CN1865089A

CN1865089A - Holding claw for packing apparatus

Info

Publication number: CN1865089A
Application number: CNA2006100824257A
Authority: CN
Inventors: 何惕库; 大卫·M·克里斯藤森
Original assignee: Dayuan Semiconductor Packaging Industry Co ltd
Current assignee: Dayuan Semiconductor Packaging Industry Co ltd
Priority date: 2005-05-16
Filing date: 2006-05-16
Publication date: 2006-11-22
Also published as: JP2006321562A; US20060283773A1

Abstract

A method and apparatus for handling sensitive components includes a tray having an array of integral latches. A portion of each latch serves to maintain the components on their respective mounts. The method of using the tray involves displacing the latch with an end effector to enable automated removal of the component from the tray.

Description

The maintenance pawl of packing device

Related application

The application requires to enjoy in the interests of the provisional application of submitting on May 16th, 2,005 60/681294.

Background of invention

During the pallet that is mounted with precise part was transported and handles, these parts can be vibrated, and this vibration can cause them to be subjected to displacement from its bearing.This displacement meeting damages these parts, perhaps can lead to errors during picking up these parts automatically.In addition, when these parts when their bearing moves apart, pallet is rubbed.Repeat friction and can produce the particle that precise part is polluted, therefore, need a kind of like this pallet, this pallet can remain on these precise parts their desired locations in transportation with during handling, and can protect these precise parts to exempt from damage.

Summary of the invention

The present invention relates to a kind of being used for to the parts of precision or the workpiece device handled of electronic unit for example.Workpiece is being processed, can used this device between cleaning or delivery period.

The first embodiment of the present invention is a kind of device that workpiece is handled of being used for, and it comprises a pallet, is connected with bearing in a row and pawl in a row on this pallet.These pawls and pallet form integral body.The part of each pawl and the part of each workpiece are spaced apart.Each pawl has a hook, and this hook is used for each workpiece is remained on its cooresponding bearing.

The invention still further relates to a kind of method of utilizing a manipulator tip during automatic assembling process, to use pallet.Manipulator tip is used for pawl being discharged and workpiece being removed from pallet.

The accompanying drawing summary

Fig. 1 is the schematic perspective view of the pallet of one embodiment of the present invention.

Fig. 2 is the exploded view that contains the part of a workpiece among Fig. 1.

Fig. 3 is the section-drawing of one of them pawl among Fig. 2.

Fig. 4 is the schematic perspective view that is applicable to a manipulator tip of the pallet among Fig. 1.

Fig. 5 is the exploded view of the cam portion of manipulator tip of the present invention.

Fig. 6 is used for from the pallet enlarged drawing of the manipulator tip of the different piece of parts promptly.

Fig. 7 is the scheme drawing that is attached to the tools interfaces of the manipulator tip among Fig. 4.

The detailed description of invention

Now with reference to Fig. 1 and Fig. 2 the present invention is described in detail.Fig. 1 has expressed the pallet 100 with bearing in a row 30, and parts or part parts are placed on the said bearing 30.Fig. 1 has also expressed the optional inclined-plane rib-shaped piece 70 on the rectangle perimeter 75 of pallet 100.The wall relative with peripheral 75 is provided with some recess (not shown), and these recesses are used for receiving rib-shaped piece 70 from one second pallet, piles up so that help.Recess by making one the 3rd pallet matches with the rib-shaped piece 70 on the pallet 100, just can be stacked into the 3rd pallet on the pallet 100.Rib-shaped piece 70 is convenient to the separation of pallet heap.If there is not rib-shaped piece 70, pallet of the present invention will anchor at together, and this just makes said pallet heap be difficult to dismounting.

Pallet 100 has a first type surface 15, and pawl 50 in a row is integrally formed on this first type surface 15.Pawl 50 is more clearly showed in Fig. 2.During assembling, transportation and handling, when workpiece 65 moved with respect to its bearing, the part of pawl 50 just remained on this workpiece 65 in its appropriate location.Bearing 30 and pawl 50 are all perpendicular to the floor 23 of pallet 100.Bearing 30 can have a plurality of shape type in same pallet.For example, in Fig. 2, some bearings 30 are rounded, and other bearing is then roughly rectangular.

Fig. 2 has also expressed some stand-off 27A, 27B that are connected on the first type surface 15.During the transportation and processing of pallet, these stand-

offs

27A, 27B protect workpiece 65 further.Especially, stand-off 27A, 27B and bearing 30,31 x direction/y direction of having limited workpiece moves.In the embodiment shown, stand-off 27A, 27B are positioned at the side of the inside circumference of a workpiece, as shown in Figure 2.

By the operator workpiece artificially is placed on one or more bearings 30 of pallet 100.Fig. 2 has expressed a voice loop 65 and a flexible PCB 68 that is positioned on another bearing that is positioned on the bearing.In this embodiment, pawl 50 is positioned at the side top of voice loop 65.Though in pallet 100, expressed specific disc driver parts,, the workpiece of other type also can be handled by pallet of the present invention.For example, pallet 100 also can be stored the magnetic gimbal element shown in W head, head gimbals, miniature driver and Fig. 2.

The free end of pawl 50 is provided with a hook 52, and this hook 52 slides on a side of workpiece 65.Hook 52 and workpiece 65 are with about 0.002 inch narrow being spaced apart out.Preferably, hook 52 is parallel to the shielding wire of pallet 100.Each pawl preferably is positioned on the side of different workpieces.During transportation or handling, pawl hook 52 stops workpiece 65 to tilt or displacement.Therefore, pawl 50 has guaranteed that workpiece remains on their bearing, and said bearing is positioned at the zone around workpiece, and this zone is known as " space, location ".For example, if workpiece 65 vibrates, so, the hook 52 on the pawl 50 drops down from its bearing with regard to stopping this workpiece 65, thereby workpiece 65 is remained in its ideal position on the bearing.By a pawl 50 and space, location are provided, stop workpiece 65 and pallet 100 to rub.Therefore, workpiece has caused less pollution with respect to limited the moving of its bearing, and this is effectively to be avoided producing the cause of particle owing to wearing and tearing by the minimizing pallet.Can dispose any issuable residue by the many openings 37 that penetrate floor 23.

Pawl 50 can be the elastic mechanism of a clip, spring or other any similar type.Fig. 3 has expressed the section-drawing of the preferred embodiment of pawl 50.As shown in Figure 3, pawl 50 is made up of one first curve 51 and one second curve 53.In between curve 51 and the curve 53 to middle distance be about 3.80 a millimeters distance 310.The free end of curve 51 has a hook 52, and this hook 52 is parallel to the shielding wire of pallet 100.In a preferred embodiment, separate with reference plane 35 with about 3.70 a millimeters distance 320 bottom 55 of hook 52.Two

curves

51,53 have 1.60 millimeters, 1.80 millimeters outside radius respectively.Preferably, the thickness of pawl is in about 0.60 millimeter to 1.20 millimeters scope.Pawl with above-mentioned size has stoped too much vertically the moving of workpiece effectively.

During use, pawl is normally fixed.Yet as described below, pawl 50 can be shifted before removing parts from pallet 100.In this example, pawl 50 has: a leaning angle, this leaning angle are 0.50 to 2.0 degree; One elasticity modulus, this elasticity modulus are 4.0 to 5.0 pounds/inch.In a preferred embodiment, pawl 50 has about 4.20 pounds/inch elasticity modulus.

Preferably, utilize a robot system that workpiece is removed from pallet.As shown in Figure 4, a kind of such system adopts a manipulator tip 40, and this manipulator tip comprises some

clamp arms

44,46 and a cam 73.As shown in Figure 4, cam 73 is parallel to two clamp arms 44,46.Manipulator tip 40 is used for from pallet 100 transfer member successively.Fig. 4 has also expressed an instrument erecting bed 75, and the various tool that is used for the operative end effector is attached at this instrument erecting bed 75.

The mode that pawl is skimmed over from the space, location will be described below.Fig. 5 represents the enlarged drawing of cam 73.Cam 73 comprises one 48 and a protrusion 43 that is connected with a motor (not shown).Both can both rotate axle 48 and protrusion 43, so that hook 52 is removed from parts 65.Protrusion 43 little by little makes hook 52 remove from the space,

location.Parts

65 and 68 be raised leave pallet 100 before, cam 73 remains on pawl 50 in the extended position.

When pawl 50 was positioned at outside, space, location,

clamp arm

44 and 46 was lowered by simultaneously to position-parts shown in Figure 6 65 and 68.

Clamp arm

44,46 coordinated manipulations are from pallet 100 pick-up parts.Specifically, when clamp arm 44 was caught parts 65, clamp arm 46 was clamped head stack 68.Clamp arm 46 can comprise an air cylinder, and utilizing is enough to operate said air cylinder being stored in the air pressure that the members uplift in the pallet 100 gets up.In the present embodiment, air cylinder 46 utilizes the air pressure that is about 5 to 10 pounds/sq in to lift a head stack (HSA) 68.

Clamp arm 46 comprises some locating dowel pins 41, and these locating dowel pins are positioned at a groove of cylinder 46 bottom sides.Locating dowel pin 41 outwards moves along said groove (not shown), so that catch head stack 68 by workpiece openings 33.The pneumatic air pressure that flows out cylinder 46 makes cylinder 46 can maintain head stack effectively.As shown in Figure 7, other clamp arm 44 links to each other with a vacuum source.Fig. 6 has expressed clamp arm 44 and has comprised a tubular rod 38 and one glass 31, and this cup 31 utilizes vacuum to come adsorption element 65.When cylinder 46 is caught head stack 68, clamp arm 44 clamping parts 65.When sensor monitors to 65 and 68 boths were fully clamped, manipulator tip 40 just shifted out

parts

65 and 68 their bearing 30, and they are moved into such as disc driver, in printed circuit board (PCB) or the counter

body.In case parts

65 and 68 are promoted to top, space, location, cam 73 just makes pawl 50 turn back to a non-extended position.Then, manipulator tip 40 just is sent to workpiece in disc driver or other hardware.Subsequently, manipulator tip 40 is indicated by a controller, thereby gets back to the new location on the pallet 100.

Fig. 7 has expressed and has been used for the example that one of manipulator tip 40 is fit to tool interface.One auto mat 82 is connected with a vacuum source, a motor and a pressure regulator.Pressure regulator 63 is guaranteed to flow out in the scope of the required expectation of the parts of pressure in promptly being stored in pallet 100 of cylinder 46.Provide vacuum by a control cock and a vacuum bar 38.Utilize sensor that the signal conveys from clamp arm 44 and air cylinder 46 is arrived controller 82.Manipulator tip 40 also can link to each other with an equipment observing system, and this equipment observing system is provided by the pick up camera that is connected with a computer processor, thereby auto mat 82 can be discerned the position of manipulator tip and regulate its position.Like this, during pallet 100 automatic pick-up parts, this controller is just controlled the mobile and indication of manipulator tip 40.

Preferably, utilize the injection molded process of standard to make pallet of the present invention.That the moulding material that is suitable for making this pallet comprises is conduction, thermoplastic, non-conduction with the non-conductive plastics.In addition, these pallets also can be made by the material with antistatic property.These pallets can also utilize the heating power forming process to make.

Although described the present invention by some concrete examples,, one skilled in the art will recognize that can make change to each feature of the present invention, this does not break away from design of the present invention and scope.Therefore, scope of the present invention should be limited to the appended claims.

Claims

1, a kind of equipment that is used to handle workpiece comprises:

One pallet, this pallet have a first type surface;

Bearing in a row, said bearing in a row are connected on the first type surface, and at least one workpiece is placed on the said bearing in a row;

Pawl in a row, said pawl in a row and said pallet form an integral body, and wherein, each pawl and workpiece are with narrow being spaced apart out.

2, device according to claim 1, wherein, bearing in a row is adjacent with pawl in a row.

3, device according to claim 1, wherein, the hook on the end of each pawl is positioned at the top of certain bit space, and approaches said workpiece.

4, device according to claim 1, wherein, pawl comprises a spring, the part of this spring is positioned under the plane of first type surface.

5, device according to claim 3, wherein, said hook prevention is placed on too much the moving of a workpiece below the pawl.

6, device according to claim 1, wherein, pawl is perpendicular to the first type surface of pallet.

7, device according to claim 1 also comprises many stand-offs, and these stand-offs are positioned on the first type surface.

8, device according to claim 1, wherein, workpiece comprises a W head, head gimbals, miniature driver or magnetic gimbal element.

9, a kind of equipment that is used to handle many workpiece comprises:

One pallet, this pallet have two end walls being suitable for supporting workpiece, two sidewalls and a first type surface;

Bearing in a row, said bearing in a row are connected on the first type surface, and wherein, each bearing is used to receive a workpiece;

Elastic element in a row, said elastic element in a row are connected on the first type surface, and are separated with bearing in a row, have an elastic element at least above the workpiece in said many workpiece; Wherein, each elastic element remains on each workpiece on its bearing separately.

10, device according to claim 9, wherein, the part of elastic element is positioned under the plane of first type surface.

11, device according to claim 9 wherein, has a hook on the end of each elastic element, and this hook is positioned at the top of certain bit space, and approaches said workpiece.

12, device according to claim 9, wherein, elastic element comprises a pawl, spring, clip or kindred organization.

13, device according to claim 9, wherein, elastic element is used to stop too much vertically the moving of workpiece.

14, device according to claim 9, wherein, in order to pile up purpose, the sidewall of pallet is equipped with an inclined-plane rib-shaped piece.

15, device according to claim 9, wherein, workpiece comprises a W head, head gimbals, miniature driver or magnetic gimbal element.

16, a kind of use has the method for device that is used to handle workpiece of single structure, comprising:

A) provide a pallet, this pallet has the pawl in a row that is positioned on the first type surface and bearing in a row;

B) workpiece is placed on the bearing in the bearing in a row, and is positioned at pawl below, said pawl and pallet are in aggregates;

C) in the robot mode pawl is displaced in the position of extending;

D) then, workpiece is removed from pallet.