CN219566771U - Get and put mechanism and test sorter - Google Patents

Abstract

The utility model relates to a picking and placing mechanism and a test sorting machine. The picking and placing mechanism comprises a picking and placing unit, wherein the picking and placing unit comprises: the mounting panel comprises a mounting seat, and a first connecting seat and a second connecting seat which are both arranged on the mounting seat; the first picking and placing assembly is arranged on the first connecting seat; the position of the first connecting seat relative to the mounting seat is adjustable; the second picking and placing assembly is arranged on the second connecting seat; the position of the second connecting seat relative to the mounting seat is adjustable. According to the utility model, the mounting panel is designed into the split structure consisting of the first connecting seat, the mounting seat and the second connecting seat, and the position accuracy of the first picking and placing component and the second picking and placing component can be independently adjusted through the first connecting seat and the second connecting seat, so that the adjusting step and difficulty of the position accuracy of the first picking and placing component and the second picking and placing component are simplified, the accurate picking and placing of small-specification products can be realized, and the application range and market competitiveness of the test sorting machine are greatly improved.

Description

Get and put mechanism and test sorter

Technical Field

The utility model relates to the technical field of material transfer, in particular to a picking and placing mechanism and a test sorting machine.

Background

With the continuous development of the consumer electronics industry, the industry chain of integrated circuits is also becoming more and more complete. In the integrated circuit industry chain, the test sorting machine is used as an important device for sealing and testing integrated circuit products, and the sealing and testing efficiency and the sealing and testing product range are important links for ensuring the production efficiency of the industry chain. The sorting test of integrated circuit products shows the characteristics of various product types, high precision requirement, stable production requirement, high productivity requirement and the like, so that the performance of a picking and placing mechanism for picking and placing integrated circuit products in the test sorting machine is particularly important. However, the position accuracy stability of the existing picking and placing mechanism is not high, the simplicity of adjusting the position accuracy is poor, the accurate picking and placing of small materials cannot be realized, and the application range and the market competitiveness of the test sorting machine are severely limited.

Disclosure of Invention

Based on this, it is necessary to provide a pick-and-place mechanism and a test separator that improve the above-mentioned defect, aiming at the problems that the precision stability of the pick-and-place mechanism in the prior art is not high, the simplicity of precision adjustment is poor, the accurate pick-and-place of small materials cannot be realized, and the application range and market competitiveness of the test separator are severely limited.

A pick-and-place mechanism comprising a pick-and-place unit, wherein the pick-and-place unit comprises:

the mounting panel comprises a mounting seat, and a first connecting seat and a second connecting seat which are both arranged on the mounting seat;

the first picking and placing component is used for picking and placing products and is arranged on the first connecting seat; the position of the first connecting seat relative to the mounting seat can be adjusted so as to adjust the position of the first picking and placing component; and

The second picking and placing assembly is used for picking and placing products and is arranged on the second connecting seat; the second connecting seat is adjustable relative to the position of the mounting seat so as to adjust the position of the second picking and placing assembly.

In one embodiment, the mounting panel further comprises a first positioning pin and a first locking member, wherein the first connecting seat is positioned on the mounting seat through the first positioning pin, and is locked and fixed on the mounting seat through the first locking member.

In one embodiment, the mounting panel further comprises a second positioning pin and a second locking member, and the second connecting seat is positioned on the mounting seat through the second positioning pin and locked and fixed on the mounting seat through the second locking member.

In one embodiment, the mounting base comprises a fixing part, a first connecting part and a second connecting part which are integrally formed, wherein the first connecting part and the second connecting part are respectively positioned at two opposite ends of the fixing part;

the first connecting part is provided with a first mounting surface at one side which is far away from the second connecting part, and the first connecting seat is positioned on the first mounting surface through the first positioning pin and is locked and fixed on the first mounting surface through the first locking piece;

the second connecting portion is provided with a second mounting surface on one side, which is away from the first connecting portion, of the second connecting portion, the second connecting seat is positioned on the second mounting surface through the second positioning pin, and is locked and fixed on the second mounting surface through the second locking piece.

In one embodiment, the picking and placing unit further comprises a guide assembly and a moving seat, the guide assembly comprises a first guide rail and a first sliding block, one of the first guide rail and the first sliding block is installed on the first connecting seat, the other one of the first guide rail and the first sliding block is installed on the moving seat, the first sliding block is in sliding fit with the first guide rail, and the first picking and placing assembly is installed on the moving seat.

In one embodiment, the guide assemblies are provided in two or more, and the first guide rails of the respective guide assemblies are arranged parallel to each other.

In one embodiment, the first guide rail is mounted on the first connecting seat, and the first slider is mounted on the moving seat;

the moving seat is provided with a first surface facing the first sliding block and a second surface facing away from the first sliding block, and is provided with a bolt hole penetrating through the first surface and the second surface; the picking and placing unit further comprises a locking bolt, wherein the locking bolt penetrates through the bolt hole and is in threaded connection with the first sliding block so as to fasten the first sliding block on the motion seat;

the first picking and placing assembly is arranged on the second surface of the moving seat so as to prevent the locking bolt from falling out from one end of the bolt hole penetrating through the second surface.

In one embodiment, the first picking and placing component comprises a fixed seat, a spline shaft and a picking and placing piece, the fixed seat is connected to the moving seat, the spline shaft penetrates through the moving seat along the picking and placing direction and is movable relative to the moving seat along the picking and placing direction, and the picking and placing piece is arranged on the spline shaft so as to move along the picking and placing direction along the spline shaft and realize picking and placing of products;

The material taking and discharging direction is intersected with the longitudinal direction of the first guide rail.

In one embodiment, the first picking and placing assembly further comprises an auxiliary guiding structure, wherein the auxiliary guiding structure comprises a second guide rail, a second sliding block, a guide frame and a guide wheel;

one of the second guide rail and the second slider is mounted on the first connecting seat, and the other is mounted on the guide frame; the second guide rail is in sliding fit with the second sliding block and extends lengthwise along the material taking and placing direction; the guide frame is provided with a guide groove extending lengthwise along a first preset direction, and the first preset direction is parallel to the lengthwise direction of the first guide rail; the guide wheel is rotationally connected to the spline shaft and is in rolling fit with the guide groove.

In one embodiment, the picking and placing unit further comprises a guide shaft, and the first picking and placing assembly further comprises a joint bearing and a linear bearing; the knuckle bearing is arranged on the fixed seat, and the linear bearing is arranged in the inner ring of the knuckle bearing and sleeved outside the guide shaft; the axial direction of the guide shaft is intersected with the longitudinal direction of the first guide rail and the picking and placing direction;

The mounting seat can move along the axial direction of the guide shaft in a controlled manner relative to the guide shaft so as to drive the pick-and-place piece to move along the axial direction of the guide shaft.

In one embodiment, the number of the picking and placing units is multiple, the multiple picking and placing units are distributed along the axial direction of the guide shaft at intervals, and the linear bearing of each first picking and placing assembly is sleeved outside the guide shaft.

A test handler comprising a pick-and-place mechanism as in any one of the embodiments above.

The picking and placing mechanism and the test sorting machine have the advantage that in the using process, the position accuracy of the first picking and placing component or the second picking and placing component is low due to factors such as part machining errors, assembly errors or abrasion. When the position of the first picking and placing component deviates, the position of the first connecting seat relative to the mounting seat can be finely adjusted, so that the fine adjustment of the position of the first picking and placing component is realized, and the position accuracy of the first picking and placing component is improved. When the position of the second picking and placing component deviates, the position of the second connecting seat relative to the mounting seat can be finely adjusted, so that the fine adjustment of the position of the second picking and placing component is realized, and the position accuracy of the second picking and placing component is improved.

Therefore, compared with the integral type mounting panel adopted in the prior art, the mounting panel is designed into the split type structure consisting of the first connecting seat, the mounting seat and the second connecting seat, the position precision of the first picking and placing component and the second picking and placing component can be independently adjusted through the first connecting seat and the second connecting seat, the influence on the position precision of one of the first picking and placing component and the second picking and placing component when the position precision of the other is adjusted is avoided, and therefore the adjusting steps and the difficulty of the position precision of the first picking and placing component and the second picking and placing component are simplified, the position precision of the first picking and placing component and the second picking and placing component is ensured to be higher, the accurate picking and placing of small-specification products is facilitated, and the use range and the market competitiveness of the test sorting machine are greatly improved.

Drawings

FIG. 1 is a schematic diagram of a pick-and-place mechanism according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a pick-and-place unit of the pick-and-place mechanism shown in FIG. 1;

FIG. 3 is a schematic view of the mounting panel of the pick-and-place unit shown in FIG. 2;

FIG. 4 is an exploded view of the mounting panel of FIG. 3;

FIG. 5 is a schematic view of an assembly structure of a first pick-and-place assembly of the pick-and-place unit shown in FIG. 2;

FIG. 6 is an exploded view of the fixed seat, the moving seat and the first carriage of the first pick-and-place assembly shown in FIG. 5;

FIG. 7 is a schematic diagram illustrating an assembly structure of the fixing base and the guide shaft of the first pick-and-place assembly shown in FIG. 5;

FIG. 8 is a schematic view of an assembly structure of the fixing base and the guide shaft of the first pick-and-place assembly shown in FIG. 5 in another view;

fig. 9 is an exploded view of the linear bearing and the knuckle bearing shown in fig. 7.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

An embodiment of the present utility model provides a test handler for testing and sorting products. The test handler includes a pick-and-place mechanism for picking up or releasing the product, thereby realizing the transfer of the product at each station, so as to complete the test and the sorting of the product at each station. It should be noted that the product may be a chip or an intermediate product in the chip manufacturing process, and of course, may be other integrated circuit products, which are not limited herein. As for the specific testing and sorting process, the design may be made according to the specific product, and is not limited herein.

Referring to fig. 1 to 3, the pick-and-place mechanism includes a pick-and-place unit 1, where the pick-and-place unit 1 includes a mounting panel 10, a first pick-and-place assembly 20 and a second pick-and-place assembly 30. The mounting panel 10 includes a mounting seat 11, a first connection seat 12, and a second connection seat 13. The first connecting seat 12 and the second connecting seat 13 are both arranged on the mounting seat 11. The first picking and placing assembly 20 is disposed on the first connecting seat 12 for picking and placing products. The position of the first connecting seat 12 relative to the mounting seat 11 can be finely adjusted to finely adjust the position of the first picking and placing assembly 20, so as to improve the position accuracy of the first picking and placing assembly 20. The second picking and placing assembly 30 is disposed on the second connecting seat 13 for picking and placing products. The position of the second connecting seat 13 relative to the mounting seat 11 can be finely adjusted so as to finely adjust the position of the second picking and placing assembly 30, thereby improving the position accuracy of the second picking and placing assembly 30.

In the use process, the above-mentioned picking and placing mechanism is easy to cause lower position accuracy of the first picking and placing component 20 or the second picking and placing component 30 due to factors such as part processing errors, assembly errors or wear. When the position of the first pick-and-place component 20 deviates, the position of the first connecting seat 12 relative to the mounting seat 11 can be finely adjusted to achieve the fine adjustment of the position of the first pick-and-place component 20, so that the position accuracy of the first pick-and-place component 20 is improved. When the position of the second picking and placing component 30 deviates, the fine adjustment of the position of the second picking and placing component 30 can be realized by fine adjustment of the position of the second connecting seat 13 relative to the mounting seat 11, so that the position accuracy of the second picking and placing component 30 is improved.

Thus, compared with the integral type mounting panel 10 adopted in the prior art, the mounting panel 10 is designed into the split type structure consisting of the first connecting seat 12, the mounting seat 11 and the second connecting seat 13, the position precision of the first picking and placing component 20 and the second picking and placing component 30 can be independently adjusted through the first connecting seat 12 and the second connecting seat 13, the influence on the position precision of one of the first picking and placing component 20 and the second picking and placing component 30 when the position precision of the other is adjusted is avoided, and therefore the adjusting steps and the difficulty of the position precision of the first picking and placing component 20 and the second picking and placing component 30 are simplified, the position precision of the first picking and placing component 20 and the second picking and placing component 30 are ensured to meet the requirements, the accurate picking and placing of small-specification products is facilitated, and the application range and the market competitiveness of the test sorting machine are greatly improved.

Referring to fig. 4, in the embodiment of the present application, the mounting panel 10 further includes a first positioning pin 141 and a first locking member 142. The first connecting seat 12 is positioned on the mounting seat 11 by the first positioning pin 141 and is locked and fixed on the mounting seat 11 by the first locking member 142. Specifically, the first connecting seat 12 and the mounting seat 11 are provided with first positioning holes (not shown), and the first positioning pins 141 are matched with the first positioning holes on the first connecting seat 12 and the mounting seat 11 in a positioning manner, so that the first connecting seat 12 and the mounting seat 11 are positioned by using the first positioning pins 141. The first positioning pin 141 has a fit clearance with the first positioning hole. Alternatively, the first locking member 142 may be a locking screw.

Thus, when the position of the first pick-and-place assembly 20 needs to be fine-tuned, the first locking member 142 is released. Because a certain fit clearance exists between the first positioning pin 141 and the first positioning hole, the position of the first connecting seat 12 relative to the mounting seat 11 can be finely adjusted in a pushing or knocking mode at this time, so that the position accuracy of the first picking and placing assembly 20 is adjusted. When the position of the first connecting seat 12 is adjusted in place, the first locking member 142 is locked, so that the first connecting seat 12 is fixed relative to the mounting seat 11.

Alternatively, the number of the first positioning pins 141 provided between the first connecting seat 12 and the mounting seat 11 may be one or two. When the number of the first positioning pins 141 is two, the first connecting seat 12 and the mounting seat 11 are positioned by using the two first positioning pins 141. Thus, when the position accuracy of the first pick-and-place assembly 20 needs to be adjusted, the position adjustment range of the first connecting seat 12 can be increased by reducing the first positioning pin 141.

In an embodiment of the present application, the mounting panel 10 further includes a second locating pin 151 and a second locking member 152. The second connecting seat 13 is positioned on the mounting seat 11 through a second positioning pin 151 and is locked and fixed on the mounting seat 11 through a second locking member 152. Specifically, the second connecting seat 13 and the mounting seat 11 are provided with second positioning holes (not shown), and the second positioning pins 151 are matched with the second positioning holes on the second connecting seat 13 and the mounting seat 11 in a positioning manner, so that the second connecting seat 13 and the mounting seat 11 are positioned by using the second positioning pins 151. The second positioning pin 151 has a fit clearance with the second positioning hole. Alternatively, the second locking member 152 may be a locking screw.

In this manner, the second locking member 152 is released when the position of the second pick-and-place assembly 30 needs to be fine-tuned. Because there is a certain fit clearance between the second locating pin 151 and the second locating hole, the position of the second connecting seat 13 relative to the mounting seat 11 can be finely adjusted in a pushing or knocking manner at this time, so that the position accuracy of the second picking and placing assembly 30 is adjusted. When the position of the second connecting seat 13 is adjusted in place, the second locking member 152 is locked, so that the second connecting seat 13 is fixed relative to the mounting seat 11.

Alternatively, the number of the second positioning pins 151 provided between the second connecting seat 13 and the mounting seat 11 may be one or two. When the number of the second positioning pins 151 is two, the second connecting seat 13 and the mounting seat 11 are positioned simultaneously by using the two second positioning pins 151. In this way, when the position accuracy of the second pick-and-place assembly 30 needs to be adjusted, the position adjustment range of the second connecting seat 13 can be increased by reducing one second positioning pin 151.

In particular embodiments, the mounting seat 11 includes an integrally formed fixing portion 110, a first connecting portion 112, and a second connecting portion 114. The first connection portion 112 and the second connection portion 114 are respectively located at opposite ends of the fixing portion 110. One side of the first connecting portion 112 facing away from the second connecting portion 114 has a first mounting surface A1, and the first mounting surface A1 of the first connecting portion 112 is provided with the first positioning hole. The first connecting seat 12 is positioned on the first mounting surface A1 through the first positioning pin 141, and is locked and fixed on the first mounting surface A1 through the first locking piece 142, so that the first connecting seat 12 is convenient to assemble and disassemble.

The second connecting portion 114 has a second mounting surface A2 on a side facing away from the first connecting portion 112, and the second mounting surface A2 of the second connecting portion 114 is provided with the second positioning hole. The second connecting seat 13 is positioned on the second mounting surface A2 through the second positioning pin 151 and is locked and fixed on the second mounting surface A2 through the second locking member 152, so that the second connecting seat 13 is convenient to assemble and disassemble.

Referring to fig. 2 and 5, in the embodiment of the present application, the pick-and-place unit 1 further includes a guide assembly (not shown) and a motion seat 60, where the guide assembly includes a first rail 51 and a first slider 53. The first guide rail 51 is mounted on the first connecting seat 12, and the longitudinal direction of the first guide rail 51 is a first preset direction X. The first slider 53 is mounted on the moving seat 60 such that the moving seat 60 moves together with the first slider 53. The first slider 53 is slidably matched with the first guide rail 51, so that the first slider 53 can move along the longitudinal direction (i.e., the first preset direction X) of the first guide rail 51, thereby driving the motion seat 60 and the first picking and placing component 20 installed on the motion seat 60 to move along the first preset direction X, and adjusting the interval between the first picking and placing component 20 and the second picking and placing component 30 (i.e., changing the interval along the first preset direction X) until the interval between the first picking and placing component 20 and the second picking and placing component 30 is matched with the interval between two adjacent rows of products on the material tray, so that each product on the material tray can be accurately picked up by the first picking and placing component 20 and the second picking and placing component 30, thereby being beneficial to improving the compatibility of the test sorting machine. Of course, in other embodiments, the first guide rail 51 may also be mounted on the moving seat 60, and the first slider 53 is mounted on the first connecting seat 12, so long as the movement of the moving seat 60 relative to the first connecting seat 12 along the first preset direction X can be guided, which is not limited herein.

Further, two or more guiding components are disposed between the moving seat 60 and the first connecting seat 12, and the first guide rails 51 of each guiding component are disposed parallel to each other (i.e. the longitudinal direction of each first guide rail 51 is the first preset direction X). In this way, the movement of the motion seat 60 relative to the first connecting seat 12 is guided by two or more sets of the first guide rails 51 and the first sliding blocks 53, which is favorable for improving the stability of the motion seat 60 and the first picking and placing assembly 20 installed on the motion seat 60 moving along the first preset direction X, and improving the moving precision of the first picking and placing assembly 20. Preferably, two guiding assemblies are provided between the motion base 60 and the first connecting base 12, i.e. two sets of first guide rails 51 and first sliding blocks 53 are used to guide the motion of the motion base 60 relative to the first connecting base 12 along the first preset direction X.

Referring to fig. 6, further, the first guide rail 51 is mounted on the first connecting seat 12, and the first slider 53 is mounted on the moving seat 60. The kinematic seat 60 has a first face (not shown) facing the first slider 53 and a second face 62 facing away from the first slider 53. The motion seat 60 is provided with bolt holes 63 penetrating the first surface and the second surface 62. The pick-and-place unit 1 further comprises a locking bolt (not shown) which is inserted through the bolt hole 63 and is screwed with the first slider 53 to fasten the first slider 53 to the motion base 60. The first pick-and-place assembly 20 is mounted on the second face 62 of the kinematic seat 60 and covers one end of the bolt hole 63 extending through the second face 62 to block the lock bolt from escaping from the end of the bolt hole 63 extending through the second face 62. Thus, the locking bolt is blocked by the first picking and placing component 20, so that the locking bolt cannot be separated from one end of the bolt hole 63 penetrating through the second surface 62, the first picking and placing component 20 is prevented from falling due to loosening of the locking bolt in the long-term operation process, and potential safety hazards are eliminated.

The number of the bolt holes 63 and the lock bolts may be plural, and the specific number may be designed according to the number of the first sliders 53, which is not limited herein.

It will be appreciated that the pick-and-place mechanism further includes a first variable pitch drive (not shown) drivingly connected to the motion base 60. The first distance-changing driving member is configured to drive the moving base 60 to move along a first preset direction X relative to the first connecting base 12, so that the moving base 60 drives the first picking and placing assembly 20 to move along the first preset direction X. Alternatively, the first variable-pitch driving member may be a cylinder, an electric cylinder, a linear module, or the like, so long as the movement base 60 can be driven to move along the first preset direction X, which is not limited herein.

Referring to fig. 5, in an embodiment, the first pick-and-place assembly 20 includes a fixing base 21, a spline shaft 22, and a pick-and-place member 23. The fixed base 21 is coupled to the moving base 60 such that the fixed base 21 can move together with the moving base 60. The spline shaft 22 is disposed through the moving seat 60 along the material taking and discharging direction Z, and is movable relative to the moving seat 60 along the material taking and discharging direction Z. The pick-and-place member 23 is provided on the spline shaft 22 so as to move along the pick-and-place direction Z along the spline shaft 22, thereby realizing pick-and-place of the product. The feeding and discharging direction Z intersects with the longitudinal direction of the first rail 51 (i.e., the first preset direction X). Optionally, the material taking and discharging direction Z is perpendicular to the first preset direction X. In the embodiment shown in fig. 5, the discharging direction Z is an up-down direction, and the first preset direction X is a left-right direction.

Thus, in the actual use process: firstly, the picking and placing mechanism is controlled to move to the position above a material tray for placing products, and then the spline shaft 22 is controlled to descend until the picking and placing piece 23 is driven to pick up the corresponding products on the material tray. Then, the spline shaft 22 is controlled to rise so that the product picked up by the pick-and-place member 23 also rises together with the pick-and-place member 23. At the same time, the second pick-and-place assembly 30 is also capable of synchronizing the corresponding products on the pick-and-place trays. Then, the pick-and-place mechanism is controlled to move to the next station, at which time the pick-and-place member 23 of the first pick-and-place assembly and the product picked up by the second pick-and-place assembly need to be released to that station.

In releasing the product, first, the spline shaft 22 is controlled to descend, and the pick-and-place member 23 is controlled to release the product. Then, the spline shaft 22 is controlled to ascend so that the pick-and-place member 23 is separated from the product. At the same time, the second pick-and-place assembly 30 is also capable of releasing the products simultaneously.

It should be noted that, the pick-and-place member 23 may be a suction nozzle, and pick up the product by vacuum adsorption, and release the product by breaking vacuum. Of course, in other embodiments, the picking up of the product may be performed by clamping, etc., which is not limited herein. Similarly, the second pick-and-place assembly 30 may also adopt a suction nozzle or a clamping manner to pick up and release the product, and the specific structure is not limited herein.

Referring to fig. 2, in the embodiment, the second pick-and-place assembly 30 is movably connected to the second connecting seat 13 along the pick-and-place direction Z. In this way, in the process of picking up the product, first, the second picking and placing assembly 30 is controlled to move along the picking and placing direction Z near the product until the second picking and placing assembly 30 picks up the product; then, the second pick-and-place assembly 30 is controlled to return in the pick-and-place direction Z, so that the products picked up by the second pick-and-place assembly 30 also move back along with the second pick-and-place assembly 30. In the process of releasing the product, first, the second picking and placing assembly 30 is controlled to move along the picking and placing direction Z near the position for receiving the product, and then the second picking and placing assembly 30 is controlled to release the product. Then, the second pick-and-place assembly 30 is controlled to return along the pick-and-place direction Z, so that the second pick-and-place assembly 30 is separated from the product. Alternatively, a linear driving module such as an air cylinder, an electric cylinder or a linear motor may be used to drive the second pick-and-place assembly 30 to move along the pick-and-place direction Z relative to the second connection seat 13. Of course, the picking and releasing actions of the second picking and placing assembly 30 on the product are not limited thereto, and are not limited thereto.

It should be noted that, in some embodiments, the second pick-and-place assembly 30 is fixed relative to the second connecting seat 13 in the first preset direction X, that is, the second pick-and-place assembly 30 cannot move relative to the second connecting seat 13 along the first preset direction X. Therefore, when the pitch is changed along the first preset direction X, only the first pick-and-place assembly 20 moves along the first preset direction X, so as to adjust the distance between the first pick-and-place assembly 20 and the second pick-and-place assembly 30 (i.e., realize the pitch change). Of course, in other embodiments, the second picking and placing assembly 30 may be disposed to be movable along the first preset direction X relative to the second connecting seat 13. Therefore, when the distance is changed along the first preset direction X, the first picking and placing component 20 and the second picking and placing component 30 can both move along the first preset direction X, so as to adjust the distance between the first picking and placing component 20 and the second picking and placing component 30 (i.e. realize the distance change).

Referring to fig. 2, further, the fixing base 21 includes a third sub-base 211, a first fastening bolt (not shown), a fourth sub-base 213, and a second locking bolt (not shown). The third sub-seat 211 is provided with a first waist-shaped hole 2111 and a second waist-shaped hole 2113, the longitudinal direction of the first waist-shaped hole 2111 is parallel to a first preset direction X, the longitudinal direction of the second waist-shaped hole 2113 is parallel to a second preset direction Y, and the first preset direction X is intersected with the second preset direction Y. The first fastening bolt penetrates through the first waist-shaped hole 2111 on the third sub-seat 211 and is in threaded connection with the moving seat 60 so as to lock and fix the third sub-seat 211 on the moving seat 60. The second fastening bolt penetrates through the second waist-shaped hole 2113 on the third sub-seat 211 and is in threaded connection with the fourth sub-seat 213 so as to lock and fasten the fourth sub-seat 213 on the third sub-seat 211. The pick-and-place member 23 is movably connected to the fourth sub-mount 213 of the fixing base 21 along the pick-and-place direction Z. In this way, due to the arrangement of the first waist-shaped hole 2113, the position of the third sub-seat 211 relative to the moving seat 60 in the first preset direction X can be adjusted during assembly, which is beneficial to improving the assembly accuracy of the third sub-seat 211 and further improving the position accuracy of the first picking and placing assembly 20. Similarly, due to the arrangement of the second waist-shaped hole 2113, the position of the fourth sub-seat 213 relative to the third sub-seat 211 in the second preset direction Y can be adjusted during assembly, which is beneficial to improving the assembly precision of the fourth sub-seat 213 and further improving the position precision of the first picking and placing assembly 20.

In other embodiments, the longitudinal direction of the first waist-shaped hole 2111 may be parallel to the second predetermined direction Y, and the longitudinal direction of the second waist-shaped hole 2113 may be parallel to the first predetermined direction X, which is not limited herein.

In the embodiment, the fourth sub-seat 213 of the fixing seat 21 is provided with a splined hole 212 (see fig. 7 or 8). The axial direction of the spline hole 212 is parallel to the picking and placing direction Z. The spline shaft 22 is inserted into the spline hole 212, so that the spline shaft 22 can move along the axial direction (i.e. the feeding and discharging direction Z) of the spline hole 212 relative to the fixed seat 21, and the fixed seat 21 can drive the spline shaft 22 to synchronously move along the first preset direction X when moving along the first preset direction X. The pick-and-place member 23 is mounted at one end of the spline shaft 22, so that the spline shaft 22 can drive the pick-and-place member 23 to reciprocate along the pick-and-place direction Z, so that the pick-and-place member 23 can pick up or release a product. In this way, when the distance is to be changed along the first preset direction X, the motion seat 60 is controlled to move along the first guide rail 51, so as to drive the fixing seat 21, the spline shaft 22 and the picking and placing member 23 to move along the first preset direction X until the distance between the picking and placing member 23 of the first picking and placing assembly 20 and the second picking and placing assembly 30 is adjusted to be in place. When the product needs to be picked and placed, the spline shaft 22 is controlled to reciprocate along the axial direction of the spline hole 212 (i.e. the picking and placing direction Z), so as to drive the picking and placing member 23 to pick up or release the product.

As shown in fig. 5, further, the first pick-and-place assembly 20 further includes an auxiliary guiding structure 40, where the auxiliary guiding structure 40 is configured to guide the movement of the spline shaft 22 along the first preset direction X and the pick-and-place direction Z, so that the movement accuracy of the pick-and-place member 23 mounted on the spline shaft 22 along the first preset direction X and the pick-and-place direction Z is higher. Specifically, the auxiliary guide structure 40 includes a second guide rail 41, a second slider 42, a guide frame 43, and a guide wheel 45. The second guide rail 41 is mounted on the first connecting seat 12 and extends lengthwise along the feeding and discharging direction Z. The second slider 42 is in sliding engagement with the second rail 41 such that the second slider 42 is movable along the second rail 41. The guide frame 43 is mounted on the second slider 42 such that the guide frame 43 can be moved together with the second slider 42 in the pick-and-place direction Z. The guide frame 43 is provided with a guide groove 430 extending longitudinally in the first predetermined direction X. The guide wheel 45 is rotatably connected to an end of the spline shaft 22 facing away from the pick-and-place member 23, and the guide wheel 45 is in rolling fit in the guide groove 430, so that the guide wheel 45 can roll along the longitudinal direction (i.e., the first preset direction X) of the guide groove 430. Of course, in other embodiments, the second guide rail 41 may be mounted on the guide frame 43, and the second slider 42 is mounted on the first connecting seat 12, so long as the guide frame 43 can guide the movement of the guide frame 43 relative to the first connecting seat 12 along the feeding and discharging direction Z, which is not limited herein.

Thus, when the motion seat 60 drives the fixing seat 21, the spline shaft 22 and the pick-and-place member 23 to move along the first preset direction X, the spline shaft 22 drives the guide wheel 45 to roll along the guide groove 430, that is, the guide wheel 45 rolls along the guide groove 430 to guide the movement of the spline shaft 22 and the pick-and-place member 23 along the first preset direction X. When the spline shaft 22 is controlled to move along the picking and placing direction, the spline shaft 22 drives the guide frame 43 and the second slide block 42 to move along the second guide rail 41 through the guide wheel 45, so that the movement of the spline shaft 22 and the picking and placing member 23 along the picking and placing direction Z is guided by the movement of the second slide block 42 along the second guide rail 41.

It will be appreciated that the pick-and-place mechanism further comprises a pick-and-place driving member (not shown) in driving connection with the guide frame 43, the pick-and-place driving member being configured to drive the guide frame 43 to move along the pick-and-place direction Z, such that the guide frame 43 drives the spline shaft 22 and the pick-and-place member 23 to move along the pick-and-place direction Z. Alternatively, the pick-and-place driving member may be an air cylinder, an electric cylinder, a linear module, or the like, so long as the guide frame 43 can be driven to reciprocate along the pick-and-place direction Z, which is not limited herein.

Referring to fig. 2 to 5, in a specific embodiment, the first connection base 12 includes a first sub-base 121 and a second sub-base 123. The first sub-mount 121 is mounted on the mounting 11, and the second rail 41 is mounted on the first sub-mount 121. The second sub-mount 123 is mounted on the first sub-mount 121, and the first rail 51 is mounted on the second sub-mount 123. The position of the first sub-seat 121 relative to the mounting seat 11 can be finely adjusted to finely adjust the position of the first pick-and-place assembly 20, thereby improving the position accuracy of the first pick-and-place assembly 20. The position of the second sub-seat 123 relative to the first sub-seat 121 may also be fine-tuned to fine-tune the positions of the first rail 51 and the second rail 41, so as to facilitate precise assembly of the first pick-and-place assembly 20.

Further, the first positioning hole is formed on the first sub-seat 121 and the mounting seat 11, and the first positioning pin 141 is matched with the first positioning hole on the first sub-seat 121 and the mounting seat 11. The first locking member 142 locks and fixes the first sub-mount 121 and the mounting base 11.

The first connecting seat 12 further includes a third positioning pin 161 (see fig. 4) and a third locking member 162 (see fig. 4). Third positioning holes (not shown) are formed in the first sub-base 121 and the second sub-base 123. The third positioning pin 161 is positioned and matched with the third positioning holes on the first sub-seat 121 and the second sub-seat 123, so that the first sub-seat 121 and the second sub-seat 123 are positioned by the third positioning pin 161. The third positioning pin 161 has a fit clearance with the third positioning hole. The second sub-mount 123 is locked and fastened to the first sub-mount 121 by the third locking member 162. Alternatively, the third locking member 162 may be a locking screw.

In this manner, when it is desired to fine-tune the relative positions of the first rail 51 and the second rail 41, the third locking member 162 is released. Because a certain fit clearance exists between the third positioning pin 161 and the third positioning hole, the position of the second sub-seat 123 relative to the first sub-seat 121 can be finely adjusted in a pushing or knocking manner, so that the position accuracy of the first guide rail 51 relative to the second guide rail 41 can be adjusted. When the relative positions of the first rail 51 and the second rail 41 are adjusted in place, the third locking member 162 is locked so that the second sub-seat 123 is fixed with respect to the first sub-seat 121.

Referring to fig. 1, 7 and 8, in the embodiment of the present application, the pick-and-place unit 1 further includes a guide shaft 2, and the first pick-and-place assembly 20 further includes a knuckle bearing 24 and a linear bearing 25. The knuckle bearing 24 is mounted on the fourth sub-mount 213 of the fixed mount 21, the linear bearing 25 is sleeved in the inner ring 241 of the knuckle bearing 24, and the linear bearing 25 is sleeved outside the guide shaft 2. The axial direction of the guide shaft 2 is a second preset direction Y, and the second preset direction Y intersects with the first preset direction X and the material taking and discharging direction Z. Optionally, the second preset direction Y is perpendicular to the first preset direction X and the feeding and discharging direction Z.

The mounting seat 11 can be controlled to move along the axial direction of the guide shaft 2 relative to the guide shaft 2 so as to drive the pick-and-place member 23 to move along the axial direction of the guide shaft 2, thereby realizing the position adjustment of the pick-and-place member 23 along the second preset direction Y so as to adapt to products with different specifications. Thus, when the position of the picking and placing member 23 in the second preset direction Y needs to be adjusted, the mounting seat 11 is controlled to move along the second preset direction Y, so as to drive the fixing seat 21 to move along the axial direction of the guide shaft 2 (i.e., the second preset direction Y), and the fixing seat 21 drives the spline shaft 22 and the picking and placing member 23 on the spline shaft 22 to move along the second preset direction Y, so that the picking and placing member 23 is driven to adjust the position along the second preset direction Y. Alternatively, a radial spherical plain bearing 24 may be employed for the spherical plain bearing 24.

It should be noted that, in the prior art, the fixing base 21 is directly sleeved on the guide shaft 2 through the linear bearing 25, and due to the influence of factors such as machining errors, assembly errors, wear and the like, the guiding precision of the fixing base 21 moving along the second preset direction Y is easily reduced, that is, the actual moving track of the fixing base 21 deviates from the second preset direction Y, so that a bending moment is generated on the guide shaft 2 in the process of moving the fixing base 21 along the second preset direction Y, bending deformation is easily generated on the guide shaft 2 in the long-term use process, and the service life of the guide shaft 2 is greatly reduced. In contrast, in the present application, on the one hand, the linear bearing 25 is sleeved outside the guide shaft 2, and the sliding fit between the linear bearing 25 and the guide shaft 2 is used to guide the movement of the fixed seat 21 along the second preset direction Y; on the other hand, due to the arrangement of the knuckle bearing 24, when the movement track of the fixed seat 21 deviates from the second preset direction Y by an error angle, the outer ring 242 (see fig. 9) of the knuckle bearing 24 also deviates by a certain angle along with the fixed seat 21 relative to the inner ring 241 (see fig. 9), so that the linear bearing 25 sleeved in the inner ring 241 of the knuckle bearing 24 is ensured not to deviate along with the fixed seat 21, and further the bending moment on the guide shaft 2 due to the deviation angle between the movement track of the fixed seat 21 and the second preset direction Y is avoided, the straightness and the guide effect of the guide shaft 2 can be ensured to be kept well in the long-term use process, the service life of the guide shaft 2 is prolonged, and the moving precision of the picking and placing member 23 along the second preset direction Y is improved.

As shown in fig. 1, further, the number of the pick-and-place units 1 is plural, the plural pick-and-place units 1 are arranged at intervals along the axial direction of the guide shaft 2, and the linear bearings 25 of each first pick-and-place assembly 20 are sleeved outside the same guide shaft 2. In this way, the same guide shaft 2 is used to guide the movement of the picking and placing members 23 of each picking and placing unit 1 along the second preset direction Y, so that the distances between the picking and placing members 23 of each picking and placing unit 1 are adjusted along the second preset direction Y (i.e. the distances are changed along the second preset direction Y).

It should be noted that, the mounting base 11 may controllably move along the second preset direction Y relative to the guide shaft 2, and when the mounting base 11 drives the first pick-and-place assembly 20 and the second pick-and-place assembly 30 to move along the second preset direction Y, the linear bearing 25 moves along the guide shaft 2, that is, the movement of the first pick-and-place assembly 20 and the second pick-and-place assembly 30 is guided by using the guide shaft 2. Moreover, the guide shaft 2 can move along the first preset direction X relative to the mounting seat 11, so that when the fixing seat 21 moves along the first preset direction X relative to the mounting seat 11, the guide shaft 2 can move along the first preset direction X along with the fixing seat 21, and the guide shaft 2 is prevented from obstructing the fixing seat 21 to move along the first preset direction X.

It will be appreciated that each pick-and-place unit 1 further comprises a second variable-pitch driving member (not shown) in driving connection with the mounting base 11, the second variable-pitch driving member being configured to drive the mounting base 11 to move along a second preset direction Y relative to the guide shaft 2, so that the mounting base 11 drives the first pick-and-place assembly 20 and the second pick-and-place assembly 30 to move along the second preset direction Y. Alternatively, the second variable-pitch driving member may be an air cylinder, an electric cylinder, a linear module, or the like, so long as the second variable-pitch driving member can drive the mount 11 to move along the second preset direction Y, which is not limited herein.

The following describes a bidirectional pitch-changing process of the pick-and-place mechanism with reference to fig. 1 and 2:

when the picking and placing mechanism needs to change the distance along the first preset direction X (i.e. adjust the distance between the picking and placing piece 23 of the first picking and placing component 20 and the second picking and placing component 30), each fixing seat 21 is controlled to move along the first preset direction X, so that each fixing seat 21 drives the corresponding picking and placing piece 23 to move along the first preset direction X, so that the distance between the picking and placing piece 23 of the first picking and placing component 20 and the second picking and placing component 30 in each picking and placing unit 1 is matched with the distance between two adjacent rows of products on the material tray.

When the picking and placing mechanism needs to change the distance along the second preset direction Y (that is, adjust the distance between the picking and placing pieces 23 of the two adjacent first picking and placing components 20 and the distance between the two adjacent second picking and placing components 30), each mounting seat 11 is controlled to move along the second preset direction Y, so as to drive each picking and placing unit 1 to move along the second preset direction Y as a whole, so that the distance between the two first picking and placing components 20 in each two adjacent picking and placing units 1 and the distance between the two second picking and placing components 30 in each two adjacent picking and placing units 1 are matched with the distance between the two adjacent columns of products on the material tray. In this way, the first preset direction X and the second preset direction Y are varied by the first picking and placing component 20 and the second picking and placing component 30, so that the picking and placing piece 23 of the first picking and placing component 20 and the second picking and placing component 30 can accurately pick up each product on the tray.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. The utility model provides a get and put mechanism which characterized in that, including getting and putting unit (1), get and put unit (1) include:

the mounting panel (10) comprises a mounting seat (11), and a first connecting seat (12) and a second connecting seat (13) which are both arranged on the mounting seat (11);

a first pick-and-place assembly (20) for picking and placing a product, mounted on the first connection seat (12); the position of the first connecting seat (12) relative to the mounting seat (11) can be adjusted so as to adjust the position of the first taking and placing component (20); and

A second pick-and-place assembly (30) for picking and placing the product, which is mounted on the second connecting seat (13); the position of the second connecting seat (13) relative to the mounting seat (11) can be adjusted so as to adjust the position of the second picking and placing assembly (30).

2. The pick-and-place mechanism according to claim 1, characterized in that the mounting panel (10) further comprises a first positioning pin (141) and a first locking member (142), the first connecting seat (12) being positioned on the mounting seat (11) by the first positioning pin (141) and being locked and fixed on the mounting seat (11) by the first locking member (142);

the mounting panel (10) further comprises a second locating pin (151) and a second locking piece (152), wherein the second connecting seat (13) is located on the mounting seat (11) through the second locating pin (151), and is locked and fixed on the mounting seat (11) through the second locking piece (152).

3. The pick-and-place mechanism according to claim 2, wherein the mounting seat (11) comprises an integrally formed fixing portion (110), a first connecting portion (112) and a second connecting portion (114), the first connecting portion (112) and the second connecting portion (114) being located at opposite ends of the fixing portion (110), respectively;

The first connecting part (112) is provided with a first mounting surface (A1) at one side which is far away from the second connecting part (114), the first connecting seat (12) is positioned on the first mounting surface (A1) through the first positioning pin (141), and is locked and fixed on the first mounting surface (A1) through the first locking piece (142);

the second connecting portion (114) is provided with a second mounting surface (A2) on one side, which is away from the first connecting portion (112), and the second connecting seat (13) is positioned on the second mounting surface (A2) through the second positioning pin (151) and is locked and fixed on the second mounting surface (A2) through the second locking piece (152).

4. A pick-and-place mechanism according to any one of claims 1 to 3, characterized in that the pick-and-place unit (1) further comprises a guide assembly and a movement seat (60), the guide assembly comprising a first guide rail (51) and a first slider (53), one of the first guide rail (51) and the first slider (53) being mounted on the first connection seat (12), the other one being mounted on the movement seat (60), the first slider (53) being a sliding fit on the first guide rail (51), the first pick-and-place assembly (20) being mounted on the movement seat (60);

The guide assemblies are arranged in two or more, and the first guide rails (51) of each guide assembly are arranged in parallel with each other.

5. The pick-and-place mechanism according to claim 4, characterized in that said first guide rail (51) is mounted on said first connecting seat (12), said first slider (53) being mounted on said kinematic seat (60);

the motion seat (60) is provided with a first surface facing the first sliding block (53) and a second surface (62) facing away from the first sliding block (53), and the motion seat (60) is provided with a bolt hole (63) penetrating through the first surface and the second surface (62); the picking and placing unit (1) further comprises a locking bolt, wherein the locking bolt penetrates through the bolt hole (63) and is in threaded connection with the first sliding block (53) so as to fasten the first sliding block (53) on the motion seat (60);

the first picking and placing assembly (20) is arranged on the second surface (62) of the moving seat (60) so as to prevent the locking bolt from falling out from one end of the bolt hole (63) penetrating through the second surface (62).

6. The picking and placing mechanism according to claim 4, wherein the first picking and placing component (20) comprises a fixed seat (21), a spline shaft (22) and a picking and placing piece (23), the fixed seat (21) is connected to the moving seat (60), the spline shaft (22) penetrates through the moving seat (60) along a picking and placing direction (Z) and is movable relative to the moving seat (60) along the picking and placing direction (Z), and the picking and placing piece (23) is arranged on the spline shaft (22) so as to move along the picking and placing direction (Z) along the spline shaft (22) and realize picking and placing of products;

Wherein the picking and placing direction (Z) is intersected with the longitudinal direction of the first guide rail (51).

7. The pick-and-place mechanism of claim 6, wherein the first pick-and-place assembly (20) further comprises an auxiliary guide structure (40), the auxiliary guide structure (40) comprising a second guide rail (41), a second slider (42), a guide frame (43) and a guide wheel (45);

one of the second guide rail (41) and the second slider (42) is mounted on the first connecting seat (12), and the other is mounted on the guide frame (43); the second guide rail (41) is in sliding fit with the second sliding block (42) and extends lengthwise along the material taking and discharging direction (Z); the guide frame (43) is provided with a guide groove (430) extending lengthwise along a first preset direction (X), and the first preset direction (X) is parallel to the lengthwise direction of the first guide rail (51); the guide wheel (45) is rotatably connected to the spline shaft (22) and is in rolling fit in the guide groove (430).

8. The pick-and-place mechanism according to claim 6, wherein the pick-and-place unit (1) further comprises a guide shaft (2), and the first pick-and-place assembly (20) further comprises a knuckle bearing (24) and a linear bearing (25);

the knuckle bearing (24) is arranged on the fixed seat (21), and the linear bearing (25) is arranged in an inner ring (241) of the knuckle bearing (24) and sleeved outside the guide shaft (2); the axial direction of the guide shaft (2) is intersected with the longitudinal direction of the first guide rail (51) and the material taking and discharging direction (Z);

The mounting seat (11) can move along the axial direction of the guide shaft (2) relative to the guide shaft (2) in a controlled manner so as to drive the pick-and-place piece (23) to move along the axial direction of the guide shaft (2).

9. The picking and placing mechanism according to claim 8, wherein the number of the picking and placing units (1) is multiple, the picking and placing units (1) are distributed along the axial direction of the guide shaft (2) at intervals, and the linear bearing (25) of each first picking and placing assembly (20) is sleeved outside the guide shaft (2).

10. A test handler comprising the pick-and-place mechanism of any one of claims 1 to 9.