CN114536304A - Intelligent mechanical gripper - Google Patents
Intelligent mechanical gripper Download PDFInfo
- Publication number
- CN114536304A CN114536304A CN202111591327.7A CN202111591327A CN114536304A CN 114536304 A CN114536304 A CN 114536304A CN 202111591327 A CN202111591327 A CN 202111591327A CN 114536304 A CN114536304 A CN 114536304A
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- CN
- China
- Prior art keywords
- gripper
- cylinder
- mechanical gripper
- intelligent mechanical
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 239000000463 material Substances 0.000 claims abstract description 43
- 238000003466 welding Methods 0.000 claims abstract description 40
- 210000000078 claw Anatomy 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 10
- 239000004065 semiconductor Substances 0.000 abstract description 4
- 238000004806 packaging method and process Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 abstract 3
- 230000009711 regulatory function Effects 0.000 abstract 1
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L24/00—Arrangements for connecting or disconnecting semiconductor or solid-state bodies; Methods or apparatus related thereto
- H01L24/80—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected
- H01L24/85—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected using a wire connector
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L2224/00—Indexing scheme for arrangements for connecting or disconnecting semiconductor or solid-state bodies and methods related thereto as covered by H01L24/00
- H01L2224/80—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected
- H01L2224/85—Methods for connecting semiconductor or other solid state bodies using means for bonding being attached to, or being formed on, the surface to be connected using a wire connector
- H01L2224/858—Bonding techniques
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Wire Processing (AREA)
Abstract
The invention relates to the technical field of semiconductor packaging lead bonding, in particular to an intelligent mechanical gripper, the mechanical gripper comprises a base used for being connected with a traction mechanism in a welding wire feeding equipment cabinet body and a signal processing device used for receiving a control signal to act, the base is provided with a hand grip part for gripping new welding wires on a material storage disc in the cabinet body, the hand grip part comprises two material gripping claws which are oppositely arranged, the base is also provided with a first driving mechanism for controlling the two material grabbing claws to mutually approach or separate, a steering mechanism for controlling the rotation of the gripper part, and a second driving mechanism for controlling the gripper part to approach or separate from the material storage disc, under the prerequisite of accomplishing the conventional function of snatching, possess good removal regulatory function, can adapt to the internal narrow and small space of cabinet better, the suitability is stronger.
Description
Technical Field
The invention relates to the technical field of semiconductor packaging lead bonding, in particular to an intelligent mechanical gripper.
Background
In a semiconductor package test, a bonding wire is an important material used for wire bonding, for example, chinese patent application publication No. CN111063622A discloses an efficient welding method for a semiconductor package, which includes the following steps: selecting a multi-purpose bobbin, a multi-hole threading pipe, a multi-head conduit and a multi-welding wire groove chopper which are matched according to the number of welding wires of a product; fixing a multi-purpose spool and transmitting welding wires; welding wires on the chip; forming a wire arc; and welding frame pins. The welding method can finish single welding of a plurality of welding wires for a single product, and the welding wire operation efficiency is improved with high efficiency; by the welding method, when a plurality of welding wires are welded once, the reserved space and space of the traditional welding mode can be avoided, higher design space is brought to the design of the chip nip region, and meanwhile, the welding wires with thicker wire diameters can be accommodated in the original chip nip region, so that the requirement of higher conduction current is met.
The traditional welding wire is released manually, namely manually, the work intensity is high, and the releasing efficiency is low. Some material sending devices special for welding wires appear in recent years, the material sending devices generally comprise a cabinet body, the cabinet body is provided with a material sending port for sending new welding wires and a material receiving port for recovering old welding wires, a material storage disc for storing the new welding wires and a material receiving box for recovering the old welding wires are arranged in the cabinet body, a mechanical gripper and a traction mechanism for controlling the mechanical gripper to move are arranged beside the material receiving box, the mechanical gripper is used for grabbing the new welding wires and then is driven by the traction mechanism to be conveyed to the material sending port for being manually taken away, and computer control equipment for controlling the mechanical gripper to act is further arranged on the cabinet body.
In actual design, the storage trays are arranged in the cabinet body as much as possible, so that the space for the mechanical gripper to move is limited, the existing mechanical gripper is simple in structure and single in function, the use in narrow space cannot be met, and the cabinet body is often provided with a part of space for the mechanical gripper to move, so that the space waste is caused.
Disclosure of Invention
In view of this, the invention aims to provide an intelligent mechanical gripper, which has an excellent movement adjusting function, can better adapt to a narrow space in a cabinet body and has stronger applicability on the premise of completing a conventional gripping function.
In order to achieve the purpose, the intelligent mechanical gripper provided by the invention adopts the following technical scheme:
the utility model provides an intelligent mechanical tongs, is including the signal processing apparatus that is used for connecting the internal base of drive mechanism of welding wire feeding equipment cabinet and is used for receiving the control signal of the computer control equipment of welding wire feeding equipment in order to move, be provided with the tongs portion that is used for snatching the new welding wire on the internal material stock dish of cabinet on the base, tongs portion includes two mutual material grabs claws of arranging, still arranged the first actuating mechanism, control tongs portion pivoted steering mechanism, the control tongs portion that two material grabs claws of control are close to each other or keep away from on the base and be close to or keep away from the second actuating mechanism of material stock dish.
Further, be provided with the vertical motor that the output shaft faces up on the base, the output shaft of vertical motor is equipped with through the shaft coupling and places the board, places and is fixed with on the board first actuating mechanism, second actuating mechanism and the tongs portion, vertical motor, shaft coupling constitute steering mechanism.
Further, the steering mechanism further comprises a protective sleeve arranged outside the coupling.
Further, the cylinder that the level extends is arranged on placing the board, the output orientation of cylinder deposit the charging tray and arrange, just the output of cylinder is fixed with the fixing base, arrange on the fixing base first actuating mechanism with the tongs portion, placing board and cylinder constitution second actuating mechanism.
Further, the cylinder is a double-rod cylinder, and the fixing seat is connected with two output ends of the double-rod cylinder simultaneously.
Further, first actuating mechanism is including connecting the mounting bracket on the fixing base, the horizontal motor that the output shaft transversely extended is arranged to the one end of mounting bracket, the output shaft of horizontal motor is equipped with the screw rod, the mounting bracket has the confession of keeping away from horizontal motor the screw rod dorsad the riser above the horizontal motor is assembled through the bearing rotation to the one end, fixed arrangement has one of them on the riser the gripper, and this gripper of definition is motionless gripper, be equipped with another gripper on the screw rod, this gripper of definition is for moving gripper, arranged on the mounting bracket signal processing device.
Further, still arranged on the mounting bracket two with the deflector that screw rod length extending direction is the same, every all be provided with the guide rail on the deflector, move the dorsad of grabbing material claw the one end of depositing the charging tray is connected with the mounting panel, the mounting panel have two respectively with two guide rail direction complex guide blocks, all have on every guide block with the draw-in groove of guide rail correspondence joint.
Furthermore, the lower end of the mounting plate is also connected with a supporting block for the screw to pass through.
The intelligent mechanical gripper provided by the invention has the beneficial effects that: the intelligent mechanical gripper moves to a storage tray in the welding wire feeding equipment cabinet under the control of the computer control equipment, and the rotation angle of the gripper part can be adjusted through the rotation of the vertical motor, so that the gripper part can grip new welding wires on the storage trays with different placement angles through rotation; the distance between the gripper and the material storage tray can be adjusted through the action of the double-rod cylinder; when the transverse motor rotates, the movable material grabbing claw can be driven to move relative to the fixed material grabbing claw through the rotation of the screw rod; through the arrangement, the intelligent mechanical gripper disclosed by the invention can have a better movement adjusting function, so that the arrangement number of the intelligent mechanical grippers is reduced, the space reserved for the mechanical gripper by a cabinet body is reduced, the intelligent mechanical gripper has an excellent movement adjusting function on the premise of finishing the conventional gripping function, can better adapt to the narrow space in the cabinet body, and is stronger in applicability.
Drawings
FIG. 1 is a schematic external view of the interior of a welding wire dispensing apparatus cabinet to which the intelligent mechanical gripper of the present invention is applied;
FIG. 2 is a first schematic view of the intelligent mechanical gripper connected to a traction mechanism in the cabinet of the welding wire dispensing device provided by the present invention;
FIG. 3 is an enlarged schematic view at A in FIG. 2;
FIG. 4 is a second schematic view of the intelligent mechanical gripper of the present invention coupled to a traction mechanism within the cabinet of the welding wire dispensing apparatus;
FIG. 5 is an enlarged schematic view at B in FIG. 4;
FIG. 6 is a third schematic view of the intelligent mechanical gripper connected to the traction mechanism in the cabinet of the welding wire dispensing device provided by the present invention;
fig. 7 is an enlarged schematic view at C in fig. 6.
Reference numbers in the figures: 1. a cabinet body; 2. a traction mechanism; 3. a base; 4. a signal processing device; 5. the material grabbing claw is not moved; 6. moving a material grabbing claw; 7. a vertical motor; 8. placing the plate; 9. a protective sleeve; 10. a double-rod cylinder; 11. storing a material tray; 12. a fixed seat; 13. a mounting frame; 14. a transverse motor; 15. a screw; 16. a vertical plate; 17. a guide plate; 19. mounting a plate; 20. a guide block; 21. and (7) a supporting block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
The first embodiment: as shown in fig. 1 to 7, an intelligent mechanical gripper comprises a base 3 for connecting a traction mechanism 2 in a cabinet body 1 of a welding wire feeding device and a signal processing device 4 for receiving a control signal of a computer control device of the welding wire feeding device to act, wherein the base 3 is provided with a gripper for gripping a new welding wire on a storage tray 11 in the cabinet body 1, the gripper comprises two oppositely arranged gripping claws, and the base 3 is further provided with a first driving mechanism for controlling the two gripping claws to be close to or away from each other, a steering mechanism for controlling the gripper to rotate, and a second driving mechanism for controlling the gripper to be close to or away from the storage tray 11.
Be provided with output shaft vertical motor 7 up on the base 3, the output shaft of vertical motor 7 is equipped with through the shaft coupling and places board 8, places and is fixed with on the board 8 first actuating mechanism second actuating mechanism and tongs portion, vertical motor 7, shaft coupling constitute steering mechanism.
The steering mechanism further comprises a protective sleeve 9 arranged outside the coupling.
The device is characterized in that a horizontally extending cylinder is arranged on the placing plate 8, the output end of the cylinder faces the material storage plate 11, a fixed seat 12 is fixed at the output end of the cylinder, the first driving mechanism and the gripper portion are arranged on the fixed seat 12, and the placing plate 8 and the cylinder form the second driving mechanism.
The cylinder is double-rod cylinder 10, and fixing base 12 is connected simultaneously two output ends of double-rod cylinder 10.
The first driving mechanism comprises a mounting frame 13 connected to the fixed seat 12, a transverse motor 14 with an output shaft extending transversely is arranged at one end of the mounting frame 13, a screw 15 is assembled on the output shaft of the transverse motor 14, the mounting frame 13 is provided with a vertical plate 16 which is far away from the transverse motor 14 and is used for enabling one end of the screw 15, back to the transverse motor 14, to be rotatably assembled on the vertical plate through a bearing, one of the material grabbing claws is fixedly arranged on the vertical plate 16, the material grabbing claw is defined as a fixed material grabbing claw 5, the other material grabbing claw is assembled on the screw 15, the material grabbing claw is defined as a movable material grabbing claw 6, and the signal processing device 4 is arranged on the mounting frame 13.
Still arranged on the mounting bracket 13 two with 15 length extending direction the same deflectors 17 of screw rod, every all be provided with the guide rail on the deflector 17, move the dorsad of grabbing material claw 6 the one end of depositing material dish 11 is connected with mounting panel 19, mounting panel 19 have two respectively with two guide rail direction complex guide blocks 20, all have on every guide block 20 with the draw-in groove of guide rail correspondence joint.
The lower end of the mounting plate 19 is also connected with a supporting block 21 for the screw 15 to pass through.
The working principle of the intelligent mechanical gripper provided by the invention is as follows: the intelligent mechanical gripper moves to the storage tray 11 in the welding wire feeding equipment cabinet body 1 under the control of the computer control equipment, and the rotation angle of the gripper part can be adjusted through the rotation of the vertical motor 7, so that the gripper part can grip new welding wires on the storage tray 11 with different placement angles through rotation; the distance between the gripper and the material storage tray 11 can be adjusted through the action of the double-rod cylinder 10; when the transverse motor 14 rotates, the movable material grabbing claw 6 can be driven to move relative to the fixed material grabbing claw 5 through the rotation of the screw 15; through the arrangement, the intelligent mechanical gripper disclosed by the invention can have a better movement adjusting function, so that the arrangement number of the intelligent mechanical grippers is reduced, the space reserved for the mechanical gripper by the cabinet body 1 is reduced, the intelligent mechanical gripper has an excellent movement adjusting function on the premise of finishing the conventional gripping function, can better adapt to the narrow space in the cabinet body, and is stronger in applicability.
Second embodiment:
this embodiment differs from the first embodiment in that the number of guide plates is one, instead of two.
The third embodiment:
the difference between this embodiment and the first embodiment is that both the two gripper claws are movable, and at this time, the screw rods are positive and negative screw rods, and one gripper claw is respectively assembled on the positive thread section and the negative thread section on the positive and negative screw rods.
The fourth embodiment:
the present embodiment differs from the first embodiment in that the cylinder is a single rod cylinder.
In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the principles of the invention as set forth in the appended claims.
Claims (8)
1. The utility model provides an intelligent mechanical tongs which characterized in that: including the control signal that is used for connecting the internal drive mechanism's of welding wire feeding equipment cabinet base and is used for receiving the welding wire feeding equipment's computer control equipment in order to carry out the signal processing device of action, be provided with the tongs portion that is used for snatching the new welding wire on the internal material stock dish of cabinet on the base, tongs portion includes two mutual material claw of grabbing of arranging, still arranged two first actuating mechanism, the control that material claw is close to each other or keep away from on the base, the control hand portion pivoted steering mechanism, the control hand portion of grabbing are close to or keep away from the second actuating mechanism of material stock dish.
2. The intelligent mechanical gripper of claim 1, wherein: the base is provided with a vertical motor with an upward output shaft, the output shaft of the vertical motor is assembled with a placing plate through a coupler, the placing plate is fixed with the first driving mechanism, the second driving mechanism and the gripper, and the vertical motor and the coupler form the steering mechanism.
3. The intelligent mechanical gripper of claim 2, wherein: the steering mechanism further comprises a protective sleeve arranged outside the coupler.
4. The intelligent mechanical gripper of claim 2 or 3, wherein: the device comprises a placing plate, a material storage plate, a first driving mechanism, a gripper portion, a second driving mechanism, a cylinder, a storage plate and a fixing seat, wherein the cylinder extending horizontally is arranged on the placing plate, the output end of the cylinder faces the material storage plate, the fixing seat is fixed at the output end of the cylinder, the first driving mechanism and the gripper portion are arranged on the fixing seat, and the placing plate and the cylinder form the second driving mechanism.
5. The smart mechanical gripper of claim 4, wherein: the cylinder is a double-rod cylinder, and the fixing seat is connected with two output ends of the double-rod cylinder at the same time.
6. The intelligent mechanical gripper of claim 4, wherein: first actuating mechanism is including connecting mounting bracket on the fixing base, the horizontal motor of output shaft horizontal extension is arranged to the one end of mounting bracket, the output shaft of horizontal motor is equipped with the screw rod, the mounting bracket has the confession of keeping away from horizontal motor the screw rod dorsad the riser above the horizontal motor's one end is passed through the bearing and is rotated the assembly, fixed arrangement has one of them on the riser the gripper, this gripper is the motionless gripper of this definition, be equipped with another gripper on the screw rod, this gripper of definition is for moving the gripper, arranged on the mounting bracket signal processing apparatus.
7. The intelligent mechanical gripper of claim 6, wherein: still arranged on the mounting bracket two with the deflector that screw rod length extending direction is the same, every all be provided with the guide rail on the deflector, move the dorsad of grabbing material claw the one end of depositing the charging tray is connected with the mounting panel, the mounting panel have two respectively with two guide rail direction complex guide blocks, all have on every guide block with the draw-in groove of guide rail correspondence joint.
8. The intelligent mechanical gripper of claim 7, wherein: the lower end of the mounting plate is also connected with a supporting block for the screw to pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591327.7A CN114536304B (en) | 2021-12-23 | 2021-12-23 | Intelligent mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111591327.7A CN114536304B (en) | 2021-12-23 | 2021-12-23 | Intelligent mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114536304A true CN114536304A (en) | 2022-05-27 |
| CN114536304B CN114536304B (en) | 2024-06-21 |
Family
ID=81670010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111591327.7A Active CN114536304B (en) | 2021-12-23 | 2021-12-23 | Intelligent mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114536304B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514681A (en) * | 2016-12-29 | 2017-03-22 | 金石机器人常州股份有限公司 | Combined gripper for engine cylinder head |
| CN206125529U (en) * | 2016-06-17 | 2017-04-26 | 江苏兴海特钢有限公司 | Cylindricality welding wire baling press |
| CN206170111U (en) * | 2016-10-31 | 2017-05-17 | 赵德政 | There is continuously machinery of power of gripping hold in hand |
| CN213445041U (en) * | 2020-09-28 | 2021-06-15 | 天津市永昌焊丝有限公司 | Welding wire handling device |
| CN215037468U (en) * | 2021-01-27 | 2021-12-07 | 安徽驰轶机械制造有限公司 | Novel mechanical gripper |
-
2021
- 2021-12-23 CN CN202111591327.7A patent/CN114536304B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206125529U (en) * | 2016-06-17 | 2017-04-26 | 江苏兴海特钢有限公司 | Cylindricality welding wire baling press |
| CN206170111U (en) * | 2016-10-31 | 2017-05-17 | 赵德政 | There is continuously machinery of power of gripping hold in hand |
| CN106514681A (en) * | 2016-12-29 | 2017-03-22 | 金石机器人常州股份有限公司 | Combined gripper for engine cylinder head |
| CN213445041U (en) * | 2020-09-28 | 2021-06-15 | 天津市永昌焊丝有限公司 | Welding wire handling device |
| CN215037468U (en) * | 2021-01-27 | 2021-12-07 | 安徽驰轶机械制造有限公司 | Novel mechanical gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114536304B (en) | 2024-06-21 |
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