CN217322309U - Carrying mechanism and processing equipment - Google Patents

Abstract

The utility model discloses a transport mechanism and processing equipment, transport mechanism get the subassembly, absorb subassembly and motion subassembly including pressing from both sides, press from both sides the subassembly and get drive assembly, first clamp and get a piece and the second clamp including pressing from both sides, press from both sides to get the driving piece and be used for the first clamp of drive to get a piece and the second clamp gets a piece and removes in opposite directions in order to press from both sides and get the product, absorbs the subassembly setting and is in first clamp get a piece with the second clamp is got between the piece, absorb the absorption end of subassembly with it dodges the space to press from both sides to form between the exposed core of getting the subassembly. The utility model discloses can be according to the difference of product structure, select more suitable transport mode in two kinds of transport modes are got with the clamp to increase the suitability of the mechanism of transport, reduced equipment cost. Meanwhile, on the premise of mutual noninterference, the sucking assembly and the clamping assembly are compactly arranged, so that the structure is simple, and the occupied equipment space can be avoided.

Description

Carrying mechanism and processing equipment

Technical Field

The utility model relates to a technical field is carried to the product, in particular to transport mechanism and processing equipment.

Background

The chip is packaged with products in the form of LGA (Land Grid Array), BGA (Ball Grid Array), QFN (Quad Flat No-leads Package), SOP (Small Out-Line Package), and the like. The chips in QFN, LGA and BGA forms are packaged to form a planar packaging substrate, and the chips in SOP forms are packaged to form a packaging substrate with single chip bumps arranged in a rectangular array.

Since the external structures of the substrates of different package types are different, the carrying manner is also different. In the process of processing the substrate, processing equipment with different carrying modes needs to be arranged at the same time to adapt to substrates with different packaging forms, which can increase the setting cost of the processing equipment.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned prior art's weak point, the utility model provides a transport mechanism and processing equipment can carry the base plate of different packaging forms.

The embodiment adopts the following technical scheme:

a handling mechanism comprising:

the clamping driving part is used for driving the first clamping part and the second clamping part to move oppositely so as to clamp a product;

the suction assembly is arranged between the first clamping piece and the second clamping piece, and an avoidance space is formed between an adsorption end of the suction assembly and a clamping end of the clamping assembly; and

the clamping assembly and the suction assembly are arranged at the driving end of the moving assembly.

Further, in the carrying mechanism, the first clamping member is an elastic clamping member.

Further, among the handling mechanism, first clamp includes clamping jaw, mounting and elastic component, the mounting set up in press from both sides the drive end of getting drive assembly, the clamping jaw rotates to be located on the mounting, the one end of clamping jaw is the exposed core, the one end butt relative with the exposed core on the clamping jaw the one end of elastic component, the other end butt of elastic component the mounting.

Further, in the transport mechanism, the mounting includes fixed plate, connecting block and baffle, the fixed plate set up in press from both sides the drive end of getting drive assembly, the connecting block sets up on the fixed plate, the clamping jaw rotates to be located on the connecting block, the baffle sets up the side of connecting block, just the elastic component is located the clamping jaw with between the baffle.

Further, in the carrying mechanism, the clamping ends of the clamping jaws are inclined planes.

Further, in the carrying mechanism, an anti-slip piece or an anti-slip pattern is arranged on the inclined surface.

Further, among the transport mechanism, press from both sides and get drive assembly and include installed part, motor, flexible unit, action wheel and follow the driving wheel, the action wheel with all rotate from the driving wheel and locate on the installed part, flexible unit encircle the action wheel with follow the driving wheel on, the motor is used for the drive the action wheel rotates, first press from both sides get the piece with the second is pressed from both sides and is got the piece and be fixed in respectively the both sides of flexible unit.

Further, in the carrying mechanism, the clamping driving assembly further comprises a guide member, and the guide member is arranged on the mounting member and is used for being matched with the first clamping member to guide.

Further, among the handling mechanism, the guide part includes guide rail and linear bearing, the guide rail is located along the centre gripping direction on the installed part, the linear bearing cover is established on the guide rail, first clamp get respectively with linear bearing with one side fixed connection of flexible unit.

A processing device comprises a material taking position and a material placing position, wherein the carrying mechanism is used for carrying a product from the material taking position to the material placing position.

Compared with the prior art, the utility model provides a pair of transport mechanism and processing equipment can be according to the difference of product structure, selects more suitable transport mode in two kinds of transport modes of absorption and clamp getting to increase the suitability of the mechanism of transport, reduced equipment cost. Meanwhile, on the premise of mutual noninterference, the sucking assembly and the clamping assembly are compactly arranged, so that the structure is simple, and the occupied equipment space can be avoided.

Drawings

Fig. 1 is a package substrate in the form of an SOP package.

Fig. 2 is a package substrate in the form of an LGA package.

Fig. 3 is a schematic view of an overall structure of a specific embodiment of the carrying mechanism of the present invention.

Fig. 4 is a schematic structural view of the suction assembly and the gripping assembly in the carrying mechanism shown in fig. 1.

Fig. 5 is a schematic diagram of the exploded structure of fig. 4.

Fig. 6 is an exploded view of the first picking member of fig. 5.

Fig. 7 is a structural schematic diagram of normal clamping of the clamping jaws.

Fig. 8 is a schematic structural diagram of adaptive rotation during clamping of the clamping jaws.

Fig. 9 is an exploded view of the grasping drive assembly of fig. 5.

Figure 10 is a schematic view of the structure of the suction cup assembly of figure 5.

Fig. 11 is a schematic view of an overall structure of a specific embodiment of the processing apparatus provided by the present invention.

100, packaging a substrate; 200. a plastic package body; 300. a carrying mechanism; 400. hanging a basket; 500. a transfer rail; 600. a dust-free paper placing box;

10. a gripping assembly; 11. a gripping drive assembly; 111. a mounting member; 112. a motor; 113. a flexible unit; 114. a driving wheel; 115. a driven wheel; 116. a guide rail; 117. a linear bearing; 118. a connecting member; 12. a first clamping member; 121. a clamping jaw; 122. an elastic member; 123. a fixing plate; 124. connecting blocks; 125. a baffle plate; 13. a second clamping member; 20. a suction assembly; 21. mounting a plate; 22. a suction cup; 30. a motion assembly; 31. a module mounting base; 32. a horizontal driving module; 33. a vertical driving module.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the following description of the present invention will refer to the accompanying drawings and illustrate embodiments. It should be understood that the specific examples described herein are intended merely to illustrate the invention and are not intended to limit the invention, as elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.

In the production and manufacture of IC products, because the process is complicated, in order to ensure the traceability of the whole process chain, on the premise of not damaging components, a specific character string corresponding to clear messages such as serial numbers, product names, manufacturers and the like needs to be marked at a specific position of the plastic-packaged IC. Referring to fig. 1 and 2, after the chip is packaged, the process is performed by marking on the plastic package body 200 of the package substrate 100 by using a laser.

The chip is packaged with products in the form of LGA, BGA, QFN, SOP, etc. Referring to fig. 1, the SOP package substrate 100 has low requirements for the surface molding compound 200, and thus can be directly stacked and placed in the hanging basket 400. When the package substrate 100 in the SOP form needs to be subjected to marking, since the package substrate 100 in the SOP form is formed by arranging single chips in a rectangular array after the chips are packaged, the area of the single chip bump is small, and therefore, a carrying mode of sucking by using a sucking disc is not suitable, and a carrying mode of clamping by using a clamping jaw is required.

Referring to fig. 2, the chip in the LGA, BGA, QFN, etc. form is packaged to form a planar package substrate 100, and the package substrate 100 in the LGA, BGA, QFN, etc. form requires a high height for the molding compound 200 on the surface thereof, so the package substrate 100 and the sealing substrate need to be stacked in a hanging basket with a layer of dust-free paper therebetween. Therefore, the transportation form of suction by the suction cup can be adopted, the dust-free paper is firstly sucked to a proper position, and then the package substrate 100 is sucked for transportation.

Referring to fig. 3 and 4, the carrying mechanism provided by the present invention includes a clamping assembly 10, an absorbing assembly 20 and a moving assembly 30, the clamping assembly 10 is used for clamping a product, the absorbing assembly 20 is used for absorbing the product, and both the clamping assembly 10 and the absorbing assembly 20 are disposed at a driving end of the moving assembly 30, so that the moving assembly 30 can drive the clamping assembly 10 and the absorbing assembly 20 to move to different positions, thereby carrying the product.

The gripping assembly 10 comprises a gripping driving assembly 11, a first gripping member 12 and a second gripping member 13, the gripping driving assembly 11 is arranged at the driving end of the moving assembly 30, and the first gripping member 12 and the second gripping member 13 are arranged oppositely. In the clamping process, the clamping driving member can simultaneously drive the first clamping member 12 and the second clamping member 13 to move, so that the product is pressed from two sides to realize clamping. Or the second clamping part 13 can be fixed, the first clamping part 12 is driven by the clamping driving part to move towards the second clamping part 13, and finally, the product is pressed from two sides to realize clamping.

The suction assembly 20 is used to suck up product. The suction assembly 20 is arranged between the first clamping piece 12 and the second clamping piece 13, and an avoiding space is formed between the suction end of the suction assembly 20 and the clamping end of the clamping assembly 10. Since the product has a certain width, when the width of the suction unit 20 is set to be smaller than the width of the product, the suction process and the gripping process in the horizontal direction do not interfere with each other. Meanwhile, the clamping end of the clamping assembly 10 can exceed the plane of the adsorption end of the suction assembly 20, so that the clamping process of the clamping assembly 10 in the vertical direction is not interfered by the suction assembly 20.

Therefore, the conveying mechanism can select a more appropriate conveying mode from two conveying modes of suction and clamping according to different product structures, namely different chip packaging modes, so that the applicability of the conveying mechanism is improved, and the equipment cost is reduced. Meanwhile, on the premise of mutual noninterference, the suction assembly 20 and the clamping assembly 10 are arranged compactly, so that the structure is simple, and the space occupied by a carrying mechanism can be prevented from being increased.

The first clamping member 12 can be an elastic clamping member to realize elastic clamping of the product and avoid damage to the product. In some embodiments, referring to fig. 5 and fig. 6, the first clamping member 12 includes a clamping jaw 121, a fixing member and an elastic member 122, the fixing member is disposed at the driving end of the clamping driving assembly 11, the clamping jaw 121 is rotatably disposed on the fixing member, one end of the clamping jaw 121 is a clamping end, one end of the clamping jaw 121 opposite to the clamping end abuts against one end of the elastic member 122, and the other end of the elastic member 122 abuts against the fixing member.

When the clamping jaw 121 clamps the workpiece and rotates, the elastic member 122 is used for applying elastic restoring force to the clamping jaw 121, so that the clamping jaw 121 is elastically pressed against the side of the workpiece. The elastic member 122 may be a spring, a rubber band, or the like. The fixing member may be a single body, and may be configured to facilitate the arrangement of the clamping jaw 121 and the elastic member 122.

Alternatively, the fixing member may include a fixing plate 123, a connecting block 124 and a baffle 125, the fixing plate 123 is disposed at the driving end of the clamping driving assembly 11, the connecting block 124 is disposed on the fixing plate 123, the clamping jaw 121 is rotatably disposed on the connecting block 124, the baffle 125 is disposed at the side of the connecting block 124, and the elastic member 122 is disposed between the clamping jaw 121 and the baffle 125.

Rotating shafts can be arranged on two sides of the clamping jaw 121, corresponding hole positions are formed in the connecting block 124, and the clamping jaw 121 can rotate through the mutual matching of the rotating shafts and the hole positions. The baffle 125 is used to mount the elastic member 122 and provide a supporting point for the elastic member 122. The number of the jaws 121 may be provided in plural to increase a grip portion to the product. Each clamping jaw 121 corresponds to a connecting block 124, and is mounted on the fixing plate 123 through the corresponding connecting block 124. Meanwhile, each clamping jaw 121 corresponds to an elastic member 122 and a baffle 125, and elastic clamping is realized through the corresponding elastic member 122 and the baffle 125.

The gripping ends of the jaws 121 may be beveled. When it is desired to clamp products in a stacked manner, such as package substrates stacked in a hanging basket, the clamping ends of the clamping jaws 121 will only contact the topmost product, and will not clamp excess products. With reference to fig. 7 and 8, in combination with the above elastic clamping manner, the clamping jaw 121 can rotate adaptively during the clamping process, so that the clamping jaw 121 achieves a better clamping effect.

And, an anti-slip member or an anti-slip pattern may be provided on the inclined surface. The anti-slip member or the anti-slip pattern can increase the friction coefficient between the inclined surface and the product, and even if the contact area between the inclined surface and the product is small, the clamping effect of the clamping jaw 121 can be ensured.

To with the second clamping piece 13, can directly adopt the structure the same with first clamping piece 12, perhaps also can adopt other clamping structure after current and improvement, the utility model discloses do not describe to this redundantly.

In some embodiments, referring to fig. 9, the gripping driving assembly 11 includes a mounting member 111, a motor 112, a flexible unit 113, a driving wheel 114 and a driven wheel 115, the driving wheel 114 and the driven wheel 115 are rotatably disposed on the mounting member 111, the flexible unit 113 surrounds the driving wheel 114 and the driven wheel 115, the motor 112 is configured to drive the driving wheel 114 to rotate, and the first gripping member 12 and the second gripping member 13 are respectively fixed on two sides of the flexible unit 113.

When the motor 112 drives the driving wheel 114 to rotate, the two sides of the flexible unit 113 move in opposite directions respectively. Therefore, depending on the direction of rotation of the motor 112, the first gripper 12 and the second gripper 13 can be moved towards or away from each other, so as to grip and release the product. The motor 112 can select electric, pneumatic or hydraulic drive and other driving modes according to actual needs, the flexible unit 113 can select a synchronous belt or a chain and the like, and the mounting piece 111 can adopt a frame to facilitate the mounting of other parts.

And, the gripping driving assembly 11 further includes a guide member disposed on the mounting member 111 for cooperating with the first gripping member 12 to guide, thereby preventing the jaw 121 from shaking when moving.

Specifically, the guiding element may include a guide rail 116 and a linear bearing 117, the guide rail 116 is installed on the mounting element 111 along the clamping direction, the linear bearing 117 is sleeved on the guide rail 116, and the first clamping element 12 is fixedly connected to the linear bearing 117 and one side of the flexible unit 113, respectively.

The fixing plate 123 in the first clamping member 12 may be sleeved outside the linear bearing 117, and the flexible unit 113 may be provided with a connecting member 118, and the fixing plate 123 is fixedly connected to the connecting member 118. When the flexible unit 113 moves the fixing plate 123 via the connecting member 118, the moving path of the fixing plate 123 is along the arrangement direction of the guide rail 116. Two or more guide rails 116 and linear bearings 117 may be provided to guide different positions of the fixed plate 123, respectively, so that the movement of the fixed plate 123 is more stable.

Of course, the second clamping member 13 can also be matched with the guide member, so that the moving process of the second clamping member 13 is guided by the guide member, and then both sides of the product are stably clamped and carried by the clamping jaws 121.

Referring to fig. 10, the suction assembly 20 includes a mounting plate 21 and a suction cup 22, the mounting plate 21 is disposed at a driving end of the moving assembly 30, and the suction cup 22 is mounted on the mounting plate 21. Moreover, the suction cup 22 can be provided in a plurality of numbers to increase the suction area to the product and improve the suction effect.

Referring to fig. 3, the moving assembly 30 includes a module mounting seat 31, a horizontal driving module 32 and a vertical driving module 33, the module mounting seat 31 is used for mounting the horizontal driving module 32 and the vertical driving module 33, the horizontal driving module 32 is used for driving the clamping assembly 10 and the suction assembly 20 to move along the horizontal direction, the vertical driving module 33 is used for driving the clamping assembly 10 and the suction assembly 20 to move along the vertical direction, and the product can be carried to a proper position through the cooperation of the horizontal driving module 32 and the vertical driving module 33. Horizontal drive module 32 and 33 accessible sharp modules of vertical drive module, current structures such as telescopic cylinder realize, the utility model discloses do not do this and describe repeatedly.

The utility model also provides a processing equipment, including getting the material level, putting the material level and above transport mechanism, transport mechanism is used for carrying the product from getting the material level and putting the material level, realizes the material loading processing or the unloading of product and carries.

Specifically, referring to fig. 11, the processing device may be a marking device, and the material taking position is a hanging basket 400 and the material placing position is a conveying track 500. The products are placed in the hanging basket 400 and lifted one by a lower lifting mechanism (not shown) to a take-out position.

Taking the product as the SOP package substrate 100 as an example, the conveying mechanism 300 picks up the product, conveys the product onto the conveying track 500, and further conveys the product to the next process. Taking LGA/BGA/QFN package substrate 100 as an example, the transporting mechanism 300 first absorbs the dust-free paper on the product into the dust-free paper box 600, and then returns to the material clamping area to suck and transport the package substrate 100 onto the transporting rail 500, and further transport the package substrate to the next process.

It should be understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such alterations and modifications should fall within the scope of the appended claims.

Claims (10)

1. A handling mechanism, comprising:

the clamping driving part is used for driving the first clamping part and the second clamping part to move oppositely so as to clamp a product;

the suction assembly is arranged between the first clamping piece and the second clamping piece, and an avoidance space is formed between an adsorption end of the suction assembly and a clamping end of the clamping assembly; and

the clamping assembly and the suction assembly are arranged at the driving end of the movement assembly.

2. The handling mechanism of claim 1 wherein the first gripper is a resilient gripper.

3. The carrying mechanism according to claim 2, wherein the first clamping member includes a clamping jaw, a fixing member and an elastic member, the fixing member is disposed at the driving end of the clamping driving assembly, the clamping jaw is rotatably disposed on the fixing member, one end of the clamping jaw is a clamping end, one end of the clamping jaw opposite to the clamping end abuts against one end of the elastic member, and the other end of the elastic member abuts against the fixing member.

4. The carrying mechanism according to claim 3, wherein the fixing member includes a fixing plate, a connecting block and a baffle, the fixing plate is disposed at the driving end of the clamping driving assembly, the connecting block is disposed on the fixing plate, the clamping jaw is rotatably disposed on the connecting block, the baffle is disposed at a side of the connecting block, and the elastic member is disposed between the clamping jaw and the baffle.

5. The handling mechanism of claim 3 wherein the gripping ends of the jaws are beveled.

6. The handling mechanism of claim 5 wherein the ramp is provided with cleats or cleats.

7. The carrying mechanism as claimed in claim 1, wherein the gripping driving assembly includes a mounting member, a motor, a flexible unit, a driving wheel and a driven wheel, the driving wheel and the driven wheel are rotatably disposed on the mounting member, the flexible unit surrounds the driving wheel and the driven wheel, the motor is configured to drive the driving wheel to rotate, and the first gripping member and the second gripping member are respectively fixed to two sides of the flexible unit.

8. The handling mechanism of claim 7, wherein the gripper drive assembly further comprises a guide disposed on the mount for cooperating with the first gripper for guiding.

9. The carrying mechanism according to claim 8, wherein the guide member includes a guide rail and a linear bearing, the guide rail is disposed on the mounting member along the clamping direction, the linear bearing is sleeved on the guide rail, and the first clamping member is fixedly connected to the linear bearing and one side of the flexible unit, respectively.

10. A processing plant comprising a take-out location, a deposit location, a handling mechanism as claimed in any one of claims 1 to 9 for handling a product from the take-out location to the deposit location.

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