Clamping jaw

Abstract

The utility model provides a clamping jaw, which relates to the technical field of semiconductor production and comprises a clamping jaw main body and a position sensor. The first clamping arm and the second clamping arm are connected through a first pivot and used for clamping or loosening a workpiece, the force application assembly is arranged between the first clamping arm and the second clamping arm and used for providing clamping force for the first clamping arm and the second clamping arm, and the first clamping arm and the second clamping arm are each provided with a clamping end. The position sensor is arranged on the first clamping arm and / or the second clamping arm and used for measuring the distance between the clamping end of the first clamping arm and the clamping end of the second clamping arm so that the force application assembly can adjust the clamping force. Therefore, the clamping device has the advantage that the clamping force can be adaptively adjusted along with the thickness of the workpiece.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor manufacturing technology, and in particular to a gripper. Background Technology

[0002] In the field of semiconductor packaging, the lead frame is a key component connecting the chip to external circuits, and its processing accuracy and reliability directly affect the quality of the final product. Currently, the clamping and transport of lead frames are typically achieved using solenoid-driven grippers.

[0003] However, solenoid-driven grippers have some shortcomings. For example, the solenoid only has two states: engaged and disengaged, making it impossible to precisely control the clamping force. The clamping force varies significantly between different machines, and even software compensation cannot eliminate this instability, causing the lead frame to be easily damaged during clamping and affecting product quality.

[0004] Therefore, a gripper whose clamping force can be adaptively adjusted according to the workpiece thickness needs to be designed. Utility Model Content

[0005] The purpose of this utility model is to provide a gripper that addresses the defects and shortcomings of the existing technology, thereby solving at least one of the aforementioned technical problems. It has the advantage that the clamping force can be adaptively adjusted according to the workpiece thickness.

[0006] To achieve the above objectives, this utility model provides a gripper, comprising:

[0007] Compared with the prior art, the advantages of this application are:

[0008] The gripper body includes a first gripping arm and a second gripping arm connected by a first pivot for clamping or releasing a workpiece, and a force-applying component disposed between the first gripping arm and the second gripping arm for providing clamping force to the first gripping arm and the second gripping arm, wherein both the first gripping arm and the second gripping arm have a gripping end;

[0009] A position sensor, configured on the first clamping arm and / or the second clamping arm, is used to measure the distance between the clamping ends of the first clamping arm and the second clamping arm, so that the force application component can adjust the magnitude of the clamping force.

[0010] Optionally, the position sensor is a Hall sensor, comprising: a Hall magnet frame fixedly mounted on the first clamping arm near the clamping end and having an opening at the lower end; two magnets arranged vertically at a distance within the opening of the Hall magnet frame; and a Hall sensor correspondingly arranged on the second clamping arm.

[0011] Optionally, the gripper further includes a conveying base and a positioning compensation component; the gripper body is slidably disposed on the conveying base; the positioning compensation component is used to detect the distance between the gripping end and the workpiece, and drive the gripper body to move in a direction closer to or further away from the workpiece.

[0012] Optionally, the positioning compensation component includes a distance detector disposed on the gripper body, a positioning compensation motor fixedly mounted on the conveying base, a cam connecting pair connecting the gripper body and the output end of the positioning compensation motor, and a first elastic element connected at one end to the gripper body and at the other end to the conveying base for providing preload.

[0013] Optionally, the cam connection pair includes: a cam fixed on the output shaft of the positioning compensation motor, and a roller follower fixed on the gripper body.

[0014] Optionally, the distance detector is a fiber optic locator, the positioning compensation motor is a stepper motor, and the first elastic element is a tension spring.

[0015] Optionally, the gripper body further includes a gripper mounting seat; the second gripping arm is configured on the gripper mounting seat via a second pivot, the gripper body is slidably configured on the conveying base via the gripper mounting seat, one end of the first elastic member is connected to the gripper mounting seat to achieve connection with the gripper body, and one end of the cam connecting pair is connected to the gripper mounting seat to achieve connection with the gripper body.

[0016] Optionally, the conveying base is provided with a horizontally extending slide rail with a groove, and the lower surface of the gripper mounting base is provided with a first slider that matches the groove.

[0017] Optionally, the gripper further includes a second elastic element and a third elastic element; one end of the second elastic element is connected to the upper surface of the first gripping arm away from the gripping end, and the other end is connected to the lower surface of the second gripping arm away from the gripping end; one end of the third elastic element is connected to the upper surface of the gripper mounting base, and the other end is connected to the lower surface of the second gripping arm near the gripping end.

[0018] Optionally, the conveying base is T-shaped, including a horizontal plate and a vertical plate arranged below the horizontal plate; the slide rail is detachably arranged on the horizontal plate, and the first slider is detachably arranged on the lower surface of the gripper mounting base; the positioning compensation motor is fixed to the end of the horizontal plate away from the workpiece; and a second slider is arranged on the side of the vertical plate away from the positioning compensation motor.

[0019] Optionally, the force-applying component includes a solenoid fixed to the second clamping arm and a corresponding magnetic component fixed to the first clamping arm.

[0020] Because the gripper has a position sensor on the first and / or second gripping arm for measuring the distance between the gripping ends of the first and second gripping arms, so that the force application component can adjust the magnitude of the clamping force, the thickness of the workpiece can be accurately obtained and fed back to the force application component, so that the force application component can adjust the magnitude of the clamping force so that the clamping force adapts to the workpiece thickness. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the gripper being assembled onto the track in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the gripper from one perspective in an embodiment of the present invention;

[0024] Figure 3 This is a front view of the Hall sensor according to an embodiment of the present invention;

[0025] Figure 4 This is a top view of the gripper in an embodiment of the present invention;

[0026] Figure 5 for Figure 4 Sectional view along line AA;

[0027] Figure 6 This is a structural schematic diagram of the gripper from another perspective in an embodiment of this utility model;

[0028] Figure 7 This is a partial structural exploded view of the gripper body from one perspective in an embodiment of this utility model;

[0029] Figure 8 This is a partially exploded structural diagram of the gripper body from another perspective in an embodiment of this utility model;

[0030] Figure 9 This is an exploded view of the gripper body structure in an embodiment of the present invention.

[0031] Figure 10 This is an exploded view of the gripper body structure from another perspective in an embodiment of this utility model.

[0032] Explanation of reference numerals in the attached figures

[0033] 100-gripper;

[0034] 1-Gripper body; 11-First gripping arm; a-Second mounting groove; 12-Second gripping arm; b-First mounting groove; 121-Protrusion; c-Gripping end; 13-First pivot; 14-Force application component; 141-Solenoid; 142-Magnetic component; 15-Gripper mounting base; 151-First slider; 152-Horizontal plate; d-Allowing groove; 153-Vertical plate; 16-Second pivot; 17-Second elastic component; 18-Third elastic component;

[0035] 2-Hall sensor; 21-Hall magnet holder; 22-Magnet; 23-Hall sensing element;

[0036] 3-Conveying base; 31-Horizontal plate; 311-Slide rail; e-Slide groove; 32-Vertical plate; 33-Second slider; f-Groove opening;

[0037] 4-Positioning compensation component; 41-Stepper motor; 42-Cam connecting pair; 421-Cam; 422-Roller follower; 43-First elastic element;

[0038] 200-track. Detailed Implementation

[0039] 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.

[0040] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," "back," "side," and "circumferential" used in this utility model to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. In addition, the terms "first" and "second" are only used to distinguish multiple components or structures with the same or similar structures, and do not indicate any special limitation on the arrangement order or connection relationship.

[0041] Please refer to Figures 1 to 10 This utility model embodiment provides a gripper 100, including: a gripper body 1 and a position sensor.

[0042] The gripper body 1 includes a first gripping arm 11, a second gripping arm 12, a first pivot 13, and a force-applying assembly 14. The first gripping arm 11 and the second gripping arm 12 are connected via the first pivot 13 and are used to clamp or release a workpiece (not shown in the figure). The force-applying assembly 14 is disposed between the first gripping arm 11 and the second gripping arm 12 and is used to provide clamping force to the first gripping arm 11 and the second gripping arm 12. Both the first gripping arm 11 and the second gripping arm 12 have a gripping end c for clamping the workpiece. Specifically, in this embodiment, the first gripping arm 11 and the second gripping arm 12 are approximately "Z"-shaped, and are rotatably connected at approximately the middle position via the first pivot 13, forming a clamp-like structure.

[0043] Position sensors are configured on the first clamping arm 11 and the second clamping arm 12 to measure the distance between the clamping ends c of the first clamping arm 11 and the second clamping arm 12, so that the force application component 14 can adjust the clamping force. That is, the position sensor can measure the distance between the clamping ends c of the first clamping arm 11 and the second clamping arm 12 to obtain the workpiece thickness value. The force application component 14 adjusts the clamping force of the first clamping arm 11 and the second clamping arm 12 according to the obtained workpiece thickness value to precisely control the clamping force and avoid damaging the workpiece. Specifically, the force application component 14 can adjust the clamping force according to the workpiece thickness value through a controller (not shown in the figure) and software, which is prior art and will not be elaborated further. Of course, in other embodiments, the position sensor can also be configured alone on the first clamping arm 11 or the second clamping arm 12; as long as it can measure the distance between the clamping ends c of the first clamping arm 11 and the second clamping arm 12, it is not limited here.

[0044] Since the gripper 100 has a position sensor on the first gripping arm 11 and / or the second gripping arm 12 for measuring the distance between the gripping end c of the first gripping arm 11 and the gripping end c of the second gripping arm 12, so that the force application component 14 can adjust the magnitude of the clamping force, the thickness of the workpiece can be accurately obtained and fed back to the force application component 14, so that the force application component 14 can adjust the magnitude of the clamping force so that the clamping force adapts to the thickness of the workpiece.

[0045] Alternatively, please refer to Figure 2 , Figure 3 and Figure 9In this embodiment, the position sensor is a Hall sensor 2, comprising: a Hall magnet holder 21, two magnets 22, and a Hall sensor 23. The lower end of the Hall magnet holder 21 is open and fixedly mounted on the first clamping arm 11 near the clamping end c. The two magnets 22 are vertically arranged at intervals within the opening of the Hall magnet holder 21. The Hall sensor 23 is correspondingly disposed on the second clamping arm 12. Thus, by sensing the change in magnetic field strength, the distance between the clamping end c of the first clamping arm 11 and the clamping end c of the second clamping arm 12 is indirectly calculated. Of course, in other embodiments, the position sensor may also be a laser rangefinder, an ultrasonic sensor, or an infrared sensor; no specific limitation is made here.

[0046] To improve the repeatability and accuracy of workpiece drawing during the drawing process and avoid positional deviations during machining, optionally, please refer to... Figure 6 In this embodiment, the gripper 100 further includes a transport base 3 and a positioning compensation component 4. The gripper body 1 is slidably disposed on the transport base 3. The positioning compensation component 4 is used to detect the distance between the gripping end c and the workpiece and drive the gripper body 1 to move in a direction closer to or further away from the workpiece. In this way, the positioning compensation component 4 achieves precise compensation of the position between the gripper body 1 and the workpiece, which can avoid positional deviations during processing.

[0047] Alternatively, please refer to Figure 6 and Figure 7 In this embodiment, the positioning compensation component 4 includes: a distance detector (not shown in the figure), a positioning compensation motor, a cam connecting pair 42, and a first elastic element 43. The distance detector is disposed on the gripper body 1. The positioning compensation motor is fixedly mounted on the conveying base 3. The cam connecting pair 42 connects the gripper body 1 and the output end of the positioning compensation motor. One end of the first elastic element 43 is connected to the gripper body 1, and the other end is connected to the conveying base 3, for providing preload. Specifically, the cam connecting pair 42 includes: a cam 421 and a roller follower 422. The cam 421 is fixed on the output shaft of the positioning compensation motor; the roller follower 422 is fixed on the gripper body 1. The roller on the roller follower 422 is in contact with the surface of the cam 421. Optionally, the distance detector is a fiber optic positioner, the positioning compensation motor is a stepper motor 41, and the first elastic element 43 is a tension spring.

[0048] Alternatively, please refer to Figures 5 to 7In this embodiment, the gripper body 1 further includes a gripper mounting base 15. The second gripping arm 12 is configured on the gripper mounting base 15 via a second pivot 16. The gripper body 1 is slidably configured on the conveying base 3 via the gripper mounting base 15. One end of the first elastic member 43 is connected to the gripper mounting base 15 to achieve connection with the gripper body 1, and one end of the cam connecting pair 42 is connected to the gripper mounting base 15 to achieve connection with the gripper body 1. Specifically, the gripper mounting base 15 is approximately "U"-shaped, including a horizontal plate 152 and a vertical plate 153 disposed at one end of the horizontal plate 152. The horizontal plate 152 has a clearance groove d, and the lower end of the second gripping arm 12 has a protrusion 121. The protrusion 121 can be inserted into the clearance groove d and configured on the gripper mounting base 15 via the second pivot 16.

[0049] To allow the claw mount to be slidably configured on the conveyor base 3, optionally, please refer to... Figure 7 and Figure 8 In this embodiment, the conveying base 3 is provided with a horizontally extending slide rail 311 having a groove e, and the lower surface of the gripper mounting base 15 is provided with a first slider 151 that matches the groove e. Specifically, the slide rail 311 can be fixed to the conveying base 3 by fasteners (not shown in the figure), and the first slider 151 can be fixed to the lower surface of the gripper mounting base 15 by fasteners (not shown in the figure).

[0050] To ensure that the first clamping arm 11 and the second clamping arm 12 have a certain preload, optionally, please refer to... Figure 5 , Figure 7 and Figure 10 In this embodiment, the gripper 100 further includes a second elastic element 17. One end of the second elastic element 17 is connected to the upper surface of the first gripping arm 11 away from the gripping end c, and the other end is connected to the lower surface of the second gripping arm 12 away from the gripping end c. Optionally, the second elastic element 17 can be a spring.

[0051] To ensure that the second clamping arm 12 and the gripper mounting base 15 have an initial parallel angle, optionally, please refer to... Figure 5 and Figure 7 In this embodiment, the gripper 100 further includes a third elastic element 18. One end of the third elastic element 18 is connected to the upper surface of the gripper mounting base 15, and the other end is connected to the lower surface of the second gripping arm 12 near the gripping end c. Optionally, the third elastic element 18 is a spring.

[0052] To facilitate the movement of the conveying base 3 on the track 200, so that the gripper 100 can convey the workpiece along the track 200, optionally, please refer to Figure 2 and Figure 5In this embodiment, the conveying base 3 is T-shaped, including a horizontal plate 31 and a vertical plate 32 arranged below the horizontal plate 31; the slide rail 311 is detachably arranged on the horizontal plate 31, and the first slider 151 is detachably arranged on the lower surface of the gripper mounting base 15; the positioning compensation motor is fixedly mounted on the end of the horizontal plate 31 away from the workpiece; the side of the vertical plate 32 away from the positioning compensation motor is provided with a second slider 33. The second slider 33 has a slot f that matches the shape of the track 200.

[0053] Alternatively, please refer to Figure 2 , Figure 9 and Figure 10 In this embodiment, the force-applying component 14 includes a solenoid 141 and a magnetic element 142. The solenoid 141 is fixedly mounted on the second clamping arm 12; the magnetic element 142 is correspondingly fixedly mounted on the first clamping arm 11. Specifically, the second clamping arm 12 has a first mounting groove b on its upper surface between the clamping end c and the first pivot 13, and the solenoid 141 is fixedly mounted in the first mounting groove b by a fastener (not shown in the figure). The first clamping arm 11 has a second mounting groove a on its lower surface between the clamping end c and the first pivot 13, and the magnetic element 142 is fixedly mounted in the second mounting groove a by a fastener (not shown in the figure). Thus, by utilizing the attraction characteristics of the solenoid 141 and the magnetic element 142, and the characteristic that changing the magnetic field strength of the solenoid 141 can change the magnitude of the clamping force, the gripper 100 can adjust the magnitude of the clamping force according to the distance between the clamping end c of the first clamping arm 11 and the clamping end c of the second clamping arm 12.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the substance of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A gripper characterized by, The utility model relates to a clamping jaw body (1) comprising a first clamping arm (11) and a second clamping arm (12) connected by a first pivot (13) for clamping or releasing workpieces, and a force applying assembly (14) arranged between the first clamping arm (11) and the second clamping arm (12) for providing clamping force of the first clamping arm (11) and the second clamping arm (12), wherein the first clamping arm (11) and the second clamping arm (12) each have a clamping end (c). A position sensor is arranged on the first clamping arm (11) and / or the second clamping arm (12) for measuring the distance between the clamping end (c) of the first clamping arm (11) and the clamping end (c) of the second clamping arm (12) to adjust the size of the clamping force by the force applying assembly (14). The position sensor is a Hall sensor (2) comprising a Hall magnet holder (21) fixed to the first clamping arm (11) near the clamping end (c) and having an open lower end, two magnets (22) arranged vertically in the opening of the Hall magnet holder (21), and a Hall sensing element (23) arranged on the second clamping arm (12).

2. The jaw of claim 1, wherein The utility model further comprises a conveying base (3) and a positioning compensation assembly (4), wherein the clamping jaw body (1) is slidably arranged on the conveying base (3), and the positioning compensation assembly (4) is used for detecting the distance between the clamping end (c) and the workpiece and driving the clamping jaw body (1) to move in the direction of approaching or moving away from the workpiece.

3. The jaw of claim 1 wherein, The positioning compensation assembly (4) comprises a distance detector arranged on the clamping jaw body (1), a positioning compensation motor fixed to the conveying base (3), a cam connection pair (42) connecting the clamping jaw body (1) and the output end of the positioning compensation motor, and a first elastic member (43) having one end connected to the clamping jaw body (1) and the other end connected to the conveying base (3) for providing pre-tightening force.

4. The jaw of claim 3, wherein The cam connection pair (42) comprises a cam (421) fixed to the output shaft of the positioning compensation motor and a roller follower (422) fixed to the clamping jaw body (1).

5. The jaw of claim 4 wherein, The distance detector is an optical fiber positioner, the positioning compensation motor is a stepper motor (41), and the first elastic member (43) is a tension spring.

6. The jaw of claim 4 wherein, The clamping jaw body (1) further comprises a clamping jaw mounting seat (15), the second clamping arm (12) is arranged on the clamping jaw mounting seat (15) through a second pivot (16), the clamping jaw body (1) is slidably arranged on the conveying base (3) through the clamping jaw mounting seat (15), one end of the first elastic member (43) is connected to the clamping jaw mounting seat (15) to realize connection with the clamping jaw body (1), and one end of the cam connection pair (42) is connected to the clamping jaw mounting seat (15) to realize connection with the clamping jaw body (1).

7. The jaw of claim 4 wherein, The conveying base (3) is provided with a horizontal sliding rail (311) having a sliding groove (e), and the lower surface of the clamping jaw mounting seat (15) is provided with a first sliding block (151) matched with the sliding groove (e).

8. The jaw of claim 7, wherein, ​ 9. The jaw of claim 7 wherein, Also included are a second elastic member (17) and a third elastic member (18); one end of the second elastic member (17) is connected to the upper surface of the end of the first clamping arm (11) away from the clamping end (c), and the other end is connected to the lower surface of the end of the second clamping arm (12) away from the clamping end (c); one end of the third elastic member (18) is connected to the upper surface of the clamping jaw mounting seat (15), and the other end is connected to the lower surface of the second clamping arm (12) close to the clamping end (c).

10. The jaw of claim 1 wherein, The force applying assembly (14) includes a solenoid (141) fixed on the second clamping arm (12), and a magnetic member (142) fixed on the first clamping arm (11) correspondingly.

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