Side suction gripping device

Abstract

The utility model relates to the technical field of semiconductor packaging part transfer devices, in particular to a side suction grabbing device which comprises a mechanical arm, the mechanical arm is connected with a grabbing block, an air channel is formed in the grabbing block, one side of the grabbing block is provided with a suction head communicated with the air channel, the other side of the grabbing block is provided with an abutting piece, and the mechanical arm is connected with the mechanical arm. The abutting piece comprises an abutting column used for making contact with the inner wall of the workpiece, and the abutting column has a movement path in the direction perpendicular to the side wall of the grabbing block. Compared with the prior art, the device has the following effects that in the state that air is exhausted in the air channel to form negative pressure, the abutting column on one side abuts against the inner wall of one side of the workpiece along the movement path so that the suction head can be attached to the inner wall of the other side of the workpiece, the inner side wall of the workpiece can be adsorbed in the negative pressure state, adsorption grabbing can be directly conducted through the inner side wall of the workpiece, and the work efficiency is improved. And the operation is convenient.

Description

Technical Field

[0001] This application relates to the technical field of semiconductor packaging component transfer devices, and in particular to a side-suction gripping device. Background Technology

[0002] In the semiconductor packaging process, various types of components need to be transported and moved to different processes or workstations.

[0003] To minimize damage or contamination to the workpiece, vacuum nozzles are typically used for adsorption and gripping, requiring a certain area of ​​adsorption surface on the workpiece. For some... Figure 1 The special workpiece shown has multiple rows of adjacent metal pins on its inner surface. Conventional vacuum nozzles cannot perform adsorption due to the presence of these metal pins and the gaps between them. Therefore, such workpieces currently require filling before adsorption. Specifically, the gaps between the metal pins and the entire upper surface are filled to create a suitable adsorption plane before adsorption. While this method achieves the adsorption and gripping requirements, it adds the unnecessary filling step, and the filled portion needs to be removed later. Utility Model Content

[0004] To facilitate the adsorption and gripping of workpieces, this application provides a side-suction gripping device.

[0005] This application provides a side-suction gripping device, which adopts the following technical solution: A side-suction gripping device includes a robotic arm, the robotic arm is connected to a gripping block, the gripping block has an air channel inside, one side of the gripping block has a suction head communicating with the air channel, and the other side of the gripping block has a pressing member, the pressing member includes a pressing column for contacting the inner wall of the workpiece, and the pressing column has a movement path along a direction perpendicular to the side wall of the gripping block.

[0006] By adopting the above technical solution, the gripping block is inserted into the workpiece through the movement path of the robotic arm. Under the condition of creating negative pressure by evacuating air in the air passage, the pressure column on one side abuts against the inner wall of one side of the workpiece along the movement path. After movement, the width of the gripping block inside the workpiece will be increased, so that the suction head can be attached to the inner wall of the other side of the workpiece. Under the negative pressure, it will adsorb the inner wall of the workpiece. The pressure column can provide a certain support force. The two work together to drive the workpiece to move, and can directly adsorb and grip through the inner wall of the workpiece, which is quite convenient.

[0007] Preferably, the gripping block has a movable groove that connects to the air passage, the movable groove has a piston, a rotating rod is rotatably connected inside the gripping block, the rotating rod is connected to the pressure column, and the piston drives the rotating rod to rotate, causing the pressure column to bulge outward.

[0008] Preferably, the grabbing block is provided with a movable cavity, the rotating rod is rotatably connected in the movable cavity, and the movable cavity has a movable ball connected to the piston, the movable ball abutting against one end of the rotating rod away from the abutting column.

[0009] Preferably, the movable cavity is circumferentially provided with a plurality of sliding grooves, the sliding grooves are provided with sliding blocks, the end of the rotating rod abuts against the bottom of the sliding block, and the abutting column is arranged at the end of the sliding block.

[0010] Preferably, the bottom of the sliding block is provided with a return spring coaxial with the abutting column.

[0011] Preferably, the end of the rotating rod abutting against the sliding block has an avoidance groove for the return spring to pass through.

[0012] Preferably, the suction head is provided with a rubber sealing ring body on the side.

[0013] Preferably, the side wall of the rubber sealing ring body near the workpiece has an annular groove, and the annular groove divides the rubber sealing ring body into a first ring and a second ring.

[0014] Preferably, the width of the annular groove gradually decreases from the outside to the inside.

[0015] By adopting the above technical scheme, when the suction head is close to the inner wall of the workpiece, the rubber sealing ring body will be deformed after being pressed to form two sealing structures, thereby ensuring the adsorption effect.

[0016] In summary, the present application has at least one of the following beneficial technical effects: the grabbing block is deeply inserted into the workpiece through the movable path of the mechanical arm, the abutting column on one side abuts against the inner wall of the workpiece along the movement path, and the movement increases the width of the grabbing block in the workpiece, so as to achieve the purpose of attaching the suction head to the inner wall of the other side of the workpiece. After cooperation, the workpiece can be moved, and the workpiece can be directly adsorbed and grabbed through the inner wall, which is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a structural schematic view of a workpiece;

[0018] Figure 2 is a structural schematic view of the present application;

[0019] Figure 3 is a structural schematic view of the present application from another perspective;

[0020] Figure 4 is a structural schematic view of the present application;

[0021] Figure 5 is Figure 4A part of the enlarged schematic view of the middle part;

[0022] Figure 6 is a schematic view of the connection relationship of the movable ball, the rotating rod and the sliding block.

[0023] The reference signs are as follows: 10, workpiece; 100, mechanical arm; 110, grabbing block; 111, air channel; 112, suction head; 113, pressing column; 120, rubber sealing ring body; 121, ring groove; 122, first ring; 123, second ring; 124, movable groove; 125, piston; 126, movable rod; 130, movable cavity; 131, movable ball; 132, sliding groove; 133, sliding block; 134, rotating rod; 135, transition groove; 140, reset spring; 141, avoiding groove; 142, air pressure hole. DETAILED DESCRIPTION

[0024] The application will be further described in detail below with reference to the accompanying drawings.

[0025] The embodiment of the application discloses a side suction grabbing device, referring to Figure 1 , Figure 2 , comprising a mechanical arm 100, the mechanical arm 100 is connected with a grabbing block 110, the grabbing block 110 has an air channel 111 inside, the air channel 111 is vertically arranged and will be communicated with an external air suction channel to form negative pressure by internal air suction. One side of the grabbing block 110 has a suction head 112, and the other side of the grabbing block 110 has a pressing member, the pressing member comprises a pressing column 113 used for contacting the inner wall of the workpiece, and the pressing column 113 has a movement path along the direction perpendicular to the side wall of the grabbing block 110. In the embodiment, the mechanical arm 100 is a general mechanical arm structure capable of three-axis movement, and details are not described herein.

[0026] Specifically, referring to Figure 4 , Figure 5 , the channel in the suction head 112 is communicated with the air channel 111, the air channel 111 can form negative pressure at the outlet of the suction head 112, and a rubber sealing ring body 120 is arranged on the outer wall of the grabbing block 110 and located at the side of the suction head 112. The rubber sealing ring body 120 is in a whole annular shape, the side wall of the rubber sealing ring body 120 close to the workpiece has a ring groove 121, and the ring groove 121 separates the rubber sealing ring body 120 into a first ring 122 and a second ring 123. Moreover, the width of the ring groove 121 gradually decreases from the outside to the inside. When the suction head 112 is pressed against the inner wall of the workpiece, the outside of the rubber sealing ring body 120 is extruded, the ring groove 121 makes the whole extruded part deform towards both sides, so that the fitting surface can have better sealing effect, and the space in the middle of the ring groove 121 forms a blocking cavity.

[0027] Referring to Figure 4On the other side of the air passage 111, there is a movable slot 124, which is parallel to the pipe in the suction head 112 and also communicates with the air passage 111. In the movable slot 124, there is a piston 125, one side of which communicates with the air passage 111, and the other side is connected with a movable rod 126, which passes through the bottom of the movable slot 124. Inside the gripping block 110, there is also a movable cavity 130, and the movable rod 126 penetrates into the movable cavity 130. On the end of the movable rod 126, there is a movable ball 131. When a negative pressure is formed in the air passage 111, the piston 125 will be moved towards the side close to the suction head 112, thereby driving the movable rod 126 to slide.

[0028] Referring to Figure 4 , Figure 6 On the circumferential side of the movable cavity 130, there are four sliding slots 132, and in the sliding slots 132, there are sliding blocks 133. The pressing column 113 is arranged on the side of the sliding block 133 close to the inner wall of the workpiece. The movable cavity 130 is connected with the sliding slot 132 through a transition slot 135, and in the transition slot 135, there is a rotating rod 134, the middle part of which is rotatably connected to the inner wall of the transition slot 135. One end of the rotating rod 134 is located below the movable ball 131, and the other end abuts against the bottom of the sliding block 133. When the movable rod 126 is driven to move by the piston 125, the movable ball 131 will act on the rotating rod 134, so that the end of the movable rod 126 close to the sliding block 133 is raised, thereby driving the sliding block 133 to move towards the outside of the gripping block 110, so that the pressing column 113 is close to the inner wall of the workpiece.

[0029] In order to reset the whole after the negative pressure in the air passage 111 is over, a reset spring 140 coaxial with the pressing column 113 is arranged at the bottom of the sliding block 133. The reset spring 140 located at the axis will exert a force in the direction perpendicular to the length of the sliding slot 132, thereby reducing the possibility of deflection of the sliding block 133. In order to avoid the rotating rod 134, in this embodiment, the end of the rotating rod 134 has an avoiding slot 141, through which the reset spring 140 passes and abuts against the bottom of the sliding block 133.

[0030] It is worth noting that the movable cavity 130 and the bottom of the movable slot 124 both have air pressure holes 142 balanced with the air pressure of the outside world, so as to realize the normal movement of the piston 125 in the movable slot 124.

[0031] The implementation principle of the embodiment of the present application is that: the negative pressure is formed in the air passage 111 by suction, the piston 125 will move towards the side close to the air passage 111, the movable ball 131 will press down the rotating rod 134, after the rotating rod 134 rotates, the sliding block 133 moves outward, and then the pressing column 113 gradually presses against the inner wall of the workpiece, at this time the reset spring 140 is stretched and deformed. At the same time, the suction head 112 will be close to the inner wall of the workpiece, the rubber sealing ring body 120 is deformed under pressure, and a good sealing effect is formed, and the inner wall of the workpiece is adsorbed. At this time, the moving mechanical arm 100 can take and move the workpiece.

[0032] When transported to the designated position, the negative pressure in the air passage 111 is eliminated, at this time the reset spring 140 will contract, and the sliding block 133 is reset, at this time the rotating rod 134 reversely rotates, the movable rod 126 moves outward, and the piston 125 will reset to the initial position, so as to grasp again subsequently.

[0033] The embodiments of the specific implementation are the preferred embodiments of the present application, and are not limited to the protection scope of the present application, so: any equivalent changes made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. A side suction gripping device comprising a robot arm (100), characterized in that: The mechanical arm (100) is connected with a grabbing block (110), the grabbing block (110) has an air channel (111) inside, one side of the grabbing block (110) has a suction head (112) communicating with the air channel (111), the other side of the grabbing block (110) has a pressing piece, the pressing piece includes a pressing column (113) for contacting the inner wall of the workpiece, the pressing column (113) has a movement path along the direction perpendicular to the side wall of the grabbing block (110).

2. A side suction gripping device according to claim 1, characterized in that The grabbing block (110) has a movable groove (124) communicating with the air channel (111) inside, the movable groove (124) has a piston (125) inside, the grabbing block (110) is rotationally connected with a rotating rod (134), the rotating rod (134) is connected with the pressing column (113), the piston (125) drives the rotating rod (134) to rotate and makes the pressing column (113) protrude outward.

3. A side suction gripping device according to claim 2, characterized in that The grabbing block (110) is provided with a movable cavity (130), the rotating rod (134) is rotationally connected in the movable cavity (130), the movable cavity (130) has a movable ball (131) connected with the piston (125) inside, the movable ball (131) is pressed against one end of the rotating rod (134) away from the pressing column (113).

4. A side suction gripping device according to claim 3, characterized in that: The movable cavity (130) is uniformly distributed with a plurality of sliding grooves (132) along the circumference, the sliding grooves (132) are provided with sliding blocks (133), the end of the rotating rod (134) is abutted against the bottom of the sliding block (133), and the pressing column (113) is arranged at the end of the sliding block (133).

5. A side suction gripping device according to claim 4, characterized in that The bottom of the sliding block (133) is provided with a reset spring (140) coaxial with the pressing column (113).

6. A side suction gripping device according to claim 5, characterized in that The end of the rotating rod (134) abutting against the sliding block (133) has an avoidance groove (141) for the reset spring (140) to pass through.

7. A side suction gripping device according to claim 1 or 6, characterized in that The suction head (112) is provided with a rubber sealing ring body (120) on the circumference.

8. A side suction gripping device according to claim 7, characterized in that The side wall of the rubber sealing ring body (120) close to the workpiece side has an annular groove (121), the annular groove (121) divides the rubber sealing ring body (120) into a first ring (122) and a second ring (123).

9. A side suction gripping device according to claim 8, characterized in that: The width of the annular groove (121) gradually decreases from the outside to the inside.

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