Chip packaging frame grabbing device

Abstract

The utility model belongs to the technical field of claws, and particularly relates to a chip packaging frame grabbing device which comprises a quadrangular center seat. Lifting air cylinders are arranged on the two opposite sides of the center base in the X direction respectively, suction cups are fixed to the telescopic ends of the lifting air cylinders, and the lifting air cylinders are used for controlling the suction cups to ascend and descend in the Z direction. A finger air cylinder is arranged at the bottom of the center base, claw fingers are fixed to the two operation ends of the finger air cylinder, and the finger air cylinder is used for controlling the two claw fingers to be close to or away from each other in the Y direction. The X direction, the Y direction and the Z direction are perpendicular to one another. According to the scheme, the upper shell of the chip packaging frame can be grabbed through the suction cup, the lower shell of the chip packaging frame can be grabbed through the finger air cylinder, therefore, two grabbing purposes are achieved, two different claws do not need to be used, and the grabbing efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of gripper technology, specifically relating to a chip packaging frame gripping device. Background Technology

[0002] A chip packaging frame typically consists of an upper shell and a lower shell. In conventional chip packaging operations, after the target chip is installed on the lower shell, the upper shell needs to be placed on top of the lower shell, and then the upper and lower shells are transferred to other workstations. In existing technologies, two robotic arms are often used to grasp them one after the other, which is inefficient.

[0003] Therefore, it is necessary to design a gripping device that can grip the chip packaging frame and the upper and lower shells together. Utility Model Content

[0004] To address the aforementioned problems in existing technologies, this solution provides a chip packaging frame gripping device.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A chip packaging frame gripping device includes a quadrangular prism-shaped central base; lifting cylinders are respectively arranged on opposite sides of the central base in the X direction, and a suction cup is fixed to the telescopic end of the lifting cylinder. The lifting cylinder is used to control the suction cup to move up and down in the Z direction; a finger cylinder is arranged at the bottom of the central base, and a claw is fixed to each of the two operating ends of the finger cylinder. The finger cylinder is used to control the two claws to move closer or further apart in the Y direction; the X, Y, and Z directions are perpendicular to each other.

[0007] As an alternative or supplement to the above solution: the lifting cylinder includes an upper lifting cylinder and a lower lifting cylinder; the upper lifting cylinder is fixedly connected to the side of the center seat, the lower lifting cylinder is fixed on the telescopic end of the upper lifting cylinder, and the suction cup is fixed on the telescopic end of the lower lifting cylinder.

[0008] As an alternative or supplement to the above solution: two parallel lower lifting cylinders are fixed on the telescopic end of the upper lifting cylinder; a suction cup is fixed on each lower lifting cylinder.

[0009] As an alternative or supplement to the above scheme: four suction cups are arranged in a 2×2 rectangular array at the four corners of the quadrangular prism.

[0010] As an alternative or supplement to the above scheme: the operating end of the finger cylinder is fixedly connected to the middle of the crossbar, and the two ends of the crossbar are vertically fixedly connected to longitudinal bars, with a claw finger fixed on each longitudinal bar.

[0011] As an alternative or supplement to the above scheme: the four claws are distributed in a 2×2 rectangular array.

[0012] As an alternative or supplement to the above scheme: the lower end of the claw is provided with a protrusion, and a V-shaped groove is provided in the middle of the protrusion.

[0013] As an alternative or supplement to the above solution: the top of the center seat is provided with a circular blind hole, and the center seat is connected to multiple linear modules during use. The linear modules can control the center seat to move in the X, Y or Z directions.

[0014] The beneficial effects of this utility model are as follows: In this solution, the upper shell of the chip packaging frame can be grasped by the suction cup, and the lower shell of the chip packaging frame can be grasped by the finger cylinder, thereby achieving two grasping purposes without the need to use two different grippers, thus improving grasping efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this scheme or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a 3D structural diagram of the chip packaging frame gripping device in this solution;

[0017] Figure 2 This is a front view structural diagram of the chip packaging frame gripping device in this solution;

[0018] Figure 3 Enlarged view of the claws.

[0019] In the diagram: 1-Center seat; 2-Upper lifting cylinder; 3-Lower lifting cylinder; 4-Suction cup; 5-Claw finger; 6-Finger cylinder; 7-Horizontal bar; 8-Vertical bar; 9-V-groove. Detailed Implementation

[0020] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only some embodiments, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this solution without creative effort are within the protection scope of this solution.

[0021] like Figures 1 to 3 As shown in the figure, this embodiment designs a chip packaging frame gripping device.

[0022] The gripping device includes a quadrangular prism-shaped central base 1. During use, the central base 1 can be connected to multiple linear modules, which are interconnected linearly. These different linear modules can control the central base 1 to move in the X, Y, or Z directions. A circular blind hole is provided at the top of the central base 1 to facilitate stability and positioning after installation.

[0023] Lifting cylinders are respectively provided on opposite sides of the center seat 1 in the X direction. The extension end of the lifting cylinder is fixed with a suction cup 4. The lifting cylinder is used to control the suction cup 4 to move up and down in the Z direction. A finger cylinder 6 is provided at the bottom of the center seat 1. A claw 5 is fixed at each of the two operating ends of the finger cylinder 6. The finger cylinder 6 is used to control the two claws 5 to move closer or further apart in the Y direction. The X, Y and Z directions are perpendicular to each other.

[0024] The lifting cylinder includes an upper lifting cylinder 2 and a lower lifting cylinder 3; the upper lifting cylinder 2 is fixedly connected to the side of the center seat 1, the lower lifting cylinder 3 is fixed on the telescopic end of the upper lifting cylinder 2, and the suction cup 4 is fixed on the telescopic end of the lower lifting cylinder 3.

[0025] Two parallel lower lifting cylinders 3 are fixed to the telescopic end of the upper lifting cylinder 2; a suction cup 4 is fixed to each lower lifting cylinder 3. The four suction cups 4 are arranged in a 2×2 rectangular array at the four corners of the quadrangular prism.

[0026] The operating end of the finger cylinder 6 is fixedly connected to the middle of the crossbar 7. Vertical rods 8 are vertically fixed to both ends of the crossbar 7, and a claw finger 5 is fixed to each of the vertical rods 8. The four claw fingers 5 are arranged in a 2×2 rectangular array. A protrusion is provided at the lower end of each claw finger 5, and a V-shaped groove 9 is provided in the middle of the protrusion. The protrusion can be made of silicone material, or a silicone pad can be placed on the protrusion to increase anti-slip performance.

[0027] When using the chip packaging frame gripping device in this solution:

[0028] When the size of a single chip package frame matches the gripping size range of the gripping device, the lower shell with the chip installed is first moved to the corresponding position. Then, the suction cup 4 grips the upper shell and covers the lower shell with the upper shell. Then, the claw fingers 5 come together and clamp the lower shell to move the upper shell and the lower shell together to the next processing stage.

[0029] When the size of a single chip package frame matches the gripping size range of the gripping device, the lower shell with the chip installed is first assembled onto a tray. Four lower shells can be placed on the tray, arranged in a 2×2 rectangular array. The tray is then moved to the corresponding position, and four suction cups 4 grip four upper shells, which are then placed onto the corresponding lower shells. Next, the claw fingers 5 come together and clamp the tray, moving it along with the upper and lower shells to the next processing stage.

[0030] The above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation; it is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom remain within the scope of this technology.

Claims

1. A chip package frame gripping device, characterized by: The center seat (1) is in quadrangular prism shape; the lifting cylinders are arranged on the opposite sides of the center seat (1) in X direction, the telescopic ends of the lifting cylinders are fixed with the sucking discs (4), the lifting cylinders are used for controlling the sucking discs (4) to move up and down along Z direction; the finger cylinder (6) is arranged at the bottom of the center seat (1), the two operating ends of the finger cylinder (6) are fixed with the claw fingers (5), the finger cylinder (6) is used for controlling the two claw fingers (5) to move close to each other or away from each other in Y direction; the X direction, the Y direction and the Z direction are perpendicular to each other.

2. The chip package frame gripping device according to claim 1, characterized in that: The lifting cylinder comprises the upper lifting cylinder (2) and the lower lifting cylinder (3); the upper lifting cylinder (2) is fixedly connected with the side vertical surface of the center seat (1), the lower lifting cylinder (3) is fixed on the telescopic end of the upper lifting cylinder (2), and the sucking disc (4) is fixed on the telescopic end of the lower lifting cylinder (3).

3. The chip package frame gripping device according to claim 2, wherein: Two lower lifting cylinders (3) are fixed on the telescopic end of the upper lifting cylinder (2) and arranged side by side; one sucking disc (4) is fixed on each lower lifting cylinder (3).

4. The chip package frame gripping device according to claim 3, characterized in that: The four sucking discs (4) are arranged in 2x2 rectangular array at the four corners of the quadrangular prism.

5. The chip package frame gripping apparatus according to any one of claims 1 to 4, characterized by: The operating end of the finger cylinder (6) is fixedly connected with the middle part of the horizontal rod (7), the two ends of the horizontal rod (7) are fixedly connected with the vertical longitudinal rods (8), and one claw finger (5) is fixed on each longitudinal rod (8).

6. The chip package frame gripping device according to claim 5, wherein: The four claw fingers (5) are arranged in 2x2 rectangular array.

7. The chip package frame gripping device according to claim 6, characterized in that: The lower end of the claw finger (5) is provided with a protrusion, and a V-shaped groove (9) is arranged in the middle of the protrusion.

8. The chip package frame gripping device according to claim 6 or 7, characterized in that: The top of the center seat (1) is provided with a circular blind hole, the center seat (1) is connected with a plurality of linear modules during use, and the linear modules can control the center seat (1) to move in X direction, Y direction or Z direction.

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