures such as sliders and rollers, enabling the rod seat 221 to slide smoothly on the sliding seat portion 21 to adapt to different grasping requirements and working scenarios. The locking member 222 is arranged between the sliding seat portion 21 and the rod seat 221 for fixing the grasping portion 22 to the sliding seat portion 21. The adjusting assembly 3 is located on one side of the grasping portion 22. When it is necessary to adjust the spacing of the grasping portion 22, the unlocking member 31 is responsible for unlocking the locking member 222, and cooperates with the driving assembly 1 to drive the grasping assembly 2 to move, so as to realize the adjustment of the spacing of the grasping portion 22. During use, when it is necessary to adjust the spacing of the grasping portion 22, the adjusting assembly 3 drives the unlocking member 31 to move, and the unlocking member 31 performs an unlocking operation on the locking member 222. At this time, the grasping portion 22 is in a state where it can slide freely on the sliding seat portion 21. Then, by driving the grasping assembly 2 to move through the driving assembly 1, the grasping portion 22 can be moved to the required position on the sliding seat portion 21 to adapt to grasping objects of different sizes and shapes. After the adjustment is completed, the locking member 222 locks the grasping portion 22 again to ensure the stability and reliability of the grasping device during operation.

[0069] Refer to Figure 2-7 As shown, in a feasible embodiment, the locking member 222 includes:

[0070] A pressing member 2221, the first end of the pressing member 2221 is rotatably arranged on the rod seat 221;

[0071] A first elastic member 2222, the first elastic member 2222 is arranged between the pressing member 2221 and the rod seat 221. When the first elastic member 2222 is in a natural state, the second end of the pressing member 2221 presses against the sliding seat portion 21.

[0072] In this technical solution, the locking member 222 includes a pressing member 2221 and a first elastic member 2222. One end of the pressing member 2221 is rotatably connected to the rod base 221. Such a rotational connection can be achieved by structures such as hinges and pin shafts to ensure that one end of the pressing member 2221 can freely rotate within a certain range. The first elastic member 2222 is disposed between the pressing member 2221 and the rod base 221 and can be an element with elastic restoring force such as a spring or elastic rubber. When the first elastic member 2222 is in its natural state, its elastic force acts on the pressing member 2221, causing the second end of the pressing member 2221 to tightly press against the sliding seat portion 21. This pressing force can effectively prevent the grasping portion 22 from accidentally sliding on the sliding seat portion 21, ensuring the stability and reliability of the grasping device during operation.

[0073] In the normal working state of the grasping device, the elastic force of the first elastic member 2222 causes the pressing member 2221 to always maintain a pressing state against the sliding seat portion 21. When it is necessary to adjust the position of the grasping portion 22, the unlocking member 31 of the adjusting assembly 3 applies a force to overcome the elastic force of the first elastic member 2222 on the pressing member 2221, causing the second end of the pressing member 2221 to disengage from the sliding seat portion 21, thereby unlocking the grasping portion 22. At this time, the grasping portion 22 can freely slide on the sliding seat portion 21, and then the driving assembly 1 drives the movement of the grasping assembly 2 to adjust the spacing of the grasping portion 22. When adjusted to the appropriate position, the unlocking member 31 withdraws the applied force, and the first elastic member 2222, under the action of its own elastic restoring force, again pushes the pressing member 2221 to press against the sliding seat portion 21, fixing the grasping portion 22 at the new position, achieving a quick adjustment of the spacing of the grasping portion 22.

[0074] Among them, the pressing member 2221 has a U-shaped structure, and its open end is rotatably installed on the rod base 221 through a pin shaft, facilitating the rotational connection between the pressing member 2221 and the rod base 221. The second end of the pressing member 2221 is a sealing structure, improving the locking effect between the pressing member 2221 and the sliding seat portion 21.

[0075] Refer to Figure 6-7 As shown, in a feasible embodiment, the unlocking member 31 includes:

[0076] An adjusting slide 311;

[0077] A first unlocking rod 312 disposed on the adjusting slide 311;

[0078] A first driving member 313 disposed on the adjusting slide 311, and the first driving member 313 drives the first unlocking rod 312 to move towards the pressing member 2221, causing the second end of the pressing member 2221 to disengage from the sliding seat portion 21.

[0079] In this technical solution, the adjustment slide base 311 is installed on one side of the grasping assembly 2, and the first driving member 313 is arranged on the adjustment slide base 311 to provide a power source for the unlocking process. The first driving member 313 can be a driving device such as a motor, a cylinder, or a hydraulic cylinder. When the locking member 222 needs to be unlocked, the first driving member 313 is started to drive the first unlocking rod 312 to move towards the pressing member 2221. During the movement, the first unlocking rod 312 gradually contacts the pressing member 2221, applying an elastic force to overcome the first elastic member 2222, so that the second end of the pressing member 2221 disengages from the slide base portion 21, realizing the unlocking of the grasping portion 22. The grasping portion 22 is in a freely slidable state, and then the driving assembly 1 drives the grasping assembly 2 to move, enabling the specific distance between the grasping portions 22 to be adjusted. After the adjustment is completed, the first driving member 313 acts in the reverse direction to drive the first unlocking rod 312 to withdraw from the pressing member 2221. Under the action of its own elastic restoring force, the first elastic member 2222 pushes the pressing member 2221 to press the slide base portion 21 again, fixing the grasping portion 22 in a new position, improving the flexibility of adjusting the distance between the grasping portions 22, being convenient to adjust, and enabling the grasping device to meet the grasping work of target objects of different sizes.

[0080] Among them, the first unlocking rod 312 includes a first unlocking section and a first rack section. The first unlocking section is connected to the first rack section. A first gear is also installed between the first driving member 313 and the first rack section, and the first gear is meshed with the first rack section. Therefore, when the first driving member 313 rotates, it can drive the first unlocking section to move towards the pressing member 2221 to realize unlocking. The first unlocking section is of a U-shaped structure, and the side away from the first rack section is an open structure, which can facilitate the two sides of the U-shaped opening of the first unlocking section to pass through the rod seat 221 and contact the pressing member 2221, realizing the unlocking of the pressing member 2221.

[0081] Combined with reference to Figure 2-5 as shown in FIGS. 9 and 10, in a feasible embodiment, the grasping portion 22 further includes:

[0082] A suction rod 223, the suction rod 223 is slidably arranged on the rod seat 221, a third elastic member 224 is arranged between the suction rod 223 and the rod seat 221, a first clamping block 225 is arranged on the rod seat 221, a second elastic member 226 is arranged between the rod seat 221 and the first clamping block 225, a ventilation joint 227 is arranged at the top of the suction rod 223, a second clamping block 228 is arranged on the suction rod 223, the second clamping block 228 is located below the ventilation joint 227, and when the second elastic member 226 is in a natural state, the first clamping block 225 is clamped with the second clamping block 228;

[0083] A suction nozzle body 229, the suction nozzle body 229 is arranged at the bottom of the suction rod 223.

[0084] In this technical solution, the grasping part 22 further includes a suction rod 223 and a suction nozzle 2293. The suction rod 223 is slidably installed on the rod base 221. The air exchange joint 227 is installed at the top of the suction rod 223, and the suction nozzle 2293 is installed at the bottom of the suction rod 223. By connecting to a vacuum air source through the air exchange structure, the target object can be adsorbed and grasped through the suction nozzle 2293, so that the suction nozzle body 229 generates an adsorption force or a clamping force to firmly grasp the object. The suction nozzle 2293 is used to grasp the target object; the first clamping block 225 is installed on the rod base 221, and the second clamping block 228 is installed on the suction rod 223. In the natural state of the second elastic member 226, the first clamping block 225 is clamped with the bottom of the second clamping block 228 to play a role in fixing the suction rod 223. At this time, the third elastic member 224 between the bottom of the rod base 221 and the suction rod 223 is in a stretched state.

[0085] Among them, a limit pin is also installed on the rod base 221. The two ends of the first clamping block 225 are provided with limit holes. The limit pin passes through the limit holes and is connected to the rod base 221. The limit holes are long holes to meet the requirement that the first clamping block 225 can move on the rod base 221. In the natural state of the second elastic member 226, the limit pin is located at the first end of the limit hole.

[0086] Among them, the side of the first clamping block 225 away from the rod base 221 is a wedge-shaped structure, which is convenient for it to be clamped to the bottom of the second clamping block 228.

[0087] Among them, a first quick-change buckle 2231 and a transfer rod 2232 are also installed at the bottom of the suction rod 223. The suction nozzle body 229 includes a second quick-change buckle 2291, a mounting rod 2292 and a suction nozzle 2293. The second quick-change buckle 2291 can be clamped with the first quick-change buckle 2231 to align and install the mounting rod 2292 and the transfer rod 2232, so as to install the suction nozzle body 229 on the suction rod 223, which is convenient for the installation and replacement of the suction nozzle body 229.

[0088] Combined with reference to Figure 6 As shown, in a feasible embodiment, the adjusting assembly 3 further includes:

[0089] A second unlocking rod 32, the second unlocking rod 32 is slidably arranged on the adjusting slide base 311;

[0090] A second driving member 33, the second driving member 33 is arranged on the adjusting slide base 311 and is used to drive the second unlocking rod 32 to move towards the second unlocking rod 32, so that the first clamping block 225 is separated from the air exchange joint 227.

[0091] In this technical solution, the adjusting assembly 3 further includes a second unlocking rod 32 and a second driving member 33. The second driving member 33 and the second unlocking rod 32 are both arranged on the adjusting slide 311. The second driving member 33 provides a power source for the movement of the second unlocking rod 32. The second driving member 33 can be a driving device such as a motor, a cylinder, or a hydraulic cylinder. When it is necessary to lower the grasping part 22, the second driving member 33 is activated to drive the second unlocking rod 32 to move towards the first clamping block 225. During the movement, the second unlocking rod 32 gradually contacts the first clamping block 225 and applies a force to overcome the elastic force of the second elastic member 226, so that the first clamping block 225 disengages from the bottom of the second clamping block 228. Under the elastic force of the third elastic member 224, the suction rod 223 and the suction nozzle body 229 can be lowered together, and at this time, the suction nozzle body 229 can be used to adsorb and grasp the target object.

[0092] Wherein, the second unlocking rod 32 includes a second unlocking section and a second rack section, and the second unlocking section is connected to the second rack section. A second gear is installed between the second driving member 33 and the second rack section, and the two are meshed and connected. Therefore, when the second driving member 33 rotates, it can drive the second unlocking section to move towards the first clamping block 225, so that the first clamping block 225 disengages from the bottom of the second clamping block 228. The second unlocking section is also a U-shaped structure, and the side away from the second rack section is an open structure, which can enable the U-shaped opening of the second unlocking section to pass through the suction rod 223 and contact the first clamping block 225 to realize the unlocking of the first clamping block 225.

[0093] Wherein, during the process of the second unlocking rod 32 pressing the first clamping block 225, the second elastic member 226 changes from the natural state to the compressed state. At this time, the limit pin gradually moves away from the first section of the limit hole and approaches the second section of the limit hole.

[0094] Wherein, a first extending sensor 34 and a second extending sensor 35 are also installed on the adjusting slide 311. The number of the first extending sensor 34 and the second extending sensor 35 is two. The first extending sensor 34 is used to detect whether the first unlocking rod 312 reaches the target position when it extends. Since the front end of the first unlocking rod 312 is a U-shaped structure, during the extending process, the hollow part at the front end of the first unlocking rod 312 will not block the detection light between the first extending sensors 34, and the first rack section can block the detection light between the first extending sensors 34, so as to judge whether the first unlocking rod 312 reaches the target; the second extending sensor 35 is used to detect whether the second unlocking rod 32 reaches the target position when it extends. A shielding rod is installed on the second unlocking rod 32, and the shielding rod is used to detect whether the second unlocking rod 32 extends.

[0095] See in combination Figure 2 、 7As shown, in a feasible embodiment, the carriage part 21 includes:

[0096] A mounting seat 211, and the mounting seat 211 is arranged on the driving component 1;

[0097] Guide shafts 212, at least two of the guide shafts 212 are arranged on the mounting seat 211, and the rod seat 221 is slidably arranged on the guide shafts 212;

[0098] A limiting strip 213, the limiting strip 213 is arranged on the mounting seat 211, and when the first elastic member 2222 is in a natural state, the second end of the pressing member 2221 presses against the limiting strip 213.

[0099] In this technical solution, the mounting seat 211 is arranged on the driving component 1. At least two guide shafts 212 are arranged on the mounting seat 211 to provide precise guidance for the movement of the grasping part 22. The arrangement of multiple guide shafts 212 can improve the stability of the rod seat 221 and prevent it from shaking or deviating during movement. The rod seat 221 is slidably connected to the guide shafts 212 through oil-free bushings, further improving the smoothness of sliding. The limiting strip 213 is located on the mounting seat 211. When the first elastic member 2222 is in a natural state, the second end of the pressing member 2221 presses against the limiting strip 213, which can limit the pressing member 2221 and thus limit the movement of the rod seat 221 on the guide shafts 212, ensuring the stable position of the grasping part 22 during operation. When it is necessary to adjust the distance between the grasping parts 22, the unlocking member 31 of the adjusting component 3 unlocks the locking member 222 on one grasping part 22. At this time, the pressing member 2221 disengages from the limiting strip 213, and the driving component 1 drives the mounting seat 211 to move, thereby realizing the adjustment of the distance between the grasping parts 22. After the adjustment is completed, the unlocking member 31 retracts, and the locking member 222 presses against the limiting strip 213 again under the action of the first elastic member 2222, fixing the grasping part 22 in the new position, which is convenient to operate.

[0100] Wherein, the limiting strip 213 is a rack, and the teeth face upward, which is used to increase the friction with the locking member 222 and improve the limiting effect.

[0101] Combined with reference to Figure 1-2 As shown, in a feasible embodiment, the driving component 1 includes:

[0102] A first driving part 11, and the first driving part 11 is used to drive the grasping component 2 to move along the first direction;

[0103] The second driving part 12 is arranged on the first driving part 11, and the grasping assembly 2 is arranged on the second driving part 12. The second driving part 12 is used to drive the grasping assembly 2 to move along the second direction.

[0104] In this technical solution, the first direction is the X-axis direction, and the second direction is the Z-axis direction. The driving assembly 1 includes a first driving part 11 and a second driving part 12. The first driving part 11 is used to drive the grasping assembly 2 to move along the X-axis, and the second driving part 12 is used to drive the grasping assembly 2 to move along the Z-axis.

[0105] The process of adjusting the spacing of the grasping part 22 is as follows: The grasping part 22 to be adjusted is moved to the unlocking position by the first driving part 11 and the second driving part 12. The first driving member 313 drives the first unlocking rod 312 to move towards the locking member 222, driving the pressing member 2221 to disengage from the limiting strip 213. At this time, the grasping part 22 is in a movable state. Then, the first driving part 11 drives the sliding seat part 21 to move, realizing the adjustment of the spacing of the grasping part 22. After the adjustment to the position, the first unlocking rod 312 retracts, and the locking member 222 presses the limiting strip 213 again under the action of the first elastic member 2222, fixing the grasping part 22 at the new position. The equal-spacing adjustment between the grasping parts 22 can be realized, and the adjustment is convenient and fast.

[0106] The adjustment process of the nozzle body 229 is as follows: The grasping part 22 to be lowered is moved to the unlocking position by the first driving part 11 and the second driving part 12. The second driving member 33 drives the second unlocking rod 32 to extend. The second unlocking rod 32 compresses the first clamping block 225 to make it disengage from the bottom of the second clamping block 228. Under the elastic force of the third elastic member 224, the suction rod 223 and the nozzle body 229 can be lowered together; when the nozzle body 229 needs to be retracted, the grasping part 22 is moved to the unlocking position by the first driving part 11. The second unlocking rod 32 extends to hold the second clamping block 228. The second driving part 12 drives the sliding seat part 21 to descend, so that the suction rod 223 rises relative to the rod seat 221. After reaching the height, the first clamping block 225 extends under the action of the first elastic member 2222 and is clamped at the bottom of the second clamping block 228, and the nozzle body 229 is in a retracted state.

[0107] Among them, the first driving part 11 can be a linear motor, a servo-driven lead screw or a synchronous belt linear motion mechanism, etc., which can drive the grasping assembly 2 to move along the X-axis.

[0108] Combined with reference to Figure 10 As shown in a feasible embodiment, the second driving part 12 includes:

[0109] A fixed seat 121, and the fixed seat 121 is arranged on the first driving part 11;

[0110] A sliding table 122, the sliding table 122 is slidably arranged on the fixed seat 121;

[0111] A third driving member 123, the third driving member 123 is arranged on the fixed seat 121;

[0112] A transmission member 124, the transmission member 124 is arranged between the sliding table 122 and the third driving member 123, and the third driving member 123 can drive the sliding table 122 to move through the transmission member 124.

[0113] In this technical solution, the second driving assembly 1 includes a fixed seat 121, a sliding table 122, a third driving member 123 and a transmission member 124. The fixed seat 121 is installed on the output end of the first driving part 11, and the first driving part 11 can drive the second driving part 12 to move along the X-axis. The sliding table 122 is slidably arranged on the fixed seat 121, providing a moving platform for the grasping assembly 2. The third driving member 123 can drive the sliding table 122 and the grasping part 22 to move along the Z-axis through the transmission member 124, so as to realize the adjustment of the position of the grasping assembly 2 in the Z-axis direction.

[0114] Wherein, the transmission member 124 is a lead screw, and it is connected to the sliding table 122 through a thread.

[0115] In a feasible embodiment, it further includes a detection assembly 4, and the detection assembly 4 includes:

[0116] A mounting plate 41, the mounting plate 41 is arranged on both sides of the grasping part 22;

[0117] A first detection member 42, the first detection member 42 is oppositely arranged on the mounting plate 41;

[0118] A second detection member 43, the second detection member 43 is oppositely arranged on the mounting plate 41 and is located below the first detection member 42.

[0119] In this technical solution, the mounting plate 41 is used to fix the first detection member 42 and the second detection member 43. The number of the mounting plates 4 is two, and they are installed on the moving path of the grasping assembly 2 along the X-axis. The second detection member 43 faces the position of the suction nozzle body 229, and the detection optical path of the second detection member 43 is on the path after the suction nozzle body 229 is placed downwards. Therefore, the second detection member 43 can detect whether the suction nozzle body 229 is placed downwards. The first detection member 42 faces the suction rod 223. By the time when the first detection member 42 detects the grasping part 22 and the speed at which the first driving part 11 drives the grasping part 22 to move along the X-axis, the distance between the grasping parts can be measured, and it can be judged whether the distance is correct, providing a strong guarantee for efficient and accurate grasping operations.

[0120] Refer toFigure 1-10 , an embodiment of the present utility model further provides a vision inspection device, including: a conveying assembly and the grasping device provided above, and the grasping assembly is arranged on the conveying assembly.

[0121] Since the vision inspection device provided by the present utility model includes the grasping device provided in any of the above embodiments, it has all the beneficial effects of the grasping device provided in any of the above embodiments, and will not be elaborated one by one here.

[0122] In this technical solution, the conveying assembly is used to transport the chip tray, and the grasping device is installed on the conveying assembly. The distance between the grasping parts can be adjusted according to the grasping requirements, and at the same time, the used grasping parts can be quickly and accurately selected to adapt to the distances between different chips on the chip tray, so as to realize the grasping of the chips in the chip tray.

[0123] The above are only the preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model. The above is only the preferred implementation manner of the present utility model. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A grasping device, characterized in that, Including: A driving component (1); A grasping component (2), the grasping component (2) is arranged on the driving component (1), the driving component (1) is used to drive the grasping component (2) to move, and the grasping component (2) includes a sliding seat part (21) and a plurality of grasping parts (22) slidably arranged on the sliding seat part (21); An adjusting component (3), when the driving component (1) drives the grasping part (22) to move, the adjusting component (3) adjusts the distance between the grasping parts (22).

2. The gripping device according to claim 1, characterized in that, The grasping part (22) includes a rod seat (221) and a locking part (222), the rod seat (221) is arranged on the sliding seat part (21), the locking part (222) is arranged between the sliding seat part (21) and the rod seat (221), and the locking part (222) is used to fix the grasping part (22) on the sliding seat part (21); The adjusting component (3) includes an unlocking part (31), the unlocking part (31) unlocks the locking part (222) to make the locking part (222) disengage from the sliding seat part (21).

3. The gripping device according to claim 2, wherein The locking part (222) includes: A pressing part (2221), the first end of the pressing part (2221) is rotatably arranged on the rod seat (221); A first elastic part (2222), the first elastic part (2222) is arranged between the pressing part (2221) and the rod seat (221), when the first elastic part (2222) is in a natural state, the second end of the pressing part (2221) presses on the sliding seat part (21).

4. The gripping device according to claim 3, characterized in that The unlocking part (31) includes: An adjusting sliding seat (311); A first unlocking rod (312), the first unlocking rod (312) is arranged on the adjusting sliding seat (311); A first driving part (313), the first driving part (313) is arranged on the adjusting sliding seat (311), and the first driving part (313) drives the first unlocking rod (312) to move towards the pressing part (2221) to make the second end of the pressing part (2221) disengage from the sliding seat part (21).

5. The gripping device according to claim 4, characterized in that, The grasping part (22) further includes: A suction rod (223), the suction rod (223) is slidably arranged on the rod seat (221), a third elastic part (224) is arranged between the suction rod (223) and the rod seat (221), a first clamping block (225) is arranged on the rod seat (221), a second elastic part (226) is arranged between the rod seat (221) and the first clamping block (225), a ventilation joint (227) is arranged at the top of the suction rod (223), a second clamping block (228) is arranged on the suction rod (223), the second clamping block (228) is located below the ventilation joint (227), and when the second elastic part (226) is in a natural state, the first clamping block (225) is clamped with the second clamping block (228); A suction nozzle body (229), the suction nozzle body (229) is arranged at the bottom of the suction rod (223).

6. The grasping device according to claim 5, characterized in that The adjusting component (3) further includes: A second unlocking lever (32) which is slidably arranged on the adjusting sliding seat (311); A second driving member (33) which is arranged on the adjusting sliding seat (311) and is used to drive the second unlocking lever (32) to move towards the second unlocking lever (32) so that the first clamping block (225) disengages from the ventilation joint (227).

7. The gripping device according to claim 6, wherein, The sliding seat portion (21) includes: A mounting seat (211) which is arranged on the driving assembly (1); Guide shafts (212), at least two of the guide shafts (212) are arranged on the mounting seat (211), and the rod seat (221) is slidably arranged on the guide shafts (212); A limiting strip (213) which is arranged on the mounting seat (211), and when the first elastic member (2222) is in a natural state, the second end of the pressing member (2221) presses against the limiting strip (213).

8. The grasping device according to claim 1, characterized in that The driving assembly (1) includes: A first driving portion (11) which is used to drive the grasping assembly (2) to move in a first direction; A second driving portion (12) which is arranged on the first driving portion (11), the grasping assembly (2) is arranged on the second driving portion (12), and the second driving portion (12) is used to drive the grasping assembly (2) to move in a second direction.

9. The gripping device according to any one of claims 8, characterized in that The second driving portion (12) includes: A fixed seat (121) which is arranged on the first driving portion (11); A sliding table (122) which is slidably arranged on the fixed seat (121); A third driving member (123) which is arranged on the fixed seat (121); A transmission member (124) which is arranged between the sliding table (122) and the third driving member (123), and the third driving member (123) can drive the sliding table (122) to move through the transmission member (124).

10. The gripping device according to any one of claims 1 to 8, characterized in that, It further includes a detection assembly (4), and the detection assembly (4) includes: A mounting plate (41) which is arranged on both sides of the grasping portion (22); A first detection member (42) which is oppositely arranged on the mounting plate (41); A second detection member (43) which is oppositely arranged on the mounting plate (41) and is located below the first detection member (42).

11. A visual inspection device, characterized in that, It includes: A conveying assembly and the grasping device according to any one of claims 1 to 10, and the grasping assembly is arranged on the conveying assembly.

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