Manipulator suction cup assembly

Abstract

The utility model discloses a manipulator sucker assembly, and relates to the technical field of chip processing equipment, the manipulator sucker assembly comprises a multi-axis manipulator, a pedestal and cover plate suction assembly, a DBC suction assembly, a lead frame suction assembly and a visual detection assembly, the multi-axis manipulator is provided with a fixed seat; the base and cover plate suction assembly comprises a first suction table used for sucking a chip base and a cover plate. The DBC suction assembly comprises a second suction table used for sucking a DBC direct copper-clad ceramic substrate. By means of the base and cover plate suction assembly, the DBC suction assembly and the lead frame suction assembly, the fixed suction function of various chip components is integrated on one mechanical arm, various different chip components can be sucked and processed, the equipment cost is reduced, the production efficiency is improved, and the production cost is reduced. And the positions and the front and back states of the parts can be detected during grabbing through the visual detection assembly.

Description

Technical Field

[0001] This utility model relates to the technical field of chip processing equipment, specifically to a robotic suction cup assembly. Background Technology

[0002] In the chip manufacturing process, robotic arms play a crucial role. Through high-precision gripping and movement, robotic arms transfer wafers from one process step to the next, ensuring the continuity and efficiency of the production line. To ensure that the surface of the components is not damaged during the handling process, and to avoid static electricity or contamination, vacuum adsorption technology is usually used.

[0003] During the chip assembly stage, multiple different components need to be picked up and transferred to the assembly area by robotic arms. These components include chip bases, chip covers, direct copper-clad ceramic substrates (DBC), and leadframes. Each component has a different shape and size, requiring multiple robotic arms equipped with corresponding adsorption devices for operation, which is costly. Furthermore, the position of the components may shift during adsorption, affecting the picking process. The front and back of each substrate and frame may also be incorrect, affecting subsequent assembly operations. Therefore, the position and front and back status of the components need to be checked before picking them up. Utility Model Content

[0004] This utility model provides a robotic arm suction cup assembly, which integrates multiple component grasping functions and has the advantages of detecting the position and front and back of components, thereby solving the problem that existing robotic arms have limited grasping functions and cannot detect the position and front and back of components before grasping.

[0005] This utility model provides the following technical solution: a robotic arm suction cup assembly, including a multi-axis robotic arm, and further including a base and cover plate suction assembly, a DBC suction assembly, a lead wire frame suction assembly, and a vision inspection assembly, wherein:

[0006] A fixed base is installed at the lower end of the end effector of the multi-axis robot. The vision inspection component, the base and cover plate suction component, the DBC suction component and the lead frame suction component are all fixed on the outside of the fixed base.

[0007] The base and cover plate suction assembly includes a first liftable suction platform installed at the front end of the fixed base for suctioning the chip base and cover plate.

[0008] The DBC suction assembly includes a second suction platform that can be raised and lowered and installed on the side of the fixed base, used to suction DBC direct copper-clad ceramic substrates;

[0009] The lead frame suction assembly includes a third suction platform that can be raised and lowered and installed on the side of the fixed base, for suctioning the lead frame.

[0010] The visual inspection component is used to detect the front and back of the part to be inspected.

[0011] As a preferred technical solution of this utility model, the base and cover plate suction assembly further includes a first mounting frame fixed to the front end of the fixed seat, the front end of the mounting frame is movably connected to a liftable first mounting seat, the multi-axis manipulator is equipped with a vacuum generator, and the bottom of the first mounting seat is equipped with a plurality of suction cup arms connected to the vacuum generator.

[0012] As a preferred technical solution of this utility model, a parallel clamping cylinder is installed at the front end of the first mounting base. The parallel clamping cylinder has parallel clamping claws symmetrically installed at its output end. The parallel clamping claws are located on both sides of the first adsorption platform and cooperate with the suction cup arm below the first adsorption platform.

[0013] As a preferred technical solution of this utility model, the DBC suction assembly further includes a second mounting bracket fixed to the side of the fixed base. The front end of the second mounting bracket is movably connected to a liftable second mounting seat, and the bottom of the second mounting seat is equipped with a suction cup arm connected to a vacuum generator.

[0014] As a preferred technical solution of this utility model, the lead frame suction assembly further includes a third mounting bracket fixed to the side of the fixed base. The front end of the third mounting bracket is movably connected to a liftable third mounting base, and the bottom of the third mounting base is equipped with a suction cup arm connected to a vacuum generator.

[0015] As a preferred embodiment of this utility model, the front ends of the first mounting frame, the second mounting frame and the third mounting frame are each equipped with a lifting cylinder whose output end is connected to the first mounting seat, the second mounting seat and the third mounting seat.

[0016] As a preferred embodiment of this utility model, the upper end of the fixing base is equipped with a wiring terminal for wiring, and the visual inspection component is an image acquisition device fixed vertically downward at the rear end of the fixing base.

[0017] Compared with the prior art, the present invention provides a robotic arm suction cup assembly, which has the following beneficial effects:

[0018] 1. This utility model integrates the fixing and suction functions of various chip components into one robot by using multiple suction platforms fixed at the end effector position of the multi-axis robot in the base and cover plate suction assembly, DBC suction assembly and lead frame suction assembly. It can handle a variety of different chip components and reduce equipment costs.

[0019] 2. This utility model uses an image acquisition device in the visual inspection component to identify and detect the position and front / back status of the corresponding component before adsorption, thus avoiding the occurrence of component position deviation and incorrect front / back status during adsorption. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the base and cover plate suction assembly structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the DBC suction component structure of this utility model;

[0023] Figure 4 This is a schematic diagram of the lead frame absorption assembly structure of this utility model;

[0024] Figure 5 This is a schematic diagram showing the location of the visual inspection image acquisition device of this utility model.

[0025] In the diagram: 1. Multi-axis robot; 11. Vacuum generator; 2. Fixed base; 3. Base and cover plate suction assembly; 31. First mounting frame; 32. First mounting base; 33. First adsorption stage; 34. Suction cup arm; 35. Parallel clamping cylinder; 36. Parallel gripper; 37. Base and cover plate; 4. DBC suction assembly; 41. Second mounting frame; 42. Second mounting base; 43. Second adsorption stage; 44. Direct copper clad ceramic substrate; 5. Lead wire frame suction assembly; 51. Third mounting frame; 52. Third mounting base; 53. Third adsorption stage; 54. Lead wire frame; 6. Vision inspection assembly; 7. Lifting cylinder; 8. Terminal block. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example 1

[0027] Please see Figures 1-5 This utility model discloses a robotic arm suction cup assembly, including a multi-axis robotic arm 1, and also includes a base and cover plate suction assembly 3, a DBC suction assembly 4, a lead wire frame suction assembly 5, and a vision inspection assembly 6, wherein:

[0028] The multi-axis robot 1 has a fixed base 2 installed at the lower end of the end effector position. The vision inspection component 6, the base and cover plate suction component 3, the DBC suction component 4 and the lead frame suction component 5 are all fixed on the outside of the fixed base 2.

[0029] The base and cover plate suction assembly 3 includes a first suction platform 33 that can be raised and lowered and installed at the front end of the fixed base 2, which is used to suction the chip base and cover plate.

[0030] The DBC suction assembly 4 includes a second suction platform 43 that can be raised and lowered and installed on the side of the fixed base 2, which is used to suction the DBC direct copper-clad ceramic substrate 44.

[0031] The lead frame suction assembly 5 includes a third suction platform 53 that is adjustable and mounted on the side of the fixed base 2, for suctioning the lead frame.

[0032] The visual inspection component 6 is used to detect the front and back states of the component to be inspected.

[0033] Please refer to the appendix. Figure 2 The base and cover plate suction assembly 3 also includes a first mounting frame 31 fixed to the front end of the fixed seat 2. The front end of the mounting frame is movably connected to a liftable first mounting seat 32. A vacuum generator 11 is installed on the multi-axis manipulator 1. A plurality of suction cup arms 34 connected to the vacuum generator 11 are installed at the bottom of the first mounting seat 32.

[0034] Specifically, the first adsorption platform 33 uses the suction cup arm 34 at the bottom to adsorb and grasp the base or cover plate in the chip component.

[0035] Furthermore, a parallel clamping cylinder 35 is installed at the front end of the first mounting base 32. Parallel clamping claws 36 are symmetrically installed at the output end of the parallel clamping cylinder 35. The parallel clamping claws 36 are located on both sides of the first adsorption platform 33 and cooperate with the suction cup arm 34 below the first adsorption platform 33.

[0036] Specifically, the base and cover plate in the chip components are relatively heavy, and single adsorption gripping is unstable. There is a risk that the base and cover plate will fall off after gripping. The parallel clamping cylinder 35 can drive the parallel gripper 36 to grip and fix the gripped base and cover plate 37.

[0037] Please refer to the appendix. Figure 3 The DBC suction assembly 4 also includes a second mounting bracket 41 fixed to the side of the fixed base 2. The front end of the second mounting bracket 41 is movably connected to a liftable second mounting base 42. The bottom of the second mounting base 42 is equipped with a suction cup arm 34 connected to the vacuum generator 11.

[0038] Specifically, the second adsorption stage 43 uses the suction cup arm 34 to grip the DBC substrate, i.e., the direct copper-clad ceramic substrate 44, in the chip component.

[0039] Please refer to the appendix. Figure 4 The lead frame suction assembly 5 also includes a third mounting bracket 51 fixed to the side of the fixed base 2. The front end of the third mounting bracket 51 is movably connected to a liftable third mounting base 52. Specifically, the third suction table 53 grips the lead frame in the chip component through the suction cup arm 34.

[0040] It should be noted that the number and arrangement of the suction cup arms 34 at the lower end of the different adsorption stages in each suction assembly are different. The number and arrangement of the suction cup arms 34 on different adsorption stages are shown in the attached figure. Figure 2-4 The structures shown are adapted to the corresponding base or cover plate, lead frame and direct copper-clad ceramic substrate 44.

[0041] Furthermore, the front ends of the first mounting bracket 31, the second mounting bracket 41, and the third mounting bracket 51 are all equipped with lifting cylinders 7 whose output ends are connected to the first mounting base 32, the second mounting base 42, and the third mounting base 52.

[0042] Specifically, each adsorption platform can be raised or lowered slightly by the lifting cylinder 7, so that the suction cup arm 34 can contact or separate from the component during the gripping process. Example 2

[0043] Please refer to the appendix. Figure 5 The upper end of the fixed base 2 is equipped with a terminal block 8 for wiring. The visual inspection component 6 is an image acquisition device fixed vertically downward at the rear end of the fixed base 2. The image acquisition device is connected to a processor to perform visual inspection on the acquired image.

[0044] In this embodiment, before grasping the component, an image acquisition device is used to capture the image information of the component and visually detect whether the position of the component is off-center or whether the front and back of the component are correct.

[0045] The working principle and usage process of this utility model are as follows: When performing assembly operations, firstly, the multi-axis robot 1 moves the vision inspection component 6 directly above the part to be grasped. At this time, the image acquisition device acquires the image information of the part and transmits it to the processing terminal for vision inspection, detecting whether the position of the part is offset and whether the front and back states of the part are correct.

[0046] When the position and front and back information of the component are confirmed to be correct, the multi-axis robot 1 moves the adsorption platform of the corresponding component adsorption assembly in the base and cover plate adsorption assembly 3, DBC adsorption assembly 4 and lead frame adsorption assembly 5 to directly above the component, according to the type of component to be adsorbed. At this time, the lifting cylinder 7 is activated to lower the corresponding adsorption platform, and the adsorption arm on the adsorption platform contacts the component and grasps the component by vacuum adsorption.

[0047] It should be noted that after the suction table on the base and cover plate suction assembly 3 suctions and grabs the base or cover plate 37, the parallel clamping cylinder 35 is activated to drive the parallel clamping claw 36 to move and clamp the suctioned base or cover plate.

[0048] Finally, the multi-axis robot 1 transfers the gripped parts to the assembly area for assembly.

Claims

1. A robotic arm suction cup assembly, comprising a multi-axis robotic arm (1), characterized in that, It also includes a base and cover plate suction assembly (3), a DBC suction assembly (4), a lead frame suction assembly (5), and a vision inspection assembly (6), wherein: The multi-axis manipulator (1) has a fixed base (2) installed at the lower end of the end effector position. The vision inspection component (6), the base and cover plate suction component (3), the DBC suction component (4) and the lead frame suction component (5) are all fixed on the outside of the fixed base (2). The base and cover plate suction assembly (3) includes a first suction platform (33) that can be raised and lowered and installed at the front end of the fixed base (2), and a base and cover plate (37) for suctioning chips. The DBC suction assembly (4) includes a second suction platform (43) that can be raised and lowered and installed on the side of the fixed base (2) for suctioning DBC direct copper-clad ceramic substrate (44). The lead frame suction assembly (5) includes a third suction platform (53) that can be raised and lowered and installed on the side of the fixed base (2) for suction of the lead frame (54). The visual inspection component (6) is used to detect the front and back states of the part to be inspected.

2. The robotic suction cup assembly according to claim 1, characterized in that: The base and cover suction assembly (3) also includes a first mounting bracket (31) fixed to the front end of the fixed seat (2), and the front end of the mounting bracket is movably connected to a liftable first mounting seat (32). A vacuum generator (11) is installed on the multi-axis manipulator (1), and a plurality of suction cup arms (34) connected to the vacuum generator (11) are installed at the bottom of the first mounting seat (32).

3. The robotic suction cup assembly according to claim 2, characterized in that: The first mounting base (32) is equipped with a parallel clamping cylinder (35) at its front end. The parallel clamping cylinder (35) has parallel grippers (36) symmetrically installed at its output end. The parallel grippers (36) are located on both sides of the first adsorption platform (33) and cooperate with the suction cup arm (34) below the first adsorption platform (33).

4. The robotic suction cup assembly according to claim 3, characterized in that: The DBC suction assembly (4) also includes a second mounting bracket (41) fixed to the side of the fixed base (2). The front end of the second mounting bracket (41) is movably connected to a liftable second mounting base (42). The bottom of the second mounting base (42) is equipped with a suction cup arm (34) connected to the vacuum generator (11).

5. The robotic suction cup assembly according to claim 4, characterized in that: The lead frame suction assembly (5) also includes a third mounting bracket (51) fixed to the side of the fixed base (2). The front end of the third mounting bracket (51) is movably connected to a liftable third mounting base (52). The bottom of the third mounting base (52) is equipped with a suction cup arm (34) connected to the vacuum generator (11).

6. The robotic suction cup assembly according to claim 5, characterized in that: The first mounting bracket (31), the second mounting bracket (41) and the third mounting bracket (51) are each equipped with a lifting cylinder (7) whose output end is connected to the first mounting seat (32), the second mounting seat (42) and the third mounting seat (52).

7. The robotic suction cup assembly according to claim 1, characterized in that: The upper end of the mounting base (2) is equipped with a wiring terminal (8) for wiring, and the visual inspection component (6) is an image acquisition device fixed at the rear end of the mounting base (2) and facing downwards.

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