CN215158972U

CN215158972U - Component pickup apparatus

Info

Publication number: CN215158972U
Application number: CN202120610808.7U
Authority: CN
Inventors: 王俊
Original assignee: Suzhou HYC Technology Co Ltd
Current assignee: Suzhou HYC Technology Co Ltd
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-12-14
Anticipated expiration: 2031-03-25

Abstract

The utility model discloses an element pickup apparatus. The component pickup apparatus includes: a main support; a plurality of picking mechanisms capable of working synchronously, which are arranged on the main bracket in a horizontal direction in parallel and movably; the transverse auxiliary adjusting mechanism moves transversely relative to the main support so as to correspond to one of the plurality of picking mechanisms; and is in a matching state with the corresponding picking mechanism and is in a disconnecting state with the rest picking mechanisms; and the transverse shaft driving part drives the main bracket and the transverse auxiliary adjusting mechanism to transversely move relatively, so that the transverse auxiliary adjusting mechanism drives the picking mechanism in the matching state to transversely and relatively displace relative to the other picking mechanisms. Therefore, a plurality of elements can be picked up simultaneously, and the picking efficiency is improved; furthermore, any one picking mechanism can be selectively adjusted transversely, and the universality and the flexibility of the component picking device are improved.

Description

Component pickup apparatus

Technical Field

The utility model relates to a component pickup apparatus belongs to the transport technical field of component.

Background

The semiconductor chip is a semiconductor device which is etched and wired on a semiconductor wafer to realize a certain function, the complexity of the chip is higher and higher along with the development of the semiconductor technology, and in order to ensure the quality of the chip leaving a factory, a functional test needs to be carried out before leaving the factory to ensure the integrity of the chip function, so that the effective control on the quality of the chip is realized, and the development of the semiconductor industry is promoted.

The detection of the chip usually depends on the test equipment to realize the purpose of automatic detection, before the detection, the chip is put in a material tray according to the row-column matrix, and the chip is picked up by a picking device to the detection unit for logic function test.

The pick-up devices in the prior art basically adopt a single pick-up form, namely each pick-up device is provided with a pick-up mechanism, and each time, only one chip can be picked up by the pick-up mechanism, so that repeated work is needed for many times, the detection efficiency is low, and the detection efficiency of the whole detection line is seriously influenced.

Disclosure of Invention

An object of the utility model is to provide an element pickup apparatus can pick up a plurality of components simultaneously, solves the problem that the picking efficiency is low that prior art exists.

To achieve the above object, one embodiment provides a component pickup apparatus. The component pickup apparatus includes:

a main support;

a plurality of picking mechanisms capable of working synchronously, which are arranged on the main bracket in a horizontal direction in parallel and movably;

the transverse auxiliary adjusting mechanism moves transversely relative to the main support so as to correspond to one of the plurality of picking mechanisms; and is in a matching state with the corresponding picking mechanism and is in a disconnecting state with the rest picking mechanisms;

and the transverse shaft driving part drives the main bracket and the transverse auxiliary adjusting mechanism to transversely move relatively, so that the transverse auxiliary adjusting mechanism drives the picking mechanism in the matching state to transversely and relatively displace relative to the other picking mechanisms.

Further preferably, the lateral auxiliary adjusting mechanism includes:

driving members, the number of which is set to one;

the connecting piece is connected with the driving piece and longitudinally extends under the driving of the driving piece so as to change the corresponding picking mechanism from the disengagement state to the matching state; the connecting piece comprises two clamping arms which are transversely arranged oppositely, and when the connecting piece is in the matching state with one picking mechanism, the picking mechanism is clamped by the two clamping arms at the transverse two sides.

Further preferably, each of the picking mechanisms is provided with a locking structure, and the main support is provided with a locking part matched with each of the locking structures;

when the picking mechanism is in the matched state, the locking structure of the picking mechanism is separated from the locking part so as to allow the picking mechanism to move transversely relative to the main bracket under the action of a first actuating force;

when the picking mechanism is in the disengagement state, the locking structure of the picking mechanism is matched with the locking part so as to prevent the picking mechanism from moving transversely relative to the main bracket under the action of the first actuating force.

Further preferably, the locking part is a concave-convex structure which is transversely and continuously arranged on the main bracket;

the picking mechanism comprises a base which is transversely connected with the main support in a sliding manner through a guide rail structure, and the locking structure comprises a block movably arranged on the base and an elastic body arranged between the block and the base;

when the picking mechanism is in the disengagement state, the blocking block abuts against the locking part under the action of the elastic force of the elastic body;

when the picking mechanism is in the matching state, the block overcomes the elastic force of the elastic body to be separated from the locking part.

Further preferably, the transverse auxiliary adjusting mechanism comprises a driving part and an adapting part connected with the driving part;

under the driving of the driving piece, the connecting piece longitudinally extends out to change the corresponding picking mechanism from the disengagement state to the matching state, and meanwhile, the connecting piece drives the locking structure of the picking mechanism to be separated from the locking part.

Further preferably, the locking structure further comprises a guide connecting member fixedly connected with the block, and the guide connecting member is rotatably connected to the base around a transverse pivot;

and the guide connecting piece is provided with a guide inclined plane, when the connecting piece extends longitudinally, the connecting piece can be abutted against the guide inclined plane to push the guide connecting piece to rotate, and the guide connecting piece drives the blocking block to separate from the locking part.

Further preferably, all or part of the picking mechanisms respectively comprise:

the base is transversely assembled on the main bracket in a sliding manner through a guide rail structure;

the elastic hovering structure is movably arranged on the base, moves from the protruding stretching position to the retracting position along the first horizontal direction under the action of external force, and reversely resets to the protruding stretching position after the external force is cancelled; and the number of the first and second groups,

the lower end of the vertical rod is a working head which is used for being in contact with an element, the vertical rod is vertically and movably arranged on the base between an operation position and a hovering position which is higher than the operation position, and the vertical rod is provided with a stopping part which is matched with the elastic hovering structure;

when the elastic hovering structure is located at the protruding position and the vertical rod is located at the hovering position, the stopping portion is supported by the elastic hovering structure below the elastic hovering structure so as to prevent the vertical rod from moving downwards.

Further preferably, at least one of the stopping portion and the elastic hovering structure is provided with a guiding inclined plane;

when the vertical rod moves from the operation position to the hovering position, under the guidance of the guide inclined plane, the supporting force of the stopping part on the elastic hovering structure serves as the external force, so that the elastic hovering structure moves to the retraction position until the stopping part upwards passes over the elastic hovering structure to cancel the external force;

the component picking device further comprises a height release driving mechanism, when the elastic hovering structure supports the stopping portion below the stopping portion, the height release driving mechanism triggers the elastic hovering structure to provide the external force, so that the elastic hovering structure moves to the retraction position, and the vertical rod is allowed to reset downwards under the action of the elastic piece or the self-weight.

Further preferably, the first horizontal direction is arranged in a longitudinal direction perpendicular to the transverse direction;

the height release driving mechanism moves transversely relative to the main support so as to correspond to one of the plurality of picking mechanisms; the suspension mechanism comprises a second driving piece and a release piece connected with the second driving piece, the number of the second driving pieces is set to be one, and the release piece longitudinally extends out under the driving of the second driving piece to trigger the elastic suspension structure.

Further preferably, the transverse shaft driving piece drives the main bracket to move transversely relative to the height releasing driving mechanism;

and the height release driving mechanism and the transverse auxiliary adjusting mechanism synchronously move in the transverse direction relative to the main support and simultaneously correspond to the same picking mechanism.

Compared with the prior art, the utility model discloses an embodiment has following beneficial effect at least: the plurality of picking mechanisms are arranged, so that a plurality of elements can be picked simultaneously, the problem of low picking efficiency in the prior art is solved, for example, when the picking mechanism is used for picking chips, a plurality of chips are picked simultaneously, the detection time is saved, and the detection efficiency is improved; and through the arrangement of the transverse auxiliary adjusting mechanism and the transverse shaft driving piece, the transverse distance of any picking mechanism relative to other picking mechanisms can be selectively adjusted, so that the positions of all components in the material tray can be flexibly and accurately matched, and the universality and the flexibility of the component picking device are improved.

Drawings

Fig. 1 is a perspective view of a partial structure of a component pickup device according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the area B in FIG. 1;

fig. 3 is an exploded view of a pick-up mechanism according to an embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of area A of FIG. 1;

fig. 5 is a side view of a partial structure of a component pickup device according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. However, these examples are not intended to limit the present invention, and structural, methodical, or functional changes that may be made by one of ordinary skill in the art in light of these examples are intended to be within the scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention will be described below by way of specific embodiments with reference to the accompanying drawings.

Referring to fig. 1 to 5, the present embodiment provides a component pickup apparatus which is preferably applied as a pickup apparatus of a chip, but is not limited thereto.

Referring to fig. 1, the component picking apparatus specifically includes a main support 1, a picking mechanism 2, a lateral auxiliary adjusting mechanism 3, and a lateral shaft driving member.

Wherein the pick-up mechanism 2 is used for picking up target components, such as chips in a tray. The number of the picking mechanisms 2 is set to be several, each picking mechanism 2 can pick one component, and the picking mechanisms 2 can work synchronously, namely, a plurality of components are picked simultaneously; in the example of the drawings, the number of the picking mechanisms 2 of the component picking device is set to 14 as a preferred chip picking device, so that the maximum number of chips stacked in each row in the current tray can be met, and thus 14 chips in a row can be picked simultaneously, and of course, the number of the picking mechanisms 2 is not limited to 14, and may also be set to be less than 14 as required, or is set to be more than 14 with further miniaturization of the chips.

These pick-up mechanisms 2 are mounted on the main frame 1 side by side in the lateral direction (i.e., the X-axis direction of fig. 1), and are movable relative to the main frame 1. When any one of the picking mechanisms 2 is moved relative to the main frame 1 and the other picking mechanism 2 is stationary relative to the main frame 1, the moving picking mechanism 2 is displaced laterally relative to the other stationary picking mechanism 2, so that the lateral spacing of the moving picking mechanism 2 from the other stationary picking mechanism 2 is changed.

The lateral auxiliary adjusting mechanism 3 can move in the lateral direction with respect to the main frame 1 to correspond to all the picking mechanisms 2 in one. And may be selectively engaged with the corresponding picking mechanism 2 while being disengaged from the remaining picking mechanisms 2. That is, the lateral auxiliary adjusting mechanism 3 can be changed between the fitted state and the disengaged state with each of the picking mechanisms 2 by moving in the lateral direction with respect to the main stand 1, and the lateral auxiliary adjusting mechanism 3 can also be in the fitted state with only one of all the picking mechanisms 2 at a time (in the disengaged state with the remaining picking mechanisms 2).

The transverse shaft driving part can be specifically set to be any one of a motor, an air cylinder, a hydraulic cylinder, an electromagnet and the like, and can drive the transverse auxiliary adjusting mechanism 3 to move transversely relative to the main support 1 through a screw rod, a push rod, a transmission belt, a gear/rack and other structures, so that the transverse auxiliary adjusting mechanism 3 drives the picking mechanism 2 in the matching state to relatively displace transversely relative to the other picking mechanisms 2, and further the adjustment of the transverse distance is realized.

Thus, the component pickup device of the embodiment is provided with the plurality of pickup mechanisms 2, and the synchronous operation of the pickup mechanisms 2 can realize the simultaneous pickup of a plurality of components, thereby solving the problem of low pickup efficiency in the prior art, for example, when the component pickup device is used for picking up chips, the pickup of the plurality of chips is carried out simultaneously, the detection time is saved, and the detection efficiency is improved; in addition, through the arrangement of the transverse auxiliary adjusting mechanism 3 and the transverse shaft driving piece, the transverse distance of any picking mechanism 2 relative to other picking mechanisms 2 can be selectively adjusted, so that the positions of all components such as chips in a material tray can be flexibly and accurately matched, and the universality and the flexibility of the component picking device are improved.

Further, referring to fig. 1 and 2, in the present embodiment, the lateral auxiliary adjusting mechanism 3 includes a driving member 31 and an attachment member 32. The driving member 31 may be any one of a motor, an air cylinder, a hydraulic cylinder, an electromagnet, and the like; the number of the driving members 31 is set to one, and the power output ends thereof are connected with the coupling members 32. The coupling member 32 can be driven by the driving member 31 to longitudinally (i.e. in the Y-axis direction in fig. 1) extend, so as to change the corresponding picking mechanism 2 from the disengaged state to the coupled state; in this embodiment, the connecting member 32 includes two laterally opposite clamping arms, and when the connecting member 32 is in the coupled state with one picking mechanism 2, the two clamping arms respectively clamp the picking mechanism 2 at two lateral sides, that is, the connecting member 32 is laterally static and cannot be displaced relative to the picking mechanism 2.

Therefore, only one driving piece 31 is adopted, the alternate matching of the transverse auxiliary adjusting mechanism 3 and each picking mechanism 2 can be realized, and the picking mechanisms 2 in a matching state can be displaced in the transverse direction relative to the other picking mechanisms 2 on the main support 1 along with the transverse relative movement between the transverse auxiliary adjusting mechanism 2 and the main support 1, so that the distance adjustment is realized, the two purposes are achieved at one time, a driving piece is not required to be independently arranged on each picking mechanism 2, and the low cost of the component picking device is ensured.

Preferably, in the present embodiment, the component pickup apparatus further includes a work table base for supporting the main stand 1, the lateral auxiliary adjusting mechanism 3, and the lateral axis driving member.

In a particular embodiment, the main support 1, the transverse-axis drive member, are mounted on the work bench in a laterally fixed manner with respect to each other, while the lateral auxiliary adjustment mechanism 3 is mounted on the work bench in a lateral translation. Under the driving of the horizontal shaft driving component, the horizontal auxiliary adjusting mechanism 3 transversely translates on the workbench base and further transversely displaces relative to the main support 1, so that along with the horizontal translation of the horizontal auxiliary adjusting mechanism 3, the horizontal auxiliary adjusting mechanism 3 can be alternately corresponding to each picking mechanism 2 and then matched, and one picking mechanism 2 in a matched state (namely one picking mechanism 2 clamped by two clamping arms) can transversely displace on the main support 1 so as to adjust the transverse distance between the picking mechanism 2 and the rest picking mechanisms 2 (such as the rest 13 picking mechanisms in the figure).

Of course, in a variant embodiment, the component pick-up device may also be provided such that the drive 31, the transverse-axis drive are each fixedly mounted on the work bench on which the main support 1 is mounted in translation in the transverse direction. In this way, the main support 1 is displaced in the transverse direction with respect to the work bench and to the transverse auxiliary adjustment mechanism 3, driven by the transverse axis drive, which, on the one hand, as previously described, the transverse auxiliary adjusting mechanisms 3 can be coupled with the respective picking mechanisms 2 in an alternating correspondence, and one picking mechanism 2 in the coupled state can be displaced transversely with respect to the remaining picking mechanisms 2 (for example, the remaining 13 picking mechanisms in the figure) to adjust the spacing, and on the other hand, the handling operation of the respective picking mechanisms 2 after picking up the components can be realized, namely, the main bracket 1 drives all 14 picking mechanisms 2 to move transversely, for example, the picked chips are conveyed to the detection station or the chips at the detection station are conveyed back to the material tray, namely, three different operation purposes are realized based on the same transverse shaft driving part, so that the component pickup device has a simple structure and low equipment cost.

Further, in the present embodiment, the main stand 1 includes an attachment bracket 11, a stand holder 12, and a vertical driving member 13.

Wherein the carrier 11 is mounted with each picking mechanism 2 and assembled on the support frame 12; the stand base 12 is mounted on the work bench base.

In addition, the sub-carrier 11 is vertically (i.e. in the direction of the Z axis in fig. 1) movably connected to the support frame 12, and can be driven by the vertical driving member 13 to reciprocate vertically relative to the support frame 12, so that the sub-carrier 11 drives all the picking mechanisms 2 to ascend or descend synchronously to lift or lower the picked components. Specifically, the vertical driving member 13 is configured as any one of a motor, a cylinder, a hydraulic cylinder, an electromagnet, etc., and includes a cylinder body fixed on the bracket base 12, and a power output end 131 connected to the attachment bracket 11, where the power output end 131 may be configured as a screw rod, a push rod, a transmission belt, a gear/rack, etc. In this manner, the attachment bracket 11 can be driven vertically up or down relative to the pedestal frame 12 by the vertical drive 13.

Of course, it is understood that, as described above, it is only one embodiment of the specific structure of the main stand 1 in the present embodiment, and the specific structure of the main stand 1 is not limited thereto.

Further, referring to fig. 3 and 4, each of the pickup mechanisms 2 is provided with a locking structure, and the main stand 1 has a locking portion 41 that is engaged with each of the locking structures.

When the picking mechanism 2 is in the matching state, the locking structure is separated from the locking part 41, so that the picking mechanism 2 is allowed to move transversely relative to the main bracket 1 under the action of a first actuating force; and when the picking mechanism 2 is in the disengaged state, the locking structure is matched with the locking part 41 to prevent the picking mechanism 2 from moving transversely relative to the main bracket 1 under the action of the first actuating force.

That is, the engagement of the locking structure and the locking portion 41 makes resistance to the lateral relative movement between the pickup mechanism 2 and the main stand 1 large; the pick-up mechanism 2 is more easily moved in the lateral direction with respect to the main frame 1 in the coupled state. Therefore, when the transverse auxiliary adjusting mechanism 3 transversely moves relative to the main support 1, the picking mechanism 2 in the matching state can transversely move relative to the main support 1 easily under the driving of the transverse auxiliary adjusting mechanism 3, and the rest picking mechanisms 2 can keep transversely static on the main support 1, so that the accuracy of distance adjustment is ensured, and dislocation caused by accidental movement of the rest picking mechanisms 2 is avoided.

Preferably, the locking portion 41 is a concave-convex structure formed on the main stand 1, and the concave-convex structure is embodied as a rack continuously provided in a lateral direction on the upper surface of the cross bar 10 of the main stand 1.

Correspondingly, the picking mechanism 2 comprises a base 21, and the base 21 is assembled and connected with the main bracket 1 in a transverse sliding mode through a transversely extending guide rail structure; the locking structure includes a stop 42 and an elastomer 44. Wherein, the block 42 is movably arranged on the base 21; the elastic body 44 is disposed between the block 42 and the base 21, and may be a spring, a leaf spring, or the like.

When the picking mechanism 2 is in the disengaged state, the locking structure is matched with the locking part 41, and at this time, under the elastic force of the elastic body 44, the block 42 is abutted against the locking part 41 (namely, the rack) along the longitudinal direction perpendicular to the transverse direction; when the picking mechanism 2 is in the coupled state, the locking structure thereof is disengaged from the locking portion 41, and the block 42 is separated from the locking portion 41 (i.e., the rack) against the elastic force of the elastic body 44. Thus, by mutual abutting of the block 42 and the locking portion 41, when the picking mechanism 2 is in the disengagement state, the friction force between the block 42 and the locking portion 41 is larger, and thus it is ensured that the picking mechanism 2 in the mating state is easier to move laterally relative to the main support 1 than the picking mechanism 2 in the disengagement state.

Further, in the present embodiment, the block 42 is disposed above the locking portion 41, and the elastic body 44 is disposed above the block 42, whereby the elastic body 44 vertically pushes the block 42 downward, so that the block 42 abuts against the locking portion 41 from above; conversely, the stopper 42 can overcome the elastic force of the elastic body 44 to move upward and be separated from the locking portion 41. Of course, this is only a specific example of the relative positions of the stop block 42, the locking part 41 and the elastic body 44 in the embodiment, and it can be understood that the respective positions of the elastic body 44, the stop block 42 and the locking part 41 can be simply adjusted to obtain other possible modified embodiments without departing from the spirit of the invention.

Further, the locking structure further includes a guide link 43, and the guide link 43 connects the block 42 to the base 21, that is, the block 42 is fixed to the guide link 43 and is rotatably connected to the base 21 by the guide link 43. In the present embodiment in particular, the base 21 has a transverse pivot 212; correspondingly, the guide link 43 has a transverse axle hole 431, the pivot 212 is inserted into the axle hole 431, and the guide link 43 drives the block 42 to rotate around the pivot 212, so as to realize the rotation of the block 42 relative to the base 21. Of course, the connection between the block 42 and the base 21 is not limited thereto, and it may also be connected to the base 21 by way of vertical translation, for example.

Preferably, when the coupling member 32 is moved by the driving member 31 to change from the disengaged state to the engaged state with the picking mechanism 2, the coupling member 32 urges the locking structure of the picking mechanism 2 to be separated from the locking portion 41. Therefore, the coupling piece 32 unlocks the locking structure of the picking mechanism 2 while the picking mechanism 2 is coupled, independent unlocking is not needed, and the device is simple in structure and convenient to operate.

Specifically, the front end of the guide link 43 is provided with a guide inclined surface 430, and when the coupling member 32 is driven by the driving member 31 to move to change from the disengaged state to the engaged state with the pickup mechanism 2, the guide inclined surface 430 is located on a path of longitudinal movement of the coupling member 32, so that the coupling member 32 abuts against the guide inclined surface 430 to push the guide link 43 to rotate around the pivot shaft 212, and the stopper 42 is driven by the guide link 43 to move upward and gradually separate from the locking portion 41.

Further, as described above, the base 21 is assembled with the main stand 1 by means of a rail structure extending in the lateral direction. Specifically, in the present embodiment, with reference to fig. 1 and 3, the guide rail structure includes a transverse through hole 210 formed in the base 21 and a guide shaft 101 fixedly disposed on the main support 1, the picking mechanism 2 can be sleeved on the guide shaft 101 through the through hole 210 and can transversely translate on the guide shaft 101 to achieve the assembling connection of the picking mechanism 2 and the main support 1, and the picking mechanism 2 can transversely translate relative to the main support 1. Of course, in alternative embodiments, the guide rail structure may also be configured as a slide rail, a sliding chute, or other rail structure that extends transversely and performs a guiding function.

In the preferred embodiment of the drawings, the number of the guide shafts 101 and the number of the through holes 210 are both set to two and the positions thereof are in one-to-one correspondence, whereby the assembling firmness and stability between the picking mechanism 2 and the main stand 1 can be increased.

Further, each pick-up mechanism 2 comprises a base 21, a vertical rod 20 and an elastic hovering structure 5, respectively.

Wherein, as mentioned above, the base 21 is assembled on the main support 1 in a laterally sliding manner, and is used for supporting the vertical rod 20 and the elastic hovering structure 5.

The stem 20 is in the form of an elongate rod which is mounted in a base 21. In the present embodiment, the lower end 202 of the vertical rod 20 is a working head for contacting with a target component to be picked up, for example, when the component pickup device is preferably a chip pickup device, the lower end 202 of the vertical rod 20 is usually a suction nozzle for sucking a chip by negative pressure, and correspondingly, the upper end 201 of the vertical rod 20 is used for being connected with an air pipe to connect the suction nozzle to an air pump; of course, the structure of the lower end 202 of the stem 20 is not limited thereto, and the picking mode is not limited to the negative pressure suction mode.

The vertical rod 20 is vertically movably attached to the base 21. Specifically, the base 21 has a vertical through hole 211, and the stem 20 is inserted in the through hole 211 and is vertically movable up and down with respect to the base 21, so that the stem 20 has a working position and a hovering position higher than the working position, that is, the stem 20 can vertically reciprocate between the working position and the hovering position.

The resilient hovering structure 5 is movably mounted on the base 21, and is capable of moving from the protruding position to the retracted position along the first horizontal direction under the action of an external force, and reversely resetting to the protruding position after the external force is cancelled. The stem 20 has a stop portion 52 adapted to the elastic suspending structure 5, and when the elastic suspending structure 5 is located at the protruding position and the stem 20 is located at the suspending position, the elastic suspending structure 5 supports the stop portion 52 below to prevent the stem 20 from moving downward.

Therefore, on one hand, for each picking mechanism 2, the arrangement of the elastic hovering structure 5 enables the vertical rod 20 to be kept at the hovering position, so that each picking mechanism 2 can be selectively used for operation or idle, and the number of the picking mechanisms 2 synchronously operating at the same time can be conveniently and freely adjusted, and the requirement of picking different numbers of elements at the same time is met; on the other hand, the transverse auxiliary adjusting mechanism 3 can be selectively matched with any picking mechanism 2, so that after determining which picking mechanisms 2 are operated and which picking mechanisms 2 are idle, the transverse position of each picking mechanism 2 can be adjusted, and the universality and flexibility of the component picking device are further improved; on the other hand, the height of the vertical rod 20 at the hovering position is limited by the elastic hovering structure 5, and the automatic resetting of the elastic hovering structure 5 is adopted, so that the structure of the component picking device is simple, and the height adjustment is very convenient.

Wherein, as mentioned above, in a preferred embodiment, each picking mechanism 2 comprises a base 21, a vertical rod 20 and an elastic hovering structure 5, respectively, to enable holding at the hovering position without work; of course, in a variant embodiment, it is also possible to provide only a part (i.e. not all) of the total pick-up mechanism 2 as: comprising a base 21, a vertical stick 20 and an elastic hovering structure 5 to enable keeping at said hovering position without performing work, while the remaining part is left without the elastic hovering structure 5 to keep participating in each work, which also achieves the effect of adjusting the number of picking up mechanisms 2 that synchronize the work at the same moment.

In the present embodiment in particular, the elastic hovering structure 5 comprises an elastic body 53 and a limiting member 51.

The limiting member 51 is movably mounted on the base 21 along the first horizontal direction; specifically, the stopper 51 is provided with a guide groove 511 extending in the first horizontal direction; the base 21 is provided with a receiving groove 214 extending in the first horizontal direction and a guide post 213 disposed in the receiving groove 214; the limiting member 51 is disposed in the receiving groove 214 to be limited by the receiving groove 214 to move along the first horizontal direction, and meanwhile, the guide column 213 is inserted into the guide groove 511 to further limit the limiting member 51 to move along the first horizontal direction relative to the base 21, and at the same time, limit the limit position of the limiting member 51 in a reciprocating motion, so as to prevent the limiting member 51 from separating from the base 21.

The elastic body 53 is disposed between the limiting member 51 and the base 21, and may be specifically configured as a spring, an elastic sheet, or the like, when the limiting member 51 moves along the first horizontal direction, the elastic body 53 is compressed to increase the deformation amount, and drives the limiting member 51 to move reversely through its own elastic restoring force, so as to realize the reverse reset of the elastic hovering structure 5 to the protruding position.

As described above, a preferred structure and installation manner of the elastic hovering structure 5 are provided, and of course, in a simple modified embodiment, the position of the elastic body 53 may be changed, and even the elastic body 53 and the limiting member 51 may be configured as an integral molding, and these modifications do not depart from the technical spirit of the present invention.

Further, at least one of the stop 52 and the resilient hovering structure 5 is provided with a guiding slope. When the vertical rod 20 moves from the working position to the hovering position vertically upwards, under the guidance of the guiding slope, the supporting force of the stopping portion 52 on the elastic hovering structure 5 is used as the external force, so that the elastic hovering structure 5 moves from the protruding position to the retracting position along the first horizontal direction, until the stopping portion 52 passes over the elastic hovering structure 5 upwards, the external force is cancelled, and at this time, the elastic hovering structure 5 is reset reversely. That is, under the pushing action of the stopping portion 52, the elastic suspending structure 5 is pushed to move along the first horizontal direction, so as to allow the vertical rod 20 to move to the suspending position, and the elastic suspending structure can be automatically reset so as to keep the vertical rod 20 at the suspending position without falling, so that the operation is convenient and the structure is simple.

As mentioned above, at least one of the stopping portion 52 and the elastic hovering structure 5 is provided with a guiding inclined surface, specifically in this embodiment, the stopping portion 52 is provided with a guiding inclined surface 521, and the elastic hovering structure 5 is provided with a guiding inclined surface 512 on the limiting member 51; of course, in a modified embodiment, an alternative arrangement may be provided between the guiding inclined plane 521 and the guiding inclined plane 512, and it is also possible to realize that the stopping portion 52 pushes the limiting member 51 to move along the first horizontal direction.

Wherein the first horizontal direction is set as a longitudinal direction perpendicular to the lateral direction, although in a variation, it is not limited thereto.

Further, referring to fig. 1 and fig. 2, the component pickup apparatus further includes a height releasing driving mechanism 6, when the elastic suspension structure 5 abuts against the stopping portion 52, the height releasing driving mechanism 6 may trigger the elastic suspension structure 5 to provide the external force, so that the elastic suspension structure 5 moves to the retracted position, so as to allow the vertical rod 20 to return to the downward position under the action of the elastic member 22 or the self-weight.

Preferably, the height-release driving mechanism 6 is moved in a lateral direction with respect to the main frame 1 to correspond alternatively to all the picking mechanisms 2. The height release drive mechanism 6 specifically includes a drive member 61 and a release member 62. The driving member 61 may be any one of a motor, a cylinder, a hydraulic cylinder, an electromagnet, and the like; the number of the driving members 61 is set to one, and the power output ends thereof are connected to the releasing members 62. The release element 62 is capable of being driven by the driving element 61 to longitudinally extend and touch the limiting element 51 of the elastic hovering structure 5, so that the elastic hovering structure 5 moves from the protruding position to the retracted position along the first horizontal direction.

In this way, only by using the same driving member 61, the alternate coupling between the height releasing driving mechanism 6 and each pickup mechanism 2 can be realized, and the height adjustment of each pickup mechanism 2 can be completed.

Preferably, the horizontal shaft driving piece also drives the height releasing driving mechanism 6 to move in the transverse direction relative to the main bracket 1; and, the height releasing driving mechanism 6 and the lateral auxiliary adjusting mechanism 3 are moved in the lateral direction with respect to the main stand 1 while keeping synchronization. In a particular embodiment, such as the previously described embodiment in which the main support 1 is mounted laterally relatively fixed on said work bench, and the lateral auxiliary adjustment mechanism 3 is mounted laterally translationally on said work bench, the driving member 61 of the height release driving mechanism 6 is also mounted laterally translationally on said work bench, and is arranged relatively fixed with respect to the driving member 31 of the lateral auxiliary adjustment mechanism 3, so as to achieve the synchronous movement; in an alternative embodiment, for example the previously described embodiment, in which the drive member 31 is fixedly mounted on the work bench, and the main stand 1 is mounted to the work bench in translation in the transverse direction, it is likewise possible to fixedly mount the drive member 61 of the height-release drive mechanism 6 on the work bench. As in the above embodiments, the main frame 1 can be moved laterally relative to the height releasing driving mechanism 6 and the lateral auxiliary adjusting mechanism 3 simultaneously under the driving of the transverse shaft driving element.

And, the height release driving mechanism 6 and the lateral auxiliary adjusting mechanism 3 correspond to the same pickup mechanism 2 at the same time. So, through the same mechanism 2 that picks up that corresponds in step of high release actuating mechanism 6 and horizontal supplementary adjustment mechanism 3, through once fixing a position, can realize the simultaneous control to the height and the horizontal interval of same mechanism 2 that picks up, avoid the complex operation and the inefficiency scheduling problem that repeated positioning leads to.

Further, as previously described, the stem 20 is capable of returning downward under the influence of the resilient member 22. Specifically, in the present embodiment, the elastic member 22 is disposed on the stem 20 and located between the cam 203 of the stem 20 and the base 21, and when the stem 20 is separated from the working position, the elastic member 22 increases the amount of deformation to drive the stem 20 to return downward. Of course, in alternative embodiments, the resilient member 22 may be eliminated and the stem 20 allowed to return under its own weight.

Further, referring to fig. 5, the component pickup apparatus further includes a height sensor 72 and a lateral position sensor 71. Wherein the height sensor 72 is used for sensing the position of the stem 20 in the vertical direction, for example, it can cooperate with the bump 24 of the stem 20 to determine whether the stem 20 is in the hovering position, so that when the stem 20 is in the hovering position, the driving member 61 is controlled to drive the release member 62 to extend longitudinally as required; the lateral position sensor 71 is used for sensing the lateral position of the picking mechanisms 2, thereby facilitating the driving member 31 to drive the coupling member 32 to longitudinally extend in a controlled manner and facilitating the lateral shaft driving member to drive the main bracket 1 to move laterally in a controlled manner so as to adjust the lateral spacing between the adjacent picking mechanisms 2. Of course, the arrangement of the height sensor 72 and the lateral position sensor 71 is only a specific implementation example of the position confirmation, and the implementation manner of the position confirmation of the vertical rod 20 in the vertical direction and the lateral position confirmation of the picking mechanism 2 is not limited to this.

Compared with the prior art, the embodiment has at least the following beneficial effects: the plurality of picking mechanisms 2 are arranged, so that a plurality of elements can be picked simultaneously, the problem of low picking efficiency in the prior art is solved, for example, when the picking mechanism is used for picking chips, a plurality of chips are picked simultaneously, the detection time is saved, and the detection efficiency is improved; in addition, through the arrangement of the transverse auxiliary adjusting mechanism 3 and the transverse shaft driving piece, the transverse distance of any picking mechanism 2 relative to other picking mechanisms 2 can be selectively adjusted, so that the positions of all components such as chips in a material tray can be flexibly and accurately matched, and the universality and the flexibility of the component picking device are improved.

It should be understood that although the description is made in terms of embodiments, not every embodiment includes only a single embodiment, and such description is for clarity only, and those skilled in the art will recognize that the embodiments described herein may be combined as a whole to form other embodiments as would be understood by those skilled in the art.

The detailed description set forth above is only a specific description of the feasible embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the technical spirit of the present invention are intended to be included within the scope of the present invention.

Claims

1. A component pickup apparatus, comprising:

a main support;

2. The component pickup apparatus according to claim 1, wherein the lateral auxiliary adjusting mechanism comprises:

driving members, the number of which is set to one;

3. The component pickup apparatus according to claim 1, wherein each of said pickup mechanisms is provided with a locking structure, and said main support is provided with a locking portion which is matched with each of said locking structures;

4. The component pickup apparatus according to claim 3, wherein said lock portion is a concavo-convex structure provided in series in a lateral direction on said main support;

5. The component pickup apparatus as set forth in claim 4, wherein said lateral auxiliary adjustment mechanism includes a driving member and an adapter member connected to said driving member;

6. The component pickup apparatus as set forth in claim 5, wherein said locking structure further comprises a guide link fixedly connected to said stop block, said guide link being pivotally connected to said base about a transverse axis;

7. The component pickup apparatus according to claim 1, wherein all or part of the pickup mechanisms respectively comprise:

8. The component pickup apparatus according to claim 7, wherein at least one of the stopper portion and the elastic hovering structure is provided with a guide slope;

9. The component pickup apparatus according to claim 8, wherein the first horizontal direction is provided as a longitudinal direction perpendicular to the lateral direction;

10. The component picking apparatus of claim 8, wherein the cross-shaft drive drives the main support in a lateral direction relative to the height-release drive mechanism;