Miniature clamping jaw pickup device

Abstract

The utility model relates to the field of chips, in particular to a miniature clamping jaw pickup device which comprises an installation piece, a supporting piece is arranged on one side of the installation piece, a first supporting block and a second supporting block are arranged on the supporting piece in a spaced mode, and an air guide rod is arranged on the supporting piece. The top end of the air guide rod is sleeved with a first limiting block, one end of the first limiting block is communicated with an air inlet pipe, the air guide rod corresponding to the lower portion of the first limiting block is sleeved with a second limiting block, the bottom end of the air guide rod is provided with a fixing piece, and a picking rod or a clamping jaw mechanism is arranged in the lower portion of the fixing piece; a connecting piece is arranged above the supporting piece, a jacking piece is fixed at one end of the connecting piece, and a voice coil motor used for driving the connecting piece to move is arranged on the supporting piece.

Description

Technical Field

[0001] The utility model relates to a picking device, in particular to a micro-claw picking device. Background Art

[0002] In the chip production process, one of the steps is to package the chip. With the continuous upgrading of packaging technology, the types of products that need to be packaged by packaging equipment are increasing. The existing vacuum adsorption method alone is difficult to meet the process requirements of chip picking, resulting in low chip production efficiency, making it difficult to meet chip demand. Utility Model Content

[0003] The utility model provides a micro-gripper picking device, which solves the technical problem that the existing picking process is difficult to meet the chip placement requirements, and provides the following technical solutions:

[0004] A micro-gripper picking device includes a mounting member, a support member is provided on one side of the mounting member, and the support member and the mounting member are rotatably matched, a first support block and a second support block are provided at one end of the length direction of the support member, and the first support block is provided below the second support block, and a vertical air guide rod is provided on the support member, and the other end of the air guide rod passes through the second support block and the first support block in sequence, so that the bottom end of the air guide rod extends below the first support block;

[0005] The top end of the gas guide rod is sleeved with a first limit block, one end of the first limit block is provided with an air intake pipe, and the air intake pipe and the gas guide rod are in communication; a second limit block is sleeved on the gas guide rod corresponding to the lower portion of the first limit block, and the second limit block abuts against the top of the second support block, wherein the bottom end of the gas guide rod is provided with a fixing piece, the upper part of the fixing piece is sleeved on the bottom end of the gas guide rod, a picking rod or a clamping mechanism is provided in the lower part of the fixing piece, and the gas guide rod is in communication with the picking rod or the air intake rod in the clamping mechanism;

[0006] A connecting member is provided above the support member, and is provided along the length direction of the support member. The middle portion of the connecting member is rotatably connected to the support member. A lifting member is fixedly provided at one end of the connecting member close to the first support block. The lifting member is provided between the first limit block and the second limit block, and the height of the lifting member is less than the distance between the first limit block and the second limit block. A voice coil motor for driving the connecting member to move is provided on the support member;

[0007] A sensor for detecting a change in a magnetic field is provided on a side wall surface of the support member corresponding to the first support block and the second support block.

[0008] By adopting the above technical solution and setting the fixing member, the method for picking up the chip can be changed according to the type of chip produced, thereby expanding the transfer range of the picking device and improving the productivity of chip packaging;

[0009] Through the setting of the sensor, the sensor can determine the pressure on the chip surface based on the detected magnetic field changes. When the pressure exceeds the maximum force setting value of the chip, the voice coil motor drives the connecting part to rotate along the hinge, thereby moving the lifting part upward, and then moving the picking rod or clamp upward to leave the chip, thereby ensuring the integrity of the chip.

[0010] Furthermore, a first fixing hole and a second fixing hole are respectively provided at the upper and lower parts of the fixing member, and both the first fixing hole and the second fixing hole extend outside the fixing member. A first bolt for fixing the air guide rod is provided in the first fixing hole, and a second bolt for fixing the picking rod or the air intake rod in the clamping mechanism is provided in the second fixing hole.

[0011] By adopting the above technical solution, a second fixing hole is provided at the lower part of the fixing part, and the second bolt can be used to realize the initial disassembly and installation of the picking rod or the clamping claw, thereby accelerating the rapid switching of different chip mounting picking methods, thereby improving the production efficiency and application range of chip mounting.

[0012] Furthermore, a waist-shaped hole is provided on the support member, and a third bolt is provided in the waist-shaped hole in a sliding manner, and the other end of the third bolt is connected to the mounting member.

[0013] By adopting the above technical solution, through the setting of the waist-shaped hole, when the voice coil motor drives the lifting member to move upward, causing the picking rod or the clamping claw to move upward and away from the chip surface, the third bolt in the waist-shaped hole moves to another position due to the rotation of the support member. The moved third bolt will only move when the lifting member is driven by the voice coil motor, thereby preventing the picking rod or the clamping claw from moving downward again to damage the chip, thereby protecting the integrity of the chip.

[0014] Furthermore, when a clamping mechanism is provided at the lower portion of the fixing member, the clamping mechanism comprises a cylinder, a connecting vent rod and a clamp, the connecting vent rod and the gas guide rod are in communication, a gas passage for gas passage is provided in the cylinder, and the lower portion of the connecting vent rod is provided in the gas passage in the cylinder in an interference fit manner;

[0015] The clip includes an integrally formed mounting portion and two gripping portions, the mounting portion being arranged on the cylinder body, the two gripping portions being arranged at the bottom of the mounting portion, the mounting portion being vertically provided with a first notch, the notch of the first notch being arranged at the bottom of the mounting portion, and the first notch being arranged on the mounting portion corresponding to the two gripping portions;

[0016] A circular notch is provided on one side of the cylinder body close to the mounting portion. The circular notch extends toward the other end of the cylinder body so that the circular notch and the gas channel are in communication. A suitable piston is arranged in the circular notch.

[0017] Furthermore, a second notch is provided on the outer periphery of the piston, and a sealing ring is provided in the second notch.

[0018] By adopting the above technical solution, the air tightness in the circular gap can be ensured when passing through the sealing ring, which makes it possible to achieve precise control of the grasping part by controlling the gas, and then precisely control the clamping force and position of the clamp, thereby improving production efficiency and reducing chip damage.

[0019] Furthermore, the sides of the two gripping portions that are close to each other are both arranged vertically.

[0020] Furthermore, a side wall surface of the first notch overlaps with a side wall surface of the corresponding lower gripping portion away from the gas channel.

[0021] By adopting the above technical solution, when the first notch is close to the gripping portion away from the gas channel, this can reduce the pressure of the gas on the piston and the adsorption force of the gas on the piston, thereby reducing the workload and thus reducing energy consumption.

[0022] In summary, this application has the following beneficial effects:

[0023] 1. By setting the fixing parts, the method used to pick up the chips can be changed according to the type of chip produced, thereby expanding the transfer range of the pickup device and improving the productivity of chip packaging. By setting the sensor, the sensor can determine the pressure on the chip surface based on the detected magnetic field changes. When the pressure exceeds the maximum force setting value of the chip, the voice coil motor drives the connecting part to rotate along the hinge, thereby moving the lifting part upward, and then the picking rod or clamping claw moves upward and away from the chip, thereby ensuring the integrity of the chip.

[0024] 2. By providing a second fixing hole at the bottom of the fixing member and using a second bolt to realize the start and end disassembly and installation of the pick-up rod or the clamping claw, the rapid switching of different pick-up modes for chip placement is accelerated, thereby improving the production efficiency and application range of chip placement;

[0025] 3. Through the setting of the waist-shaped hole, when the voice coil motor drives the lifting member to move upward, causing the pick-up rod or the clamping claw to move upward and away from the chip surface, the third bolt in the waist-shaped hole moves to another position due to the rotation of the support member. The moved third bolt will only move when the lifting member is driven by the voice coil motor, thereby preventing the pick-up rod or the clamping claw from moving downward again and damaging the chip, thereby protecting the chip.

[0026] 4. When passing through the sealing ring, the airtightness in the circular gap can be guaranteed, which makes it possible to precisely control the gripping part by controlling the gas, and then precisely control the clamping force and position of the clamping claws, thereby improving production efficiency and reducing chip damage;

[0027] 5. When the first notch is close to the gripping portion away from the gas channel, this can reduce the pressure of the gas on the piston and the adsorption force of the gas on the piston, thereby reducing the workload and thus reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a specific embodiment 1 of the micro-gripper picking device;

[0029] Figure 2 This is a front view of the specific embodiment 1 of the micro-gripper picking device;

[0030] Figure 3 This is a schematic structural diagram of a specific embodiment 2 of the micro-gripper picking device;

[0031] Figure 4 This is a front view of the specific embodiment 2 of the micro-gripper picking device;

[0032] Figure 5 This is a schematic structural diagram of the gripper mechanism in the specific embodiment 2 of the micro gripper picking device;

[0033] Figure 6 2 is a cross-sectional view of the gripper mechanism in the second embodiment of the micro gripper picking device;

[0034] Figure 7 for Figure 6 A partial enlarged view of the serial number A;

[0035] Figure 8 This is a schematic diagram of the structure of the fixing parts in the micro-gripper picking device;

[0036] In the figure: 1. Mounting part; 2. Support part; 3. First supporting block; 4. Second supporting block; 5. Air guide rod; 6. First limiting block; 7. Air inlet pipe; 8. Second limiting block; 9. Fixing part; 10. Picking rod; 11. Clamping mechanism; 1101. Cylinder body; 1102. Connecting ventilation rod; 1103. Clip; 110301. Mounting part; 110302. Grasping part; 12. Connecting part; 13. Lifting part; 14. Voice coil motor; 15. Sensor; 16. First fixing hole; 17. Second fixing hole; 18. Waist-shaped hole; 19. First notch; 20. Piston; 21. Sealing ring; 22. Gas channel. DETAILED DESCRIPTION

[0037] The present application is further described in detail below with reference to the accompanying drawings.

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0039] like Figure 1-2 and Figure 8 As shown, the micro-gripper picking device includes a mounting member 1, which is used to connect to other equipment. A support member 2 is provided on one side of the mounting member 1, and the support member 2 and the mounting member 1 are rotatably matched. A first support block 3 and a second support block 4 are provided at one end of the support member 2 in the longitudinal direction, and the first support block 3 is provided below the second support block 4. A vertical air guide rod 5 is provided on the support member 2, and the other end of the air guide rod 5 passes through the second support block 4 and the first support block 3 in sequence, so that the bottom end of the air guide rod 5 extends below the first support block 3;

[0040] The top end of the gas guide rod 5 is sleeved with a first limit block 6, one end of the first limit block 6 is provided with an air intake pipe 7, and the air intake pipe 7 and the gas guide rod 5 are in communication. A second limit block 8 is sleeved on the gas guide rod 5 corresponding to the lower portion of the first limit block 6, and the second limit block 8 abuts against the top of the second support block 4. The bottom end of the gas guide rod 5 is provided with a fixing member 9, the upper part of the fixing member 9 is sleeved on the bottom end of the gas guide rod 5, and a picking rod 10 or a clamping mechanism 11 is provided in the lower part of the fixing member 9, and the gas guide rod 5 is in communication with the picking rod 10 or the air intake rod in the clamping mechanism 11;

[0041] A connecting member 12 is provided above the support member 2. The connecting member 12 is provided along the length direction of the support member 2. The middle part of the connecting member 12 is connected to the support member 2 in a rotatable manner. A lifting member 13 is fixedly provided at one end of the connecting member 12 close to the first support block 3. The lifting member 13 is provided between the first limit block 6 and the second limit block 8, and the height of the lifting member 13 is less than the distance between the first limit block 6 and the second limit block 8. A voice coil motor 14 is provided on the support member 2 for driving the connection member 12 to move.

[0042] Sensors 15 for detecting magnetic field changes are provided on the side wall surfaces of the support member 2 corresponding to the first support block 3 and the second support block 4 .

[0043] The structure for picking up chips at the bottom of the fixing member 9 can be replaced according to the type of chip produced, thereby expanding the chip transfer range of the pickup device and improving the productivity of chip packaging; the sensor 15 can determine the pressure on the chip surface based on the detected magnetic field changes. When the pressure exceeds the maximum force setting value of the chip, the voice coil motor 14 drives the connecting member 12 to rotate along the hinge, thereby moving the lifting member 13 upward, and then moving the picking rod 10 or the clamp upward to leave the chip, thereby ensuring the integrity of the chip.

[0044] A first fixing hole 16 and a second fixing hole 17 are respectively provided at the upper and lower parts of the fixing part 9. The first fixing hole 16 and the second fixing hole 17 both extend to the outside of the fixing part 9. A first bolt for fixing the air guide rod 5 is provided in the first fixing hole 16, and a second bolt for fixing the picking rod 10 or the air intake rod in the clamping mechanism 11 is provided in the second fixing hole 17. The second bolt can be used to realize the disassembly and installation of the picking rod 10 or the clamping claw, thereby accelerating the rapid switching of different picking modes of chip mounting, thereby improving the production efficiency and application range of chip mounting.

[0045] A waist-shaped hole 18 is provided on the support member 2, and a third bolt is provided in the waist-shaped hole 18 in a sliding shape, and the other end of the third bolt is connected to the mounting member 1; when the voice coil motor 14 drives the lifting member 13 to move upward, so that the picking rod 10 or the clamping claw moves upward to leave the chip surface, the third bolt in the waist-shaped hole 18 moves to another position due to the rotation of the support member 2. The moved third bolt will only move when the lifting member 13 is driven by the voice coil motor 14, thereby preventing the picking rod 10 or the clamping claw from moving downward again to damage the chip, thereby protecting the integrity of the chip.

[0046] In a specific embodiment 1, Figure 1-2 As shown, a pick-up rod 10 is provided at the lower portion of the fixing member 9. The upper portion of the pick-up rod 10 is placed into the lower portion of the fixing member 9 so that the pick-up rod 10 rests against the bottom of the air guide rod 5. The second bolt is tightened so that the second bolt rests against the side wall of the pick-up rod 10 to complete the installation of the pick-up rod 10.

[0047] In a specific embodiment 2, Figure 2-8The difference between this specific embodiment and specific embodiment 1 is that in this specific embodiment, when a clamping mechanism 11 is provided at the lower portion of the fixing member 9, the clamping mechanism 11 includes a cylinder body 1101, a connecting vent rod 1102, and a clamp 1103. The connecting vent rod 1102 and the gas guide rod 5 are in a communicating state. The connecting vent rod 1102 is connected to the gas guide rod 5 via a second bolt. A gas passage 22 for gas to pass through is provided in the cylinder body 1101. The lower portion of the connecting vent rod 1102 is provided in the gas passage 22 in the cylinder body 1101 in an interference fit state. A gas transmission pipe for gas to pass through is provided along the shape of the gas passage 22.

[0048] The clip 1103 includes an integrally formed mounting portion 110301 and two gripping portions 110302. The mounting portion 110301 is disposed on the cylinder body 1101, and the two gripping portions 110302 are both disposed at the bottom of the mounting portion 110301. The two gripping portions 110302 are disposed vertically on the sides adjacent to each other. A first notch 19 is vertically disposed on the mounting portion 110301. The notch of the first notch 19 is disposed at the bottom of the mounting portion 110301, and the first notch 19 is disposed on the mounting portion 110301 corresponding to the two gripping portions 110302.

[0049] A circular notch is provided on one side of the cylinder body 1101 close to the mounting portion 110301, and the circular notch extends to the other end of the cylinder body 1101, so that the circular notch and the gas channel 22 are connected, and a corresponding piston 20 is provided in the circular notch; a second notch is provided on the outer periphery of the piston 20, and a sealing ring 21 is provided in the second notch; the sealing ring 21 can ensure the airtightness in the circular notch, which makes it possible to achieve precise control of the grasping portion 110302 by controlling the gas, and then precisely control the clamping force and position of the clamp, thereby improving production efficiency and reducing chip damage.

[0050] One side wall of the first notch 19 overlaps with the side wall of the corresponding grabbing portion 110302 away from the gas channel 22; when the first notch 19 is close to the grabbing portion 110302 away from the gas channel 22, this can reduce the pressure of the gas on the piston 20, and can also reduce the adsorption force of the gas on the piston 20, thereby reducing the workload and thus reducing energy consumption.

[0051] Working principle: When using the pick rod 10 to transfer a chip, the pick rod 10 is placed in the fixing member 9. By tightening the second bolt in the second fixing hole 17, when the second bolt abuts against the side wall of the pick rod 10, the pick rod 10 is installed. After installation is completed, the voice coil motor 14 is started, causing the connecting member 12 to rotate along the hinge until the bottom of the lifting member 13 abuts against the top of the second limit block 8. The air source is controlled to enter the pick rod 10 from the air inlet pipe 7 through the air guide rod 5, causing the pick rod 10 to absorb the chip. After the chip is absorbed, the voice coil motor 14 is controlled to drive the lifting member 13 to move upward, so that the lifting member 13 is separated from the chip surface, and then the chip is transferred.

[0052] When the chip is transferred by the clamp, the connecting vent rod 1102 is placed in the fixing part 9, and the second bolt in the second fixing hole 17 is screwed. When the second bolt abuts against the side wall of the connecting vent rod 1102, the installation of the clamp is completed. After the installation is completed, the voice coil motor 14 is started, so that the connecting part 12 rotates along the hinge until the bottom of the lifting part 13 abuts against the top of the second limit block 8. By compressing the air source entering the gas channel 22 from the air inlet pipe 7 through the air guide rod 5 and the connecting vent rod, when the control piston 20 moves toward the grasping part 11030 During movement, due to the setting of the first notch 19, the two side walls of the first notch 19 will move toward each other, thereby forcing the gripping portion 110302 near the piston 20 to move toward the other gripping portion 110302, completing the gripping of the chip. After gripping, the voice coil motor 14 is controlled to drive the lifting member 13 to move upward, so that the lifting member 13 leaves the chip surface and then transfers it to the designated position. When the chip needs to be placed, the air source is controlled to adsorb the piston 20, so that the gripping portion 110302 near the piston 20 is forced to return to its original position, thereby releasing the chip.

[0053] During the chip transfer process, the sensor 15 can determine whether the force on the chip exceeds the maximum set value of the chip force by detecting changes in the magnetic field. When the sensor 15 detects that the force exceeds the maximum set value of the chip, it controls the voice coil motor 14 to drive the lifting part 13 to move upward, so that the picking rod 10 or the clamping claw is lifted, thereby avoiding damage to the chip.

[0054] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0055] The present invention has been described above with reference to specific embodiments. However, those skilled in the art should understand that these descriptions are merely illustrative and are not intended to limit the scope of protection of the present invention. Those skilled in the art may make various modifications and variations to the present invention based on the spirit and principles of the present invention, and such modifications and variations are also within the scope of the present invention.

Claims

1. A micro-gripper picking device, comprising a mounting member, a support member disposed on one side of the mounting member, the support member and the mounting member being rotatably engaged, a first support block and a second support block spaced apart at one end of the lengthwise direction of the support member, the first support block being disposed below the second support block, a vertically disposed air guide rod disposed on the support member, the other end of the air guide rod sequentially passing through the second support block and the first support block, such that the bottom end of the air guide rod extends below the first support block; The top end of the gas guide rod is sleeved with a first limiting block, one end of the first limiting block is provided with an air intake pipe, and the air intake pipe and the gas guide rod are in communication, a second limiting block is sleeved on the gas guide rod corresponding to the lower portion of the first limiting block, and the second limiting block abuts against the top of the second support block, characterized in that: The bottom end of the gas guide rod is provided with a fixing piece, the upper part of the fixing piece is sleeved on the bottom end of the gas guide rod, the lower part of the fixing piece is provided with a picking rod or a clamping mechanism, and the gas guide rod is connected to the picking rod or the air inlet rod in the clamping mechanism; A connecting member is provided above the support member, and is provided along the length direction of the support member. The middle portion of the connecting member is rotatably connected to the support member. A lifting member is fixedly provided at one end of the connecting member close to the first support block. The lifting member is provided between the first limit block and the second limit block, and the height of the lifting member is less than the distance between the first limit block and the second limit block. A voice coil motor for driving the connecting member to move is provided on the support member; A sensor for detecting a change in a magnetic field is provided on a side wall surface of the support member corresponding to the first support block and the second support block.

2. The micro gripper picking device according to claim 1, characterized in that: The upper and lower parts of the fixing member are respectively provided with a first fixing hole and a second fixing hole, both of which extend to the outside of the fixing member. A first bolt for fixing the air guide rod is provided in the first fixing hole, and a second bolt for fixing the picking rod or the air intake rod in the clamping mechanism is provided in the second fixing hole.

3. The micro gripper picking device according to claim 1, characterized in that: A waist-shaped hole is provided on the support member, and a third bolt is provided in the waist-shaped hole in a sliding manner, and the other end of the third bolt is connected to the mounting member.

4. The micro gripper picking device according to claim 1, characterized in that: When a clamping mechanism is provided at the lower portion of the fixing member, the clamping mechanism comprises a cylinder, a connecting vent rod and a clamp, the connecting vent rod and the gas guide rod are in communication, a gas passage for gas passage is provided in the cylinder, and the lower portion of the connecting vent rod is provided in the gas passage in the cylinder in an interference fit manner; The clip includes an integrally formed mounting portion and two gripping portions, the mounting portion being arranged on the cylinder body, the two gripping portions being arranged at the bottom of the mounting portion, the mounting portion being vertically provided with a first notch, the notch of the first notch being arranged at the bottom of the mounting portion, and the first notch being arranged on the mounting portion corresponding to the two gripping portions; A circular notch is provided on one side of the cylinder body close to the mounting portion. The circular notch extends toward the other end of the cylinder body so that the circular notch and the gas channel are in communication. A suitable piston is arranged in the circular notch.

5. The micro gripper picking device according to claim 4, characterized in that: A second notch is provided on the outer periphery of the piston, and a sealing ring is provided in the second notch.

6. The micro gripper picking device according to claim 4, characterized in that: The sides of the two gripping parts that are close to each other are both arranged vertically.

7. The micro gripper picking device according to claim 4, characterized in that: A side wall surface of the first notch overlaps with a side wall surface of the corresponding lower gripping portion away from the gas channel.

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