TWI568556B - Device for catching electronic objects - Google Patents

Description

Electronic component pick-up device

The invention discloses an electronic component pick-up device, in particular to an electronic component pick-up device in which an arm body can swing relative to a body.

In order to reduce pollution and increase production, the semiconductor industry often uses a pick-up device equipped with a robotic arm to carry workpieces such as silicon wafers or electronic wafers for subsequent processing or electrical testing. In general, the robotic arm of the pick-up device is fixed to a base and the base is mounted to a linear guide. The pick-up device transmits the linear guide through the motor to control the stroke of the robot arm in the vertical direction. When the user wants to adjust the position of the robot arm in the vertical direction, it is necessary to move the robot arm and the base simultaneously to change the position of the robot arm.

However, the conventional robot arm is connected to the motor by carrying a large number of external members, so that the overall weight of the robot arm is excessive. When the motor-driven heavy mechanical arm moves along the linear guide as a whole, the heavy-duty mechanical arm is prone to inertia, which makes the robot arm easily damage the work piece being transported.

In view of the above problems, the present invention discloses an electronic component pick-up device that helps reduce the overall weight of the robot arm and helps reduce inertial force generation.

The electronic component pick-up device disclosed in the present invention comprises a body and an arm body. The arm body includes a picking portion, a first pivoting portion and an unifying portion. The first pivoting portion is interposed between the picking portion and the actuating portion, and the arm body is pivotally disposed on the body by the first pivoting portion. When the actuating portion is pushed, the actuating portion interlocks the picking portion to swing relative to the body.

In the electronic component pick-up device disclosed in the present invention, the pickup portion of the arm body can swing relative to the body. Thereby, the electronic component pick-up device can carry and unload the work piece only by swinging through the picking portion, and does not need to move the arm body and the body at the same time, thereby effectively reducing the number of external components to be mounted, and avoiding the generation of the arm body during the movement process. Excessive inertial force.

The above description of the present invention and the following description of the embodiments of the present invention are intended to illustrate and explain the principles of the invention.

The detailed features and advantages of the present invention are set forth in the Detailed Description of the Detailed Description of the <RTIgt; </ RTI> <RTIgt; </ RTI> </ RTI> </ RTI> <RTIgt; The objects and advantages associated with the present invention can be readily understood by those skilled in the art. The following examples are intended to describe the present invention in further detail, but are not intended to limit the scope of the invention.

Please refer to both Figure 1 and Figure 2. Fig. 1 is a perspective view showing an electronic component pickup apparatus according to a first embodiment of the present invention. Fig. 2 is a side elevational view showing the electronic component pickup device of Fig. 1.

In the present embodiment, an electronic component pickup device 1 includes a body 10 and a two-arm body 20. The number of the arms 20 is not limited thereto. In other embodiments, the number of the arms 20 can be arbitrarily adjusted as needed.

The body 10 includes a base 110 , a connecting member 120 , a carrier 130 , two push rods 140 , and a power source module 150 . The number of push rods 140 is not limited thereto. In other embodiments, the number of push rods 140 can be arbitrarily adjusted as needed.

The base 110 is, for example, a metal housing that can be fixed to a wall (not shown).

The connector 120 is disposed on the base 110 of the body 10. In this embodiment, the connecting member 120 is pivoted on the base 110 to rotate the connecting member 120 relative to the base 110, but the invention is not limited thereto. In other embodiments, the connector 120 can be secured to the base 110.

The carrier 130 is disposed at one end of the connector 120 away from the base 110. In other words, the opposite ends of the connecting member 120 are respectively disposed on the carrier 130 and the base 110.

The second push rod 140 is disposed on the base 110, and the push rod 140 can be pushed to move in the axial direction of itself. In the present embodiment, the push rod 140 is pivoted to the base 110 and penetrates the connecting member 120 to be rotatable relative to the base 110 with the pivot center of the connecting member 120 as a center of rotation.

The power source module 150 is disposed on the base 110 , and the power source module 150 is coupled to the connector 120 and the push rod 140 . The power source module 150 is, for example, a plurality of motor devices that can drive the connector 120 to rotate relative to the base 110 and can drive the push rod 140 to move in its own axial direction.

Each arm body 20 includes a pickup portion 210, a first pivot portion 220 and an abutting portion 230 that are fixed. The first pivoting portion 220 is interposed between the picking portion 210 and the actuating portion 230. The arm body 20 is pivotally disposed on the carrier 130 of the body 10 by the first pivoting portion 220. The actuating portion 230 can be pressed to oscillate the picking portion 210 relative to the body 10. In detail, in the embodiment, the power source module 150 can drive the push rod 140 to push against the actuating portion 230, so that the picking portion 210 and the actuating portion 230 swing together with respect to the carrier 130. Further, the extending direction D1 of the pickup portion 210 of the arm body 20 and the extending direction D2 of the actuating portion 230 intersect and do not overlap each other. Further, as shown in FIG. 2, the extending direction D1 of the picking portion 210 in the present embodiment is parallel to the extending direction D2 of the actuating portion 230. Thereby, the picking portion 210 can pick up a work piece W located directly below the picking portion 210 by a picking head (or a jaw) disposed at the front end. The workpiece W is, for example, a germanium wafer, an LED die or other electronic wafer.

In this embodiment, the extending direction D1 of the picking portion 210 is parallel to the extending direction D2 of the actuating portion 230, but the invention is not limited thereto. In other embodiments, the extending direction D1 of the picking portion 210 may be an obtuse angle with the extending direction D2 of the actuating portion 230, or the extending direction D1 of the picking portion 210 may be perpendicular to the extending direction D2 of the actuating portion 230.

Please refer to both Figure 3 and Figure 4. Fig. 3 is a perspective view showing an electronic component pickup apparatus according to a second embodiment of the present invention. Fig. 4 is a side elevational view showing the electronic component pickup device of Fig. 3. Since this embodiment is similar to the first embodiment, only the differences will be described below.

In the present embodiment, the extending direction D1 of the picking portion 210 is perpendicular to the extending direction D2 of the actuating portion 230. Thereby, the picking portion 210 can pick up the work piece W located on the side of the picking portion 210. Further, the electronic component pickup device 1 can appropriately adjust the angle between the design pickup portion 210 and the actuation portion 230 in accordance with the placement position of the workpiece W, and the electronic component pickup device 1 is suitable for use in various production processes.

Please refer to both Figure 5 and Figure 6. Fig. 5 is a perspective view showing an electronic component pickup apparatus according to a third embodiment of the present invention. Fig. 6 is a side elevational view showing the electronic component pickup device of Fig. 5. Since this embodiment is similar to the first embodiment, only the differences will be described below.

In the present embodiment, the picking portion 210 includes a horizontal section 211 and a vertical section 212 that are connected. Both the actuating portion 230 and the horizontal portion 211 extend parallel to each other in the extending direction D2, and the vertical portion 212 extends in the extending direction D1 and is perpendicular to the horizontal portion 211. Thereby, the vertical section 212 of the picking portion 210 can also pick up the work piece W located on the side of the picking portion 210.

The electronic component pick-up device can include a foolproof member. Please refer to both Figure 7 and Figure 8. Fig. 7 is a perspective view showing an electronic component pickup apparatus according to a fourth embodiment of the present invention. Fig. 8 is a side elevational view showing the arm body, the foolproof member and the carrier member of the electronic component pickup device according to the fourth embodiment of the present invention. Since this embodiment is similar to the first embodiment, only the differences will be described below.

In the present embodiment, the electronic component pick-up device 1 further includes two anti-depression members 30 and two elastic members 40.

The two anti-staying members 30 are respectively disposed above the two-arm body 20. Each of the anti-depression members 30 includes a first pressing portion 310, a second pivot portion 320 and a second pressing portion 330. The second pivoting portion 320 is interposed between the first pressing portion 310 and the second pressing portion 330 . The second pivoting portion 320 is pivotally mounted on the carrier 130 of the body 10 . The second pressing portion 330 is interposed between the push rod 140 and the actuating portion 230 of the arm body 20. In the present embodiment, the push rod 140 can be pushed against the second pressing portion 330 of the anti-depression member 30 to pivot the anti-lock member 30 relative to the carrier 130 of the body 10. The push rod 140 pushes against the second pressing portion 330 to further push against the actuating portion 230 of the arm body 20, thereby causing the picking portion 210 to swing upward relative to the carrier member 130. The function of the foolproof member 30 is further explained later.

The two elastic members 40 are respectively disposed between the two anti-stasis members 30 and the carrier member 130 of the body 10. In detail, the opposite ends of the elastic member 40 are respectively fixed to the retaining member 30 and the carrier 130 of the body 10. The anti-detent member 30 is pivotable relative to the carrier 130 to compress the elastic member 40, thereby allowing the elastic member 40 to store an elastic potential energy. The elastic member 40 can release the elastic potential energy to pivot the foolproof member 30.

In addition, referring to FIG. 9A , the first pressing portion 310 includes a fixing portion 311 and a pushing member 312 . The fixing section 311 is fixed to the second pivoting portion 320, and the fixing section 311 has a pressing surface 311a facing the actuating portion 230 of the arm body 20. The pushing member 312 is movably disposed on the fixing portion 311, and the pushing member 312 protrudes from the pressing surface 311a. The length L of the pushing member 312 protruding pressing surface 311a is adjustable. In this embodiment, the fixing portion 311 has a thread, and the pushing member 312 has a thread matching the wheel pattern, whereby the pushing member 312 is screwed to the fixing portion 311, but the present invention does not Limited. In other embodiments, the pushing member 312 can be disposed in the fixed section 311 in a card and tight fit manner. The function of the pusher 312 is further explained below.

The mode of use of the electronic component pickup device of the present embodiment will be described below. Please refer to Figures 9A, 9B and 9C at the same time. Fig. 9A is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a pressed position. Fig. 9B is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a release position. Fig. 9C is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a foolproof position.

In the present embodiment, the work piece W is located directly below the picking portion 210, and the work piece W is located on a work table. The push rod 140 can push against the second pressing portion 330 of the foolproof member 30, and the anti-locking member 30 pivots relative to the carrier member 130 to have a pressing position, a releasing position and a foolproof position. Wherein, the elastic member 40 is normally driven to prevent the anti-stasis member 30 from being in the foolproof position.

When the electronic component pickup device 1 is in the standby state, or when the arm body 20 of the electronic component pickup device 1 is rotated, the power source module 150 drives the push rod 140 to move in the direction D. Further, the top end of the push rod 140 is moved from the reference point O1 in the direction D to the reference point O2 to push against the second pressing portion 330 of the foolproof member 30, and the second pressing portion 330 is moved by the first stroke L1. (As shown in Fig. 9A), the anti-stasis member 30 is placed in the pressed position. At this time, the first pressing portion 310 of the foolproof member 30 is separated from the actuating portion 230, and the second pressing portion 330 of the anti-staping member 30 is pushed together with the push rod 140 against the actuating portion of the arm body 20. 230, and further, the pickup portion 210 is swung upward with respect to the carrier 130 of the body 10 (i.e., swung in the direction indicated by the arrow A in Fig. 9A). Thereby, the interference between the pickup portion 210 of the arm body 20 and the object on the table can be avoided. The reference point O1 is a position at which the push rod 140 is located when the push rod 140 is not pushed against the second pressing portion 330 (as shown in FIG. 9C).

When it is necessary to take up the working member W by the electronic component picking device 1, the power source module 150 is driven to move the push rod 140 in the opposite direction of the direction D, so that the top end of the push rod 140 is displaced upward from the reference point O2 to the reference point. The reference point O3 between O1 and the reference point O2 further reduces the amount of pushing against the second pressing portion 330. That is, the push rod 140 is pushed against the second pressing portion 330 to move a second stroke L2 smaller than the first stroke L1 (as shown in FIG. 9B). The second pressing portion 330 moves the second stroke L2 to position the foolproof member 30 in the release position. At this time, the first pressing portion 310 and the second pressing portion 330 of the anti-locking member 30 abut against the actuating portion 230, that is, the first pressing portion 310 and the second pressing portion 330 both slightly contact the actuating portion. 230. Since the actuating portion 230 is not pushed against the first pressing portion 310 or the second pressing portion 330 at this time, the picking portion 210 will be reset to swing downward relative to the carrier 130 of the body 10 (ie, toward the arrow in FIG. 9B) The direction indicated by B is swung) and is in the lowered state, so that the picking portion 210 can pick up the work piece W.

Then, the power source module 150 can be activated again to increase the pushing amount of the push rod 140 against the second pressing portion 330, so that the stroke of the second pressing portion 330 pushed by the push rod 140 is restored to the first stroke again. L1, in order to revert the release member 30 from the release position to the pressing position, thereby causing the pickup portion 210 to swing upward again relative to the carrier 130 of the body 10 to be in a lifted state, so as to move the workpiece W away from the table. Thereafter, the power source module 150 is driven to drive the carrier 130 to rotate, and the arm body 20 is horizontally rotated and displaced to carry the workpiece W to other stations.

When the electronic component pickup device 1 is in an abnormal state such as a power failure, the power source module 150 cannot supply the driving force to the push rod 140 due to the power failure, and the push rod 140 is reset to the reference point O1 in the reverse direction of the direction D. The second pressing portion 330 is released from the release. In other words, the push rod 140 is moved from the reference point O2 or the reference point O3 to the reference point O1 to release the thrust applied by the second pressing portion 330. At this time, the push rod 140 is released from the second pressing portion 330, and the anti-stasis member 30 is returned to the foolproof position by the elastic force of the elastic member 40 (as shown in FIG. 9C). When the foolproof member 30 is in the foolproof position, the pushing member 312 of the first pressing portion 310 pushes against the actuating portion 230, and the second pressing portion 330 is separated from the actuating portion 230. At this time, the pushing member 312 is pushed against the actuating portion 230, so that the picking portion 210 of the arm body 20 can be swung upward again (in the direction indicated by the arrow A) to be in the lifted state. Thereby, it is possible to ensure that the pickup portion 210 of the arm body 20 of the electronic component pickup apparatus 1 can be maintained in the lifted state when the sudden state of the abnormality of the power-off occurs, thereby avoiding the pickup portion 210 and the workpiece W carried by the pickup portion 210. Interference with the objects on the workbench due to uncontrolled.

In addition, the length L of the pressing surface 311a of the pushing member 312 of the first pressing portion 310 can be adjusted. Thereby, the distance between the pushing member 312 and the actuating portion 230 can be shortened, so that the first pressing portion 310 of the anti-stasis member 30 can be pushed to the actuating portion 230 more quickly when the power is turned off, which helps Further, the pickup portion and the workpiece W are prevented from colliding with the table.

In summary, in the electronic component pick-up device disclosed in the present invention, the pickup portion of the arm body can swing relative to the body. Thereby, the electronic component pick-up device can carry and unload the work piece only by swinging through the picking portion, and does not need to move the arm body and the body at the same time, thereby effectively reducing the number of external components to be mounted, and avoiding the generation of the arm body during the movement process. Excessive inertial force.

While the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The patent protection scope of the invention is subject to the definition of the scope of the patent application attached to the specification.

1 electronic component pick-up device 10 body 110 base 120 connector 130 carrier 140 push rod 150 power source module 20 arm 210 picking unit 211 horizontal section 212 vertical section 220 first pivoting part 230 actuating part 30 anti-depression 310 first pressing portion 311 fixing portion 311a pressing surface 312 pushing member 320 second pivoting portion 330 second pressing portion 40 elastic member W working member D1 extending direction of the picking portion D2 extending direction of the actuating portion

Fig. 1 is a perspective view showing an electronic component pickup apparatus according to a first embodiment of the present invention. Fig. 2 is a side elevational view showing the electronic component pickup device of Fig. 1. Fig. 3 is a perspective view showing an electronic component pickup apparatus according to a second embodiment of the present invention. Fig. 4 is a side elevational view showing the electronic component pickup device of Fig. 3. Fig. 5 is a perspective view showing an electronic component pickup apparatus according to a third embodiment of the present invention. Fig. 6 is a side elevational view showing the electronic component pickup device of Fig. 5. Fig. 7 is a perspective view showing an electronic component pickup apparatus according to a fourth embodiment of the present invention. Fig. 8 is a side elevational view showing the arm body, the foolproof member and the carrier member of the electronic component pickup device according to the fourth embodiment of the present invention. Fig. 9A is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a pressed position. Fig. 9B is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a release position. Fig. 9C is a side elevational view showing the fool preventing member of the electronic component pickup apparatus according to the fourth embodiment of the present invention in a foolproof position.

1 Electronic component pick-up device 10 Body 110 Base 120 Connector 130 Carrier 140 Push rod 150 Power source module 20 Arm body 210 Pickup part 220 First pivot part 230 Actuating part

Claims (10)

An electronic component pick-up device comprising: a body; and an arm body comprising a fixed portion, a first pivoting portion and an actuating portion, the first pivoting portion being interposed between the picking portion and the actuating portion Between the portions, the arm body is pivoted to the body by the first pivoting portion, and when the actuating portion is pushed, the actuating portion moves the picking portion to swing relative to the body. The electronic component pickup device of claim 1, wherein the extending direction of the picking portion and the extending direction of the actuating portion intersect and do not overlap each other. The electronic component pick-up device of claim 1, wherein the picking portion extends in a direction perpendicular to an extending direction of the actuating portion. The electronic component pick-up device of claim 1, wherein the picking portion extends in a direction parallel to an extending direction of the actuating portion. The electronic component pick-up device of claim 1, wherein the body comprises a base and a carrier, the carrier is disposed on the base, and the arm is pivoted by the first pivoting portion Carrier. The electronic component pick-up device of claim 5, wherein the body further comprises a connecting member, and opposite ends of the connecting member are respectively disposed on the base and the carrier. The electronic component pick-up device of claim 5, wherein the body further comprises a push rod and a power source module, the push rod and the power source module are disposed on the base, and the power source module is drivable The pusher moves relative to the base to urge the actuation portion of the arm. The electronic component pick-up device of claim 1, further comprising a foolproof member, wherein the foolproof member comprises a first pressing portion, a second pivot portion and a second pressing portion connected to the first The second pivoting portion is disposed between the first pressing portion and the second pressing portion, the second pivoting portion is pivotally disposed on the body, and the second pressing portion is interposed between the push rod and the arm body Between the actuating portions, the anti-detaining member is pivotable relative to the body to have a pressing position, a releasing position and a foolproof position; wherein the second pressing portion is displaced and displaced first During the stroke, the anti-staying member is located at the pressing position, and the push rod and the second pressing portion are pushed together against the actuating portion of the arm body, and the first pressing portion and the actuating portion are Phase separation; wherein when the second pressing portion is pressed and the displacement is less than a second stroke of the first stroke, the anti-depression member is located at the release position, and the first pressing portion and the second offset are caused The pressing portion abuts against the actuating portion; wherein, when the second pressing portion is pressed, the anti-depression member is located at the dementing position, and the first pressing portion is pushed against the actuating portion, And the second pressing portion is separated from the actuating portion. The electronic component pick-up device of claim 8, wherein the first pressing portion comprises a fixing portion and a pushing member, the fixing portion is fixed to the second pivoting portion, the fixing portion has a body facing the arm body a pressing surface of the actuating portion, the pushing member is movably disposed on the fixing portion and protrudes from the pressing surface, and the length of the pushing member protruding the pressing surface is adjustable. The electronic component pick-up device of claim 9, wherein the fixing segment has a thread and the pushing member has a thread that matches the thread.