CN109748098B - Multi-stroke rotary grabbing device for semiconductor packaging equipment - Google Patents
Multi-stroke rotary grabbing device for semiconductor packaging equipment Download PDFInfo
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- CN109748098B CN109748098B CN201811636577.6A CN201811636577A CN109748098B CN 109748098 B CN109748098 B CN 109748098B CN 201811636577 A CN201811636577 A CN 201811636577A CN 109748098 B CN109748098 B CN 109748098B
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Abstract
The invention discloses a multi-stroke rotary gripping device for semiconductor packaging equipment, which comprises a stroke adjusting device and a gripping device, wherein the stroke adjusting device comprises a top plate, a support column, a mounting plate, a first air cylinder, a second air cylinder, a bottom plate and a rotary electric cylinder, and the gripping device comprises a fixing plate, a connecting column, a lifting plate, a pneumatic sliding table, an air cylinder connecting block, a resisting block, a guide sleeve, a mechanical claw mounting block and a mechanical claw. After the structure is adopted, the stroke adjusting device realizes accurate control of the up-down stroke of the cylinder, the cooperation can be stably moved, the high-precision positioning rotary electric cylinder drives the gripping device to rotate, the pneumatic sliding table of the gripping device drives the mechanical claw to move, the lead frame can be accurately placed, and the precision requirement in high-precision machining can be met.
Description
Technical Field
The invention relates to a multi-stroke rotary grabbing device for a semiconductor packaging device.
Background
When the packaging equipment is used for plastic packaging of an integrated circuit (hereinafter referred to as IC), the mechanism for injecting resin into the IC and molding the IC is suitable for the condition that one-time packaging contains two IC lead frames (hereinafter referred to as L/F). After the epoxy resin wraps the chip and the plastic package process is completed, the epoxy resin is precisely placed into a product collecting material box through a product grabbing mechanism after a flow channel and a pouring gate are punched. Grab and put the product and involve different height dimensions position, present IC packaging equipment adopts two cylinders to drive mechanical tongs part up-and-down motion respectively mostly, and the motor drives rotary motion, and this kind of structure precision is lower, can't satisfy the precision requirement of high accuracy man-hour.
Disclosure of Invention
The invention aims to solve the problems that the existing grabbing and releasing mechanism is low in accuracy and cannot meet the accuracy requirement during high-accuracy machining.
The technical scheme adopted by the invention is as follows: the multi-stroke rotary gripping device for the semiconductor packaging equipment comprises a stroke adjusting device and a gripping device, wherein the stroke adjusting device comprises a top plate, a support column, a mounting plate, a first air cylinder, a second air cylinder, a bottom plate and a rotary electric cylinder, the support column is fixedly connected between the lower surface of the top plate and the upper surface of the mounting plate, the first air cylinder is mounted on the lower surface of the top plate, an opening is formed in the center of the mounting plate, the second air cylinder penetrates through the opening and is mounted on the upper surface of the bottom plate, a piston rod of the first air cylinder and a piston rod of the second air cylinder are opposite to each other, the piston rod of the first air cylinder is connected with the piston rod of the second air cylinder, and the rotary; the gripping device comprises a fixed plate, a connecting column, a lifting plate, a pneumatic sliding table, a cylinder connecting block, a resisting block, a guide sleeve, a mechanical claw mounting block and a mechanical claw, the connecting column is positioned between the fixed plate and the lifting plate and is fixedly connected with the fixed plate, the pneumatic sliding table is arranged on the sliding table seat, the cylinder connecting block is fixedly connected with the sliding block of the pneumatic sliding table, the lifting plate is provided with a through hole, one part of the guide sleeve is positioned above the lifting plate and is contacted with the lifting plate, the other part of the guide sleeve passes through the through hole and is positioned below the lifting plate and is connected with the mechanical claw mounting block, the mechanical claw mounting block is movably connected with the lifting plate, the mechanical claw is fixedly connected on the mechanical claw mounting block, the supporting block is fixedly connected to the lower surface of the air cylinder connecting block, one end of the supporting block is large, the other end of the supporting block is small, the side face of the supporting block is matched with the guide sleeve, and the top of the fixing plate is connected with an output shaft of a rotary electric cylinder of the stroke adjusting device.
As a further improvement of the invention, the stroke adjusting device also comprises a floating joint, an adapter, a linear bearing, a guide shaft, a first sensor, a light barrier and a limit column, wherein the floating joint is connected with a piston rod of a first cylinder, the adapter is connected with a piston rod of a second cylinder, the floating joint is matched with the adapter, and the floating joint and the adapter are connected to realize the connection between the piston rod of the first cylinder and the piston rod of the second cylinder, the air joints of the first cylinder and the second cylinder are respectively provided with a speed regulating valve, the linear bearing and the guide shaft are respectively arranged at the left and the right in the length direction of the mounting plate, the mounting plate is provided with a shaft hole for the linear bearing to be arranged and the guide shaft to pass through and a through hole for the light barrier to pass through, one side of each guide shaft is arranged above the mounting plate and is provided with a limit ring, the other side is arranged below the mounting plate and the limit column is, the two linear bearings are arranged in the shaft holes of the mounting plate and are respectively movably connected with the two guide shafts, one side of the light barrier is connected with the upper surface of the bottom plate, the other side of the light barrier can penetrate through the through hole of the mounting plate and is positioned above the upper surface of the mounting plate, and the first sensor is arranged on the upper surface of the mounting plate and can be arranged in a position matched with the light barrier; grabbing device still include gyro wheel, linear guide, second sensor, extension spring, detection needle and connecting plate, gyro wheel swing joint on the guide sleeve, the gyro wheel can with the surface contact who supports the piece, linear guide fixed connection is at the lifter plate lower surface, gripper installation piece swing joint on the linear guide on the lifter plate, detection needle and lifter plate swing joint and one end pass the lifter plate, the second sensor install and set up on detecting needle motion path at the lifter plate upper surface, the extension spring is connected with gripper installation piece, the spliced pole passes the connecting plate and is connected with the lifter plate.
The invention has the beneficial effects that: after the structure is adopted, the stroke adjusting device realizes accurate control of the up-down stroke of the cylinder, the cooperation can be stably moved, the high-precision positioning rotary electric cylinder drives the gripping device to rotate, the pneumatic sliding table of the gripping device drives the mechanical claw to move, the lead frame can be accurately placed, and the precision requirement in high-precision machining can be met.
Drawings
FIG. 1 is a schematic front view of the present invention.
Fig. 2 is a side view of the stroke adjustment device of fig. 1.
Fig. 3 is a front view of the grasping device of fig. 1 with the gripper open.
Fig. 4 is a partially enlarged view of fig. 3, in which the lifting plate is omitted for better connection of the guide bush.
Fig. 5 is a top view of fig. 3, with the fixed plate omitted to better see the structure on the lifter plate.
Shown in the figure: the device comprises a top plate 1, a support column 2, a mounting plate 3, a first cylinder 4, a second cylinder 5, a bottom plate 6, a rotary electric cylinder 7, a fixing plate 8, a connecting column 9, a lifting plate 10, a pneumatic sliding table 11, a cylinder connecting block 12, a resisting block 13, a guide sleeve 14, a gripper mounting block 15, a gripper 16, a floating joint 17, an adapter 18, a linear bearing 19, a guide shaft 20, a first sensor 21, a light barrier 22, a limiting column 23, a speed regulating valve 24, a limiting ring 25, a roller 26, a linear guide rail 27, a second sensor 28, a tension spring 29, a detection needle 30 and a connecting plate 31.
Detailed Description
The technical scheme of the invention is clearly and completely described below by combining the drawings and the embodiment.
Example 1: the multi-stroke rotary gripping device for the semiconductor packaging equipment comprises a stroke adjusting device and a gripping device, wherein the stroke adjusting device comprises a top plate 1, a support column 2, a mounting plate 3, a first air cylinder 4, a second air cylinder 5, a bottom plate 6 and a rotary electric cylinder 7, the support column is fixedly connected between the lower surface of the top plate and the upper surface of the mounting plate, the first air cylinder is mounted on the lower surface of the top plate, an opening is formed in the center of the mounting plate, the second air cylinder penetrates through the opening and is mounted on the upper surface of the bottom plate, a piston rod of the first air cylinder and a piston rod of the second air cylinder are opposite to each other, the piston rod of the first air cylinder is connected with the piston rod of the second air cylinder, and the rotary; the gripping device comprises a fixed plate 8, a connecting column 9, a lifting plate 10, a sliding table seat, a pneumatic sliding table 11, a cylinder connecting block 12, a support block 13, a guide sleeve 14, a gripper mounting block 15 and a gripper 16, wherein the connecting column is positioned between the fixed plate and the lifting plate, the connecting column is fixedly connected with the fixed plate, the pneumatic sliding table is arranged on the sliding table seat, the cylinder connecting block is fixedly connected with a sliding block of the pneumatic sliding table, the lifting plate is provided with a through hole, one part of the guide sleeve is positioned above the lifting plate and is in contact with the lifting plate, the other part of the guide sleeve passes through the through hole and is positioned below the lifting plate and is connected with the gripper mounting block, the gripper mounting block is movably connected with the lifting plate, the gripper is fixedly connected on the gripper mounting block, the support block is fixedly connected with the lower surface of the cylinder connecting block, the large end of one end of, and the top of the fixed plate is connected with an output shaft of a rotary electric cylinder of the stroke adjusting device.
Example 2 differs from example 1 in that: the stroke adjusting device further comprises a floating joint 17, an adapter 18, a linear bearing 19, a guide shaft 20, a first sensor 21, a light barrier 22 and a limiting column 23, wherein the floating joint is connected with a piston rod of a first cylinder, the adapter is connected with a piston rod of a second cylinder, the floating joint is matched with the adapter, and the connection between the floating joint and the adapter is realized between the piston rod of the first cylinder and the piston rod of the second cylinder, the air joints of the first cylinder and the second cylinder are respectively provided with a speed regulating valve 24, the linear bearing and the guide shaft are respectively provided with two parts which are respectively positioned on the left and the right of the length direction of the mounting plate, the mounting plate is provided with a shaft hole for the linear bearing to be installed and the guide shaft to pass, a through hole for the light barrier to pass through, one side of each guide shaft is positioned above the mounting plate, the other side of each guide shaft is provided with a limiting ring 25, and the, the two linear bearings are arranged in the shaft holes of the mounting plate and are respectively movably connected with the two guide shafts, one side of the light barrier is connected with the upper surface of the bottom plate, the other side of the light barrier can penetrate through the through hole of the mounting plate and is positioned above the upper surface of the mounting plate, and the first sensor is arranged on the upper surface of the mounting plate and can be arranged in a position matched with the light barrier; grabbing device still include gyro wheel 26, linear guide 27, second sensor 28, extension spring 29, detection needle 30 and connecting plate 31, gyro wheel swing joint on the guide sleeve, the gyro wheel can with support the surface contact of piece, linear guide fixed connection is at the lifter plate lower surface, gripper installation piece swing joint on the linear guide on the lifter plate, detection needle pass the lifter plate with lifter plate swing joint and one end, the second sensor install and just set up on detecting needle motion path at the lifter plate upper surface, the extension spring is connected with gripper installation piece, the spliced pole passes the connecting plate and is connected with the lifter plate.
In the use of the invention, a group of guide sleeves, gripper installation blocks and grippers comprises a left gripper, a right gripper installation block, a left gripper installation block, a right gripper installation block, a left guide sleeve and a right guide sleeve (of course, the guide sleeves, the gripper installation blocks and the grippers can be realized in other modes), which are connected with the left gripper and the right gripper, preferably, the guide sleeves, the gripper installation blocks and the grippers are arranged on the left and the right of the gripping device, because the top of a fixed plate of the gripping device is connected with an output shaft of a rotary electric cylinder of a stroke adjusting device, the output shaft of the rotary electric cylinder is connected and rotated to drive the whole gripping device to rotate, and when a product is put on one side of the fixed plate, the other side of the fixed plate can grip the product under the condition that the guide sleeves. The slide table seat can be arranged on the lifting plate in various ways, for example, in embodiment 1, the slide table seat is connected with the connecting plate, so that different connecting plates are selected according to different positions to enable the slide table seat cushion to reach corresponding heights (the connecting column can be arranged in various ways, for example, in embodiment 1, a connecting column is directly and fixedly connected with the lifting plate, for example, in embodiment 2, the connecting column penetrates through the connecting plate to be connected with the lifting plate, for example, the connecting column is connected with the connecting plate, and the connecting plate and the lifting plate), the pneumatic sliding table is movably connected on the slide table seat and can move linearly, the pneumatic sliding table drives the cylinder connecting block to move and further drives the abutting block to move linearly, the abutting block drives the guide sleeve to move in various ways, for example, the abutting block is positioned between the left guide sleeve and the right guide sleeve to directly contact with the guide sleeve, and because one end of the abutting, in order to better guarantee the movement, the abutting block can have a certain inclination or a certain Morse taper and the like, and in order to guarantee that the distance for driving the guide sleeves on the two sides to move by the abutting block is equal, the inclination or the Morse taper and the like on the two sides of the abutting block need to be symmetrically arranged. In embodiment 2, the guide sleeve is provided with the roller, and the roller is in contact fit with the surface of the abutting block in a rolling contact manner, so that friction with the abutting block is reduced, and meanwhile, the linear guide rail is arranged for movable connection of the gripper mounting block, so that the movement of the abutting block is smoother, and the gripper is stable and free of blocking when opened. The shape of the resisting block is at least set to ensure that when the guide sleeve is far away from each other when the resisting block moves linearly, the left and right mechanical claw mounting blocks are driven to be far away from each other, so that the mechanical claws are driven to be opened (namely, the mechanical claws are far away from each other). As for how to close and clamp the mechanical claw, there are various methods, one of which is to install a resisting block at a proper position of a cylinder installation block outside a left guide sleeve and a right guide sleeve besides a resisting block needed between the left guide sleeve and the right guide sleeve, so that the cylinder installation block reciprocates, and different resisting blocks drive the guide sleeves to move close to each other; another way is that the tension spring is connected with the gripper mounting block in embodiment 2 (the specific tension spring has two ends connected with the left gripper mounting block and the right gripper mounting block, the connection mode can be directly connected with the left gripper mounting block and the right gripper mounting block, or the tension spring mounting blocks are arranged on the left gripper mounting block and the right gripper mounting block for connecting two ends of the tension spring), the tension spring is in a tension state when the larger end of the resisting block is resisting against the guide sleeve to make the gripper mounting block move towards two sides and the gripper is in an open state, so that when the gripper moves from the larger end to the smaller end, the spring gradually contracts under the action of the elastic force to recover the original length, so that the gripper is closed.
The flexible bottom plate place height that can adjust of stroke adjusting device's first cylinder and second cylinder piston rod, the height of adjusting the bottom plate just can be adjusted grabbing device place height, in order to further guarantee the stability of whole elevating movement in-process operation and the accuracy of position, in embodiment 2, it carries out the accurate regulation to set up the flexible speed of governing valve to first cylinder and second cylinder, the governing valve can adopt magnetic switch control, connect through floating joint and adapter between first cylinder and the second cylinder, the flexible bottom plate that drives of first cylinder and second cylinder goes up and down, the guiding axle also can go up and down when the bottom plate goes up and down, guiding axle cooperation linear bearing guarantees can bottom plate linear motion. Spacing collar and spacing post on the guiding axle can be spacing with the linear bearing contact, select guiding axle, spacing collar and/or spacing post of different length to install different positions on the guiding axle according to the stroke needs of difference like this, and spacing post can adopt polyurethane to make, and the preparation material of spacing collar is harder for spacing post. The first sensor and the light barrier cooperate to detect the height of the gripper. These arrangements enable a more accurate adjustment of the height at which the gripper is located.
When the mechanical claw is used, the mechanical claw is in an open state in an initial state, after a product is subjected to plastic packaging and then is precisely punched on the female die, the female die moves to the lower side of the mechanical claw die under the driving of the motor synchronous belt, the extension and contraction of piston rods of the first cylinder and the second cylinder (the maximum stroke when the piston rods of the first cylinder and the second cylinder extend) are actually controlled according to the required stroke, so that the height of the bottom plate is adjusted, the grabbing device is lowered to a grabbing product grade, the pneumatic sliding table moves to enable the mechanical claw to close and clamp the IC lead frame (in the embodiment 1, the mechanical claw is closed by the aid of the special-shaped abutting block, in the embodiment 2, the mechanical claw mounting block resets under the action of the tension spring, the mechanical claw is closed, and the IC lead frame slightly deforms under the pre. Set up the detection needle in embodiment 2, because the detection needle passes the lifter plate with lifter plate swing joint and one end, consequently will detect that the needle jack-up is linear motion and blocks the second sensor when grabbing the IC lead frame, produce the signal and detect and snatch the product. The rotary electric cylinder drives the grabbing device to rotate, the pneumatic sliding table moves, the mechanical claw is opened, so that the IC lead frame is accurately placed into the material receiving box, then the cylinder is controlled to enable the grabbing device to ascend, and the whole mechanism returns to the initial state.
It should be understood by those skilled in the art that the protection scheme of the present invention is not limited to the above-mentioned embodiments, and various permutations, combinations and permutations may be made on the above-mentioned embodiments. For example, the center of the top fixing plate is provided with a wire arranging hole for the wire to pass through, so that the wire is prevented from being scattered. Various modifications of the invention are possible without departing from the spirit of the invention and are within the scope of the invention.
Claims (1)
1. A rotatory grabbing device of multiple stroke for semiconductor package equipment which characterized in that: the device comprises a stroke adjusting device and a grabbing device, wherein the stroke adjusting device comprises a top plate, a support column, an installation plate, a first air cylinder, a second air cylinder, a bottom plate and a rotary electric cylinder, the support column is fixedly connected between the lower surface of the top plate and the upper surface of the installation plate, the first air cylinder is installed on the lower surface of the top plate, an opening is formed in the center of the installation plate, the second air cylinder penetrates through the opening and is installed on the upper surface of the bottom plate, a piston rod of the first air cylinder and a piston rod of the second air cylinder are opposite to each other, the piston rod of the first air cylinder is connected with the piston rod of the second air cylinder, and the; the gripping device comprises a fixed plate, a connecting column, a lifting plate, a pneumatic sliding table, a cylinder connecting block, a resisting block, a guide sleeve, a mechanical claw mounting block and a mechanical claw, the connecting column is positioned between the fixed plate and the lifting plate and is fixedly connected with the fixed plate, the pneumatic sliding table is arranged on the sliding table seat, the cylinder connecting block is fixedly connected with the sliding block of the pneumatic sliding table, the lifting plate is provided with a through hole, one part of the guide sleeve is positioned above the lifting plate and is contacted with the lifting plate, the other part of the guide sleeve passes through the through hole and is positioned below the lifting plate and is connected with the mechanical claw mounting block, the mechanical claw mounting block is movably connected with the lifting plate, the mechanical claw is fixedly connected on the mechanical claw mounting block, the supporting block is fixedly connected to the lower surface of the cylinder connecting block, one end of the supporting block is large, the other end of the supporting block is small, the side face of the supporting block is matched with the guide sleeve, and the top of the fixing plate is connected with an output shaft of a rotary electric cylinder of the stroke adjusting device; the stroke adjusting device further comprises a floating joint, an adapter, a linear bearing, a guide shaft, a first sensor, a light barrier and a limiting column, wherein the floating joint is connected with a piston rod of a first cylinder, the adapter is connected with a piston rod of a second cylinder, the floating joint is matched with the adapter, and the connection between the floating joint and the adapter is realized between the piston rod of the first cylinder and the piston rod of the second cylinder, the air joints of the first cylinder and the second cylinder are respectively provided with a speed regulating valve, the linear bearing and the guide shaft are respectively provided with two parts which are respectively positioned at the left and the right of the length direction of the mounting plate, the mounting plate is provided with a shaft hole for the linear bearing to be installed and the guide shaft to pass, a through hole for the light barrier to pass through, one side of each guide shaft is positioned above the mounting plate, the side of each guide shaft is provided with a limiting ring, and the other side, the two linear bearings are arranged in the shaft holes of the mounting plate and are respectively movably connected with the two guide shafts, one side of the light barrier is connected with the upper surface of the bottom plate, the other side of the light barrier can penetrate through the through hole of the mounting plate and is positioned above the upper surface of the mounting plate, and the first sensor is arranged on the upper surface of the mounting plate and can be arranged in a position matched with the light barrier; grabbing device still include gyro wheel, linear guide, second sensor, extension spring, detection needle and connecting plate, gyro wheel swing joint on the guide sleeve, the gyro wheel can with the surface contact who supports the piece, linear guide fixed connection is at the lifter plate lower surface, gripper installation piece swing joint on the linear guide on the lifter plate, detection needle and lifter plate swing joint and one end pass the lifter plate, the second sensor install and set up on detecting needle motion path at the lifter plate upper surface, the extension spring is connected with gripper installation piece, the spliced pole passes the connecting plate and is connected with the lifter plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636577.6A CN109748098B (en) | 2018-12-29 | 2018-12-29 | Multi-stroke rotary grabbing device for semiconductor packaging equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636577.6A CN109748098B (en) | 2018-12-29 | 2018-12-29 | Multi-stroke rotary grabbing device for semiconductor packaging equipment |
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| CN109748098A CN109748098A (en) | 2019-05-14 |
| CN109748098B true CN109748098B (en) | 2021-02-26 |
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| CN201811636577.6A Active CN109748098B (en) | 2018-12-29 | 2018-12-29 | Multi-stroke rotary grabbing device for semiconductor packaging equipment |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153669A (en) * | 2019-05-30 | 2019-08-23 | 福建省石狮市中兴科技有限公司 | A kind of object type-setting machine and method |
| CN110606367B (en) * | 2019-09-20 | 2024-04-09 | 天通吉成机器技术有限公司 | Floating grabbing device and powder forming product production line |
| CN111244002B (en) * | 2020-03-25 | 2022-07-29 | 铜陵富仕三佳机器有限公司 | Grabbing manipulator for packaging IC chip |
| CN112622203B (en) * | 2020-12-25 | 2023-02-10 | 铜陵富仕三佳机器有限公司 | Separation device and method for flat pin-free packaging lead frame and plastic packaging runner |
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| CN109748098A (en) | 2019-05-14 |
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Denomination of invention: Multi-stroke rotary gripper for semiconductor packaging equipment Effective date of registration: 20220829 Granted publication date: 20210226 Pledgee: Tongling Rural Commercial Bank Co.,Ltd. Pledgor: TONGLING FUSHI SANJIA MACHINE Co.,Ltd. Registration number: Y2022980013783 |
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Date of cancellation: 20230614 Granted publication date: 20210226 Pledgee: Tongling Rural Commercial Bank Co.,Ltd. Pledgor: TONGLING FUSHI SANJIA MACHINE Co.,Ltd. Registration number: Y2022980013783 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Multi stroke rotary gripper for semiconductor packaging equipment Effective date of registration: 20230626 Granted publication date: 20210226 Pledgee: Tongling Rural Commercial Bank Co.,Ltd. Pledgor: TONGLING FUSHI SANJIA MACHINE Co.,Ltd. Registration number: Y2023980045784 |