Electronic substrate transfer device

Abstract

The utility model discloses an electronic substrate carrying device, a substrate is provided with a bolt fixing hole, the carrying device comprises a carrying seat, a clamp arranged on the carrying seat, a hold-down piece arranged on the carrying seat in an up-and-down movable mode and a first elastic piece, the clamp comprises a clamping portion, and the first elastic piece is arranged on the holding-down piece in a releasing state. The horizontal projection outline of the clamping part does not exceed the projection range of the bolt fixing hole; in the clamping state, the projection contour of the clamping part exceeds the projection range of the bolt fixing hole, or the projection edge of the clamping part and the projection contour of the bolt fixing hole coincide in multiple positions. The hold-down piece is provided with a hold-down surface, and when the hold-down piece is located at the first position, the hold-down surface is located below the clamping part; when the clamping part is located at the second position, at least part of the clamping part is located below the pressing face; the first elastic piece is used for providing the acting force needed for driving the pressing and holding piece to move towards the first position, and the carrying device is stable in clamping and high in carrying precision.

Description

Technical Field

[0001] This utility model relates to an electronic substrate handling device. Background Technology

[0002] In automated production equipment, adsorption or edge clamping methods are commonly used to transport electronic substrates. However, some electronic substrates have circuits, contacts, etc., on their surfaces, lacking a flat surface for adsorption, making adsorption impossible. Edge clamping requires sufficient clamping space in the loading and unloading equipment, and demands high precision and force; otherwise, it can easily damage the electronic substrate. Edge clamping also has relatively low transport accuracy. Therefore, there is an urgent need for a transport method that can replace adsorption and edge clamping, offering high precision while minimizing damage to the substrate. Utility Model Content

[0003] The purpose of this invention is to provide a new electronic substrate handling device.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: an electronic substrate handling device, wherein the substrate is provided with bolt fixing holes, and the handling device includes:

[0005] The transport stand is movably disposed thereon;

[0006] A clamp is disposed on the transport seat. The clamp includes a clamping part and has a clamping state and a releasing state. In the releasing state, the projected outline of the clamping part in the horizontal plane does not exceed the projection range of the bolt fixing hole. In the clamping state, the projected outline of the clamping part in the horizontal plane exceeds the projection range of the bolt fixing hole, or the projected edge of the clamping part in the horizontal plane coincides with the projected outline of the bolt fixing hole in multiple places.

[0007] A clamping member is movably disposed on the transport seat. The clamping member has a downward-facing clamping surface. The clamping member has a first position and a second position above the first position relative to the transport seat. When in the first position, the clamping surface is located below the clamping portion. When in the second position, at least a portion of the clamping portion is located below the clamping surface. The area below the clamping surface forms a clamping space.

[0008] A first elastic element is disposed between the transport seat and the holding member, and the first elastic element is used to provide the force required to drive the holding member to move toward the first position.

[0009] In some embodiments, the conveying device has a non-working mode and a working mode. In the non-working mode, the holding member is in the first position and the clamp is in the released state. In the working mode, the clamp is in the clamping state, the holding member is in the second position, the substrate is located in the clamping space, and the holding surface abuts against the substrate located in the clamping space.

[0010] In some embodiments, the holding member is provided with a through hole extending in the vertical direction, and the clamping part is movably disposed in the through hole; when the holding member abuts against the substrate, the through hole communicates with the bolt fixing hole, and a guide channel extending in the vertical direction is formed between the through hole and the bolt fixing hole.

[0011] In some embodiments, the diameter of the through hole is equal to the diameter of the bolt fixing hole, and when the clamping member is in the second position, a portion of the clamping portion is located in the through hole.

[0012] In some embodiments, the transport seat has two clamps spaced apart along a first direction, the transport seat includes a mounting portion located between the two clamps, and the holding member is slidably connected to the mounting portion along the vertical direction.

[0013] In some embodiments, the pressing member includes a connecting portion and a pressure plate. The connecting portion includes two portions spaced apart along a first direction. The two connecting portions are respectively disposed on both sides of the mounting portion along the first direction. The connecting portions are slidably connected to the mounting portion. The pressure plate is fixed below the connecting portion, and the lower surface of the pressure plate constitutes the pressing surface.

[0014] In some embodiments, the clamping portion is made of a deformable material. When the clamp transitions from the released state to the clamping state, the clamping portion opens or expands outwards.

[0015] In some embodiments, the clamping portion includes a plurality of flexible claws spaced apart along the circumferential direction. When in the released state, the plurality of flexible claws approach each other radially; when in the clamping state, the plurality of flexible claws move away from each other radially.

[0016] In some embodiments, the conveying device includes a rotating frame rotatably disposed about a rotation center line extending in a vertical direction, and a conveying seat disposed on the rotating frame; the rotating frame is provided with a plurality of conveying seats, which are spaced apart circumferentially around the rotation center line.

[0017] In some embodiments, the conveying device further includes an adsorption element disposed on the rotating frame, the adsorption element and the clamp being arranged circumferentially spaced around the rotation center line.

[0018] In some embodiments, the adsorption element is movably connected to the transport seat, and a second elastic element is provided between the transport seat and the adsorption element. The second elastic element is used to provide the force required to drive the adsorption element to move downward.

[0019] In some embodiments, the clamp and the adsorption element are distributed at 180-degree intervals, and the conveying device further includes a visual positioning module, which is disposed circumferentially between the clamp and the adsorption element.

[0020] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: The handling device of this utility model utilizes the bolt fixing holes on the substrate, and fixes the substrate by expanding the clamping part outward and abutting against the hole wall of the bolt fixing hole, thereby enabling the transfer of the substrate. This fixing method utilizes the existing structure of the substrate, resulting in higher handling accuracy and less risk of damage to the substrate.

[0021] The conveying device also includes a holding member. Driven by the first elastic member, the holding member is in a first position, so that when the conveying device picks up the material, before the clamping part enters the bolt fixing hole, the holding member first contacts the substrate and applies downward pressure. Under this pressure, the substrate can remain flat and stable, keeping the substrate fixed by the clamp in a flat state. During unloading, the clamping part first disengages from the bolt fixing hole, releasing the clamp. Then, the clamp moves upward away from the substrate. During this process, the holding member can keep pressing down on the substrate, maintaining the stability of the substrate, thereby ensuring the unloading accuracy of the conveying device. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this utility model, the 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.

[0023] Appendix Figure 1 This is a schematic diagram of a conveying device according to a specific embodiment of the present invention;

[0024] Appendix Figure 2 For the appendix Figure 1 Enlarged view of point A in the middle;

[0025] Appendix Figure 3 For the appendix Figure 1 Side view;

[0026] Appendix Figure 4 For the appendix Figure 1 A schematic diagram of the middle section structure;

[0027] Appendix Figure 5 For the appendix Figure 4 Enlarged view of point B in the middle;

[0028] Appendix Figure 6 For the appendix Figure 4 The main view;

[0029] Appendix Figure 7 For the appendix Figure 6 A schematic diagram showing the clamping element in the first position;

[0030] Appendix Figure 8 For the appendix Figure 6 A schematic diagram of the substrate being held in the clamping space;

[0031] Appendix Figure 9 This is a schematic diagram of the fixture;

[0032] Appendix Figure 10 For the appendix Figure 9 A diagram from another perspective;

[0033] In the attached diagrams: 100, adapter; 101, bolt fixing hole; 200, memory module;

[0034] 1. Transporter; 11. Mounting part; 2. Fixture; 20. Clamping space; 21. Clamping part; 211. Flexible claw; 3. Pressing component; 31. Pressure plate; 311. Pressing surface; 312. Through hole; 32. Connecting part; 4. First elastic component; 5. Rotating frame; 6. Adsorption component; 7. Vision positioning module; 8. Robotic arm. Detailed Implementation

[0035] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted that the description of these embodiments is for the purpose of aiding understanding the present invention, but does not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0036] See Figures 1 to 3An electronic substrate handling device is shown. The substrate has bolt fixing holes 101. The handling device includes a handling base 1 and a clamp 2. The handling base 1 is movably disposed, and the clamp 2 is disposed on the handling base 1. Moving the handling base 1 can drive the clamp 2 to move. In this embodiment, the clamp 2 includes a clamping part 21. The clamp 2 has a clamping state and a released state. In the released state, the projection outline of the clamping part 21 in the horizontal plane does not exceed the projection range of the bolt fixing holes 101. In the clamping state, the projection outline of the clamping part 21 in the horizontal plane exceeds the projection range of the bolt fixing holes 101, or the projection edge of the clamping part 21 in the horizontal plane coincides with the projection outline of the bolt fixing holes 101 in multiple places. When clamping the substrate, in the released state of clamp 2, the clamping part 21 is driven to extend into the bolt fixing hole 101. Then, clamp 2 is driven to switch to the clamping state, and the clamping part 21 opens or expands outward. The outer side of the clamping part 21 can abut against the hole wall of the bolt fixing hole 101 and form a fixation. At this time, the substrate can be transferred by moving clamp 2. When unloading, clamp 2 is driven to switch from the clamping state to the released state, and the clamping part 21 can be released from the bolt fixing hole 101, and the substrate can also be separated from clamp 2.

[0037] In this embodiment, see Figures 4 to 8 As shown, the conveying device further includes a holding member 3, which is movably disposed on the conveying seat 1. The holding member 3 has a downward-facing holding surface 311. The holding member 3 has a first position and a second position relative to the conveying seat 1. The second position is located above the first position. When in the first position, the holding surface 311 is located below the clamping portion 21; when the holding member 3 is in the second position, at least a portion of the clamping portion 21 is located below the holding surface 311. In this embodiment, the conveying device further includes a first elastic member 4, which is disposed between the conveying seat 1 and the holding member 3. The first elastic member 4 is used to provide the force required to drive the holding member 3 to move towards the first position.

[0038] In this embodiment, the conveying device has a non-working mode and a working mode. In the non-working mode, the clamping member 3 is in the first position, and the clamping part 21 is in the released state. In the working mode, the clamping part 21 is in the clamping state, and the clamping member 3 is in the second position. When the conveying device picks up materials from the feeding mechanism, the conveying device switches from the non-working mode to the working mode. Specifically, before the clamping part 21 extends into the bolt fixing hole 101, the clamping surface 311 will first contact the substrate. Then, the conveying seat 1 moves downward, causing the clamping part 21 to extend downward into the bolt fixing hole 101. Under the action of the first elastic member 4, the clamping member 3 will apply a downward force to the substrate to be conveyed, on the one hand maintaining the stability of the substrate and avoiding disturbance of the substrate during the picking process, and on the other hand keeping the substrate flat through the downward pressure of the clamping member 3. As the clamp 2 moves downward, the clamping part 21 passes into the bolt fixing hole 101, and the pressing member 3 moves to the second position. A clamping space 20 is formed below the pressing surface 311. The clamp 2 changes to the clamping state so that the substrate is clamped and fixed in the clamping space 20.

[0039] In this embodiment, when unloading the substrate, after placing the substrate at the unloading point, the clamp 2 is driven to switch to the release state to release the clamping part 21 from fixing the substrate. Then, the transport seat 1 is driven to move upward so that the clamping part 21 exits the bolt fixing hole 101. When the clamping part 21 releases the substrate, since the pressing member 3 is in the second position and the first elastic member 4 is in a compressed state, the pressing member 3 applies a downward force to the substrate under the drive of the first elastic member 4, and this downward force is applied to the substrate until the pressing member 3 switches to the first position. Under the drive of this downward force, on the one hand, the substrate can be kept stable and undisturbed as the transport seat 1 moves away from the substrate, and on the other hand, this force also helps the substrate to detach from the clamp 2.

[0040] In this embodiment, when the pressing member 3 is in the first position, the pressing surface 311 is located below the clamping part 21. Furthermore, the pressing surface 311 is located below the clamp 2, so that during the unloading process, the pressing member 3 always presses down on the substrate and maintains its stability before the clamp 2 is completely separated from the substrate.

[0041] In this embodiment, see Figure 5 As shown, the clamping member 3 is provided with a through hole 312 extending in the vertical direction. The clamping part 21 can be inserted into the through hole 312 in a vertically movable manner. The through hole 312 provides guidance for the clamping part 21, so that it can be accurately inserted into the bolt fixing hole 101 when picking up the material. When unloading the material, the through hole 312 can accurately guide the clamping part 21 to disengage to avoid disturbing the substrate.

[0042] In this embodiment, during material handling, the transport seat 1 moves above the substrate, aligning the through hole 312 with the bolt fixing hole 101 in the vertical direction, and then drives the transport seat 1 downward. When the clamping member 3 abuts against the substrate, the through hole 312 and the bolt fixing hole 101 communicate with each other in the vertical direction, forming a guide channel that extends vertically between the through hole 312 and the bolt fixing hole 101. The clamping part 21 can then pass downward through this guide channel into the bolt fixing hole 101.

[0043] In this embodiment, the conveying device can use the bolt fixing hole 101 of the substrate as the positioning basis and adjust the position of the through hole 312 to achieve precise positioning of the substrate, thereby ensuring material picking accuracy.

[0044] In some embodiments, the diameter of the through hole 312 is equal to the diameter of the bolt fixing hole 101. When the clamping member 3 is in the second position, part of the clamping part 21 is located in the through hole 312. When the clamp 2 is switched to the clamping state, the clamping part 21 also forms a cooperation with the hole wall of the through hole 312, thereby fixing the clamping member 3 to reduce or eliminate the force of the clamping member 3 on the substrate during the handling process.

[0045] In this embodiment, the pressing member 3 includes a connecting part 32 and a pressing plate 31. The connecting part 32 is slidably connected to the transport seat 1, and the pressing plate 31 is fixedly connected to the lower part of the connecting part 32. The lower surface of the pressing plate 31 forms a pressing surface 311.

[0046] In this embodiment, two clamps 2 are spaced apart along a first direction on the transport base 1. The transport base 1 includes a mounting portion 11 located between the two clamps 2, and a holding member 3 is slidably connected to the mounting portion 11 along the vertical direction. Specifically, the connecting portion 32 includes two spaced apart along the first direction, and the two connecting portions 32 are respectively located on both sides of the mounting portion 11 along the first direction, and the connecting portions 32 are slidably connected to the mounting portion 11. Specifically, the connecting portion 32 and the mounting portion 11 are engaged by a slide rail, which not only achieves a sliding connection but also provides guidance for the vertical movement of the holding member 3.

[0047] In this embodiment, the clamping part 21 is made of a deformable flexible material. When the clamp 2 switches between the release state and the clamping state, the clamping part 21 deforms radially.

[0048] Specifically, see Figure 9 , Figure 10As shown, the clamping part 21 includes a plurality of flexible claws 211 spaced apart along the circumferential direction. When in the released state, the plurality of flexible claws 211 move closer together radially, reducing the volume of the clamping part 21 so that it can be inserted into the bolt fixing hole 101. When in the clamping state, the plurality of flexible claws 211 move apart radially, opening outward and forming a fit with the hole wall of the bolt fixing hole 101 through external support. In this embodiment, the clamp 2 achieves the transition between the released state and the clamping state by controlling the inflation and deflation of air.

[0049] In some embodiments, the clamping part 21 can be expanded outward by inflating it with air, thereby achieving a transition to the clamping state.

[0050] In this embodiment, see Figure 1 , Figure 3 As shown, the conveying device includes a rotating frame 5 rotatably arranged about a rotation center line, which extends in the vertical direction. A conveying seat 1 is disposed on the rotating frame 5. Specifically, the conveying seat 1 is movably disposed on the rotating frame 5. In some embodiments, the rotating frame 5 is provided with a plurality of conveying seats 1, which are circumferentially spaced about the rotation center line, so that the conveying device can convey multiple substrates at one time.

[0051] In this embodiment, see Figure 1 , Figure 2 As shown, the conveying device also includes an adsorption element 6. The adsorption element 6 and the clamp 2 are arranged circumferentially around the rotation center line. The conveying device can convey different types of substrates in different ways, and the conveying device has a wider range of applications. Moreover, the conveying device can complete the conveying of different products at one time.

[0052] In this embodiment, the adsorption member 6 is movably connected to the rotating frame 5. A second elastic member (not shown in the figure) is provided between the rotating frame 5 and the adsorption member 6. The second elastic member provides the force required to drive the adsorption member 6 downward. By setting the second elastic member, the adsorption member 6 can float up and down, thereby forming a soft contact when the adsorption member 6 picks up the substrate downward, avoiding damage to the substrate. At the same time, the second elastic member can offset the product height difference that may exist during material picking. During material unloading, the up and down floating of the adsorption member 6 can also avoid hard contact, and at the same time, the compression of the second elastic member can form downward pressure on the substrate, ensuring stable and accurate substrate unloading.

[0053] In this embodiment, the transport device is installed in the chip assembly equipment. The assembly equipment is used to assemble the memory 200 and the adapter 100 with contacts on both sides onto the motherboard. Both the adapter 100 and the memory 200 are provided with bolt fixing holes 101. Both the adapter 100 and the memory 200 constitute the aforementioned substrate, and both can be transported by the clamp 2. In this embodiment, the transport device is provided with both the clamp 2 and the suction member 6. It transports the adapter 100 through the clamp 2 and the memory 200 through the suction member 6.

[0054] In this embodiment, the clamp 2 and the adsorption member 6 are distributed at 180-degree intervals. After one of the clamp 2 or the adsorption member 6 completes the picking or unloading of materials, the rotating frame 5 is driven to rotate 180 degrees so that the other can pick or unload materials.

[0055] In this embodiment, the handling device further includes a visual positioning module 7, which is circumferentially disposed between the clamp 2 and the suction member 6. The handling device uses the visual positioning module 7 for positioning, and then uses the clamp 2 and the suction member 6 to pick up or unload materials. Placing the visual positioning module 7 between the clamp 2 and the suction member 6 can effectively reduce the stroke required for the transition between positioning and picking / unloading operations, thereby improving efficiency.

[0056] In this embodiment, see Figure 1 , Figure 3 As shown, the conveying device also includes a robotic arm 8 for driving the conveying seat 1 to move. Specifically, the robotic arm 8 drives the rotating frame 5 to move, thereby causing the conveying seat 1 and the adsorption member 6 to move. In this embodiment, the robotic arm 8 is provided with a rotary drive mechanism for driving the rotating frame 5 to rotate, and the rotating frame 5 is provided with a first lifting mechanism for driving the conveying seat 1 to move up and down, and a second lifting mechanism for driving the adsorption member 6 to move up and down.

[0057] In summary, the conveying device of this embodiment utilizes the bolt fixing holes 101 on the substrate and achieves substrate fixation through outward expansion, resulting in higher conveying accuracy and less risk of damage to the substrate. The conveying device also utilizes the holding member 3 to improve material handling and unloading accuracy, thus giving the conveying device high conveying quality.

[0058] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. In the event of any contradiction or inconsistency between the definitions used herein and those contained in other published documents, the definitions used herein shall prevail.

[0060] It should also be noted that "rotational connection" in the above embodiments refers to pivot connection, unless the context clearly indicates other rotational connection methods.

[0061] As indicated in this specification and claims, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0062] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made based on the essence of this utility model should be covered within the scope of protection of this utility model.

Claims

1. An electronic substrate handling device, the substrate being provided with a bolt hole, characterized in that, The conveying device includes: The transport stand is movably disposed thereon; A clamp is disposed on the transport seat. The clamp includes a clamping part and has a clamping state and a releasing state. In the releasing state, the projected outline of the clamping part in the horizontal plane does not exceed the projection range of the bolt fixing hole. In the clamping state, the projected outline of the clamping part in the horizontal plane exceeds the projection range of the bolt fixing hole, or the projected edge of the clamping part in the horizontal plane coincides with the projected outline of the bolt fixing hole in multiple places. A clamping member is movably disposed on the transport seat. The clamping member has a downward-facing clamping surface. The clamping member has a first position and a second position above the first position relative to the transport seat. When in the first position, the clamping surface is located below the clamping portion. When in the second position, at least a portion of the clamping portion is located below the clamping surface. The area below the clamping surface forms a clamping space. A first elastic element is disposed between the transport seat and the holding member, and the first elastic element is used to provide the force required to drive the holding member to move toward the first position.

2. The electronic board handling device of claim 1, wherein: The conveying device has a non-working mode and a working mode. In the non-working mode, the holding member is in the first position and the clamp is in the released state. In the working mode, the clamp is in the clamping state, the holding member is in the second position, the substrate is located in the clamping space, and the holding surface abuts against the substrate located in the clamping space.

3. The electronic substrate handling device according to claim 1, characterized in that: The pressing member is provided with a through hole extending in the vertical direction, and the clamping part is movably disposed in the through hole. When the holding member abuts against the substrate, the through hole and the bolt fixing hole are interconnected, and a guide channel is formed between the through hole and the bolt fixing hole in the vertical direction.

4. The electronic board handling device of claim 3, wherein: The diameter of the through hole is equal to the diameter of the bolt fixing hole. When the clamping member is in the second position, part of the clamping part is located in the through hole.

5. The electronic substrate handling device of claim 1, wherein: The transport seat has two clamps spaced apart along a first direction. The transport seat includes a mounting portion located between the two clamps. The holding member is slidably connected to the mounting portion along the vertical direction.

6. The electronic substrate handling device according to claim 5, characterized by: The pressing member includes a connecting part and a pressure plate. The connecting part includes two parts spaced apart along a first direction. The two connecting parts are respectively located on both sides of the mounting part along the first direction. The connecting parts are slidably connected to the mounting part. The pressure plate is fixed below the connecting part, and the lower surface of the pressure plate forms the pressing surface.

7. The electronic substrate handling device according to claim 1, characterized in that: The clamping part is made of a deformable material, and when the clamp changes from the released state to the clamping state, the clamping part opens outward or expands outward.

8. The electronic substrate handling device of claim 1, wherein: The clamping part includes a plurality of flexible claws spaced apart along the circumferential direction. When in the released state, the plurality of flexible claws move closer to each other radially; when in the clamping state, the plurality of flexible claws move further apart radially.

9. The electronic substrate handling device according to claim 1, characterized in that: The conveying device includes a rotating frame that is rotatably arranged around a rotation center line, the rotation center line extending in the vertical direction, and the conveying seat disposed on the rotating frame; The rotating frame is provided with a plurality of transport seats, which are arranged at circumferential intervals around the rotation center line; or, the transport device further includes an adsorption element, which is disposed on the rotating frame and is arranged at circumferential intervals with the clamp around the rotation center line.

10. The electronic substrate handling device according to claim 9, characterized in that: The adsorption element is movably connected to the transport seat, and a second elastic element is provided between the transport seat and the adsorption element. The second elastic element is used to provide the force required to drive the adsorption element to move downward. The clamp and the adsorption element are distributed at 180-degree intervals. The handling device also includes a visual positioning module, which is arranged circumferentially between the clamp and the adsorption element.

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