Tray carrying gripper structure

Abstract

The utility model relates to the technical field of chip sorting and storage, and discloses a tray carrying gripper structure. The tray carrying gripper structure comprises a horizontal movement assembly, a vertical movement assembly, a clamping assembly and a rack. The horizontal movement assembly comprises a driving motor and a synchronous belt, the synchronous belt extends in the horizontal direction, the driving motor is fixedly connected to the rack, the synchronous belt is rotationally connected to the rack, and the driving motor can drive the synchronous belt to rotate; the vertical movement assembly comprises a vertical air cylinder, the vertical air cylinder is placed in the vertical direction and slidably connected to the rack, and the synchronous belt can drive the vertical air cylinder to slide in the horizontal direction. The clamping assembly is connected to the output end of the vertical air cylinder and used for clamping the material disc.

Description

Technical Field

[0001] This utility model relates to the field of chip sorting and storage technology, and in particular to a material tray handling gripper structure. Background Technology

[0002] With the rapid development of the integrated circuit industry, the demand for chip packaging and testing equipment continues to grow. In the chip production and testing process, trays are a commonly used tool for collecting chips after testing and sorting. In the low-temperature testing stage, due to the special nature of the testing environment, extremely high requirements are placed on the sealing of the chambers. To create a good low-temperature testing environment, it is necessary to minimize the size of the openings between different chambers. The tray handling gripper, as a key component for moving trays between different chambers, directly affects the size of the openings between chambers due to its thickness. If the handling gripper is thick and heavy, the openings between chambers must be correspondingly larger to ensure smooth operation between them, which will undoubtedly have an adverse effect on the sealing of the chambers.

[0003] Currently, traditional tray handling gripper structures often fail to meet the increasing demands for sealing. This is likely due to suboptimal structural design, such as the use of thicker drive components or an unreasonable layout, resulting in a bulky and heavy overall structure. This not only hinders tray handling operations at small openings between different chambers but also limits further improvements in chamber sealing, potentially affecting the accuracy and stability of cryogenic testing. Utility Model Content

[0004] The purpose of this invention is to minimize its thickness while ensuring the normal handling function of the tray, thereby achieving smaller openings between different cavities, significantly improving the sealing between cavities, and providing a more reliable and stable environment for low-temperature chip testing.

[0005] To achieve the above objectives, this utility model provides a material tray handling gripper structure comprising: a horizontal motion component, a vertical motion component, a clamping component, and a frame;

[0006] The horizontal motion assembly includes a drive motor and a synchronous belt. The synchronous belt extends horizontally, the drive motor is fixedly connected to the frame, and the synchronous belt is rotatably connected to the frame. The drive motor can drive the synchronous belt to rotate.

[0007] The vertical motion assembly includes a vertical cylinder, which is placed in the vertical direction and slidably connected to the frame. A timing belt can drive the vertical cylinder to slide in the horizontal direction.

[0008] The clamping assembly is connected to the output end of the vertical cylinder and is used to clamp the material tray.

[0009] Preferably, the frame includes a horizontal fixed plate and a vertical fixed plate, the drive motor is fixedly connected to the horizontal fixed plate, and the timing belt is rotatably connected to the horizontal fixed plate;

[0010] The vertical fixing plate is slidably connected to the horizontal fixing plate, and the vertical cylinder is fixedly connected to the vertical fixing plate.

[0011] Preferably, the horizontal fixing plate is connected to at least two guide rails spaced apart in the horizontal direction, and the vertical fixing plate is connected to at least two fasteners spaced apart in the vertical direction. The side of the two fasteners located at both ends in the vertical direction that are close to each other is slidably connected to the side of the two guide rails located at both ends in the horizontal direction that are opposite to each other.

[0012] Preferably, the horizontal fixed plate is rotatably connected to at least two rotating shafts at intervals in the horizontal direction, and the synchronous belt is wound around the two rotating shafts.

[0013] Preferably, the vertical motion component further includes a protrusion and a mounting plate. The protrusion is fixedly connected to the vertical cylinder, and a groove is provided on the mounting plate, allowing the protrusion to slide in the groove. The output end of the vertical cylinder is fixedly connected to the mounting plate, and the clamping component is fixedly connected to the mounting plate.

[0014] Preferably, the clamping assembly includes a guide post, a first clamping cylinder, a second clamping cylinder, a first abutment member, and a second abutment member;

[0015] The guide post is fixedly connected to the mounting plate. The first clamping cylinder and the second clamping cylinder are spaced apart and fixedly connected to the guide post. The first abutting member and the second abutting member are slidably connected to the guide post. The output end of the first clamping cylinder is fixedly connected to the first abutting member, and the output end of the second clamping cylinder is fixedly connected to the second abutting member.

[0016] The first and second abutting parts are used to clamp the material tray.

[0017] Preferably, there are at least two guide posts, which are spaced apart in the horizontal direction, and the first abutment and the second abutment are slidably connected to the at least two guide posts respectively.

[0018] Preferably, the clamping assembly further includes a first fixing plate and a second fixing plate, which are spaced apart along the extension direction of the guide post;

[0019] The first fixing plate is fixedly connected to the guide post, the first clamping cylinder is fixedly connected to the first fixing plate, the second fixing plate is fixedly connected to the guide post, and the second clamping cylinder is fixedly connected to the second fixing plate.

[0020] Preferably, the vertical cylinder is a thin-type cylinder.

[0021] Compared with the prior art, the material tray handling gripper structure of this utility model has the following advantages:

[0022] (1) In this embodiment of the invention, the drive motor in the horizontal motion component drives the synchronous belt to rotate, thereby causing the vertical cylinder to slide horizontally. Simultaneously, the vertical cylinder can also extend and retract vertically. This allows the pallet handling gripper structure to move flexibly in both horizontal and vertical dimensions, eliminating the need for complex mechanical conversion devices or multiple independent drive systems to control horizontal and vertical movement separately. In actual operation, it can quickly and accurately move the pallet from one position to another, reducing time loss during the handling process and significantly improving handling efficiency.

[0023] (2) Traditional tray handling grippers are heavy and require a large opening space when operating between different cavities, which is extremely detrimental to the sealing between cavities. However, this tray handling gripper uses a vertical cylinder and clamping components in the vertical direction, which greatly reduces the thickness of the overall structure of the handling gripper. This makes the opening between cavities smaller when handling trays between different cavities, thereby effectively improving the sealing between cavities and meeting the strict requirements of the integrated circuit industry for sealing in low-temperature testing environments.

[0024] (3) Due to its lightweight and thin structure, this material tray handling gripper can more easily handle material trays through small openings between different cavities in scenarios such as low-temperature testing where the sealing of the cavity is extremely important. Compared with traditional heavy handling grippers, this application is not limited by space constraints, making operation more flexible and convenient, reducing handling difficulties and time waste caused by insufficient operating space, and significantly improving production efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of an embodiment of the present utility model;

[0026] Figure 2 This is an embodiment of the present utility model. Figure 1 A magnified view of a portion of the image.

[0027] In the diagram, 1 is the horizontal motion component; 11 is the drive motor; and 12 is the timing belt.

[0028] 2. Vertical motion assembly; 21. Vertical cylinder; 22. Protrusion; 23. Mounting plate;

[0029] 3. Clamping assembly; 31. Guide post; 32. First clamping cylinder; 33. Second clamping cylinder; 34. First abutment; 35. Second abutment; 36. First fixing plate; 37. Second fixing plate;

[0030] 4. Frame; 41. Horizontal fixing plate; 42. Vertical fixing plate; 43. Guide rail; 44. Fasteners; 45. Rotating shaft;

[0031] 5. Material tray. Detailed Implementation

[0032] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0033] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "vertical", "horizontal", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", and "outer" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] like Figures 1-2 As shown, a preferred embodiment of the present invention provides a material tray handling gripper structure comprising: a horizontal motion component 1, a vertical motion component 2, a clamping component 3, and a frame 4;

[0036] The horizontal motion assembly 1 includes a drive motor 11 and a synchronous belt 12. The synchronous belt 12 extends in the horizontal direction. The drive motor 11 is fixedly connected to the frame 4, and the synchronous belt 12 is rotatably connected to the frame 4. The drive motor 11 can drive the synchronous belt 12 to rotate.

[0037] The vertical motion assembly 2 includes a vertical cylinder 21, which is placed in the vertical direction and slidably connected to the frame 4. The synchronous belt 12 can drive the vertical cylinder 21 to slide in the horizontal direction.

[0038] The clamping assembly 3 is connected to the output end of the vertical cylinder 21 and is used to clamp the material tray 5.

[0039] In this embodiment, the movement process is as follows: the drive motor 11 in the horizontal motion component 1 drives the synchronous belt 12 to rotate, which in turn drives the vertical cylinder 21 to slide horizontally. Simultaneously, the vertical cylinder 21 can also extend and retract vertically. This allows the material tray handling gripper structure to move flexibly in both horizontal and vertical dimensions, eliminating the need for complex mechanical conversion devices or multiple independent drive systems to control horizontal and vertical movement separately. In actual operation, it can quickly and accurately move the material tray 5 from one position to another, reducing time loss during the handling process and significantly improving handling efficiency.

[0040] Based on the above solution, the use of a vertical cylinder 21 and clamping assembly 3 in the vertical direction significantly reduces the overall thickness of the handling gripper. This results in smaller openings between different cavities when handling the tray 5, effectively improving the sealing between cavities and meeting the stringent sealing requirements of the integrated circuit industry for low-temperature testing environments. Due to its lightweight and thin structure, this tray handling gripper can more easily handle the tray 5 through small openings between different cavities in scenarios with extremely high requirements for cavity sealing, such as low-temperature testing. Compared to traditional heavy handling grippers, this application is not limited by space constraints, making operation more flexible and convenient, reducing handling difficulties and time waste caused by insufficient operating space, and significantly improving production efficiency.

[0041] Furthermore, the frame 4 includes a horizontal fixed plate 41 and a vertical fixed plate 42, the drive motor 11 is fixedly connected to the horizontal fixed plate 41, and the timing belt 12 is rotatably connected to the horizontal fixed plate 41;

[0042] The vertical fixing plate 42 is slidably connected to the horizontal fixing plate 41, and the vertical cylinder 21 is fixedly connected to the vertical fixing plate 42.

[0043] Based on the above scheme, the horizontal fixed plate 41 serves as the basic support structure, undertaking the task of fixing the drive motor 11 and the synchronous belt 12, providing a stable foundation for the entire horizontal motion assembly 1. The vertical fixed plate 42 is slidably connected to the horizontal fixed plate 41, and the vertical cylinder 21 is fixedly connected to the vertical fixed plate 42, giving the vertical motion assembly an independent support structure, reducing mutual interference between movements in different directions, and thus improving the stability of the entire material tray 5 handling gripper structure during operation. The drive motor 11 is fixedly connected to the horizontal fixed plate 41, and the synchronous belt 12 is rotatably connected to the horizontal fixed plate 41. This design makes the installation positions of the drive motor 11 and the synchronous belt 12 relatively fixed and easy to adjust precisely. Similarly, the vertical cylinder 21 is fixedly connected to the vertical fixed plate 42, ensuring the positional accuracy of the vertical cylinder 21 in the vertical direction. Each component is installed on its corresponding fixed plate, which makes positioning and calibration more convenient, reduces motion deviation caused by installation errors, and improves the accuracy of material tray 5 handling. The arrangement of the horizontal fixing plate 41 and the vertical fixing plate 42 makes the structure of the entire frame 4 more compact and reasonable. The horizontal fixing plate 41 centrally mounts the horizontal motion component 1, and the vertical fixing plate 42 centrally mounts the vertical motion component 2, avoiding the entanglement and chaotic layout between various components. This reasonable spatial layout not only makes the entire material tray 5 handling gripper structure more compact and reduces the space occupied, but also facilitates integration and coordination with other equipment or production lines, improving the space utilization rate of the production workshop.

[0044] Furthermore, the horizontal fixing plate 41 is connected to at least two guide rails 43 spaced apart in the horizontal direction, and the vertical fixing plate 42 is connected to at least two fasteners 44 spaced apart in the vertical direction. The side of the two fasteners 44 located at both ends in the vertical direction that are close to each other is slidably connected to the side of the two guide rails 43 located at both ends in the horizontal direction that are opposite to each other.

[0045] Based on the above scheme, the two fasteners 44 located at both ends along the vertical direction are slidably connected on their adjacent sides to the two guide rails 43 located at both ends along the horizontal direction on their opposite sides. This connection method ensures that the vertical fixing plate 42 can move precisely along the guide rails 43 in the horizontal direction without any deviation or shaking. During the material tray 5 handling process, whether it is horizontal movement or vertical lifting, a smooth movement trajectory can be maintained, thereby improving the accuracy and stability of material tray 5 handling.

[0046] Furthermore, the horizontal fixed plate 41 is rotatably connected to at least two rotating shafts 45 at intervals along the horizontal direction, and the synchronous belt 12 is wound around the two rotating shafts 45 located at both ends in the horizontal direction.

[0047] Based on the above scheme, the horizontal fixed plate 41 is rotatably connected to at least two rotating shafts 45 at intervals along the horizontal direction, and the synchronous belt 12 is wound around the two rotating shafts 45. This makes the operation of the synchronous belt 12 on the horizontal fixed plate 41 more stable and precise. The rotating shafts 45, as supporting and guiding components of the synchronous belt 12, can ensure that the synchronous belt 12 maintains the correct trajectory during transmission, thereby ensuring that the power of the drive motor 11 can be accurately transmitted to the vertical cylinder 21, realizing precise driving of the material tray 5 in the horizontal direction.

[0048] Furthermore, the vertical motion component 2 also includes a protrusion 22 and a mounting plate 23. The protrusion 22 is fixedly connected to the vertical cylinder 21. The mounting plate 23 has a sliding groove, and the protrusion 22 can be slidably connected to the sliding groove. The output end of the vertical cylinder 21 is fixedly connected to the mounting plate 23, and the clamping component 3 is fixedly connected to the mounting plate 23.

[0049] Based on the above scheme, the protrusion 22 is fixedly connected to the vertical cylinder 21, and a sliding groove is provided on the mounting plate 23. The protrusion 22 can slide and connect to the sliding groove, providing precise linear guidance for the movement of the vertical cylinder 21. This ensures that the vertical cylinder 21 always moves along the predetermined direction during the extension and retraction process, without any deviation or shaking. During the handling of the material tray 5, precise vertical movement is crucial for accurately grasping and placing the material tray 5. This structure effectively improves the stability of vertical movement, thereby ensuring the accuracy of material tray 5 handling.

[0050] Furthermore, the clamping assembly 3 includes a guide post 31, a first clamping cylinder 32, a second clamping cylinder 33, a first abutting member 34, and a second abutting member 35;

[0051] The guide post 31 is fixedly connected to the mounting plate 23. The first clamping cylinder 32 and the second clamping cylinder 33 are spaced apart and fixedly connected to the guide post 31. The first abutting member 34 and the second abutting member 35 are slidably connected to the guide post 31. The output end of the first clamping cylinder 32 is fixedly connected to the first abutting member 34, and the output end of the second clamping cylinder 33 is fixedly connected to the second abutting member 35.

[0052] The first abutment 34 and the second abutment 35 are used to clamp the material tray 5.

[0053] Based on the above scheme, the first clamping cylinder 32 and the second clamping cylinder 33 are respectively fixedly connected to the first abutment 34 and the second abutment 35 through their output ends. The clamping force can be flexibly adjusted according to the different materials, sizes, and shapes of the material tray 5, ensuring that the material tray 5 is firmly clamped during handling to prevent slippage or shaking, while also preventing damage to the material tray 5 due to excessive clamping force. The guide column 31 provides a precise sliding track for the first abutment 34 and the second abutment 35, allowing them to be flexibly adjusted according to the size of the material tray 5. When handling material trays 5 of different sizes, simply adjusting the stroke of the first clamping cylinder 32 and the second clamping cylinder 33 changes the position of the first abutment 34 and the second abutment 35, thereby adapting to the clamping requirements of different sized material trays 5 and improving the versatility and adaptability of the equipment.

[0054] Furthermore, the number of guide posts 31 is at least two, and the at least two guide posts 31 are spaced apart in the horizontal direction. The first abutment 34 and the second abutment 35 are respectively slidably connected to the at least two guide posts 31.

[0055] Based on the above scheme, at least two guide posts 31 are spaced apart horizontally, providing more precise guidance and positioning for the first abutment 34 and the second abutment 35. During the clamping process of the tray 5, the guide posts 31 can limit the swaying and offset of the first abutment 34 and the second abutment 35 in the direction perpendicular to the guide posts 31, ensuring that they always move along a predetermined straight trajectory. This allows the first abutment 34 and the second abutment 35 to be more accurately aligned with the position of the tray 5, improving the accuracy and reliability of the clamping operation and avoiding insecure clamping or damage to the tray 5 due to positional deviation.

[0056] Furthermore, the clamping assembly 3 also includes a first fixing plate 36 and a second fixing plate 37, which are spaced apart along the extension direction of the guide post 31;

[0057] The first fixing plate 36 is fixedly connected to the guide post 31, the first clamping cylinder 32 is fixedly connected to the first fixing plate 36, the second fixing plate 37 is fixedly connected to the guide post 31, and the second clamping cylinder 33 is fixedly connected to the second fixing plate 37.

[0058] Based on the above scheme, the first fixing plate 36 and the second fixing plate 37 are spaced apart along the extension direction of the guide post 31 and are respectively fixedly connected to the guide post 31. The first clamping cylinder 32 and the second clamping cylinder 33 are respectively fixedly connected to the first fixing plate 36 and the second fixing plate 37. This design provides a more stable support foundation for the clamping cylinders, avoiding shaking or displacement of the cylinders due to force during operation, thereby ensuring the accuracy and stability of the clamping operation.

[0059] Furthermore, the vertical cylinder 21 is a thin-type cylinder.

[0060] Based on the above solution, in a production environment, the layout of equipment is usually very compact, especially when handling the material tray 5 between cavities, where the available space is limited. The use of the thin vertical cylinder 21 can effectively reduce the vertical space occupied by the entire material tray 5 handling gripper structure, making it better adaptable to such a narrow working space and ensuring that the material tray 5 can be smoothly handled between different cavities without being limited by space due to excessive cylinder size.

[0061] In summary, this utility model provides a material tray 5 handling gripper structure, which utilizes a vertical cylinder 21 and clamping assembly 3 in the vertical direction. This significantly reduces the overall thickness of the handling gripper structure, resulting in smaller openings between different cavities when handling the material tray 5, thereby effectively improving the sealing performance between cavities and meeting the stringent sealing requirements of the integrated circuit industry for low-temperature testing environments. Due to its lightweight and thin structure, this material tray 5 handling gripper can more easily handle the material tray 5 through small openings between different cavities in scenarios such as low-temperature testing where cavity sealing requirements are extremely high. Compared to traditional heavy handling grippers, this application is not limited by space constraints, making operation more flexible and convenient, reducing handling difficulties and time waste caused by insufficient operating space, and significantly improving production efficiency.

[0062] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. A tray handling gripper structure, characterized by The utility model relates to a horizontal motion component (1), vertical motion component (2), clamping assembly (3) and rack (4) are included: The horizontal motion component (1) includes drive motor (11) and synchronous belt (12), the synchronous belt (12) extends along the horizontal direction, drive motor (11) fixedly connected with the rack (4), the synchronous belt (12) is rotatably connected with the rack (4), drive motor (11) can drive the synchronous belt (12) rotation, The vertical motion component (2) includes vertical cylinder (21), the vertical cylinder (21) is placed along the vertical direction, the vertical cylinder (21) is slidably connected with the rack (4), the synchronous belt (12) can drive the vertical cylinder (21) along the horizontal direction sliding, The clamping assembly (3) is connected to the output end of the vertical cylinder (21), and the clamping assembly (3) is used for clamping the tray (5). The rack (4) includes horizontal fixed plate (41) and vertical fixed plate (42), drive motor (11) fixedly connected with the horizontal fixed plate (41), the synchronous belt (12) is rotatably connected with the horizontal fixed plate (41); 2. The tray handling gripper structure of claim 1, wherein, The vertical fixed plate (42) is slidably connected with the horizontal fixed plate (41), and the vertical cylinder (21) is fixedly connected with the vertical fixed plate (42). The horizontal fixed plate (41) is connected with at least two guide rails (43) arranged along the horizontal direction, the vertical fixed plate (42) is connected with at least two buckling members (44) arranged along the vertical direction, and the two buckling members (44) on the two ends along the vertical direction are slidably connected on the side close to the two guide rails (43) on the two ends along the horizontal direction.

3. The tray handling gripper structure of claim 2, wherein, The horizontal fixed plate (41) is rotatably connected with at least two rotating shafts (45) arranged along the horizontal direction, and the synchronous belt (12) is arranged around the two rotating shafts (45).

4. The tray handling gripper structure of claim 2, wherein, The vertical motion component (2) further includes a lug (22) and a mounting plate (23), the lug (22) is fixedly connected to the vertical cylinder (21), the mounting plate (23) is provided with a sliding groove, the lug (22) is slidably connected to the sliding groove, the output end of the vertical cylinder (21) is fixedly connected to the mounting plate (23), and the clamping assembly (3) is fixedly connected to the mounting plate (23).

5. The tray handling gripper structure of claim 1, wherein, The clamping assembly (3) includes a guide column (31), a first clamping cylinder (32), a second clamping cylinder (33), a first abutting member (34) and a second abutting member (35); 6. The tray handling gripper structure of claim 5, wherein, The guide column (31) is fixedly connected to the mounting plate (23), the first clamping cylinder (32) and the second clamping cylinder (33) are arranged at intervals and fixedly connected to the guide column (31), the first abutting member (34) and the second abutting member (35) are slidably connected to the guide column (31), the output end of the first clamping cylinder (32) is fixedly connected to the first abutting member (34), and the output end of the second clamping cylinder (33) is fixedly connected to the second abutting member (35). ​ The first abutting piece (34) and the second abutting piece (35) are used for clamping the tray (5).

7. The tray handling gripper structure of claim 6, wherein, The number of the guide columns (31) is at least two, the at least two guide columns (31) are arranged in a horizontal direction, and the first abutting piece (34) and the second abutting piece (35) are respectively connected to the at least two guide columns (31) in a sliding mode.

8. The tray handling gripper structure of claim 6, wherein, The clamping assembly (3) further comprises a first fixed plate (36) and a second fixed plate (37), and the first fixed plate (36) and the second fixed plate (37) are arranged in a spaced mode along the extension direction of the guide column (31). The first fixed plate (36) is fixedly connected to the guide column (31), the first clamping cylinder (32) is fixedly connected to the first fixed plate (36), the second fixed plate (37) is fixedly connected to the guide column (31), and the second clamping cylinder (33) is fixedly connected to the second fixed plate (37).

9. The tray handling gripper structure of claim 1, wherein, The vertical cylinder (21) is a thin cylinder.

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