CN114683255B - Integrated circuit chip picking manipulator - Google Patents
Integrated circuit chip picking manipulator Download PDFInfo
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- CN114683255B CN114683255B CN202210606050.9A CN202210606050A CN114683255B CN 114683255 B CN114683255 B CN 114683255B CN 202210606050 A CN202210606050 A CN 202210606050A CN 114683255 B CN114683255 B CN 114683255B
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- picking
- clamping
- manipulator
- rod
- integrated circuit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention relates to the technical field of manipulators, in particular to an integrated circuit chip picking manipulator, which comprises an upright post and also comprises: the picking moving mechanism is positioned on the upright post; the cross support frame is rotationally connected with the picking moving mechanism; the clamping telescopic cylinder is fixedly arranged on the cross-shaped support frame, and the picking mechanical arms are rotatably arranged on the clamping telescopic cylinder; the sector toothed plate is connected with the picking mechanical arm; the clamping driving mechanism is positioned on the cross-shaped supporting frame; the clamping driving mechanism comprises an adjusting assembly, a telescopic assembly, a driving tooth column and a sliding notch; the integrated circuit chip picking manipulator can flexibly control the using amount of the picking manipulator to clamp and pick chips with different structures, avoid the manipulator from being replaced back and forth to influence the working efficiency, and can ensure the stability in the clamping and moving processes.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an integrated circuit chip picking manipulator.
Background
The manipulator is a novel device developed in the process of mechanization and automation production, in the process of modern production, the manipulator is widely applied to automatic production lines, the development and production of the manipulator become high-technology neighborhoods, a new technology is rapidly developed, the development of the manipulator is promoted, the manipulator can be better organically combined with mechanization and automation, in the detection process of integrated circuit chips, the manipulator is often required to pick up to replace manpower, and the purpose of automatic detection of the chips is achieved.
The existing integrated circuit chip picking mechanical arm is in the process of picking up a chip, two sets of mechanical arms which are arranged oppositely are often adopted at a chip picking position, so that the chip is clamped and then picked up, but the picking position is unstable in clamping the chip with a circular or trapezoidal structure and the like, even the situation of clamping failure can occur, the mechanical arm is complex to replace back and forth, the use is very limited, the practicability and flexibility of equipment are reduced, and therefore, aiming at the current situation, the integrated circuit chip picking mechanical arm is urgently required to be developed, and the defects in the current practical application are overcome.
Disclosure of Invention
The present invention is directed to an integrated circuit chip pick-up robot, which solves the above-mentioned problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an integrated circuit chip picks up manipulator, includes the stand, install the backup pad on the stand, still include:
a pickup moving mechanism located on the support plate;
the cross support frame is rotationally connected with the picking moving mechanism;
the clamping telescopic cylinder is mounted on the cross-shaped support frame, a plurality of damping units are uniformly distributed on the clamping telescopic cylinder in the circumferential direction, and each damping unit is rotatably provided with a picking manipulator;
the sector toothed plate is connected with the picking mechanical arm; and
the clamping driving mechanism is positioned on the cross-shaped supporting frame and is matched with the sector toothed plate for installation;
the clamping driving mechanism comprises an adjusting assembly, a telescopic assembly, a driving toothed column and sliding notches, the driving toothed column is slidably mounted in the clamping telescopic cylinder, a plurality of sliding notches are formed in the side wall of the driving toothed column, the driving toothed column is also connected with the telescopic assembly, the telescopic assembly is located on the cross-shaped support frame, the telescopic assembly drives the driving toothed column to move in the clamping telescopic cylinder, the driving toothed column drives the fan-shaped toothed plate to rotate on the damping unit, the fan-shaped toothed plate drives the picking manipulator to rotate, and the picking manipulators can pick up chips in a mode of rotating towards the center simultaneously;
still be equipped with adjusting part on the flexible subassembly, adjusting part orders about drive tooth post and slip breach at the flexible section of thick bamboo internal rotation of centre gripping, and drive tooth post and slip breach realize picking up the regulation of manipulator picking up the state through the mode that changes the relation of connection with fan-shaped pinion rack.
Compared with the prior art, the invention has the beneficial effects that:
in the process of picking and detecting the integrated circuit chip, the upright post can be arranged on a designated workbench, the mounting mode can adopt a connecting structure form that a flange is matched with a bolt, a controller is also arranged on the upright post, the picking and moving mechanism and the clamping driving mechanism can be subjected to parameter setting and control, when the chip needs to be picked, the picking and moving mechanism can drive the cross-shaped support frame to move on the plane of the workbench so as to drive the clamping telescopic cylinder and the picking mechanical arm to move synchronously, wherein the number of the picking mechanical arms is four, after the chip is arranged at the middle part of the four picking mechanical arms, the telescopic assembly is started to drive the driving toothed column to move upwards, and due to the meshing connection between the driving toothed column and the sector toothed plate, the picking mechanical arm can be driven to rotate anticlockwise on the damping unit until the bottom end of the picking mechanical arm is contacted with the chip, so as to just clamp the chip, therefore, the chip with square and round structures can be picked up and detected, and the four sets of picking manipulators can ensure the stability in the clamping and moving processes, when the structure of the chip is of a rectangular or trapezoidal structure and the like, the four sets of picking manipulators can not work simultaneously, and can be driven by manpower through the arranged adjusting assembly, so that the driving toothed column can be driven to rotate for a certain angle in the clamping telescopic cylinder, the sliding notch is contacted with the two sets of sector toothed plates, the two sets of sector toothed plates and the driving toothed column are in a non-meshed state, the two sets of picking manipulators can be still in an opening state through the arranged damping unit, at the moment, the telescopic assembly is started, the driving toothed column can be pulled to move upwards, and under the matching work of the driving toothed column and the sliding notch, the two sets of picking manipulators on opposite surfaces can only rotate anticlockwise, thereby can carry out the centre gripping to the both sides wall of rectangle or trapezium structure chip to the realization is to picking up and the removal work of chip, easy operation can control four sets in a flexible way and pick up the quantity that the manipulator drops into use, with the realization to the centre gripping of isostructure chip and pick up work, avoids making a round trip to change the manipulator, influences the efficiency of detection achievement, and can guarantee centre gripping and the steadiness of removal in-process, has improved the practicality and the flexibility of equipment, is worth promoting.
Drawings
Fig. 1 is a schematic overall perspective view in an embodiment of the present invention.
Fig. 2 is a schematic front view of a pickup moving mechanism according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a portion a of the mobile robot arm in fig. 2 according to an embodiment of the invention.
Fig. 4 is a front view schematically illustrating a holding robot portion according to an embodiment of the present invention.
Fig. 5 is a schematic perspective sectional view of a portion of the clamping telescopic cylinder according to an embodiment of the present invention.
Fig. 6 is a schematic top view of a mechanical dial portion in an embodiment of the present invention.
FIG. 7 is an enlarged cross-sectional view of portion A in FIG. 2 according to an embodiment of the present invention.
In the figure: 1-upright column, 2-supporting base, 3-rotating sleeve, 4-controller, 5-damping rotating rod, 6-L type enclosure baffle, 7-tripod, 8-supporting plate, 9-driving motor, 10-moving mechanical arm A, 11-connecting rod A, 12-moving mechanical arm B, 13-connecting rod B, 14-cross supporting frame, 15-clamping telescopic cylinder, 16-picking mechanical arm, 17-clamping head, 18-mounting frame, 19-picking piece, 20-picking push-pull rod, 21-rotating seat, 22-supporting lug plate, 23-damping toothed plate, 24-sector, 25-first spring, 26-driving toothed column, 27-sliding notch, 28-mechanical adjusting plate, 29-limiting notch, 30-a limiting cylinder, 31-a tightening rod, 32-a second spring and 33-a deflector rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Referring to fig. 1-7, an embodiment of the present invention provides an ic chip pick-up robot, including an upright post 1, a support plate 8 mounted on the upright post 1, further including:
a pickup moving mechanism which is located on the support plate 8;
the cross support frame 14 is rotationally connected with the picking moving mechanism;
the clamping telescopic cylinder 15 is installed on the cross-shaped support frame 14, a plurality of damping units are uniformly distributed on the clamping telescopic cylinder 15 in the circumferential direction, and each damping unit is rotatably provided with a picking manipulator 16;
a sector-shaped toothed plate 24, said sector-shaped toothed plate 24 being connected with said pick-up robot 16; and
the clamping driving mechanism is positioned on the cross support frame 14 and is matched with the sector toothed plate 24 for installation;
the clamping driving mechanism comprises an adjusting assembly, a telescopic assembly, a driving toothed column 26 and sliding notches 27, the driving toothed column 26 is slidably mounted in the clamping telescopic cylinder 15, the side wall of the driving toothed column 26 is provided with a plurality of sliding notches 27, the driving toothed column 26 is also connected with the telescopic assembly, the telescopic assembly is located on the cross support frame 14, the telescopic assembly drives the driving toothed column 26 to move in the clamping telescopic cylinder 15, the driving toothed column 26 drives the sector toothed plate 24 to rotate on the damping unit, the sector toothed plate 24 drives the picking manipulator 16 to rotate, and the picking manipulators 16 can pick up chips in a mode of rotating towards the center simultaneously;
the telescopic assembly is further provided with an adjusting assembly, the adjusting assembly drives the driving toothed column 26 and the sliding notch 27 to rotate in the clamping telescopic cylinder 15, and the driving toothed column 26 and the sliding notch 27 realize the adjustment of the picking state of the picking manipulator 16 in a mode of changing the connection relation with the sector toothed plate 24.
In the process of picking and detecting the integrated circuit chip, the upright post 1 can be installed on a designated workbench, the installation mode can adopt a connection structure form that a flange is matched with a bolt, wherein the upright post 1 is also provided with a controller 4 which can set and control parameters of a picking moving mechanism and a clamping driving mechanism, when the chip needs to be picked, the cross support frame 14 can be driven to move on the plane of the workbench through the arranged picking moving mechanism, so as to drive the clamping telescopic cylinder 15 and the picking manipulator 16 to synchronously move, wherein the number of the picking manipulators 16 is four, when the chip is arranged at the middle position of the four sets of the picking manipulators 16, the telescopic assembly is started, the driving toothed column 26 can be driven to move upwards, and the picking manipulator 16 can be driven to rotate anticlockwise on the damping unit due to the meshing connection between the driving toothed column 26 and the sector toothed plate 24, until the bottom end of the picking manipulator 16 contacts with the chip, the chip can be just clamped, so that the chips with square and round structures can be picked and detected, and the stability in the clamping and moving process can be ensured by the four sets of picking manipulators 16, when the chip structure is a rectangle or trapezoid structure, the four sets of picking manipulators 16 can not work simultaneously, the four sets of picking manipulators can be driven by manpower by the arranged adjusting components, so that the driving toothed column 26 can be driven to rotate for a certain angle in the clamping telescopic cylinder 15, the sliding notch 27 is contacted with the two sets of sector toothed plates 24, the two sets of sector toothed plates 24 and the driving toothed column 26 are in a non-meshed state, the two sets of picking manipulators 16 can be ensured to be still in an open state by the arranged damping unit, at the moment, the telescopic components are started, the driving toothed column 26 can be pulled to move upwards, under drive tooth post 26 and the cooperation work of slip breach 27, only can make in addition be in two sets of picking up the manipulator 16 anticlockwise rotations on the relative face, thereby can carry out the centre gripping to the both sides wall of rectangle or trapezium structure chip, in order to realize picking up and moving work to the chip, and the operation is simple, can control four sets of picking up the quantity that manipulator 16 put into use in a flexible way, in order to realize the centre gripping and picking up work to different structure chips, avoid making a round trip to change the manipulator, influence the efficiency of detection achievement, and can guarantee the steadiness of centre gripping and removal in-process, the practicality and the flexibility of equipment have been improved, and the device is worth promoting.
In one embodiment of the present invention, referring to fig. 2, 4 and 5, the telescopic assembly includes:
the mounting frame 18 is positioned on the cross support frame 14, and a picking piece 19 is mounted on the mounting frame 18;
a picking push-pull rod 20, wherein one end of the picking push-pull rod 20 is rotatably connected with the output end of the picking member 19, the picking push-pull rod 20 penetrates through the cross support frame 14 and the other end of the clamping telescopic cylinder 15 to be connected with the picking manipulator 16, and the picking push-pull rod 20 is respectively connected with the cross support frame 14 and the clamping telescopic cylinder 15 in a sliding manner; and
the first spring 25 is sleeved on the picking push-pull rod 20, and the first spring 25 is positioned between the clamping telescopic cylinder 15 and the driving toothed column 26.
Referring to fig. 2, 6 and 7, the adjusting assembly includes:
a mechanical adjustment disc 28, wherein the mechanical adjustment disc 28 is connected with the pick-up push-pull rod 20;
a plurality of limiting notches 29, wherein the number of the limiting notches 29 is several, the limiting notches 29 are all arranged on the mechanical adjusting disc 28, and the limiting notches 29 are matched with the sliding notches 27; and
a positioning unit connected with the mounting frame 18 and detachably connected with the limiting notch 29.
The positioning unit includes: the limiting cylinder 30, the limiting cylinder 30 is positioned on the mounting rack 18;
one end of the jacking rod 31 is sleeved in the limiting cylinder 30, and the other end of the jacking rod 31 is detachably connected with the limiting notch 29;
the two ends of the second spring 32 are respectively connected with the mounting frame 18 and the tightening rod 31; and
and the shift lever 33, wherein the shift lever 33 is positioned at the other end of the tightening rod 31.
The picking member 19 is started, wherein the picking member 19 can adopt a telescopic cylinder or a forward and reverse rotating motor, so as to drive the picking push-pull rod 20 to move upwards, at the moment, the first spring 25 is in a gradually compressed state, so that the picking manipulator 16 can slowly move towards the chip in the process of centripetal clamping, a damping effect is achieved, a large impact force is prevented from being generated between the picking manipulator 16 and the chip, the picking manipulator 16 and the chip can be quickly separated after the chip reaches a specified position, when the using state of the picking manipulator 16 needs to be changed, the poking rod 33 is manually pulled, the jacking rod 31 can move towards the limiting cylinder 30, the second spring 32 is in a compressed state, and after the jacking rod 31 is completely separated from the limiting notches 29, wherein the number of the limiting notches 29 is three, and the poking rod corresponds to four sets of picking manipulators 16 and are simultaneously used, The limiting function when two sets of the picking push-pull rods 20 are put into use and the other two sets of the picking push-pull rods 31 are put into use can be achieved by rotating the mechanical adjusting disc 28 manually, so that the picking push-pull rod 20 can rotate, the sliding notch 27 can rotate to the two sets of the sector toothed plates 24, at the moment, the tightening rod 31 just faces the other two sets of the limiting notches 29, when the external force action on the shifting rod 33 is removed, the tightening rod 31 can be tightly pressed in the limiting notches 29 under the thrust action of the second spring 32, the contact state of the sliding notch 27 and the sector toothed plates 24 can be guaranteed not to change through the limiting function of the limiting notches 29, and when the picking push-pull rod 20 moves upwards, the mechanical adjusting disc 28 can be driven to move upwards synchronously, and the tightening rod 31 can slide in the limiting notches 29, so that the limiting function can be kept all the time.
In one embodiment of the present invention, referring to fig. 2 and 4, the damping unit includes:
the supporting lug plates 22 are circumferentially and uniformly distributed on the clamping telescopic cylinder 15; and
and the damping piece 23 is connected with the supporting lug plate 22 and the sector toothed plate 24 respectively.
Referring to fig. 2 and 4, the method further includes: the rotating seat 21, the rotating seat 21 is connected with the bottom end of the picking manipulator 16; and
the clamping head 17, the clamping head 17 with rotate the seat 21 and rotate and be connected, just also be equipped with between clamping head 17 and the seat 21 of rotating damping piece 23.
Through the damping piece 23 that sets up, wherein damping piece 23 can adopt the form of torsional spring, when fan-shaped pinion rack 24 and sliding notch 27 contact, make pick-up manipulator 16 who corresponds with it keep open state and do not change, in order to avoid causing the interference to the work of centre gripping chip, and through clamping head 17 and rotation seat 21 cooperation work, when clamping head 17 and chip contact, can make the torsional spring that rotates between seat 21 and the clamping head 17 take place certain deformation, avoid causing too strong extrusion to the chip, in addition, when picking up the chip that the size is a little big, rotate certain angle with clamping head 17, can guarantee the smooth centre gripping of chip.
In one embodiment of the present invention, referring to fig. 1-3, the pickup moving mechanism includes:
the tripod 7 is connected with the supporting plate 8, and a plurality of driving motors 9 are further arranged on the tripod 7;
one end of the moving mechanical arm A10 is connected with the output end of the driving motor 9, and the other end of the moving mechanical arm A10 is rotatably provided with a connecting rod A11;
a moving mechanical arm B12, wherein one end of the moving mechanical arm B12 is rotatably connected with the end part of the connecting rod A11; and
the connecting rod B13, the connecting rod B13 is rotatably connected with the cross bracing frame 14, and the connecting rod B13 is also rotatably connected with the other end of the mobile mechanical arm B12.
Through the tripod 7 that sets up, can set up three driving motor 9 on tripod 7, when one of them set of driving motor 9 starts, can drive the removal arm A10 rotation that corresponds with it to drive and remove arm B12 and remove, thereby can make the cross bracing frame 14 remove to a certain direction, three sets of driving motor 9 start simultaneously, through the size of controlling its rotational speed, can make the vertical upwards or downwards movement of cross bracing frame 14, thereby can drive and pick up the chip that manipulator 16 will be located the workstation and pick up.
In an embodiment of the present invention, please refer to fig. 1, which further includes: the supporting base 2 is connected with the upright post 1, and a damping rotating rod 5 is arranged on the supporting base 2;
the rotating sleeve 3 is rotatably connected with the damping rotating rod 5, and the rotating sleeve 3 and the damping rotating rod 5 can be separated; and
the L-shaped baffle plate 6 is connected with the rotating sleeve 3, and the L-shaped baffle plate 6 is further installed in a manner that the picking moving mechanism and the clamping driving mechanism are matched.
Through the support base 2 who sets up, wherein the quantity of support base 2 is two sets, be located the both sides of stand 1 respectively, in equipment non-operating condition or when transporting, in order to avoid bumping and make equipment damage, then can overlap the sleeve 3 cover of rotating on damping bull stick 5, and through two sets of L type enclosure 6 that set up, wherein can be equipped with the structure of lock between two sets of L type enclosure 6, thereby can enclose into a triangle-shaped space, in order to protect whole equipment, when needs short time open equipment, only need to rotate two sets of L type enclosure 6 on damping bull stick 5 through rotating sleeve 3, can expose equipment, when equipment needs long-time work, then only need to rotate sleeve 3 and L type enclosure 6 from damping bull stick 5 take off can, occupy great space when avoiding using.
In conclusion, in the process of picking up and detecting the integrated circuit chip, the upright post 1 can be installed on a designated workbench, the installation mode can adopt a connection structure form of matching a flange and a bolt, wherein the upright post 1 is also provided with a controller 4 which can set and control parameters of a picking-up moving mechanism and a clamping driving mechanism, when the chip needs to be picked up, the cross support frame 14 can be driven to move on the plane of the workbench through the arranged picking-up moving mechanism, so as to drive the clamping telescopic cylinder 15 and the picking-up mechanical arm 16 to move synchronously, wherein the number of the picking-up mechanical arms 16 is four, when the chip is placed in the middle position of the four sets of picking-up mechanical arms 16, the telescopic components are started, the driving toothed column 26 can be driven to move upwards, and due to the meshing connection between the driving toothed column 26 and the sector toothed plate 24, the picking-up mechanical arm 16 can be driven to rotate anticlockwise on the damping unit, until the bottom end of the picking manipulator 16 contacts with the chip, the chip can be just clamped, so that the chips with square and round structures can be picked and detected, and the stability in the clamping and moving process can be ensured by the four sets of picking manipulators 16, when the chip structure is a rectangle or trapezoid structure, the four sets of picking manipulators 16 can not work simultaneously, the four sets of picking manipulators can be driven by manpower by the arranged adjusting components, so that the driving toothed column 26 can be driven to rotate for a certain angle in the clamping telescopic cylinder 15, the sliding notch 27 is contacted with the two sets of sector toothed plates 24, the two sets of sector toothed plates 24 and the driving toothed column 26 are in a non-meshed state, the two sets of picking manipulators 16 can be ensured to be still in an open state by the arranged damping unit, at the moment, the telescopic components are started, the driving toothed column 26 can be pulled to move upwards, under drive tooth post 26 and the cooperation work of slip breach 27, only can make in addition be in two sets of picking up the manipulator 16 anticlockwise rotations on the relative face, thereby can carry out the centre gripping to the both sides wall of rectangle or trapezium structure chip, in order to realize picking up and moving work to the chip, and the operation is simple, can control four sets of picking up the quantity that manipulator 16 put into use in a flexible way, in order to realize the centre gripping and picking up work to different structure chips, avoid making a round trip to change the manipulator, influence the efficiency of detection achievement, and can guarantee the steadiness of centre gripping and removal in-process, the practicality and the flexibility of equipment have been improved.
It should be noted that, in the present invention, unless otherwise specifically stated or limited, the terms "sliding", "rotating", "fixing", "providing", and the like are to be understood in a broad sense, and may be, for example, a welded connection, a bolted connection, or an integral body; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides an integrated circuit chip picks up manipulator, includes the stand, install the backup pad on the stand, its characterized in that still includes:
a pickup moving mechanism located on the support plate;
the cross support frame is rotationally connected with the picking moving mechanism;
the clamping telescopic cylinder is mounted on the cross-shaped support frame, a plurality of damping units are uniformly distributed on the clamping telescopic cylinder in the circumferential direction, and each damping unit is rotatably provided with a picking manipulator;
the sector toothed plate is connected with the picking mechanical arm; and
the clamping driving mechanism is positioned on the cross-shaped supporting frame and is matched with the sector toothed plate for installation;
the clamping driving mechanism comprises an adjusting assembly, a telescopic assembly, a driving toothed column and sliding notches, the driving toothed column is slidably mounted in the clamping telescopic cylinder, a plurality of sliding notches are formed in the side wall of the driving toothed column, the driving toothed column is also connected with the telescopic assembly, the telescopic assembly is located on the cross-shaped support frame, the telescopic assembly drives the driving toothed column to move in the clamping telescopic cylinder, the driving toothed column drives the fan-shaped toothed plate to rotate on the damping unit, the fan-shaped toothed plate drives the picking manipulator to rotate, and the picking manipulators can pick up chips in a mode of rotating towards the center simultaneously;
still be equipped with adjusting part on the flexible subassembly, adjusting part orders about drive tooth post and slip breach at the flexible section of thick bamboo internal rotation of centre gripping, and drive tooth post and slip breach realize picking up the regulation of manipulator picking up the state through the mode that changes the relation of connection with fan-shaped pinion rack.
2. The integrated circuit chip pick robot of claim 1, wherein said retraction assembly comprises:
the mounting frame is positioned on the cross-shaped support frame, and a picking piece is fixedly mounted on the mounting frame;
the picking manipulator is connected with the picking part in a sliding mode, and the picking manipulator is connected with the picking part in a sliding mode; and
the first spring is sleeved on the picking-up push-pull rod and is positioned between the clamping telescopic cylinder and the driving toothed column.
3. The integrated circuit chip pick robot of claim 2, wherein said adjustment assembly comprises:
the mechanical adjusting disc is connected with the picking push-pull rod;
the number of the limiting notches is a plurality, the limiting notches are all arranged on the mechanical adjusting disc, and the limiting notches are matched with the sliding notches; and
and the positioning unit is connected with the mounting frame and is detachably connected with the limiting notch.
4. The integrated circuit chip pick robot of claim 3, wherein the positioning unit comprises:
the limiting cylinder is positioned on the mounting rack;
one end of the jacking rod is sleeved in the limiting cylinder, and the other end of the jacking rod is detachably connected with the limiting notch;
the two ends of the second spring are respectively connected with the mounting frame and the tightening rod; and
and the shifting rod is positioned at the other end of the tightening rod.
5. The IC chip pick-up robot according to any one of claims 1-4, wherein the damping unit comprises:
the supporting ear plates are uniformly distributed on the clamping telescopic cylinder in the circumferential direction; and
the damping piece, the damping piece respectively with support otic placode and fan-shaped pinion rack are connected.
6. The integrated circuit chip pick robot of claim 5, further comprising: the rotating seat is connected with the bottom end of the picking manipulator; and
the clamping head is rotatably connected with the rotating seat, and the damping piece is also arranged between the clamping head and the rotating seat.
7. The ic chip pick robot of claim 1, wherein the pick movement mechanism comprises:
the triangular support is connected with the supporting plate, and a plurality of driving motors are further arranged on the triangular support;
one end of the movable mechanical arm A is connected with the output end of the driving motor, and the other end of the movable mechanical arm A is rotatably provided with a connecting rod A;
one end of the movable mechanical arm B is rotatably connected with the end part of the connecting rod A; and
and the connecting rod B is rotatably connected with the cross-shaped support frame and is also rotatably connected with the other end of the movable mechanical arm B.
8. The integrated circuit chip pick robot of claim 7, further comprising: the supporting base is connected with the upright post, and a damping rotating rod is arranged on the supporting base;
the rotating sleeve is rotatably connected with the damping rotating rod and can be separated from the damping rotating rod; and
the L-shaped surrounding baffle is connected with the rotating sleeve and is also matched with the picking moving mechanism and the clamping driving mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210606050.9A CN114683255B (en) | 2022-05-31 | 2022-05-31 | Integrated circuit chip picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210606050.9A CN114683255B (en) | 2022-05-31 | 2022-05-31 | Integrated circuit chip picking manipulator |
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| CN114683255A CN114683255A (en) | 2022-07-01 |
| CN114683255B true CN114683255B (en) | 2022-08-02 |
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| CN111037544A (en) * | 2018-10-11 | 2020-04-21 | 泰州同升布业有限公司 | Rack and pinion formula manipulator |
| CN215037614U (en) * | 2021-06-04 | 2021-12-07 | 天津鹏晟鸿准精密模具有限公司 | Letter sorting manipulator with buffer function |
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| KR100451412B1 (en) * | 2001-11-09 | 2004-10-06 | 한국과학기술연구원 | Multi-fingered robot hand |
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2022
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| EP0619166A1 (en) * | 1993-04-05 | 1994-10-12 | UNIVER S.p.A. | Pneumatically actuated gripping device |
| CN106625607A (en) * | 2017-01-20 | 2017-05-10 | 常州大学 | Parallel grabbing robot at few degrees of freedom and with temperature recognition function |
| CN111037544A (en) * | 2018-10-11 | 2020-04-21 | 泰州同升布业有限公司 | Rack and pinion formula manipulator |
| CN215037614U (en) * | 2021-06-04 | 2021-12-07 | 天津鹏晟鸿准精密模具有限公司 | Letter sorting manipulator with buffer function |
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