Automatic feeding manipulator for strapping
By designing an automatic strapping loading robot, the vibration and rotation problems of chip trays during transportation are solved, smooth transportation and multiple strapping are achieved, and operational efficiency and stability are improved, meeting the production requirements of semiconductor products.
Patent Information
- Application Number
- CN202520031144.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-07
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2035-01-07
AI Technical Summary
In the existing technology, the roller line and pushing method can easily cause the chip tray to tip over and the chips to vibrate out during the conveying process, resulting in unstable taping operations. In addition, it is difficult to rotate the tray 90° when completing the "I"-shaped taping, and the equipment occupies a large space.
A robot for automatic strapping and loading was designed, which included a Z-axis linear module, an X-axis linear module, a support mechanism, and a rotary motor. The robot grasped the chip tray through a clamping claw and used a servo motor to achieve smooth transportation, rotation, and support. Combined with a cylinder connector and a pneumatic clamping claw, it performed multiple strapping operations, reduced vibration, and completed the "I"-shaped strapping.
It realizes the smooth handling and multiple strapping of chip trays, prevents the trays from scattering, improves operation efficiency and stability, reduces material damage, meets the production requirements of semiconductor products, and saves labor.
Smart Images
Figure CN223408189U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic strapping equipment for pallets, in particular to an automatic strapping and feeding manipulator. Background Art
[0002] Automatic taping is an essential feature for automated chip packaging. It ensures smooth handling of chips and their trays, and works in conjunction with the taping machine to perform tasks such as handling, rotation, avoidance, and support. It applies "I"-shaped taping to the trays to prevent them from falling and vibration during handling. High gripping precision is required for interfacing with the preceding process. An external frame completely isolates the internal motion mechanism from external components, enhancing overall equipment safety and meeting anti-static requirements for semiconductor equipment.
[0003] The photovoltaic module taping conveying device disclosed in the Chinese utility model patent application disclosure specification 2023225380752 includes: a frame, an X-direction ground rail, a Y-direction roller conveyor line and a drive assembly; the frame is arranged on the X-direction ground rail, and the drive assembly is used to drive the frame to move back and forth along the X-direction on the X-direction ground rail; the Y-direction roller conveyor line is arranged on the frame and is used to convey photovoltaic modules along the Y-direction. The photovoltaic module taping conveying device provided by the utility model cooperates with the X-direction taping machine and the Y-direction taping machine to realize automatic taping, saving manpower and improving taping efficiency. At the same time, the structure is simple, and it is convenient and stable to move the photovoltaic modules to be taped out and into the photovoltaic module packaging line. The structure mainly cooperates with the sword-piercing baler to realize the packaging and taping of photovoltaic products. Automatic handling is realized, reducing the intensity of manual work;
[0004] An automatic taping and pushing mechanism for an electric capacitor core disclosed in the Chinese utility model patent application disclosure specification 2020228696946 includes a frame, a servo transmission system, a pushing structure, a capacitor element and an external controller; the frame includes a base plate, the edge of the base plate is equipped with a uniformly distributed fixing structure, a column is fixed to the middle part of the upper end of the base plate, and the upper end of the column is fixedly connected to the middle part of the lower end surface of the top plate; the servo transmission system is fixed to the lower end surface of the frame; the pushing structure is located on the upper end surface of the top plate, and the structure is mainly used to pre-apply a certain pressure to the electric capacitor core during the assembly process to make its parts fit tightly before taping and welding.
[0005] Neither of the two aforementioned strapping loading structures is suitable for current chip tray packaging. The roller line and pusher methods introduce vibration during transport, causing chip trays to tip over and chips to vibrate off the tray. This results in unstable strapping operations and damage to the chips, resulting in losses. Furthermore, strapping requires an I-shaped strap, requiring a 90° rotation when strapping horizontally. Furthermore, these solutions require significant equipment space to achieve these functions. Therefore, we proposed a novel device to address these issues. Utility Model Content
[0006] (1) Technical problems solved
[0007] In response to the shortcomings of the existing technology, the utility model provides an automatic loading robot for strapping, which solves the problem that the traditional roller line and pushing method have certain vibrations during the conveying process, which can easily cause the chip tray to tip over and the chips to vibrate out of the tray, resulting in unstable strapping operations and damage to the chips. In addition, the tray strapping needs to be completed in an "I" shape, which is inconvenient and requires 90° rotation when strapping horizontally.
[0008] (2) Technical solution
[0009] To achieve the above purpose, the utility model is implemented through the following technical solutions: an automatic feeding manipulator for strapping, comprising a feeding manipulator, wherein the feeding manipulator is provided with a frame platform through a fixed frame, an electrical cabinet is provided inside the frame platform, and a strapping machine is provided inside the frame platform;
[0010] The manipulator includes a Z-axis linear module and an X-axis linear module. A Z-axis servo motor is provided inside the Z-axis linear module. A Z-axis drag chain is provided on one side of the Z-axis linear module. A supporting mechanism is provided at the bottom of the Z-axis linear module. A rotary motor is provided at the bottom of the Z-axis linear module. A clamp is provided at the bottom of the rotary motor. A chip tray is clamped inside the clamp.
[0011] The X-axis linear module is internally slidably connected to a module connector, one side of the module connector is provided with a cylinder connector, the interior of the cylinder connector is provided with upper and lower cylinders, the lower parts of the upper and lower cylinders are provided with cylinder clamps, and clamp fingers are provided on both sides of the cylinder clamp.
[0012] Optionally, the Z-axis linear module is connected to the upper part of the rotary motor via an adapter plate, and the clamp is connected to the lower part of the rotary motor via the adapter plate.
[0013] Optionally, the Z-axis drag chain is connected to the linear module through a sheet metal part, and can be connected to the rotary motor and the clamping claw. The chip trays are stacked in six or eleven pieces.
[0014] Optionally, the upper and lower cylinders are connected to the cylinder connector via an adapter plate, and the cylinder connector is mounted on one side of the module connector via bolts.
[0015] Optionally, an X-axis drag chain is provided on the upper portion of the X-axis linear module, and the X-axis drag chain can be connected to the upper and lower cylinders and cylinder clamps through an adapter plate and a module connector.
[0016] Optionally, X-axis servo motors are provided at both ends of one side of the manipulator, the two X-axis servo motors are installed on one side of the X-axis linear module, and the module connector and the Z-axis linear module are installed on the other side of the X-axis linear module.
[0017] Optionally, a movable door and an acrylic protective plate are provided on one side of the frame platform, and the movable door is located at the packaging platform position on the upper part of one side of the strapping machine.
[0018] Optionally, an ion blower is provided on the inner upper portion of the frame platform, and an indicator light is provided on the top of the frame platform.
[0019] In summary, the technical effects and advantages of the utility model are:
[0020] 1. The utility model has a reasonable structure. By installing a supporting mechanism at the bottom of the linear module, installing an adjusting mechanism at the top of the supporting mechanism, and connecting the lower part of the supporting mechanism to the adapter plate of the rotary motor and the mounting profile, the chip packaging automation is realized, the tray group is prevented from scattering, and the vibration is reduced. The functions of carrying, rotating, avoiding, and supporting are realized, and multiple strapping effects are completed through the rotary motor.
[0021] 2. In the utility model, the clamping jaws are released, the Z-axis linear module rises, the clamping jaws exit the strapping machine, and the third strapping is performed. After the strapping operation is completed, the cylinder connector moves left and enters the operating platform of the strapping machine. The upper and lower cylinders move downward, and the pneumatic clamping jaws push the clamping jaws fingers to clamp the chip tray. The upper and lower cylinders move upward, the cylinder connector moves right, the upper and lower cylinders move downward, and the pneumatic clamping jaws push the clamping jaws fingers to release the chip tray. After the clamping jaws exit the strapping machine, they will reset and prepare to grab the next group of chip trays. The overall operation is completed and enters the next cycle. Driven by the servo motor, the equipment is transported, rotated, and moved up and down, making the operation more stable, preventing the material from being subjected to severe vibration, improving the efficiency of the operation, and reducing labor. In addition, an ion fan is provided on the inner upper part of the equipment frame platform to remove static electricity from the manipulator, so that it can meet the production requirements of semiconductor products. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 This is a schematic diagram of the structure of the utility model;
[0023] Figure 2 This is a schematic diagram of the internal structure of the utility model;
[0024] Figure 3 This is a schematic diagram of the planar structure of the utility model;
[0025] Figure 4 This is a schematic diagram of the structure of the robot arm of the utility model;
[0026] Figure 5 For this utility model Figure 4 Figure A: Schematic diagram of the structure;
[0027] Figure 6 This is a schematic diagram of the front planar structure of the utility model;
[0028] Figure 7 This is a schematic diagram of the top plan structure of the utility model;
[0029] Figure 8 It is a rear view planar structure schematic diagram of the utility model.
[0030] In the figure: 1. Robot; 2. Frame platform; 3. Electrical cabinet; 4. Taping machine; 5. Z-axis servo motor; 6. Z-axis linear module; 7. Z-axis drag chain; 8. Support mechanism; 9. Rotary motor; 10. Gripper; 11. Chip tray; 12. X-axis linear module; 13. X-axis drag chain; 14. Cylinder connector; 15. Upper and lower cylinders; 16. Module connector; 17. Cylinder gripper; 18. Gripper fingers; 19. X-axis servo motor; 20. Fixed frame; 21. Movable door; 22. Ion blower; 23. Indicator light. DETAILED DESCRIPTION
[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0032] Example: Reference Figures 1-8 The automatic strapping feeding robot shown includes a feeding robot 1, wherein the feeding robot 1 is provided with a frame platform 2 via a fixed frame 20, an electrical cabinet 3 is provided inside the frame platform 2, and a strapping machine 4 is provided inside the frame platform 2;
[0033] The manipulator 1 includes a Z-axis linear module 6 and an X-axis linear module 12. A Z-axis servo motor 5 is provided inside the Z-axis linear module 6. A Z-axis drag chain 7 is provided on one side of the Z-axis linear module 6. A supporting mechanism 8 is provided at the bottom of the Z-axis linear module 6. A rotary motor 9 is provided at the bottom of the Z-axis linear module 6. A clamping jaw 10 is provided at the bottom of the rotary motor 9. A chip tray 11 is clamped inside the clamping jaw 10.
[0034] The X-axis linear module 12 is internally slidably connected with a module connector 16, and there are two of them. A cylinder connector 14 is provided on one side of the module connector 16, and an upper and lower cylinder 15 are provided inside the cylinder connector 14. The lower part of the upper and lower cylinders 15 is provided with a cylinder clamp 17, and clamp fingers 18 are provided on both sides of the cylinder clamp 17.
[0035] As a preferred implementation in this embodiment, Figure 4 and Figure 5As shown, the manipulator 1 includes a Z-axis linear module 6 and an X-axis linear module 12, the Z-axis linear module 6 is provided with a Z-axis servo motor 5 inside, a Z-axis drag chain 7 is provided on one side of the Z-axis linear module 6, a supporting mechanism 8 is provided at the bottom of the Z-axis linear module 6, a rotary motor 9 is provided at the bottom of the rotary motor 9, a clamp 10 is provided at the bottom of the clamp 10, a chip tray 11 is clamped inside the clamp 10, optionally, the Z-axis linear module 6 is connected to the upper part of the rotary motor 9 through an adapter plate, the clamp 10 is connected to the lower part of the rotary motor 9 through an adapter plate, the Z-axis drag chain 7 is connected to the linear module 6 through a sheet metal part, and can be connected to the rotary motor 9 and the clamp 10, the The chip tray 11 is stacked in six / eleven pieces, and an X-axis servo motor 19 is provided at both ends of one side of the manipulator 1. The two X-axis servo motors 19 are installed on one side of the X-axis linear module 12, and the module connector 16 and the Z-axis linear module 6 are installed on the other side of the X-axis linear module 12. After the visual inspection of the previous process is completed, the chip tray 11 is stacked in 6 / 11 pieces, and the clamp 10 is moved to the grasping position through the X-axis linear module 12 and the Z-axis linear module 6. It is worth noting that the connection between the X-axis linear module 12 and the Z-axis linear module 6 is connected by the module connector 16, and the two X-axis servo motors 19 can push the two module connectors 16 to move to grasp the entire stack. After grasping, The Z-axis linear module 6 rises, and the X-axis linear module 12 moves horizontally to the packaging position to complete the first and second taping. After the taping is completed, the Z-axis linear module 6 rises. In order to realize the automation of chip packaging, automatic taping is one of the indispensable functions. It can realize the smooth transportation of chips and trays carrying chips, and cooperate with the taping machine to realize the functions of transportation, rotation, avoidance, support, etc., to complete the "I"-shaped taping of the pallet group, prevent the pallet group from scattering, and avoid vibration during transportation. Therefore, a supporting mechanism 8 is installed at the lower part of the linear module 6, and an adjusting mechanism is installed at the upper part of the supporting mechanism 8. The lower part of the supporting mechanism 8 is connected to the adapter plate and the mounting profile of the rotary motor 9, which has the effect of reducing vibration, and the rotary motor 9 is rotated 180° to complete the secondary taping effect.
[0036] After the tape is completed, the Z-axis linear module 6 rises, the clamping jaw 10 rotates 90 degrees and then moves horizontally to the left. The Z-axis linear module 6 drops, the clamping jaw 10 is released, the Z-axis linear module 6 rises, the clamping jaw 10 exits the tape machine, and the third tape is performed. The tape operation is completed, the cylinder connector 14 moves left and enters the operating platform of the 4 tape machine. The upper and lower cylinders 15 move down, and the pneumatic clamping jaw 17 pushes the clamping jaw finger 18 to clamp the chip tray 11. The upper and lower cylinders 15 move up, the cylinder connector 14 moves right, the upper and lower cylinders 15 move down, and the pneumatic clamping jaw 17 pushes the clamping jaw finger 18 to release the chip tray 11. After the clamping jaw 10 exits the tape machine 4, it will reset and prepare to grab the next set of chip trays. The overall operation is completed and enters the next cycle. Driven by the servo motor, the handling, rotation, up and down movements are performed to make the equipment run more smoothly, prevent the material from being subjected to severe vibration, improve the stability of the operation, and reduce the probability of material damage. The automatic strapping function is realized to prevent the material from being shaken out during transportation and save one manpower. The equipment is protected as a whole by an aluminum profile frame and acrylic plate, which improves the safety of the equipment. The relevant plastic parts are made of anti-static materials, and an ion fan 22 is provided on the inner upper part of the equipment frame platform 2 to remove static electricity from the manipulator 1, so that it meets the production requirements of semiconductor products.
[0037] This utility works as follows:
[0038] After the visual inspection of the previous process is completed, the chip tray 11 is stacked in 6 / 11 pieces, and the clamp 10 moves to the grabbing position through the X-axis linear module 12 and the Z-axis linear module 6 to grab the entire stack. After grabbing, the Z-axis linear module 6 rises, and the X-axis linear module 12 moves horizontally and moves to the packaging position to complete the first and second strapping. After strapping is completed, the Z-axis linear module 6 rises, and the supporting mechanism 8 is installed at the bottom of the linear module 6. The adjusting mechanism is installed on the top of the supporting mechanism 8. The lower part of the supporting mechanism 8 is connected to the adapter plate of the rotary motor 9 and the mounting profile. After strapping is completed, the Z-axis linear module 6 rises, and the clamp 10 rotates 90° and then translates to the left. The Z-axis linear module 6 descends, the clamp 10 releases, the Z-axis linear module 6 rises, the clamp 10 exits the tape machine, and the third tape is performed. The tape operation is completed, the cylinder connector 14 moves left, and enters the operating platform of the 4 tape machine. The upper and lower cylinders 15 move down, and the pneumatic clamp 17 pushes the clamp fingers 18 to clamp the chip tray 11. The upper and lower cylinders 15 move up, the cylinder connector 14 moves right, the upper and lower cylinders 15 move down, and the pneumatic clamp 17 pushes the clamp fingers 18 to release the chip tray 11. After the clamp 10 exits the tape machine 4, it will reset to prepare to grab the next group of chip trays. The overall operation is completed and enters the next cycle.
[0039] The electrical components mentioned in this article are all connected to an external main controller and 220V AC power, and the main controller can be a conventional known device that performs control such as a computer.
[0040] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. An automatic belt feeding robot, comprising a feeding robot (1), characterized in that: The loading manipulator (1) is provided with a frame platform (2) via a fixed frame (20), an electrical cabinet (3) is provided inside the frame platform (2), and a strapping machine (4) is provided inside the frame platform (2); The manipulator (1) includes a Z-axis linear module (6) and an X-axis linear module (12), wherein a Z-axis servo motor (5) is provided inside the Z-axis linear module (6), a Z-axis drag chain (7) is provided on one side of the Z-axis linear module (6), a supporting mechanism (8) is provided at the bottom of the Z-axis linear module (6), a rotary motor (9) is provided at the bottom of the Z-axis linear module (6), a clamping claw (10) is provided at the bottom of the rotary motor (9), and a chip tray (11) is clamped inside the clamping claw (10); The X-axis linear module (12) is internally slidably connected to a module connector (16), one side of the module connector (16) is provided with a cylinder connector (14), the interior of the cylinder connector (14) is provided with an upper and lower cylinder (15), the lower portion of the upper and lower cylinders (15) is provided with a cylinder clamp (17), and both sides of the cylinder clamp (17) are provided with clamp fingers (18).
2. The automatic strapping feeding robot according to claim 1 is characterized in that: The Z-axis linear module (6) is connected to the upper part of the rotary motor (9) via an adapter plate, and the clamping jaw (10) is connected to the lower part of the rotary motor (9) via the adapter plate.
3. The automatic strapping feeding robot according to claim 1 is characterized in that: The Z-axis drag chain (7) is connected to the linear module (6) via a sheet metal part, and can be connected to the rotary motor (9) and the clamping claw (10). The chip tray (11) is stacked in six or eleven pieces.
4. The automatic strapping feeding robot according to claim 1 is characterized in that: The upper and lower cylinders (15) are connected to the cylinder connector (14) via an adapter plate, and the cylinder connector (14) is mounted on one side of the module connector (16) via bolts.
5. The automatic strapping feeding robot according to claim 1 is characterized in that: An X-axis drag chain (13) is provided on the upper portion of the X-axis linear module (12). The X-axis drag chain (13) can be connected to the upper and lower cylinders (15) and the cylinder clamps (17) via an adapter plate and a module connector (16).
6. The automatic strapping feeding robot according to claim 1, characterized in that: X-axis servo motors (19) are provided at both ends of one side of the manipulator (1), and the two X-axis servo motors (19) are installed on one side of the X-axis linear module (12), and the module connector (16) and the Z-axis linear module (6) are installed on the other side of the X-axis linear module (12).
7. The automatic strapping feeding robot according to claim 1, characterized in that: A movable door (21) and an acrylic protective plate are provided on one side of the frame platform (2), and the movable door (21) is located at the packaging platform position on the upper part of one side of the strapping machine (4).
8. The automatic strapping feeding robot according to claim 1, characterized in that: An ion blower (22) is provided on the inner upper portion of the frame platform (2), and an indicator light (23) is provided on the top of the frame platform (2).