Film tearing clamping jaw mechanism with air blowing and film stripping functions along film direction

Abstract

The utility model discloses a film tearing clamping jaw mechanism with air blowing and film stripping functions along the film direction, and relates to the field of semiconductor packaging testing. The film tearing device comprises a film tearing clamp assembly, a blowing air pipe and a film tearing arm base, the film tearing clamp assembly comprises a connecting rod film tearing clamp lower clamping jaw, a connecting rod film tearing clamp upper clamping jaw fixing restraining piece, a set screw, a film tearing connecting rod driving air cylinder, a film tearing claw air cylinder cushion block, a connecting rod film tearing clamp upper clamping jaw and a film tearing connecting rod air cylinder fixing end restraining piece. The air blowing pipe is installed on a clamping jaw fixing restraining piece on the connecting rod film tearing clamp and blows away waste films downwards after film tearing. The film clamping force of the film tearing clamp is far larger than that of a common pneumatic film tearing clamp, and the film tearing clamp is further provided with the air blowing holes, so that the film tearing problem with high adhesive force can be solved; the mechanism is compact in structure, small in occupied space and simple in film tearing action, and has an air blowing function.

Description

A film-tearing gripper mechanism with film-direction blowing and film-removing function Technical Field

[0001] This utility model belongs to the field of semiconductor packaging and testing, and in particular relates to a film-peeling gripper mechanism with a film-direction blowing and film-removing function. Background Technology

[0002] In the back-end processes of the semiconductor packaging and testing industry, after attaching the chip to the leadframe, a high-temperature resistant film needs to be applied to the back of the leadframe before the chip on the front of the leadframe can be encapsulated. After encapsulation, a substrate is formed with a film on the back and a plastic film on the front. Before proceeding to the next process, the film on the back of the substrate needs to be removed.

[0003] To address the need for film removal from substrates, the industry typically uses manual labor or specialized film-removing equipment to peel off the film on the back of the substrate. However, when manually removing the film, these high-temperature resistant films are not heated, making them very difficult to peel off. This results in low peeling efficiency and may even damage the substrate, causing losses. Furthermore, in this process, there is a type of film with very strong adhesion that is difficult to remove completely using standard film-removing clamps. Therefore, to address these issues, this solution proposes a film-removing clamp mechanism with a blowing function in the film direction, equipped with air holes, which can solve the problem of peeling off films with strong adhesion. Summary of the Invention

[0004] This utility model provides a film-tearing gripper mechanism with a film-blowing function in the direction of the film. This substrate film-tearing gripper mechanism serves substrates with film adhered to the back and notched edges. The film-tearing gripper with the blowing function is equipped with a unique pneumatic linkage mechanism, which provides a much stronger film-tearing force than ordinary pneumatic film-tearing grippers. It is also equipped with air holes to solve the problem of tearing films with strong adhesion. Furthermore, this substrate film-tearing gripper mechanism has a compact structure. Compared with traditional manual film tearing or the use of consumables, this linkage-equipped film-tearing gripper has strong force and can tear off the film in one go, reducing the probability of substrate damage during film tearing. It also occupies little space and the film tearing action is simple. In summary, it solves the problems in the prior art.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model provides a film-tearing gripper mechanism with a film-direction blowing and film-removing function, which includes a film-tearing gripper assembly, an air blowing pipe, and a film-tearing arm base.

[0007] The film-tearing clamp assembly includes a lower clamping jaw of the connecting rod film-tearing clamp that works in conjunction with the upper clamping jaw of the connecting rod driven movement to perform film-tearing work; a fixing constraint for fixing and constraining the rotating pin of the clamping jaw of the connecting rod film-tearing clamp; a set screw installed on the lower clamping jaw of the connecting rod film-tearing clamp; a film-tearing connecting rod drive cylinder that drives the connecting rod mechanism to realize the rotational movement of the upper clamping jaw of the film-tearing clamp; an intermediate part for driving the connecting rod mechanism and the non-piston end elbow of the film-tearing connecting rod cylinder and fixing the film-tearing connecting rod drive cylinder; an upper clamping jaw of the connecting rod film-tearing clamp that is driven by the film-tearing connecting rod drive cylinder through the connecting rod mechanism and works in conjunction with the lower clamping jaw of the connecting rod film-tearing clamp to form the film-tearing clamp; and a fixing constraint for the film-tearing connecting rod cylinder fixed end that fixes the entire upper clamping jaw pneumatic connecting rod mechanism on the base of the robotic arm.

[0008] The film-tearing arm base is used to fix and constrain the film-tearing clamp assembly; the film-tearing arm base is fixed with a film-tearing assembly position adjustment block and a film-tearing connecting rod drive cylinder; the film-tearing assembly position adjustment block is used to adjust the installation position of the film-tearing assembly; the film-tearing connecting rod drive cylinder is used to drive the connecting rod mechanism to realize the rotational movement of the gripper on the film-tearing clamp.

[0009] The blowing air pipe is installed on the clamping and restraining components of the film tearing clamp on the connecting rod, and blows the waste film downwards after tearing; the blowing air pipe and the film tearing connecting rod drive cylinder are respectively supplied with air by the air pipe joint.

[0010] Furthermore, the film-tearing connecting rod drive cylinder is fixed by the non-piston end elbow joint of the film-tearing connecting rod cylinder, so that the film-tearing connecting rod drive cylinder can flexibly swing around the equal height bolt when it moves. The equal height bolt is fixed to the fixed end constraint member of the film-tearing connecting rod cylinder.

[0011] Furthermore, the gripper on the film-tearing clamp rotates via a connecting rod and a rotating pin.

[0012] Furthermore, the connecting rod gripper rotating pin and the film-tearing connecting rod drive cylinder are connected by an elbow joint at the piston end of the film-tearing connecting rod cylinder.

[0013] The present invention has the following advantages over the prior art:

[0014] (1) Strong film-pulling force of the film-pulling clamp: The film-pulling clamp mechanism of this solution has a blowing film-pulling function. The connecting rod film-pulling clamp adopts a unique pneumatic connecting rod mechanism. The film-pulling clamp has a much stronger film-pulling force than ordinary pneumatic film-pulling clamps. It is also equipped with an air blowing tube, which can solve the problem of film-pulling with strong adhesion.

[0015] (2) Compact structure and small space occupation: This substrate tearing clamp mechanism has a compact structure, occupies little space, and the tearing action is simple. It can be matched with different types of substrate tearing.

[0016] (3) It has an air blowing function: The mechanism is equipped with an air blowing function, which can assist in the collection of waste film generated during film tearing. The mechanism has good compatibility and is suitable for substrates of different widths and with notches on the edges. Film tearing can be carried out by changing the fixture.

[0017] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a schematic diagram of an existing substrate with a notched frame and a film attached to the back;

[0020] Figure 2 is a schematic diagram of a notched substrate with the film removed from the frame, based on Figure 1.

[0021] Figure 3 is a schematic diagram of the film-tearing gripper mechanism for the film-direction blowing and film-removing function of this utility model.

[0022] Figure 4 is a component marking diagram based on Figure 3;

[0023] Figure 5 is a schematic diagram of the tear film clamp assembly in Figure 3;

[0024] Figure 6 is a schematic diagram of tracheal insufflation in Figure 5;

[0025] Figure 7 is a simplified diagram of the structure and motion of the film-tear clamp assembly;

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1-Film tearing clamp assembly; 201-Connecting rod film tearing clamp lower jaw; 202-Connecting rod film tearing clamp upper jaw fixing constraint; 204-Set screw; 205-Film tearing assembly position adjustment block; 206-Film tearing connecting rod drive cylinder; 207-Film tearing jaw cylinder pad block; 208-Film tearing connecting rod cylinder non-piston end elbow joint; 209-Connecting rod film tearing clamp upper jaw; 210-Connecting rod jaw rotating pin; 211-Film tearing connecting rod cylinder piston end elbow joint; 212-Air pipe connector; 213-Film tearing connecting rod cylinder fixed end constraint; 214-Equal height bolt; 3-Film tearing arm base; 35-Waste film. Detailed Implementation

[0028] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] In the description of this utility model, it should be understood that the terms "base", "rotation", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Currently, for substrate film removal, the industry generally uses manual labor or specialized film-removing equipment to peel off the film on the back of the substrate. However, when peeling manually, these high-temperature resistant films are not heated, making them very difficult to remove. This results in low peeling efficiency and may even damage the substrate, causing losses. Furthermore, in this process, there is a type of film with very strong adhesion that is firmly attached. When using film-removing equipment to peel this type of film, the clamping force of ordinary film-removing clamps is insufficient, making it impossible to completely peel off the entire film.

[0031] This invention designs a film-tearing gripper mechanism with a film-direction blowing function, as shown in Figures 3-7. This film-tearing gripper mechanism can not only serve substrates with film adhered to the back and notched edges (as shown in Figure 1), but also meet film-tearing needs in other special cases. A schematic diagram of a substrate with a notched edge and film already removed is shown in Figure 2. The film-tearing gripper mechanism with blowing function is equipped with a unique pneumatic linkage mechanism, which provides a much stronger film-tearing force than ordinary pneumatic film-tearing grippers. It also features air holes to address the problem of film tearing with strong adhesion. The specific structure is shown in Figures 1-2. This film-tearing gripper mechanism with blowing function is equipped with a unique pneumatic linkage mechanism, which provides a much stronger film-tearing force than ordinary pneumatic film-tearing grippers. It also features air holes to address the problem of film tearing with strong adhesion.

[0032] This invention designs a film-tearing gripper mechanism with a film-direction blowing function. This substrate film-tearing gripper mechanism mainly serves substrates with film attached to the back and notched edges. This substrate film-tearing gripper mechanism is compact and fully functional. Compared to traditional manual film tearing or the use of consumables, the linkage-equipped film-tearing grippers of this mechanism have strong force, capable of tearing the film off in one go, reducing the probability of substrate damage during tearing. It also occupies little space, the tearing action is simple, and this film-tearing gripper mechanism can be used with different types of substrate film-tearing equipment. Furthermore, the mechanism is equipped with an air blowing function to assist in the collection of waste film generated during tearing. This mechanism also has good compatibility; for substrates of different widths and notched edges commonly found in the industry, film tearing can be performed by changing some fixtures.

[0033] Please refer to Figures 3-7. The film tearing gripper mechanism with film-direction blowing and film removal function of this utility model includes a film tearing gripper assembly 1, an air blowing pipe 4, and a film tearing gripper mounting base 3.

[0034] Lower gripper 201 of the connecting rod film tearing clamp: It serves as the fixed lower gripper of the film tearing clamp and cooperates with the upper gripper driven by the connecting rod to perform the film tearing operation; the entire surface of the lower gripper 201 of the connecting rod film tearing clamp is treated with an anti-stick coating, such as Teflon or polysilazane resin.

[0035] The connecting rod film tearing clamp has a jaw fixing constraint 202: which fixes and constrains the jaw rotation pin, and is also equipped with an air tube for air blowing.

[0036] Film tearing arm base 3: Fixes and constrains the film tearing clamp assembly;

[0037] Air blowing pipe 4: Blows air to remove waste film after tearing, preventing it from sticking to the grippers. Film tearing assembly position adjustment block 205: Fixed to the film tearing arm to adjust the installation position of the film tearing assembly. Film tearing linkage drive cylinder 206: Drives the linkage mechanism to rotate the grippers on the film tearing clamp. Film tearing gripper cylinder pad 207: An intermediate component between the drive linkage mechanism and the non-piston end elbow joint, used to fix the cylinder. Film tearing linkage cylinder non-piston end elbow joint 208: Fixes the film tearing linkage drive cylinder, allowing it to flexibly swing around the equal-height bolt during movement. Linkage film tearing clamp upper gripper 209: Driven by the cylinder through the linkage mechanism, it cooperates with the lower gripper of the film tearing clamp to form the film tearing clamp. The upper and lower grippers perform film tearing through line contact. The entire surface of the linkage film tearing clamp upper gripper 209 is treated with an anti-stick coating, including Teflon or polysilazane resin, etc.

[0038] 210 connecting rod gripper rotation pin: The gripper on the connecting rod film tearing clamp rotates through the pin.

[0039] Film-tearing connecting rod cylinder piston end elbow 211: connects the film-tearing connecting rod drive cylinder and the gripper rotation pin; air pipe connector 212: connects the air supply pipe to the cylinder. Film-tearing connecting rod cylinder fixed end constraint 213: fixes the entire upper gripper pneumatic connecting rod mechanism to the robot arm base. Equal height bolt 214: fixed to the fixed end constraint of the connecting rod drive cylinder, allowing the connecting rod drive cylinder to flexibly swing through the equal height bolt during operation;

[0040] The specific steps for using it are as follows:

[0041] Step 1: The film-peeling platform carries the substrate and performs the positioning action before film clamping through the positioning component.

[0042] Step 2: After the film clamping positioning is completed, the pneumatic grippers of the film clamping assembly close, clamp the film at the notch of the substrate, and then perform the film tearing action.

[0043] Step 3: After the film is peeled off, the pneumatic grippers open and the air blowing function of the film clamping assembly is activated, blowing the waste film peeled off from the grippers into the collection channel, thus completing the entire film peeling process for one substrate.

[0044] A simplified diagram of the motion of the film-tear clamp assembly is shown in Figure 7.

[0045] This invention designs a substrate film-tearing gripper mechanism, primarily serving substrates with film adhered to the back and notched edges. This substrate film-tearing gripper mechanism is compact and fully functional. Compared to traditional manual film tearing or methods using consumables, the linkage-equipped gripper of this mechanism has strong tearing force, capable of tearing the film in one go, reducing the probability of substrate damage during tearing. It also occupies little space, the tearing action is simple, and this gripper mechanism can be used with different types of substrate film-tearing equipment. Furthermore, the mechanism is equipped with a blowing function along the film direction to assist in the collection of waste film generated during tearing. This mechanism also has good compatibility; for substrates of various widths and notched edges commonly found in the industry, film tearing can be performed by changing some fixtures.

[0046] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A film-tearing gripper mechanism with a film-direction blowing and film-removing function, characterized in that, The assembly includes a film-tearing clamp assembly (1), an air blowing pipe (4), and a film-tearing arm base (3). The film-tearing clamp assembly (1) includes a connecting rod film-tearing clamp upper jaw (209) that works with the connecting rod to perform film-tearing operations, a connecting rod film-tearing clamp upper jaw fixing constraint (202) for fixing and constraining the jaw rotation pin, a set screw (204) installed on the connecting rod film-tearing clamp lower jaw (201), a film-tearing connecting rod drive cylinder (206) that drives the connecting rod mechanism to realize the rotational movement of the film-tearing clamp upper jaw (209), a film-tearing jaw cylinder pad (207) for driving the connecting rod mechanism and the non-piston end elbow (208) of the film-tearing connecting rod cylinder and fixing the film-tearing connecting rod drive cylinder (206), and a film-tearing clamp lower jaw (201) driven by the film-tearing connecting rod drive cylinder (206) through the connecting rod mechanism. The film tearing clamp consists of a connecting rod, a film tearing clamp upper jaw (209), and a film tearing linkage cylinder fixing end constraint (213) that fixes the entire upper jaw pneumatic linkage mechanism to the robot arm base; the film tearing arm base (3) is used to fix and constrain the film tearing clamp assembly (1); the film tearing arm base (3) is fixed with a film tearing assembly position adjustment block (205) and a film tearing linkage drive cylinder (206); the film tearing assembly position adjustment block (205) is used to adjust the installation position of the film tearing clamp assembly (1); the film tearing linkage drive cylinder (206) is used to drive the linkage mechanism to realize the rotational movement of the upper jaw of the film tearing clamp; the blowing air pipe (4) is installed on the upper jaw fixing constraint (202) of the connecting rod film tearing clamp, and blows the waste film (35) downward after tearing; the blowing air pipe (4) and the film tearing linkage drive cylinder (206) are respectively supplied with air by the air pipe connector (212).

2. The film-tearing gripper mechanism with film-direction blowing and film-removing function according to claim 1, characterized in that, The film-tearing connecting rod drive cylinder (206) is fixed by the non-piston end elbow (208) of the film-tearing connecting rod cylinder, so that the film-tearing connecting rod drive cylinder (206) can flexibly swing around the equal height bolt (214) when it moves. The equal height bolt (214) is fixed on the fixed end constraint member (213) of the film-tearing connecting rod cylinder.

3. The film-tearing gripper mechanism with film-direction blowing and film-removing function according to claim 1, characterized in that, The gripper (209) of the film-tearing clamp rotates via a connecting rod and a rotating pin (210).

4. The film-tearing gripper mechanism with film-direction blowing and film-removing function according to claim 3, characterized in that, The connecting rod gripper rotating pin (210) and the film-tearing connecting rod drive cylinder (206) are connected by the piston end elbow (211) of the film-tearing connecting rod cylinder.

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