CN204382293U - Loading and unloading manipulator device - Google Patents

Abstract

The utility model provides a loading and unloading manipulator device, which comprises a rotating arm mechanism and a manipulator clamping mechanism. The swivel arm mechanism includes a first swivel arm unit and a second swivel arm unit arranged symmetrically left and right, a swivel cylinder arranged on the first swivel arm unit, a connecting rod connecting the first swivel arm unit and the second swivel arm unit, and two ends Fix the clamp fixing plate on the first rotating arm unit and the second rotating arm unit respectively, and is used for fixing the clamping mechanism of the manipulator. The clamping mechanism of the manipulator includes a clamping cylinder fixedly connected to the fixture fixing plate, claw connectors respectively arranged at both ends of the clamping cylinder, and claws fixedly connected to the claw connectors. The utility model has the advantages of simple structure, space saving, stable operation, low cost, etc., improves production efficiency, and is especially suitable for automatic loading and unloading of integrated circuit packaging equipment products.

Description

Loading and unloading robot device

technical field

The utility model relates to the technical field of semiconductor packaging, in particular to a loading and unloading manipulator device.

Background technique

In the semiconductor packaging process, the product must be clamped from the input material column to the input end of the track when the product is operated in the subsequent processes to realize automatic loading of the product. After the operation is completed, the product needs to be clamped by the output end of the track Go to the product output column to realize the automatic unloading of the product.

At present, there are usually two types of equipment loading and unloading manipulator devices: one device uses a set of motor screw mechanism to drive the vacuum suction cup to move the product up and down, and another set of motor screw mechanism to realize the product’s forward and backward movement. This kind of device requires four sets of motor screw devices for loading and unloading, and the cost is relatively high. The main disadvantage is that the vacuum suction cup is often unable to pick up heavy products or products with deformed frames. Another device uses a set of motor screw mechanism to drive the mechanical gripper to move the product up and down, and another set of motor screw mechanism to realize the product's forward and backward movement. This type of device requires four sets of motor screw devices for loading and unloading. The width of the mechanical gripper is controlled by the air pressure, and the cost is high. The main disadvantage is that the air pressure cannot be accurately controlled, and the product is easily clamped and deformed.

Utility model content

A brief overview of the present invention is given below in order to provide a basic understanding of some aspects of the present invention. It should be understood that this summary is not an exhaustive summary of the invention. It is not intended to identify the key or important part of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is merely to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.

The utility model provides a loading and unloading manipulator suitable for integrated circuit packaging equipment.

The utility model provides a loading and unloading manipulator device, which comprises a rotating arm mechanism and a manipulator clamping mechanism.

The swivel arm mechanism includes:

a first rotating arm unit and a second rotating arm unit arranged symmetrically left and right,

a rotary cylinder provided on said first rotary arm unit,

a connecting rod connecting the first rotating arm unit and the second rotating arm unit,

The two ends are respectively fixed on the first rotating arm unit and the second rotating arm unit, and are used to fix the clamp fixing plate of the clamping mechanism of the manipulator.

The manipulator clamping mechanism includes:

a clamping cylinder fixedly connected to the clamp fixing plate,

The jaw connectors respectively arranged at both ends of the clamping cylinder,

The jaws fixedly connected to the jaw connector.

The loading and unloading manipulator device provided by the utility model uses the rotating arm mechanism to rotate the manipulator clamping mechanism to clamp the products from the input material column to the track input end one by one, so as to realize the automatic feeding of the products; The product is clamped by the output end of the track into the product output column to realize the automatic unloading of the product. The utility model has the advantages of simple structure, space saving, stable operation, low cost, etc., improves production efficiency, and is especially suitable for automatic loading and unloading of integrated circuit packaging equipment products.

Description of drawings

Referring to the following descriptions of the embodiments of the utility model in conjunction with the accompanying drawings, it will be easier to understand the above and other objectives, features and advantages of the utility model. The components in the drawings are only to illustrate the principles of the present invention. In the drawings, the same or similar technical features or components will be denoted by the same or similar reference numerals.

Fig. 1 is a structural schematic diagram of a rotary arm mechanism of an embodiment of the loading and unloading manipulator device of the present invention.

Fig. 2 is a structural schematic diagram of the clamping mechanism of the manipulator in an embodiment of the loading and unloading manipulator device of the present invention.

Fig. 3 is a structural schematic diagram of an embodiment of the loading and unloading manipulator device of the present invention when grabbing products.

Fig. 4 is a structural schematic diagram of an embodiment of the loading and unloading manipulator device of the present invention when releasing products.

Explanation of reference signs:

1 Feeding rack

2 upper swivel arm

3 Rotary arm connector

4 Fixture adjustment block

5 Bottom plate fixing block

6 Bottom plate

7 clamping cylinder

8 Fixture bars

9 jaws

10 Press plate

11 Cylinder connecting piece

12 Width limit block

13 side panel

14 Upper panel

15 Fixing plate for fixture

16 Lower swivel arm

17 connecting rod

18 Rotary Cylinder

19 Bracket connector

20 Width limiting block bracket

21 Bottom plate support

Detailed ways

Embodiment of the utility model is described below with reference to accompanying drawing. Elements and features described in one drawing or one embodiment of the present invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that, for the sake of clarity, representation and description of components and processes that are not relevant to the present invention and known to those of ordinary skill in the art are omitted from the drawings and descriptions.

In this embodiment, the loading and unloading manipulator device of the utility model includes a rotating arm mechanism and a manipulator clamping mechanism.

Fig. 1 is a structural schematic diagram of a rotary arm mechanism of an embodiment of the loading and unloading manipulator device of the present invention.

As shown in Figure 1, the rotating arm mechanism includes a first rotating arm unit and a second rotating arm unit arranged symmetrically left and right, and a rotating cylinder 18 arranged on the first rotating arm unit is connected to the first rotating arm Unit and the connecting rod 17 of the second rotating arm unit, the two ends are respectively fixed on the first rotating arm unit and the second rotating arm unit, and are used to fix the clamp fixing plate 15 of the manipulator clamping mechanism .

In a preferred embodiment, the first rotating arm unit and the second rotating arm unit respectively include a loading frame 1 , an upper rotating arm 2 , a lower rotating arm 16 , and a rotating arm connector 3 . One end of the upper rotating arm 2 and the lower rotating arm 16 are installed on the feeding frame 1 through bearings respectively, and the other ends are respectively connected with the two ends of the rotating arm connector 3 through bearings. The rotary cylinder 18 is arranged on the side of the feeding frame 1 of the first rotary arm unit, and the rotating shaft of the rotary cylinder 18 is connected with the lower rotary arm 16 of the first rotary arm unit.

In a preferred embodiment, the first rotating arm unit and the second rotating arm unit further include a clamp adjusting block 4 , a bottom plate 6 , a bottom plate fixing block 5 and a bottom plate support 21 . The clamp adjustment block 4 is slidingly installed on the side of the rotating arm connector 3, the base plate 6 is fixed on the bottom of the clamp adjustment block 4 through the base plate fixing block 5, the base plate bracket 21 is fixed on the upper surface of the base plate 6, and the two ends of the clamp fixing plate 15 are respectively fixed On the base plate support 21 of the first rotating arm unit and the base plate support 21 of the second rotating arm unit. The position of the clamping mechanism of the manipulator can be adjusted through the clamp adjustment block 4, so as to cooperate with the clamping of the product.

In a preferred embodiment, the rotating arm mechanism also includes two ends respectively fixed on the lower surface of the bottom plate 6 of the first rotating arm unit and the lower surface of the bottom plate 6 of the second rotating arm unit, and used for positioning Platen 10.

In a preferred embodiment, both ends of the connecting rod 17 are respectively fixedly connected to the lower rotating arm 16 of the first rotating arm unit and the lower rotating arm 16 of the second rotating arm unit.

Fig. 2 is a structural schematic diagram of the clamping mechanism of the manipulator in an embodiment of the loading and unloading manipulator device of the present invention.

As shown in Figure 2, the gripping mechanism of the manipulator includes a gripping cylinder 7 fixedly connected to the gripper fixing plate, claw connectors respectively arranged at both ends of the gripping cylinder, and fixedly connected to the gripper joints. The jaws 9 on the piece. In this embodiment, the four claws 9 are respectively mounted on both ends of the two claw connectors in a vertical sliding manner, and the height of the claws 9 can be individually adjusted to cooperate with grabbing products.

In a preferred embodiment, the claw connector includes a cylinder connector 11 and a clamp bar 8, the clamp bar 8 is fixed on the bottom of the front and rear ends of the clamping cylinder 7 through the cylinder connector 11, and the claws 9 are respectively Slidingly installed on the two ends of the horizontal bar 8 of the fixture.

In a preferred embodiment, the clamping mechanism of the manipulator further includes an upper panel 14 and two side panels 13 respectively fixed on the upper surface and the left and right sides of the clamping cylinder 7 . The upper panel 14 is used for fixing the connecting fixture fixing plate 15 .

In a preferred embodiment, the manipulator clamping mechanism further includes a width limiting block 12 , two width limiting block brackets 20 and two bracket connectors 19 . Two width limiting block brackets 20 are respectively fixed on both ends of the upper surface of the width limiting block 12 , and are fixedly connected to the two side panels 13 through two bracket connectors 19 . The width limiting block 12 is located between the two clamping bars 8 .

Fig. 3 is a structural schematic diagram of an embodiment of the loading and unloading manipulator device of the present invention when grabbing products.

As shown in Figure 3, when the loading and unloading manipulator grabs the product, the rotating arm mechanism drives the manipulator clamping mechanism to the top of the input material column through the rotating cylinder 18, the bottom plate 10 is in contact with the product plastic package, and the clamping cylinder 7 drives the four claws 9. Clamp the products in the input material column. When clamping, the cylinder connector 11 is in contact with the width limiting block 12, which limits the clamping width to be exactly the same as the product width. Then, the rotating cylinder 18 drives the manipulator clamping mechanism to the input Above the track, the clamping cylinder 7 drives the four claws 9 to release the product and put it into the input track to complete the automatic feeding of the product.

Fig. 4 is a structural schematic diagram of an embodiment of the loading and unloading manipulator device of the present invention when releasing products.

As shown in Figure 4, when the loading and unloading manipulator device releases the product, the rotating arm mechanism drives the manipulator clamping mechanism to the top of the output track through the rotating cylinder 18, the bottom plate 10 is in contact with the product plastic package, and the clamping cylinder 7 drives the four claws 9 pairs The product in the output track is clamped. When clamping, the cylinder connector 11 is in contact with the width limiting block 12, which limits the clamping width to be exactly the same as the product width. Then the rotating cylinder 18 drives the manipulator clamping mechanism to the top of the output column. , the clamping cylinder 7 drives the four claws 9 to release the product and put it into the output material column to complete the automatic blanking of the product.

In summary, the loading and unloading manipulator device provided by the utility model uses the rotating arm mechanism to rotate the manipulator clamping mechanism to clamp the products from the input material column to the track input end one by one to realize automatic feeding of the products; use the rotating arm mechanism to rotate The manipulator clamping mechanism clamps the product from the output end of the track to the product output column to realize the automatic unloading of the product. The utility model solves the defect that the vacuum sucker of the existing device cannot absorb heavy products or frame deformed products through the design of the clamping mechanism of the manipulator driven by the rotating arm mechanism; through the bottom plate 10, the cylinder connector 11 and the width limiting block The limit design of 12 solves the defect that the products of the existing devices are easy to be clamped and deformed. The utility model has the advantages of simple structure, space saving, stable operation, low cost, etc., improves production efficiency, and is especially suitable for automatic loading and unloading of integrated circuit packaging equipment products.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present utility model, and are not intended to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit of the technical solutions of the various embodiments of the present invention. and range.

Claims (8)

1. A loading and unloading manipulator device, characterized in that it comprises a rotating arm mechanism and a manipulator clamping mechanism; The swivel arm mechanism includes: a first rotating arm unit and a second rotating arm unit arranged symmetrically left and right, a rotary cylinder provided on said first rotary arm unit, a connecting rod connecting the first rotating arm unit and the second rotating arm unit, The two ends are respectively fixed on the first rotating arm unit and the second rotating arm unit, and are used to fix the clamp fixing plate of the clamping mechanism of the manipulator; The manipulator clamping mechanism includes: a clamping cylinder fixedly connected to the clamp fixing plate, The jaw connectors respectively arranged at both ends of the clamping cylinder, The jaws fixedly connected to the jaw connector. 2. The loading and unloading manipulator device according to claim 1, wherein the first rotating arm unit and the second rotating arm unit respectively comprise a feeding frame, an upper rotating arm, a lower rotating arm, and a rotating arm Connecting piece, one end of the upper rotating arm and the lower rotating arm are respectively rotatably mounted on the feeding frame, and the other ends are respectively rotatably connected with the two ends of the connecting member of the rotating arm; the rotating cylinder is arranged on the On the side of the feeding frame of the first rotating arm unit, the rotating shaft of the rotating cylinder is fixedly connected with the lower rotating arm of the first rotating arm unit. 3. The loading and unloading manipulator device according to claim 2, characterized in that, the first rotating arm unit and the second rotating arm unit also include a clamp adjustment block, a base plate, a base plate fixing block and a base plate support respectively, the The clamp adjustment block is slidably installed on the side of the rotating arm connector, the base plate is fixed on the bottom of the clamp adjustment block through the base plate fixing block, the base plate bracket is fixed on the upper surface of the base plate, and the clamp is fixed Both ends of the plate are respectively fixed on the bottom plate support of the first rotating arm unit and the bottom plate support of the second rotating arm unit. 4. The loading and unloading manipulator device according to claim 3, wherein the rotating arm mechanism further includes two ends fixed under the bottom plate of the first rotating arm unit and the bottom plate of the second rotating arm unit respectively. Surface, pressure plate for limit. 5. The loading and unloading manipulator device according to claim 2, characterized in that, the two ends of the connecting rod are respectively fixed to the lower rotating arm of the first rotating arm unit and the lower rotating arm of the second rotating arm unit connect. 6. The loading and unloading manipulator device according to claim 1, characterized in that, the jaw connecting piece comprises a cylinder connecting piece and a clamp bar, and the clamp bar is fixed on the clamping bar through the cylinder connecting piece. At the bottom of the front and rear ends of the cylinder, the claws are respectively slidably mounted on the two ends of the horizontal bar of the clamp. 7. The loading and unloading manipulator device according to claim 6, wherein the manipulator clamping mechanism also includes an upper panel and two side panels respectively fixed on the upper surface and the left and right sides of the clamping cylinder, so that The above-mentioned upper panel is used for fixedly connecting the fixture fixing plate. 8. The loading and unloading manipulator device according to claim 7, wherein the gripping mechanism of the manipulator further comprises a width limiting block, two width limiting block brackets and two bracket connectors, and the two width limiting blocks The brackets are respectively fixed on the two ends of the upper surface of the width limiting block, and are respectively fixedly connected to the two side panels through the two bracket connectors, and the width limiting blocks are located at the bottom of the front and rear ends of the clamping cylinder between the clamp bars.