Substrate taking mechanical arm

Abstract

The utility model provides a substrate taking mechanical arm, and belongs to the technical field of substrate taking. The substrate taking mechanical arm comprises a clamping assembly and an adsorption assembly, the clamping assembly comprises a mechanical arm body, a connecting base, a sliding rod, an elastic piece, a clamping rod and a connecting plate, the connecting base is arranged at the end of the mechanical arm body, the adsorption assembly comprises a locking piece and a suction cup head, the locking piece is arranged at the bottom of the connecting plate, and the suction cup head is arranged at the bottom of the mechanical arm body. The mechanical arm body, the connecting base, the sliding rod, the elastic piece, the clamping rod and the connecting plate are arranged, the sliding rod drives the clamping rod to be connected with the connecting plate in an inserted mode through the elastic piece, the connecting plate is clamped in the connecting base, then disassembly and replacement are convenient, and the disassembly and assembly efficiency is improved; the sucker head is convenient to disassemble, assemble and replace in multiple aspects, the disassembly, assembly and replacement efficiency is improved, and time and labor are saved.

Description

Technical Field

[0001] The present application relates to the field of substrate fetching, and in particular to a substrate fetching robot arm. Background Art

[0002] A chip is a silicon wafer containing an integrated circuit. In electronics, it's a way to miniaturize circuits and is often manufactured on the surface of a semiconductor wafer. To house, secure, seal, and protect the chip, enhance its electrical and thermal performance, and connect internal and external circuits, the chip is typically packaged using a packaging substrate. This involves soldering the chip to the packaging substrate to form a chip substrate. In related technologies, a suction cup is attached to a robotic arm, which then absorbs the top surface of the chip substrate to secure the chip substrate and transfer it.

[0003] Currently, the suction cup structures installed on the robotic arm are mostly fixed and connected by bolts. The position of the suction cup corresponds to the adsorption position on the substrate, and the adsorption position of different chips is different. Therefore, it is necessary to disassemble and replace the suction cups in different positions, which is troublesome and time-consuming to operate, and the disassembly efficiency is low. Utility Model Content

[0004] In order to make up for the above deficiencies, the present application provides a substrate picking robot arm, which aims to improve the problems raised in the above background technology.

[0005] An embodiment of the present application provides a substrate picking robot arm including a clamping component and an adsorption component.

[0006] The clamping assembly includes a robotic arm body, a connecting seat, a sliding rod, an elastic member, a clamping rod, and a connecting plate. The connecting seat is arranged at the end of the robotic arm body. The connecting seat is provided with a connecting groove. The sliding rod is slidably arranged in the connecting groove. The elastic member is arranged in the connecting groove and connected to the sliding rod. The connecting plate is slidably inserted into the bottom of the connecting seat. The clamping rod is arranged on one side of the sliding rod and inserted into the connecting plate.

[0007] The adsorption component includes a locking piece and a suction cup head. The locking piece is arranged at the bottom of the connecting plate, and the suction cup head is arranged in the locking piece.

[0008] In a specific embodiment, the elastic member includes a spring and a limiting ring, the limiting ring is fixedly sleeved on the sliding rod, the spring is sleeved on the surface of the sliding rod, and both ends of the spring abut against the limiting ring and the inner wall of the connecting groove.

[0009] In the above implementation process, a spring and a limiting ring are provided, and the limiting ring is pushed by the elastic action of the spring, so that in the absence of external force, the limiting ring and the sliding rod continue to drive the connecting rod to connect the connecting plate.

[0010] In a specific embodiment, one end of the sliding rod extends out of the communicating groove, and one end of the sliding rod is fixedly connected to a pull ring.

[0011] In the above implementation process, by providing a pull ring, it is convenient to pull the pull ring to drive the sliding rod to move.

[0012] In a specific embodiment, a slot is provided at the bottom of the connecting seat, and an insert block is provided at the top of the connecting plate, and the insert block is inserted into the slot.

[0013] In the above implementation process, the plug-in connection is achieved by providing an insert block and a slot and inserting the insert block into the slot.

[0014] In a specific embodiment, the slot is connected to the connecting groove, the connecting rod is L-shaped, and the connecting rod extends into the connecting groove.

[0015] In the above implementation process, the L-shaped clamping rod is provided to extend into the slot, so that the clamping rod can be clamped and inserted into the connecting plate.

[0016] In a specific embodiment, the insert block is provided with a clamping hole, and the clamping rod is adapted to the clamping hole.

[0017] In the above implementation process, by providing a clamping hole, the clamping rod can be adapted to be inserted into the clamping hole, thereby achieving plug-in connection.

[0018] In a specific embodiment, a plurality of the slots are evenly provided, a plurality of the clamping rods are also evenly arranged, and the plurality of the clamping rods and the plurality of the slots are arranged in one-to-one correspondence.

[0019] In the above implementation process, by providing a plurality of clamping rods and a plurality of slots arranged in a one-to-one correspondence, connecting plates of different sizes can be connected and assembled.

[0020] In a specific embodiment, the locking member includes a slot block and a positioning bolt, the slot block is arranged at the bottom of the connecting plate, the top of the suction cup head is inserted into the slot block, and the positioning bolt thread passes through one side of the slot block and abuts against the top of the suction cup head.

[0021] In the above implementation process, by providing a slot block and a positioning bolt, inserting the suction cup head into the slot block, and then tightening the positioning bolt, it is convenient to disassemble and replace the suction cup head.

[0022] Beneficial effect: The present application provides a substrate picking robot arm, which is provided with a robot arm main body, a connecting seat, a sliding rod, an elastic part, a clamping rod, and a connecting plate. The elastic part is used to make the sliding rod drive the clamping rod to plug and connect the connecting plate, and the connecting plate is clamped in the connecting seat, thereby facilitating disassembly and replacement, and improving disassembly and assembly efficiency. By setting a locking part and a suction cup head, the suction cup head is conveniently disassembled and replaced, which facilitates disassembly and assembly in many aspects, improves the efficiency of disassembly and assembly, and saves time and labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the following is a brief introduction to the drawings required for use in the implementation methods. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the structure of a substrate-picking robotic arm provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the connecting socket structure provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the elastic member structure provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the locking structure provided in an embodiment of the present application.

[0028] In the figure: 100-clamping assembly; 110-robotic arm body; 120-connecting seat; 121-connecting groove; 122-slot; 150-sliding rod; 151-pull ring; 160-elastic member; 161-spring; 162-limiting ring; 170-clamping rod; 180-connecting plate; 181-insertion block; 1811-clamping hole; 200-adsorption assembly; 210-locking member; 211-slot block; 212-positioning bolt; 220-suction cup head. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0030] See also Figure 1-Figure 4 The present application provides a substrate picking robot arm including a clamping component 100 and an adsorption component 200 .

[0031] See also Figure 1 、 2, 3 and 4, the snap-fit ​​assembly 100 includes a robot arm body 110, a connecting seat 120, a sliding rod 150, an elastic member 160, a snap-fit ​​rod 170, and a connecting plate 180, the connecting seat 120 is arranged at the end of the robot arm body 110, the connecting seat 120 is provided with a connecting groove 121, the sliding rod 150 is slidably arranged in the connecting groove 121, the elastic member 160 is arranged in the connecting groove 121 and is connected to the sliding rod 150, the connecting plate 180 is slidably inserted into the bottom of the connecting seat 120, and the snap-fit ​​rod 170 is arranged on one side of the sliding rod 150 and is inserted into the connecting plate 180.

[0032] Among them, the elastic member 160 includes a spring 161 and a limiting ring 162, the limiting ring 162 is fixedly sleeved on the sliding rod 150, the spring 161 is sleeved on the surface of the sliding rod 150, and the two ends of the spring 161 are in contact with the limiting ring 162 and the inner wall of the connecting groove 121. By setting the spring 161 and the limiting ring 162, the elastic action of the spring 161 is used to push the limiting ring 162, so that in the absence of external force, the limiting ring 162 and the sliding rod 150 continue to drive the clamping rod 170 to clamp and connect the connecting plate 180.

[0033] Specifically, one end of the sliding rod 150 extends out of the communicating groove 121 , and one end of the sliding rod 150 is fixedly connected to a pull ring 151 . The pull ring 151 is provided to facilitate operation of pulling the pull ring 151 to drive the sliding rod 150 to move.

[0034] It should be noted that a slot 122 is provided at the bottom of the connecting seat 120, and an insert block 181 is provided at the top of the connecting plate 180. The insert block 181 is inserted into the slot 122. By setting the insert block 181 and the slot 122, the insert block 181 is inserted into the slot 122 to achieve plug-in connection.

[0035] In a specific embodiment, the slot 122 is connected to the connecting groove 121, the clamping rod 170 is L-shaped, and the clamping rod 170 extends into the connecting groove 121. By setting the L-shaped clamping rod 170 to extend into the slot 122, the clamping rod 170 can be clamped and inserted into the connecting plate 180.

[0036] In this embodiment, the insert block 181 is provided with a latching hole 1811 , and the latching rod 170 is adapted to the latching hole 1811 . By providing the latching hole 1811 , the latching rod 170 can be adapted to be inserted into the latching hole 1811 , thereby achieving insertion.

[0037] It should be noted that there are multiple slots 122 evenly opened, and there are multiple clamping rods 170 evenly arranged, and the multiple clamping rods 170 and the multiple slots 122 are arranged one-to-one. By arranging multiple clamping rods 170 and the multiple slots 122 one-to-one, connecting plates 180 of different sizes can be connected and assembled.

[0038] See also Figure 1 and 4 The adsorption assembly 200 includes a locking member 210 and a suction cup head 220 . The locking member 210 is disposed at the bottom of the connecting plate 180 , and the suction cup head 220 is disposed inside the locking member 210 .

[0039] Among them, the locking member 210 includes a slot block 211 and a positioning bolt 212. The slot block 211 is arranged at the bottom of the connecting plate 180, and the top of the suction cup head 220 is inserted into the slot block 211. The positioning bolt 212 thread passes through one side of the slot block 211 and abuts against the top of the suction cup head 220. By setting the slot block 211 and the positioning bolt 212, the suction cup head 220 is inserted into the slot block 211, and then the positioning bolt 212 is tightened, which makes it convenient to disassemble and assemble the suction cup head 220 for replacement.

[0040] The working principle of the substrate picking robot arm is as follows: during use, the plug block 181 is inserted into the slot 122 to mount the connecting plate 180 equipped with the suction cup head 220 to the bottom of the connecting seat 120, and then the spring 161 is used to elastically push the limiting ring 162, so that in the absence of external force, the limiting ring 162 and the sliding rod 150 continue to drive the clamping rod 170 to clamp the connecting plate 180, and the clamping rod 170 is inserted into the clamping hole 1811. When it needs to be disassembled and replaced, the pull ring 151 is pulled to drive the sliding rod 150, and the sliding rod 150 drives the L-shaped clamping rod 170 to move, and the clamping rod 170 moves out of the clamping hole 1811. 11, the connecting plate 180 and the suction cup head 220 can be pulled out for replacement, and the connecting plate 180 equipped with the suction cup head 220 in different positions can be replaced to correspond to different chip substrates. At the same time, by setting multiple clamping rods 170 and multiple slots 122 arranged in a one-to-one correspondence, connecting plates 180 of different sizes can be connected and assembled, further improving the scope of application. Compared with the disassembly and assembly method of multiple bolts, the disassembly and assembly efficiency is greatly improved, saving time for work. Further, the suction cup head 220 is inserted into the slot block 211, and then the positioning bolt 212 is tightened, which facilitates the disassembly and assembly of the suction cup head 220 for replacement.

[0041] It should be noted that the specific model and specifications of the robotic arm body 110 need to be selected and determined based on the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0042] The power supply and principle of the robot arm body 110 are clear to those skilled in the art and will not be described in detail here.

[0043] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A substrate picking robot arm, characterized in that: include A clamping assembly (100), the clamping assembly (100) comprising a robot arm body (110), a connecting seat (120), a sliding rod (150), an elastic member (160), a clamping rod (170), and a connecting plate (180); the connecting seat (120) is arranged at the end of the robot arm body (110); the connecting seat (120) is provided with a connecting groove (121); the sliding rod (150) is slidably arranged in the connecting groove (121); the elastic member (160) is arranged in the connecting groove (121) and connected to the sliding rod (150); the connecting plate (180) is slidably plugged into the bottom of the connecting seat (120); the clamping rod (170) is arranged on one side of the sliding rod (150) and plugged into the connecting plate (180); The adsorption assembly (200) comprises a locking member (210) and a suction cup head (220), wherein the locking member (210) is arranged at the bottom of the connecting plate (180), and the suction cup head (220) is arranged in the locking member (210).

2. The substrate removal robot according to claim 1, characterized in that: The elastic member (160) includes a spring (161) and a limiting ring (162), wherein the limiting ring (162) is fixedly sleeved on the sliding rod (150), and the spring (161) is sleeved on the surface of the sliding rod (150), and the two ends of the spring (161) abut against the limiting ring (162) and the inner wall of the connecting groove (121).

3. The substrate removal robot according to claim 1, characterized in that: One end of the sliding rod (150) extends out of the communicating groove (121), and one end of the sliding rod (150) is fixedly connected to a pull ring (151).

4. The substrate removal robot arm according to claim 1, characterized in that: A slot (122) is provided at the bottom of the connecting seat (120), and an inserting block (181) is provided at the top of the connecting plate (180), and the inserting block (181) is inserted into the slot (122).

5. The substrate-picking robot arm according to claim 4, characterized in that: The slot (122) is connected to the communicating groove (121), the connecting rod (170) is L-shaped, and the connecting rod (170) extends into the communicating groove (121).

6. The substrate removal robot arm according to claim 5, characterized in that: The insert block (181) is provided with a clamping hole (1811), and the clamping rod (170) is adapted to the clamping hole (1811).

7. The substrate-picking robot arm according to claim 6, characterized in that: A plurality of slots (122) are evenly provided, and a plurality of clamping rods (170) are also evenly arranged, and the plurality of clamping rods (170) and the plurality of slots (122) are arranged in a one-to-one correspondence.

8. The substrate-picking robot arm according to claim 1, characterized in that: The locking member (210) comprises a slot block (211) and a positioning bolt (212); the slot block (211) is arranged at the bottom of the connecting plate (180); the top of the suction cup head (220) is inserted into the slot block (211); the positioning bolt (212) is threadedly passed through one side of the slot block (211) and abuts against the top of the suction cup head (220).

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