CN212182296U - Jumping sheet taking and placing device - Google Patents

Abstract

The application provides a jump piece is got and is put device, including the lift arm that is used for once only adsorbing the claw of inhaling of at least a row jump piece of longitudinal arrangement, drive and inhales the claw and goes up and down, support seat, the linear drive mechanism of drive support seat lateral shifting of support lift arm and the frame of supporting linear drive mechanism. According to the jumper taking and placing device, the lifting arm drives the suction claw to lift, the linear driving mechanism drives the lifting arm to move transversely, so that the suction claw can be driven to be in a jumper punching position, at least one row of jumper pieces longitudinally arranged can be adsorbed at one time, and then the suction claw is moved to the jumper piece mounting position, so that automatic installation of the jumper pieces is achieved; because the at least one row of the springboards which are longitudinally arranged can be adsorbed once each time when the springboards are taken, the lifting arm is driven by the linear driving mechanism to transversely move, the efficiency is improved, and the structure of the springboard taking and placing device is simplified.

Description

Jumping sheet taking and placing device

Technical Field

The application belongs to the technical field of semiconductor packaging, and particularly relates to a jumping sheet taking and placing device.

Background

In semiconductor packaging, a jumper wire is often used to electrically connect two terminals of a desired electrical connection. The jumper wire on the substrate for die bonding generally uses a jumper sheet with a special design shape and is bonded on the substrate so as to be convenient for installation and fixation. However, when the jumper is manufactured, a plurality of jumper pieces in a rectangular array are punched out at one time by using a metal belt through a punching device. The punched metal belt remnants are connected with the coil tray and are positioned in the punching device, so that the positions of punched jump pieces are always fixed. When the jumpers are installed on the substrate, a three-axis moving platform is currently used to move the suction nozzle to suck the jumpers in sequence, and the jumpers are installed on the substrate. The jumping sheet taking and placing device is complex in structure and low in efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a device for picking and placing a jumper, so as to solve the problems of complex structure and low efficiency of the device for picking and placing the jumper existing in the prior art.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions: the utility model provides a jump piece is got and is put device, including the claw of inhaling that is used for once only adsorbing at least a row of jump piece of longitudinal arrangement, drive inhale the lift arm that the claw goes up and down, support the supporting seat of lift arm, drive the linear drive mechanism of supporting seat lateral shifting and support linear drive mechanism's frame, inhale the claw install in on the lift arm, the lift arm install in on the supporting seat, the supporting seat install in on the linear drive mechanism, linear drive mechanism install in on the frame.

In an optional embodiment, the suction claw comprises a plurality of suction nozzles for sucking the jumper strips, the suction nozzles are longitudinally arranged in at least one row, the suction claw further comprises a plurality of support rods longitudinally arranged in parallel, the number of the support rods is equal to that of the suction nozzles in one row, and the suction nozzles in any row are respectively mounted on the support rods; the plurality of the supporting rods are divided into at least two groups, and the suction claw further comprises at least two supporting seats which are respectively connected with the supporting rods of each group; the jumping sheet taking and placing device respectively drives at least two lifting arms of each support to lift.

In an alternative embodiment, any two sets of struts: the distance between any two adjacent supporting rods in each group is equal to the distance between any two adjacent supporting rods in the other group.

In an alternative embodiment, the plurality of struts are divided into N groups, N is more than or equal to 2, and N is a positive integer, and in each group of struts: the distance between any two adjacent supporting rods and the distance between any two adjacent supporting rods in the other group are provided with N-1 supporting rods.

In an alternative embodiment, the lifting arms are arranged in pairs, each pair of lifting arms comprises a first lifting arm and a second lifting arm, the first lifting arm is mounted on the support base, and the second lifting arm is mounted on the first lifting arm.

In an optional embodiment, the first lifting arm comprises a first mounting seat mounted on the supporting seat, a second mounting seat used for supporting the support seat, and a first lifting driver driving the second mounting seat to lift, the second mounting seat is slidably mounted on the first mounting seat, and the first lifting driver is supported on the first mounting seat; the second lifting arm is mounted on the second mounting base.

In an optional embodiment, the first lifting arm further includes a first elastic member elastically pulling the second mounting seat, a lower end of the first elastic member is connected to the second mounting seat, and an upper end of the first elastic member is connected to the first mounting seat.

In an optional embodiment, the first lifting arm further comprises a first cross rail connecting the first mount and the second mount, the first cross rail being vertically disposed.

In an optional embodiment, the second lifting arm includes a third mounting seat for supporting the support, and a second lifting driver for driving the third mounting seat to lift, the third mounting seat is slidably mounted on the second mounting seat, and the second lifting driver is supported on the second mounting seat.

In an optional embodiment, the second lifting arm further includes a second elastic member elastically pulling the third mounting seat, a lower end of the second elastic member is connected to the third mounting seat, and an upper end of the second elastic member is connected to the second mounting seat.

The beneficial effects of the jump piece picking and placing device that this application embodiment provided lie in: compared with the prior art, the suction claw is driven to lift through the lifting arm, the lifting arm is driven to transversely move by the linear driving mechanism, so that the suction claw can be driven to be in the skip piece punching position, at least one row of skip pieces longitudinally arranged can be adsorbed at one time, and then the suction claw is moved to the skip piece installation position, so that automatic installation of the skip pieces is realized; because the at least one row of the springboards which are longitudinally arranged can be adsorbed once each time when the springboards are taken, the lifting arm is driven by the linear driving mechanism to transversely move, the efficiency is improved, and the structure of the springboard taking and placing device is simplified.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or exemplary technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a first schematic structural diagram of a first skip picking and placing device according to a first embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a jumper taking and placing device according to a first embodiment of the present application;

FIG. 3 is a first schematic structural view of a pair of lift arms and a suction claw according to an embodiment of the present disclosure;

fig. 4 is a second schematic structural view of a pair of lifting arms and a suction claw provided in the first embodiment of the present application;

FIG. 5 is a first exploded view of a pair of lift arms and a suction claw according to an embodiment of the present disclosure;

fig. 6 is a second exploded schematic view of a pair of lifting arms and a suction claw provided in the first embodiment of the present application.

Fig. 7 is a schematic structural view of a suction claw provided in the second embodiment of the present application.

Fig. 8 is a schematic structural view of a suction claw provided in the third embodiment of the present application.

Fig. 9 is a schematic structural view of a suction claw provided in the fourth embodiment of the present application.

Fig. 10 is a schematic structural view of a suction claw provided in the fifth embodiment of the present application.

Fig. 11 is a schematic structural diagram of a jumper taking and placing device according to a sixth embodiment of the present application.

Fig. 12 is a schematic structural diagram of a jumper taking and placing device according to a seventh embodiment of the present application.

Wherein, in the drawings, the reference numerals are mainly as follows:

10-a jumper taking and placing device;

11-a machine base; 111-waste material box;

12-a suction claw; 121-a suction nozzle; 122-a strut; 123-support; 124-a linker;

13-a lifting arm; 14-a first lifting arm; 141-a first mount; 142-a second mount; 143-a first lift drive; 144-a first elastic member; 145-a first cross guide; 146-a first grating read head; 147-a first grating scale; 15-a second lifting arm; 151-third mount; 152-a second lift drive; 153-a second resilient member; 154-second cross guide; 155-a second grating read head; 156-a second grating scale;

16-a support seat; 161-a slide rail; 162-a slider;

17-a linear drive mechanism; 18-a camera module; 181-support.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

Reference throughout this specification to "one embodiment," "some embodiments," or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

For convenience of description, three coordinate axes which are mutually vertical in space are defined as an X axis, a Y axis and a Z axis respectively, and meanwhile, the direction along the X axis is longitudinal, the direction along the Y axis is transverse, and the direction along the Z axis is vertical; the X axis and the Y axis are two coordinate axes which are vertical to each other on the same horizontal plane, and the Z axis is a coordinate axis in the vertical direction; the X axis, the Y axis and the Z axis are positioned in space and are mutually vertical, and three planes are respectively an XY plane, a YZ plane and an XZ plane, wherein the XY plane is a horizontal plane, the XZ plane and the YZ plane are vertical planes, and the XZ plane is vertical to the YZ plane. The three axes in the space are an X axis, a Y axis and a Z axis, and the three-axis movement in the space refers to the movement along the three axes which are vertical to each other in the space, in particular to the movement along the X axis, the Y axis and the Z axis in the space.

Referring to fig. 1, fig. 2 and fig. 4, a jumper pick-and-place device 10 provided by the present application will now be described. The jump sheet taking and placing device 10 comprises a suction claw 12, a lifting arm 13, a supporting seat 16, a linear driving mechanism 17 and a machine base 11. The suction claw 12 is mounted on a lifting arm 13, and the lifting arm 13 drives the suction claw 12 to lift. The lift arm 13 is mounted on a support base 16, and the lift arm 13 is supported by the support base 16. The support base 16 is mounted on a linear driving mechanism 17, the linear driving mechanism 17 is mounted on the base 11, the linear driving mechanism 17 is supported by the base 11, and the linear driving mechanism 17 supports the support base 16 and thus the lift arm 13. The suction claw 12 is used for sucking at least one row of the jumpers arranged longitudinally at a time, that is, after a plurality of jumpers of a rectangular array are punched and cut by the punching device at a time, wherein the jumpers of the rectangular array are arranged in a row along the longitudinal direction and are arranged in a row along the transverse direction, the suction claw 12 can suck at least one row of the jumpers at a time. The lifting arm 13 is used for driving the suction claw 12 to lift so that the suction claw 12 sucks the jumper and places the jumper.

The linear driving mechanism 17 drives the supporting seat 16 to move transversely, and further drives the lifting arm 13 and the suction claw 12 to move transversely, so that the suction claw 12 can be moved to a skip piece punching position where a skip piece is punched by a punching device, then the lifting arm 13 drives the suction claw 12 to descend so as to suck at least one row of skip pieces, and then drives the suction claw 12 to ascend; the linear driving mechanism 17 drives the lifting arm 13 and the suction claw 12 to a jump piece mounting position, the lifting arm 13 drives the suction claw 12 to descend so as to mount a jump piece, and then the lifting arm 13 drives the suction claw 12 to ascend; so as to repeatedly complete the pick-and-place installation of the jump sheet. Because the suction claw 12 can suck at least one row of the jump pieces at one time, the efficiency can be improved, and the suction claw 12 does not need to move longitudinally, only the lifting arm 13 needs to drive the suction claw 12 to lift, and the linear driving mechanism 17 drives the suction claw 12 to move transversely, the structure for driving the suction claw 12 to move can be simplified, and the structure of the jump piece taking and placing device 10 is further simplified.

Compared with the prior art, the jumper taking and placing device 10 provided by the application has the advantages that the lifting arm 13 drives the suction claw 12 to lift, and the linear driving mechanism 17 drives the lifting arm 13 to transversely move, so that the suction claw 12 can be driven to be in a jumper punching position, at least one row of longitudinally arranged jumpers can be adsorbed at one time, and then the suction claw 12 is moved to a jumper installation position to realize automatic installation of the jumpers; because the at least one row of the long jump pieces can be adsorbed once every time when the jump pieces are taken, the lifting arm 13 is driven by the linear driving mechanism 17 to move transversely, the efficiency is improved, and the structure of the jump piece taking and placing device 10 is simplified.

In one embodiment, referring to fig. 1 and 2, the skip piece picking and placing device 10 further includes a waste material box 111, the waste material box 111 is disposed below the linear driving mechanism 17, the waste material box 111 is mounted in the machine base 11 to reduce the occupied volume, and the waste material box 111 is used for picking up the waste skip piece, for example, after the skip piece is picked up by the suction claw 12, if the skip piece is determined to be displaced and damaged, the skip piece can be dropped into the waste material box 111 for recycling.

In one embodiment, referring to fig. 1 and fig. 2, the jumper taking and placing device 10 further includes a camera module 18, the camera module 18 is supported on the machine base 11, and the camera module 18 is arranged to take a picture of a position where the jumper is placed, so that the suction claw 12 can accurately mount the jumper on the substrate, and the mounting accuracy is improved.

In one embodiment, the camera module 18 is secured to the base 11 by a bracket 181. In some embodiments, the camera module 18 may be mounted on the supporting base 16, so that the camera module 18 moves along with the lifting arm 13, and when the suction claw 12 sucks the jumper, the camera module 18 may take an image of the jumper at the punching position, so that the suction claw 12 can accurately suck the jumper.

In still other embodiments, two camera modules 18 may be provided for capturing images of the skip placement locations and the skip blanking locations, respectively.

In some embodiments, if the jumper sheet is individually set for punching and then arranged on a material tray or a material plate, when the suction claw 12 directly takes the jumper sheet from the material tray or the material plate, the material tray or the material plate can be placed at a fixed position on the side of the linear driving mechanism 17, the fixed position is a jumper sheet taking position, and the jumper sheet taking position can replace the jumper sheet punching position, that is, when the punching device and the jumper sheet taking and placing device 10 are not integrated, the jumper sheet punching position actually takes the jumper sheet position.

In one embodiment, referring to fig. 1 and 2, the linear driving mechanism 17 is a linear motor to rapidly and precisely drive the lifting arm 13 to move laterally. Of course, in some embodiments, the linear drive mechanism 17 may also be a lead screw and nut mechanism, a rack and pinion mechanism, or a belt drive mechanism.

In one embodiment, referring to fig. 1 and 2, a slide rail 161 is transversely installed on the base 11, a slider 162 is installed on the slide rail 161, and the support base 16 is installed on the slider 162, so that the support base 16 is slidably installed on the slide rail 161 through the slider 162, so as to guide the support base 16 to move smoothly and transversely.

In one embodiment, referring to fig. 3 and 4, the suction claw 12 includes a plurality of suction nozzles 121, a plurality of support rods 122, and at least two supports 123, and the plurality of suction nozzles 121 are arranged in at least one row along a longitudinal direction, so that the plurality of suction nozzles 121 can suck at least one row of jumpers at a time. The plurality of struts 122 are arranged in parallel in the longitudinal direction, the number of the struts 122 is equal to the number of the suction nozzles 121 in one row, and the plurality of suction nozzles 121 in any row are respectively mounted on the plurality of struts 122. When a plurality of suction nozzles 121 are longitudinally arranged in a row, one suction nozzle 121 is arranged on each support rod 122, and a row of long jumpers in the rectangular array of long jumpers can be correspondingly sucked each time; when the plurality of suction nozzles 121 are longitudinally arranged in two rows, two suction nozzles 121 are mounted on each support rod 122, and two rows of long jumpers in the rectangular array can be sucked correspondingly each time; when the plurality of suction nozzles 121 are longitudinally arranged in three rows, three suction nozzles 121 are mounted on each support rod 122, and three rows of long jumpers in the rectangular array can be sucked correspondingly each time; and so on. The plurality of poles 122 are divided into at least two groups, and each group of poles 122 is connected to a holder 123, so that one holder 123, the corresponding pole 122, and the suction nozzle 121 on the pole 122 can form one suction claw 12, thereby forming a plurality of suction claws 12. The jumper taking and placing device 10 comprises at least two lifting arms 13 which respectively drive each support 123 to lift. The number of the lifting arms 13 may be equal to the number of the supports 123, so that each support 123 has one lifting arm 13 for driving lifting. Of course, in some embodiments, the number of the lifting arms 13 may be larger than the number of the support seats 123, that is, the support seats 123 may not be installed on part of the lifting arms 13, that is, the suction claws 12 may not be installed on part of the lifting arms 13. The supports 123 are driven to ascend and descend by the lifting arms 13 respectively, the suction claws 12 can be driven to ascend and descend by the lifting arms 13 respectively, and when the jump pieces are placed, the jump pieces on one suction claw 12 can be installed and then the jump pieces on the other suction claw 12 can be installed, so that the jump pieces can be accurately installed on the substrate.

In one embodiment, four suction nozzles 121 can be mounted on each of the supporting bars 122, so that a plurality of suction claws 12 can suck four rows of jumpers at a time. In other embodiments, a suction nozzle 121 can be mounted on each support rod 122, so that a plurality of suction claws 12 can suck one row of jump pieces at a time. In some embodiments, two suction nozzles 121 can be mounted on each support rod 122, so that two rows of jumpers can be sucked by a plurality of suction claws 12 at a time. In still other embodiments, three, five, etc. suction nozzles 121 may be mounted on each of the struts 122.

In some embodiments, the suction claw 12 is detachably mounted on the lifting arm 13, so that different suction claws 12 can be mounted according to different jump pieces and base plates.

In one embodiment, when the position of the jumper installed on the substrate corresponds to the position of the jumper punched by the punching device, or the position of the jumper installed on the substrate corresponds to the arrangement position of the jumpers on the jumper taking position, the suction claw 12 may be of a suction plate structure, so that all the jumpers punched by the punching device at one time can be sucked at one time, or all the jumpers on the jumper taking position can be taken out at one time and installed on the substrate. Of course, in this embodiment, the suction claw 12 may also be a suction nozzle 121 structure.

In one embodiment, when the position of the jumper installed on the substrate corresponds to the position of any row of jumper punched by the punching device, or the position of the jumper installed on the substrate corresponds to the position of any row of jumper arranged on the jumper taking position, the suction claw 12 may be of a suction plate structure, so that one row of the jumper punched by the punching device at a time can be sucked at a time, or one row of the jumper on the jumper taking position can be taken out at a time and installed on the substrate. Of course, in this embodiment, the suction claw 12 may also be a suction nozzle 121 structure.

In one embodiment, when the position of the jumper installed on the substrate corresponds to the position of any row of jumper punched on the punching device, or the position of the jumper installed on the substrate corresponds to the position of any row of jumper arranged on the jumper taking position, the suction claw 12 may be a plurality of suction plate structures, so that one suction claw 12 may take out one row of the jumper punched at one time by the punching device, or one row of the jumper on the jumper taking position at one time, and a plurality of suction claws 12 may cooperate with all the jumpers punched at one time by the punching device, or all the jumpers on the jumper taking position at one time and mount the jumper on the substrate. Of course, in this embodiment, the suction claw 12 may also be a suction nozzle 121 structure.

In one embodiment, referring to fig. 4, when the plurality of struts 122 are divided into at least two groups, and each group of struts 122 is connected to a support 123, respectively, in any two groups of struts 122: the distance between any two adjacent supporting rods 122 in each group is equal to the distance between any two adjacent supporting rods 122 in the other group, and the structure can facilitate the arrangement of the suction claws 12 on each lifting arm 13.

In one embodiment, the plurality of struts 122 are divided into N groups, N ≧ 2, and N is a positive integer, in each group of struts 122: the distance between any two adjacent supporting rods 122 and the distance between any two adjacent supporting rods 122 in another group are provided with N-1 supporting rods 122, so that a plurality of suction claws 12 can be arranged in a crossed manner, the efficiency of sucking the jump sheet can be improved, and the distance between two suction nozzles 121 adjacent along the longitudinal direction in one suction claw 12 can be better corresponding to the distance between two jump sheet mounting positions along the longitudinal direction on the substrate.

Referring to fig. 3, in the present embodiment, four support rods 122, two support seats 123, and two groups of four support rods 122 are provided, so that each suction claw 12 is in a U-shaped structure, and two suction claws 12 are arranged in a crossed manner, and when installing a jumper, the jumper sucked by the suction nozzle 121 on two support rods 122 of one suction claw 12 can be installed at one time, and then the jumper sucked by the suction nozzle 121 on two support rods 122 of another suction claw 12 can be installed.

In one embodiment, referring to fig. 3, the plurality of support rods 122 are divided into two groups, the number of the support seats 123 is two, and the two support seats 123 are respectively located at two ends of the plurality of support rods 122, so that each support seat 123 and the lifting arm 13 can be conveniently installed and fixed.

In one embodiment, referring to fig. 7, six support rods 122 are provided, two support seats 123 are provided, three support rods 122 are mounted on each support seat 123, two suction claws 12 are arranged in a crossed manner, and when a jumper is mounted, the jumper sucked by the suction nozzle 121 on the three support rods 122 of one suction claw 12 can be mounted at one time, and then the jumper sucked by the suction nozzle 121 on the three support rods 122 of the other suction claw 12 can be mounted. Of course, in some embodiments, when there are two supporting seats 123, the number of the supporting rods 122 may also be three, five, etc., and the number of the supporting rods 122 mounted on one supporting seat 123 is one more than the number of the supporting rods 122 on the other supporting seat 123, or the supporting rods 122 on two supporting seats 123 may also be arranged crosswise.

In one embodiment, referring to fig. 8, six support rods 122 are provided, three support seats 123 are provided, two support rods 122 are mounted on each support seat 123, the support rods 122 of the three suction claws 12 are alternately arranged, and when a jumper is mounted, the jumper sucked by the suction nozzle 121 on the two support rods 122 of each suction claw 12 can be mounted respectively.

In still other embodiments, referring to fig. 9, there are six struts 122 and six brackets 123, i.e., one strut 122 is mounted on each bracket 123.

In still other embodiments, referring to fig. 10, six support rods 122 are provided, three support seats 123 are provided, two support rods 122 are mounted on each support seat 123, three suction claws 12 are sequentially arranged at intervals along the longitudinal direction, and when a jumper is mounted, the jumper sucked by the suction nozzle 121 on the two support rods 122 of each suction claw 12 can be mounted respectively.

Of course, in some embodiments, the number of the supports 123 and the number of the support rods 122 on each support 123 may be correspondingly set according to the position of the jumper array and the shape of the jumper installation position on the substrate.

In one embodiment, referring to fig. 4, a channel (not shown) is formed in each strut 122 and communicates with a corresponding suction nozzle 121, and a connector 124 is mounted on each support 123 and communicates with the channel in the strut 122 connected to the support 123, so as to facilitate connection with an external suction machine and control of each suction nozzle 121. Of course, in some embodiments, each suction nozzle 121 may be connected to the air extractor, so that each suction nozzle 121 may be controlled individually to suck and place the jumper more precisely.

In one embodiment, referring to fig. 3, 5 and 6, the lifting arms 13 are arranged in pairs, each pair of lifting arms 13 includes a first lifting arm 14 and a second lifting arm 15, the first lifting arm 14 is mounted on the supporting base 16, and the second lifting arm 15 is mounted on the first lifting arm 14, which can reduce the space occupied by the lifting arms 13 and the size and structure.

In one embodiment, referring to fig. 3, 5 and 6, the first lifting arm 14 includes a first mounting seat 141, a second mounting seat 142 and a first lifting driver 143, the second mounting seat 142 is slidably mounted on the first mounting seat 141, and the first lifting driver 143 is supported on the first mounting seat 141; the second lifting arm 15 is mounted on the second mounting seat 142, the first mounting seat 141 is mounted on the supporting seat 16, the second mounting seat 142 is used for supporting the supporting seat 123, that is, the suction claw 12 can be mounted on the second mounting seat 142, and the first lifting driver 143 is used for driving the second mounting seat 142 to lift so as to drive the corresponding suction claw 12 and the second lifting arm 15 to lift. In one embodiment, the first lift arm 14 is a voice coil motor. In other embodiments, the first lifting arm 14 can also be a cylinder, a linear motor, a lead screw and nut mechanism, or other linear moving device.

In one embodiment, the first lifting arm 14 further includes a first elastic member 144 elastically pulling the second mounting seat 142, a lower end of the first elastic member 144 is connected to the second mounting seat 142, and an upper end of the first elastic member 144 is connected to the first mounting seat 141; the weight of the second mounting base 142, the first lifting arm 14 and the corresponding suction claw 12 can be partially offset by the first elastic member 144 pulling the second mounting base 142, so that the first lifting driver 143 can drive the corresponding suction claw 12 to lift.

In one embodiment, the first elastic member 144 is a spring, and in other embodiments, the first elastic member 144 is an elastic string.

In one embodiment, the first lift arm 14 further includes a first grating scale 147 and a first grating read head 146 that cooperates to sense the first grating scale 147; the first grating ruler 147 is mounted on the second mounting base 142, and the first grating reading head 146 is mounted on the first mounting base 141; to facilitate determining the height position of the second mounting base 142. In some embodiments, the first grating scale 147 may also be mounted on the first mounting base 141 and the first grating read head 146 mounted on the second mounting base 142.

In one embodiment, the first lifting arm 14 further includes a first cross rail 145 connecting the first mounting seat 141 and the second mounting seat 142, and the first cross rail 145 is vertically disposed, so that the second mounting seat 142 can flexibly slide on and off the first mounting seat 141, and further, the second mounting seat 142 can be ensured to smoothly slide, and the lifting and lowering of the second mounting seat 142 can be compensated, so as to ensure the accuracy of the movement of the second mounting seat 142.

In one embodiment, referring to fig. 3, 5 and 6, the second lifting arm 15 includes a third mounting seat 151 and a second lifting driver 152, the third mounting seat 151 is slidably mounted on the second mounting seat 142, the second lifting driver 152 is supported on the second mounting seat 142, the third mounting seat 151 is used for supporting the support 123, that is, the suction claw 12 can be mounted on the third mounting seat 151, and the second lifting driver 152 is used for driving the third mounting seat 151 to lift and lower so as to drive the corresponding suction claw 12 to lift and lower. In one embodiment, second lift arm 15 is a voice coil motor. In other embodiments, the second lifting arm 15 may also be a linear moving device such as an air cylinder, a linear motor, a lead screw and nut mechanism, etc.

In one embodiment, the second lifting arm 15 further includes a second elastic member 153 for elastically pulling the third mounting seat 151, a lower end of the second elastic member 153 is connected to the third mounting seat 151, and an upper end of the second elastic member 153 is connected to the second mounting seat 142; the second elastic member 153 pulls the third mounting seat 151, so as to partially offset the weight of the third mounting seat 151, the third lifting arm 13 and the corresponding suction claw 12, thereby facilitating the second lifting driver 152 to drive the corresponding suction claw 12 to lift.

In one embodiment, the second elastic member 153 is a spring, and in other embodiments, the second elastic member 153 is an elastic string.

In one embodiment, the second lift arm 15 further comprises a second grating 156 and a second grating read head 155 cooperating to sense the second grating 156; the second grating 156 is mounted on the second mounting base 142, and the second grating reading head 155 is mounted on the third mounting base 151; to facilitate determination of the height position of the third mount 151. In some embodiments, the second grating scale 156 may also be mounted on the third mount 151, with the first grating read head 146 mounted on the second mount 142.

In one embodiment, the second lifting arm 15 further includes a second cross rail 154 connecting the second mounting seat 142 and the third mounting seat 151, and the second cross rail 154 is vertically disposed, so that the third mounting seat 151 can flexibly slide on the second mounting seat 142, and can ensure smooth sliding of the third mounting seat 151, and compensate for lifting and lowering of the third mounting seat 151, and ensure accuracy of movement of the third mounting seat 151.

In one embodiment, there is only one pair of lift arms 13 to reduce the volume and weight of the diving board pick-and-place device 10.

In one embodiment, referring to fig. 11, the lifting arms 13 may be two pairs, and the two pairs of lifting arms 13 are respectively mounted on the supporting base 16 to simultaneously support and drive the four suction claws 12 to lift. Of course, in some embodiments, the lifting arms 13 may be provided in three, four, and so on.

In one embodiment, referring to fig. 12, when there are a plurality of lifting arms 13, each lifting arm 13 may be mounted on the supporting base 16 to control each suction claw 12.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. Jump piece is got and is put device (10), its characterized in that: including be used for once only adsorbing the claw (12), the drive of inhaling of at least one row jump piece of longitudinal arrangement inhale lift arm (13), support of lift arm (13), drive linear driving mechanism (17) and the support of support (16) lateral shifting the frame (11) of linear driving mechanism (17), inhale claw (12) install in on lift arm (13), lift arm (13) install in on support (16), support (16) install in on linear driving mechanism (17), linear driving mechanism (17) install in on frame (11).

2. The diving pick-and-place device (10) of claim 1, characterized in that: the suction claw (12) comprises a plurality of suction nozzles (121) for sucking the jumper strips, the suction nozzles (121) are longitudinally arranged in at least one row, the suction claw (12) further comprises a plurality of support rods (122) which are longitudinally arranged in parallel, the number of the support rods (122) is equal to that of the suction nozzles (121) in one row, and the suction nozzles (121) in any row are respectively installed on the support rods (122); the supporting rods (122) are divided into at least two groups, and the suction claw (12) further comprises at least two supporting seats (123) which are respectively connected with the supporting rods (122) of each group; the jump sheet taking and placing device (10) respectively drives at least two lifting arms (13) of each support (123) to lift.

3. The diving pick-and-place device (10) of claim 2, characterized in that: any two sets of the struts (122): the distance between any two adjacent struts (122) in each group is equal to the distance between any two adjacent struts (122) in the other group.

4. The diving pick and place device (10) of claim 3, characterized in that: the supporting rods (122) are divided into N groups, N is not less than 2 and is a positive integer, and in each group of the supporting rods (122): the distance between any two adjacent struts (122) and the distance between any two adjacent struts (122) in another group have N-1 struts (122).

5. The diving pick-and-place device (10) of any of claims 2-4, characterized in that: the lifting arms (13) are arranged in pairs, each pair of lifting arms (13) comprises a first lifting arm (14) and a second lifting arm (15), the first lifting arm (14) is installed on the supporting seat (16), and the second lifting arm (15) is installed on the first lifting arm (14).

6. The diving pick and place device (10) of claim 5, characterized in that: the first lifting arm (14) comprises a first mounting seat (141) mounted on the supporting seat (16), a second mounting seat (142) used for supporting the support (123) and a first lifting driver (143) driving the second mounting seat (142) to lift, the second mounting seat (142) is mounted on the first mounting seat (141) in a sliding mode, and the first lifting driver (143) is supported on the first mounting seat (141); the second lifting arm (15) is mounted on the second mounting base (142).

7. The diving pick-and-place device (10) of claim 6, characterized in that: the first lifting arm (14) further comprises a first elastic piece (144) for elastically pulling the second mounting seat (142), the lower end of the first elastic piece (144) is connected with the second mounting seat (142), and the upper end of the first elastic piece (144) is connected with the first mounting seat (141).

8. The diving pick-and-place device (10) of claim 6, characterized in that: the first lifting arm (14) further comprises a first cross guide rail (145) connecting the first mounting base (141) and the second mounting base (142), and the first cross guide rail (145) is vertically arranged.

9. The diving pick-and-place device (10) of claim 6, characterized in that: the second lifting arm (15) comprises a third mounting seat (151) for supporting the support (123) and a second lifting driver (152) for driving the third mounting seat (151) to lift, the third mounting seat (151) is slidably mounted on the second mounting seat (142), and the second lifting driver (152) is supported on the second mounting seat (142).

10. The diving pick-and-place device (10) of claim 9, characterized in that: the second lifting arm (15) further comprises a second elastic piece (153) for elastically pulling the third mounting seat (151), the lower end of the second elastic piece (153) is connected with the third mounting seat (151), and the upper end of the second elastic piece (153) is connected with the second mounting seat (142).

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