Clamping jaw positioning structure and turntable feeding device comprising same

Abstract

The utility model relates to the technical field of semiconductor testing, and provides a clamping jaw positioning structure and a turntable feeding device comprising the same. The clamping jaw positioning structure comprises a jacking shaft, a clamping jaw seat, a plurality of clamping jaws and a driving shaft, the clamping jaws are arranged in the circumferential direction of the clamping jaw seat and rotationally connected to the clamping jaw seat, the driving shaft comprises a connecting part and a matching part detachably connected to the connecting part, and the matching part is eccentrically arranged relative to the connecting part and movably connected with the jacking shaft; the jacking shaft is provided with a first axis, the connecting part is provided with a second axis forming an angle with the first axis, the connecting part can rotate around the second axis, and the matching part is configured to respond to rotation of the connecting part to drive the jacking shaft to reciprocate along the first axis. According to the clamping jaw positioning structure, impact and vibration of the jacking shaft in the moving process are reduced, and the driving stability of the jacking shaft is improved; and moreover, the opening degree of the clamping jaws can be adjusted, the adjusting range is enlarged, and the chips with different sizes can be stably clamped.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of semiconductor testing, in particular to a clamping jaw positioning structure and a rotary table feeding device comprising the same. BACKGROUND

[0002] At present, when feeding by rotary table, a fixed size of pit is preset first, and each pit is provided with a slope to guide the chip to smoothly slide into the pit. However, due to the different models of chips, the corresponding sizes will also differ, which leads to the need to change the corresponding pit size. Therefore, each time different models of chips are fed, the corresponding parts are replaced, resulting in complicated operation procedures.

[0003] In related technologies, a clamping jaw positioning structure is usually used, which includes a jacking shaft and multiple clamping jaws. The multiple clamping jaws are rotationally connected to a clamping jaw seat, and the jacking shaft is used to drive the rotation of each clamping jaw to achieve opening and clamping, meeting the chip positioning. Among them, the driving of the jacking shaft is mostly achieved by electromagnetic attraction of an electromagnet or cam surface cooperation driving.

[0004] However, when using an electromagnet to drive, the electromagnet will have a sudden change in magnetism when it is powered off and powered on, which is easy to cause impact and vibration to the jacking shaft, thereby affecting the clamping stability of the clamping jaw. At the same time, when using cam surface cooperation driving, the structure design of the cam surface is relatively complex, and the continuity of the entire cam surface needs to be considered. Moreover, the degree of fluctuation of each cam surface is fixed, and when used for positioning of chips with large size difference, different cam surfaces may need to be replaced.

[0005] Therefore, it is urgent to provide a clamping jaw structure that can ensure stable lifting of the jacking shaft and facilitate adjustment of the clamping jaw opening to be suitable for clamping of chips of various sizes. CONTENT OF THE INVENTION

[0006] Therefore, it is urgent to provide a clamping jaw structure that can ensure stable lifting of the jacking shaft and facilitate adjustment of the clamping jaw opening to be suitable for clamping of chips of various sizes.

[0007] The clamping jaw positioning structure comprises a jacking shaft, a clamping jaw base and a plurality of clamping jaws arranged circumferentially along the clamping jaw base and rotationally connected to the clamping jaw base, the clamping jaw base is provided with a jacking channel for the jacking shaft to pass through; the clamping jaw positioning structure further comprises a driving shaft, the driving shaft comprises a connecting part and a matching part detachably connected to the connecting part, the matching part is eccentrically arranged relative to the connecting part and is movably connected to the jacking shaft; wherein the jacking shaft has a first axis, the connecting part has a second axis arranged at an angle to the first axis, the connecting part can rotate about the second axis, and the matching part is configured to drive the jacking shaft to reciprocate along the first axis in response to the rotation of the connecting part.

[0008] It can be understood that, due to the eccentric arrangement of the matching part and the connecting part, when the connecting part rotates about the second axis, the position of the matching part on the first axis will change. In this way, the jacking shaft is moved along the first axis by the connection of the matching part and the jacking shaft. That is, the clamping jaw positioning structure in the present application utilizes the eccentric arrangement of the matching part and the connecting part to form an eccentric wheel, which has a simple structure and high reliability; and, due to the separate arrangement and detachable connection of the connecting part and the matching part, the eccentric position can be adjusted by adjusting the position of the matching part relative to the connecting part, which is suitable for different clamping conditions.

[0009] In some embodiments, the clamping jaw positioning structure further comprises a matching shaft, the matching shaft is sleeved outside the jacking shaft, the outer circumferential surface of the matching shaft is recessed with an assembly groove, and the matching part is inserted into the assembly groove and can move in the assembly groove.

[0010] In some embodiments, the matching part comprises a shaft body and a first roller, the shaft body is detachably connected to the connecting part, and the first roller is rotationally connected to the shaft body to rollingly cooperate with the groove wall of the assembly groove.

[0011] In some embodiments, the matching shaft comprises a shaft body and a locking piece, the shaft body is provided with a fixing hole and a locking notch communicating with the fixing hole, the locking notch separates part of the shaft body into a first clamping part and a second clamping part, the locking piece is connected to the first clamping part and the second clamping part, and the jacking shaft is inserted into the fixing hole and clamped between the first clamping part and the second clamping part.

[0012] In some embodiments, the connecting part comprises a cylindrical segment and a prismatic segment connected to the cylindrical segment, the prismatic segment is eccentrically arranged with the cylindrical segment, and the matching part is detachably connected to the prismatic segment; the cylindrical segment is provided with a buffer notch, and the buffer notch is arranged opposite to the prismatic segment along the radial direction of the cylindrical segment.

[0013] In some embodiments, the jaw positioning structure further comprises an assembly base, the driving shaft is rotationally connected to the assembly base, and a limiting assembly is arranged between the driving shaft and the assembly base, the limiting assembly being configured to limit the rotation angle of the connecting portion.

[0014] In some embodiments, the limiting assembly comprises a guide column and a guide groove, the guide groove is arranged in an arc shape around the second axis, the guide column is inserted into the guide groove and is movable in the guide groove around the second axis, and one of the guide column and the guide groove is arranged on the driving shaft and the other is arranged on the assembly base.

[0015] In some embodiments, the driving shaft further comprises a counterweight, and the counterweight is detachably connected to the connecting portion.

[0016] In some embodiments, the top end portion of the jacking shaft is provided with a tapered surface, the tapered surface is arranged in a tapered shape from bottom to top along the first axis, each of the jaws is rotationally connected with a second roller, and each of the second rollers is matched with the tapered surface.

[0017] In some embodiments, the jaw positioning structure further comprises a bearing table, the bearing table is arranged at the top end of the jacking shaft, and a support column is protrudingly arranged at the end of the bearing table away from the jacking shaft; each of the jaws is provided with a clamping portion, and each of the clamping portions is arranged in a gradually expanding shape outwardly with the support column as the center.

[0018] In some embodiments, the jaw positioning structure further comprises elastic members, each of the jaws and the jaw seat is provided with an elastic member, and each of the elastic members is configured to apply a force to the corresponding jaw to rotate towards the support column.

[0019] The application also provides a rotary table feeding device, which comprises a rotary table structure, a picking structure, a plurality of detection structures, and the above-mentioned jaw positioning structure; each of the detection structures and the jaw positioning structure is arranged in a circumferential direction of the rotary table structure, the picking structure is arranged on the rotary table structure, and the rotary table structure is configured to drive the picking structure to flow between the detection structures and the jaw positioning structures. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1This is a top view of a gripper positioning structure provided in an embodiment of this application;

[0022] Figure 2 for Figure 1 Cross-sectional view of AA in the middle;

[0023] Figure 3 This is a side view of a gripper positioning structure provided in an embodiment of this application;

[0024] Figure 4 This is a first schematic diagram of a gripper positioning structure provided in an embodiment of this application;

[0025] Figure 5 This is a second schematic diagram of a gripper positioning structure provided in an embodiment of this application;

[0026] Figure 6 This is a partial schematic diagram of a gripper positioning structure provided in an embodiment of this application;

[0027] Figure 7 for Figure 6 The front view of the provided gripper positioning structure;

[0028] Figure 8 This is a third schematic diagram of a gripper positioning structure provided in an embodiment of this application.

[0029] Reference numerals: 10. Lifting shaft; 11. Conical surface; 12. Guide rod; 20. Gripper assembly; 21. Gripper seat; 22. Gripper; 23. Second roller; 24. Elastic element; 30. Drive shaft; 31. Connecting part; 32. Mating part; 33. Counterweight; 40. Mating shaft; 41. Shaft body; 50. Assembly base; 51. Support frame; 52. Cover; 53. Seat body; 60. Limiting assembly; 61. Guide column; 62. Guide groove; 80. Power source; 81. Transmission shaft; 90. Bearing platform; 91. Support column; 221. Arm body; 22 2. Clamping part; 311. Cylindrical section; 312. Prismatic section; 321. Shaft; 322. First roller; 401. Assembly groove; 402. Fixing hole; 403. Locking notch; 404. Separating notch; 406. Locking through hole; 407. Second limiting hole; 411. First mating part; 412. Second mating part; 2101. Lifting channel; 2102. Clearance groove; 3101. Locking hole; 3102. Buffer notch; 3103. Through hole; 4111. First clamping part; 4112. Second clamping part; 4113. Thickened section. Detailed Implementation

[0030] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the detailed description of the specific embodiments of the present application is made below with reference to the accompanying drawings. In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than the one described herein, and one of ordinary skill in the art can make similar improvements without departing from the scope of the present application, and therefore the present application is not limited to the specific embodiments disclosed below.

[0031] It is to be noted that when a component is referred to as being "on" or "disposed on" another component, it can be directly on the other component or there can be intervening components present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be intervening components present. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms as used in the description of the specification are for the purpose of illustration only and do not indicate an exclusive orientation.

[0032] In addition, the terms "first", "second", and the like, are used merely as a label to distinguish between different components, and do not imply a relative importance or a specific order of use, unless specified otherwise. Thus, a component defined with a "first", "second", etc. can implicitly or explicitly include at least one of the other components. In the description of the specification, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0033] In the present application, unless otherwise explicitly specified and limited, "on", "under", "above", and "over" of a first feature to a second feature can mean that the first feature is in direct contact with the second feature, or the first feature is indirectly in contact with the second feature through an intermediate medium. Moreover, "above", "over", and "on" of a first feature to a second feature can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. "Below", "under", and "underneath" of a first feature to a second feature can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0034] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more of the associated listed items.

[0035] Please refer to Figure 1 and Figure 2In an embodiment of the present application, a jaw positioning structure is provided, which comprises a jacking shaft 10 and a jaw assembly 20. The jacking shaft 10 is arranged in the jaw assembly 20 for driving the jaw assembly 20 to act. Specifically, the jaw assembly 20 comprises a jaw base 21 and a plurality of jaws 22. The plurality of jaws 22 are arranged along the jaw base 21, for example, are arranged at intervals, and each jaw 22 is rotationally connected to the jaw base 21. The jaw base 21 is provided with a jacking channel 2101 for penetrating along the axial direction (for example, the Z-axis direction) of the jacking shaft 10. The jacking shaft 10 is arranged in the jacking channel 2101 and can reciprocate along the Z-axis. When the jacking shaft 10 moves upward along the Z-axis, each jaw 22 can be touched to rotate relative to the jaw base 21 to open; when the jacking shaft 10 moves downward along the Z-axis, the touch force acting on each jaw 22 is removed, and each jaw 22 reversely rotates to close. In this way, the clamping and positioning of the chip can be realized.

[0036] Please refer to Figures 2 to 4 The jaw positioning structure further comprises a driving shaft 30 connected with the jacking shaft 10 for driving the jacking shaft 10 to reciprocate along the Z-axis. Of course, in actual use, the jaw positioning structure further comprises a power source 80 for driving the driving shaft 30 to act, thereby realizing the lifting requirement of the jacking shaft 10. The power source 80 can be a motor, and the transmission shaft 81 of the motor can be connected with the driving shaft 30, for example, is connected with the driving shaft 30 by a key.

[0037] In the embodiment, the driving shaft 30 comprises a connecting portion 31 and a matching portion 32 detachably connected to the connecting portion 31. The matching portion 32 is eccentrically arranged relative to the connecting portion 31, and the matching portion 32 is movably connected with the jacking shaft 10. The axis of the jacking shaft 10 is a first axis, the connecting portion 31 has a second axis, and the second axis is arranged at an angle with the first axis. For example, the second axis is the X-axis, and the second axis is perpendicular to the first axis. In actual use, the connecting portion 31 can rotate around the second axis, and the matching portion 32 is configured to drive the jacking shaft 10 to reciprocate along the first axis in response to the rotation of the connecting portion 31, that is, to rise and fall along the Z-axis direction.

[0038] It can be understood that, due to the eccentric arrangement of the matching part 32 and the connecting part 31, when the connecting part 31 rotates around the second axis, the position of the matching part 32 on the first axis changes; that is, the eccentric wheel structure formed by the matching part 32 and the connecting part 31. In this way, the movable connection of the matching part 32 and the jacking shaft 10 can meet the driving of the jacking shaft 10 along the first axis. In this process, due to the split arrangement and detachable connection of the connecting part 31 and the matching part 32, the position of the matching part 32 relative to the connecting part 31 can be adjusted, and the eccentric position is adjusted. Specifically, the distance between the matching part 32 and the second axis can be adjusted, so that the matching part 32 is close to or away from the second axis. When the matching part 32 is close to the second axis, the distance between the two is reduced, the rotation of the connecting part 31 promotes the change of the position of the matching part 32 on the first axis, and the jacking distance of the jacking shaft 10 is reduced, and the rotation angle of each clamping jaw 22 under the action of the jacking shaft 10 is smaller, which is suitable for small-size chip clamping and positioning. Conversely, when the matching part 32 is away from the second axis, the distance between the two is increased, the rotation of the connecting part 31 promotes the change of the position of the matching part 32 on the first axis, and the jacking distance of the jacking shaft 10 is increased, and the rotation angle of each clamping jaw 22 under the action of the jacking shaft 10 is increased, which can be applied to large-size chip clamping and positioning.

[0039] In addition, the eccentric wheel will not change the magnetic state when rotating like an electromagnet, so as to reduce the impact and vibration of the jacking shaft 10 during driving, and improve the clamping stability of the clamping jaw 22.

[0040] Please continue to refer to Figures 2 to 4 For example, the clamping jaw positioning structure further comprises a matching shaft 40, which is sleeved outside the jacking shaft 10, and the outer periphery of the matching shaft 40 is recessed with an assembly groove 401, and the matching part 32 is inserted into the assembly groove 401 and can move in the assembly groove 401. Wherein, the assembly groove 401 is arranged in a ring shape, and the cross section along the first axis is in a U shape. Such arrangement can ensure the freedom between the matching shaft 40 and the matching part 32, and avoid the problem of jamming; on the other hand, it can ensure that the matching shaft 40 and the matching part 32 are in full contact, and have force positions on both sides along the Z axis, which is beneficial to driving the jacking shaft 10 up and down. In addition, compared with the single-sided contact of the cam surface, the assembly groove 401 in this embodiment has two constraint surfaces (i.e. two opposite groove walls of the assembly groove 401 along the Z axis), and the connection is more reliable.

[0041] Further, the fitting part 32 comprises a shaft body 321 and a first roller 322, the shaft body 321 is detachably connected to the connecting part 31, the first roller 322 is rotatably connected to the shaft body 321, and the first roller 322 is in rolling fit with the slot wall of the assembly slot 401. That is, by means of the rolling fit of the first roller 322, the abrasion between the fitting shaft 40 and the fitting part 32 is reduced, and the freedom degree of the fitting position is further increased.

[0042] Please refer to Figures 2 to 5 In actual use, the clamping jaw positioning structure further comprises an assembly base 50 for supporting and integrally assembling the driving shaft 30, the power source 80, the clamping jaw assembly 20 and the like. The driving shaft 30 is rotatably connected to the assembly base 50 and is driven by the power source 80. The jacking shaft 10 is provided with a guide rod 12, the guide rod 12 is connected to the end of the fitting shaft 40 away from the jacking shaft 10, and the guide rod 12 is connected to the assembly base 50 through a guide bearing. When the jacking shaft 10 is lifted, the guide rod 12 moves synchronously with the fitting shaft 40 to play a guiding role.

[0043] Alternatively, the jacking shaft 10 itself can be provided with the assembly slot 401, and the assembly slot 401 is fitted with the fitting part 32. Alternatively, a connecting rod can be connected between the jacking shaft 10 and the fitting part 32, and the fitting shaft 40 of the jacking shaft 10 or the fitting shaft 40 sleeved on the jacking shaft 10 is provided with a sliding slot matched with the connecting rod, and one end of the connecting rod is hinged to the fitting part 32. As long as the fitting part 32 can drive the jacking shaft 10 to lift along the Z-axis by rotating around the second axis.

[0044] Please refer to Figure 6 and Figure 7 Alternatively, the fitting shaft 40 comprises a shaft body 41 and a locking piece (not shown in the figure), the shaft body 41 is provided with a fixing hole 402 and a locking notch 403 communicating with the fixing hole 402, the locking notch 403 divides part of the shaft body 41 into a first clamping part 4111 and a second clamping part 4112, part of the jacking shaft 10 is inserted into the fixing hole 402, and the locking piece is connected to the first clamping part 4111 and the second clamping part 4112 to clamp the jacking shaft 10 between the first clamping part 4111 and the second clamping part 4112.

[0045] Specifically, the shaft body 41 is divided into a first fitting part 411 and a second fitting part 412 along the Z axis, the first fitting part 411 is located above the second fitting part 412 along the Z axis, the first fitting part 411 is mainly used for cooperating with the jacking shaft 10, and the second fitting part 412 is mainly used for movably connecting with the driving shaft 30. The fixing hole 402 can penetrate the shaft body 41 along the Z axis, which is beneficial to the assembly of the jacking shaft 10 and the guide rod 12 relative to the shaft body 41. A separation gap 404 is arranged between the first fitting part 411 and the second fitting part 412, the end of the jacking shaft 10 penetrates the first fitting part 411 and extends into the part of the corresponding fixing hole 402 of the second fitting part 412. The first fitting part 411 is provided with a locking gap 403, and the locking gap 403 and the separation gap 404 are arranged at an angle and are communicated. The locking gap 403 is arranged along the Z axis direction to divide the first fitting part 411 into a first clamping part 4111 and a second clamping part 4112 which are opposite and spaced along the Y axis. Such an arrangement is beneficial to the plug-in cooperation of the jacking shaft 10 and the fitting shaft 40, and can be applied to different jacking shafts 10 with small diameter changes. The side of the first clamping part 4111 and the second clamping part 4112 opposite along the Y axis direction is provided with a thickness-reducing section 4113, and a locking through hole 406 penetrating along the Y axis direction is arranged at the thickness-reducing section 4113. One end of the locking member penetrates the former locking through hole 406 and is threadedly connected with the hole wall of the latter locking through hole 406, and the other end of the locking member can abut against the thickness-reducing section 4113 at the former locking through hole 406. In this way, the locking of the first clamping part 4111 and the second clamping part 4112 can be realized, thereby facilitating the clamping of the jacking shaft 10 between the first clamping part 4111 and the second clamping part 4112. Moreover, the arrangement of the thickness-reducing section 4113 is beneficial to the locking member to exert force on the first clamping part 4111 and the second clamping part 4112, thereby facilitating assembly.

[0046] Alternatively, the shaft body 41 can be provided with the fixing hole 402 and a first limiting hole communicating with the fixing hole 402. The axial direction of the first limiting hole is along the radial direction of the shaft body 41. The locking member penetrates the first limiting hole and is connected to the part of the jacking shaft 10 located in the fixing hole 402, so as to fix the jacking shaft 10 and the fitting shaft 40.

[0047] Further, the shaft body 41 is provided with a second limiting hole 407 at the assembly groove, and the locking member penetrates the second limiting hole 407 and is connected to the part of the guide rod 12 located in the fixing hole 402.

[0048] Please refer to Figure 2Further, the outer circumferential surface of the connecting portion 31 is provided with a locking hole 3101 which is in communication with the through hole 3103 and is arranged at an angle, for example, when the connecting portion 31 is in a cylindrical shape, the axial direction of the locking hole 3101 is along the radial direction of the connecting portion 31. The drive shaft 30 further comprises a locking column which is connected to the matching portion 32 through the locking hole 3101. That is, by arranging the locking column, not only the connection reliability of the matching portion 32 and the connecting portion 31 is improved, but also the rotation of the matching portion 32 relative to the connecting portion 31 is limited, so that it can only rotate with the connecting portion 31. Among them, the end of the locking column can abut against the outer circumferential surface of the connecting portion 31, or the locking column is threadedly connected with the connecting portion 31.

[0049] Please refer to Figure 2 and Figure 3 Further, the outer circumferential surface of the connecting portion 31 is provided with a locking hole 3101 which is in communication with the through hole 3103 and is arranged at an angle, for example, when the connecting portion 31 is in a cylindrical shape, the axial direction of the locking hole 3101 is along the radial direction of the connecting portion 31. The drive shaft 30 further comprises a locking column which is connected to the matching portion 32 through the locking hole 3101. That is, by arranging the locking column, not only the connection reliability of the matching portion 32 and the connecting portion 31 is improved, but also the rotation of the matching portion 32 relative to the connecting portion 31 is limited, so that it can only rotate with the connecting portion 31. Among them, the end of the locking column can abut against the outer circumferential surface of the connecting portion 31, or the locking column is threadedly connected with the connecting portion 31.

[0050] Please refer to Figures 4 to 6 In an optional embodiment, the connecting portion 31 comprises a cylindrical segment 311 and a prismatic segment 312 connected to the cylindrical segment 311, the prismatic segment 312 is arranged eccentrically with the cylindrical segment 311, and the matching portion 32 is detachably connected with the prismatic segment 312. That is, the arrangement of the cylindrical segment 311 is conducive to cooperation with the assembly base 50 to realize the rotational arrangement of the connecting portion 31. The assembly base 50 is provided with a first assembly hole with the axis along the X-axis direction and coaxial with the second axis, and the cylindrical segment 311 is arranged in the first assembly hole, and a bearing can be arranged therebetween to play a role of rotational support. The arrangement of the prismatic segment 312 is conducive to the arrangement and cooperation of the aforementioned locking hole 3101 and the locking column; and, due to the arrangement of the edges of the prismatic segment 312, it is also conducive to cooperation with other structures, and then the edges are used to limit the rotation.

[0051] Please refer to Figure 2 , Figure 3 , Figure 4 and Figure 6In actual use, the driving shaft 30 further comprises a counterweight 33 which is detachably connected to the connecting portion 31. Specifically, the counterweight 33 is provided with a clamping groove which is matched with the portion of the connecting portion 31 between the cylindrical segment 311 and the prismatic segment 312. That is, the counterweight 33 is clamped on the cylindrical segment 311 and the prismatic segment 312 by the clamping groove. At this time, the prismatic segment 312 can limit the circumferential rotation of the counterweight 33. Of course, in actual use, the counterweight 33 needs to be locked relative to the connecting portion 31 by using fasteners such as screws and pins to improve the connection reliability.

[0052] Specifically, the prismatic segment 312 is connected to the lower position of the cylindrical segment 311 along the Z axis, and the counterweight 33 is connected to the upper position of the connecting portion 31 along the Z axis.

[0053] As shown in Figure 2 , Figure 3 and Figure 7 , further, the cylindrical segment 311 is provided with a buffer gap 3102 which is oppositely arranged with the prismatic segment 312 along the radial direction of the cylindrical segment 311. By using the buffer gap 3102, the upper portion of the connecting portion 31 has a certain buffering degree. Moreover, such arrangement is conducive to the assembly of the connecting portion 31 and the transmission shaft 81. Specifically, the cylindrical segment 311 can also have an axial assembly gap which extends through the shaft hole of the connecting portion 31, and then the portions on both sides of the assembly gap are locked by using screws; that is, the fixing of the transmission shaft 81 and the driving shaft 30 can refer to the fixing of the jacking shaft 10 and the matching shaft 40, which will not be described here.

[0054] As another embodiment, as shown in Figure 4 , Figure 5 and Figure 7 , the driving shaft 30 and the assembly base 50 are provided with a limiting assembly 60 to limit the rotation angle of the connecting portion 31 through the limiting assembly 60, so as to ensure the driving stability of the clamping jaw 22 and avoid the frequent opening and closing of the clamping jaw 22. Specifically, the limiting assembly 60 comprises a guide column 61 and a guide groove 62, the guide groove 62 is arranged in an arc shape around the second axis, the guide column 61 is inserted into the guide groove 62 and can move around the second axis in the guide groove 62. One of the guide column 61 and the guide groove 62 is arranged on the driving shaft 30, and the other is arranged on the assembly base 50.

[0055] Specifically, the guide groove 62 is recessed in the assembly base 50, and the guide column 61 is protruded on the driving shaft 30. Alternatively, the guide column 61 is protruded on the assembly base 50, and the driving shaft 30 is recessed with the guide groove 62. That is, when the driving shaft 30 rotates, the guide column 61 can be moved in the guide groove 62, and when the guide column 61 and the guide groove 62 abut along the arc-shaped end portion, it can be used as a rotation limiting position.

[0056] Please refer to Figure 2 , Figure 5 and Figure 8 In some specific embodiments, the assembly base 50 comprises a support frame 51 and a cover 52 connected to the support frame 51, which together enclose an assembly space, and the drive shaft 30 and the matching shaft 40 are both contained in the assembly space to improve the protection effect, reduce the interference of other structures on the drive shaft 30 and the matching shaft 40, and reduce damage. The support frame 51 comprises a top plate and a bottom plate arranged opposite and spaced apart along the Z-axis, the jaw seat 21 is arranged on the top plate, and the top plate is provided with a through hole through which the jacking shaft 10 passes. The guide column 61 is connected with the bottom plate through a linear bearing. At the same time, the support frame 51 also comprises a first side plate and a second side plate arranged opposite and spaced apart along the X-axis direction, and the first side plate and the second side plate are both connected with the top plate and the bottom plate to form a quadrilateral frame structure. The connecting part 31 is rotationally connected to the first side plate. Among them, the first side plate located on one side of the assembly space can be concave to form a guide groove 62, and the counterweight 33 of the drive shaft 30 is convex to form a guide column 61, so as to realize rotation limiting.

[0057] Further, the power source 80 is arranged outside the assembly space. The assembly base 50 further comprises a seat body 53, and the seat body 53 is connected to the first side plate, and the power source 80 is arranged in the seat body 53. In this way, the integrated assembly of each structure can be realized, which is beneficial to the installation of the jaw positioning structure as a whole to the target position.

[0058] Please refer to Figure 2 , Figure 5 , Figure 6 and Figure 8 Optionally, the top end of the jacking shaft 10 is provided with a tapered surface 11, and the tapered surface 11 is arranged tapering from bottom to top along the Z-axis direction. The jaw assembly 20 further comprises a second roller 23, and each jaw 22 is rotationally connected with one second roller 23, and each second roller 23 cooperates with the tapered surface 11. In this way, when the jacking shaft 10 is jacked up, the corresponding jaw 22 can be rotated and opened through the cooperation of the tapered surface 11 and the second roller 23; and the rotation of the second roller 23 can reduce the wear between the tapered surface 11 and the second roller 23, prolonging the service life.

[0059] The clamping jaw assembly 20 further comprises elastic members 24, one elastic member 24 corresponding to each clamping jaw 22, and the elastic member 24 is connected between the corresponding clamping jaw 22 and the clamping jaw seat 21. Each elastic member 24 is used to apply a force to the corresponding clamping jaw 22 to rotate towards the support column 91. Taking the four clamping jaws 22 as an example, the clamping jaw seat 21 is provided with four accommodating cavities arranged at intervals around the first axis, and each accommodating cavity is provided with a clamping jaw 22, and the clamping jaw 22 rotates with the two opposite cavity walls of the accommodating cavity through the rotating shaft. The elastic member 24 is connected between the lower part of the clamping jaw 22 and the clamping jaw seat 21 to ensure sufficient force arm. Each clamping jaw 22 is further recessed with an avoiding groove 2102 on the side facing the jacking shaft 10, for installing the corresponding second roller 23, and part of the second roller 23 is accommodated in the avoiding groove 2102, and the other part protrudes to cooperate with the conical surface 11.

[0060] Further, the clamping jaw positioning structure further comprises a bearing table 90, which is provided at the top end of the jacking shaft 10, and the bearing table 90 can be installed on the clamping jaw seat 21 to ensure the stability of the installation of the bearing table 90, thereby ensuring the stability of the chip. The end of the bearing table 90 away from the jacking shaft 10 is provided with a support column 91, and the planar size of the support column 91 is small, which is beneficial to adapt to the size of the chip. Each clamping jaw 22 comprises an arm body 221 and a clamping part 222 connected to the arm body 221, the bottom of the arm body 221 is rotatably connected to the clamping jaw seat 21, and the clamping part 222 is connected to the top of the arm body 221, and each clamping part 222 is arranged outwardly in a gradually expanding manner with the support column 91 as the center. That is, the size of each clamping part 222 is smaller as it is closer to the support column 91, which is beneficial to directly cooperate with the chip. The four clamping parts 222 corresponding to the four clamping jaws 22 surround a quadrilateral accommodating space, which corresponds to the four edges of the chip, and exactly meets the clamping and positioning of the chip.

[0061] Another embodiment of the present application provides a rotary table feeding device, which comprises a rotary table structure, a picking structure, a plurality of detection structures, and the above-mentioned clamping jaw positioning structure. Each detection structure and clamping jaw positioning structure is arranged at intervals along the circumference of the rotary table structure, the picking structure is arranged on the rotary table structure, and the rotary table structure can rotate around its own axis to drive the picking structure to flow between each detection structure and clamping jaw positioning structure. That is, the chip transported by other processes can be moved to the clamping jaw positioning structure under the action of the rotation of the rotary table structure through the picking structure, clamped and positioned by the clamping jaw positioning structure to adjust the pose, and then the adjusted chip is picked up to each detection structure for chip detection and other operations.

[0062] The technical features of the above-mentioned embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0063] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a more specific and detailed manner, but should not be construed as limiting the scope of the patent application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A gripper positioning structure comprising a jacking shaft (10), a gripper seat (21) and a plurality of grippers (22) arranged circumferentially along the gripper seat (21) and rotationally connected to the gripper seat (21), the gripper seat (21) being provided with a jacking passage (2101) for the jacking shaft (10) to pass through, characterized in that, The clamping jaw positioning structure further comprises: A driving shaft (30) comprising a connecting portion (31) and a matching portion (32) detachably connected to the connecting portion (31), the matching portion (32) being eccentrically arranged relative to the connecting portion (31) and movably connected to the jacking shaft (10); The jacking shaft (10) has a first axis, the connecting portion (31) has a second axis arranged at an angle to the first axis, the connecting portion (31) can rotate about the second axis, and the matching portion (32) is configured to drive the jacking shaft (10) to reciprocate along the first axis in response to rotation of the connecting portion (31).

2. The jaw positioning structure of claim 1, wherein The clamping jaw positioning structure further comprises a matching shaft (40) which is sleeved on the outside of the jacking shaft (10), and the outer circumferential surface of the matching shaft (40) is recessed with a fitting groove (401), the matching portion (32) is inserted into the fitting groove (401) and can move in the fitting groove (401).

3. The jaw positioning structure of claim 2, wherein, The matching portion (32) comprises a shaft body (321) and a first roller (322), the shaft body (321) is detachably connected to the connecting portion (31), and the first roller (322) is rotatably connected to the shaft body (321) to roll with the groove wall of the fitting groove (401).

4. The jaw positioning structure of claim 2, wherein, The matching shaft (40) comprises a shaft body (41) and a locking member, the shaft body (41) is provided with a fixing hole (402) and a locking notch (403) communicating with the fixing hole (402), the locking notch (403) separates part of the shaft body (41) into a first clamping portion (4111) and a second clamping portion (4112), the locking member is connected to the first clamping portion (4111) and the second clamping portion (4112), and the jacking shaft (10) is inserted into the fixing hole (402) and clamped between the first clamping portion (4111) and the second clamping portion (4112).

5. The jaw positioning structure of claim 1, wherein, The connecting portion (31) comprises a cylindrical segment (311) and a prismatic segment (312) connected to the cylindrical segment (311), the prismatic segment (312) is eccentrically arranged with the cylindrical segment (311), and the matching portion (32) is detachably connected to the prismatic segment (312); The cylindrical segment (311) is provided with a buffer notch (3102), and the buffer notch (3102) is oppositely arranged with the prismatic segment (312) along the radial direction of the cylindrical segment (311).

6. The jaw positioning structure of claim 1, wherein, The clamping jaw positioning structure further comprises a fitting base (50), the driving shaft (30) is rotatably connected to the fitting base (50), and a limiting assembly (60) is arranged between the driving shaft (30) and the fitting base (50) for limiting the rotation angle of the connecting portion (31).

7. The jaw positioning structure of claim 6, wherein, The limiting assembly (60) comprises a guide column (61) and a guide groove (62), the guide groove (62) is arranged in an arc shape around the second axis, the guide column (61) is inserted into the guide groove (62) and can move around the second axis in the guide groove (62), one of the guide column (61) and the guide groove (62) is arranged on the drive shaft (30), and the other is arranged on the assembly base (50).

8. The jaw positioning structure of claim 1, wherein, The drive shaft (30) further comprises a counterweight (33) which is detachably connected to the connecting portion (31).

9. The jaw positioning structure of any one of claims 1 to 8, wherein, The top end of the jacking shaft (10) is provided with a tapered surface (11) which is arranged tapering from bottom to top along the first axis; Each of the clamping jaws (22) is rotationally connected with a second roller (23), and each of the second rollers (23) cooperates with the tapered surface (11).

10. A carousel loading device, characterized by, The device comprises a rotating disc structure, a pickup structure, a plurality of detection structures, and the clamping jaw positioning structure of any one of claims 1 to 9; Each of the detection structures and the clamping jaw positioning structure is arranged in a circumferential direction of the rotating disc structure, the pickup structure is arranged on the rotating disc structure, and the rotating disc structure can drive the pickup structure to flow between the detection structures and the clamping jaw positioning structure.

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