Chip transfer device

Abstract

The present invention relates to the technical field of LED packaging, and discloses a chip transfer device. The chip transfer device includes a base, a first driving device, and a swing arm. A first tray and a second tray are provided on the base. The first driving device is connected to the base, and at least one swing arm is connected to the output end of the first driving device. The first driving device can drive the swing arm to rotate between the first tray and the second tray. A working member and a second driving device are provided on the swing arm. The second driving device can drive the swing arm to move on the output end of the first driving device. A loading device can replace the second tray connected to the base. Due to the combined action of the first driving device and the second driving device, the swing arm can drive the working member to move and rotate relative to the first tray and the second tray, so that the chips located on the first tray can be efficiently transferred to the second tray. Moreover, by replacing the second tray through the loading device, the chip transfer work can be efficiently completed without stopping the machine.

Description

Technical Field

[0001] The present invention relates to the technical field of LED packaging, and more particularly to a chip transfer device. Background Art

[0002] With the development of LED chip packaging technology, the transfer of micro-chips has become the focus of manufacturers. Since the process of micro-chips is difficult to operate manually, how to efficiently complete the transfer of micro-chips mechanically has become the key point of research and development. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a [device] that can...

[0004] A chip transfer device is provided, including:

[0005] A first base;

[0006] A swing arm structure, a first tray and a second tray: The swing arm structure includes at least two swing arms, and working parts are provided on the swing arms. The first tray is connected to the first base, the second tray can move relative to the first base, and the swing arms can rotate relative to the first base to transfer materials from the first tray to the second tray.

[0007] A first vision recognition device and a second vision recognition device. The first vision recognition device is located above the second tray, and the working window of the first vision recognition device faces the second tray. The second vision recognition device is located on the trajectory of the working part rotating from the first tray to the second tray to collect the position information of the materials on the working part.

[0008] As an improvement of the above technical solution, a third vision recognition device is further included. The second vision recognition device is located above the first tray, and the working window of the third vision recognition device faces the first tray.

[0009] As a further improvement of the above technical solution, a first driving device and a second base are included. The second base is connected to the first base. The output end of the first driving device passes through the second base, and four swing arms are circumferentially arrayed on the output end of the first driving device. The first driving device drives the swing arms to rotate between the first tray and the second tray.

[0010] As a further improvement of the above technical solution, it further includes a first driving device, a second base, and a pressing device. The second base is connected to the first base. Several first sliding rails are provided on the output end of the first driving device. The swing arm can move along the first sliding rails. The first driving device drives the swing arm to rotate between the first material tray and the second material tray. Pressing devices are provided above both the first material tray and the second material tray. The pressing device can pass through the second base and drive the swing arm to move along the first sliding rails for picking up or placing materials.

[0011] As a further improvement of the above technical solution, the pressing device includes a second driving device. The housing of the second driving device is connected to the second base. The output end of the second driving device can pass through the second base and drive the swing arm to slide on the first sliding rail;

[0012] Alternatively, the pressing device includes a second driving device and a rotating member. The rotating member is connected to the output end of the second driving device and is driven by the second driving device to rotate. A triggering end is provided on the rotating member. At least part of the triggering end can pass through the second base and contact the swing arm to push the swing arm to move relative to the second base;

[0013] Alternatively, the pressing device includes a second driving device, a rotating member, and a first connecting member. A second sliding rail is provided on the second base. The rotating member is connected to the output end of the second driving device and is driven by the second driving device to rotate. A triggering end is provided on the rotating member. The first connecting member triggered by the triggering end can move along the second sliding rail to push the swing arm to move along the second base.

[0014] As a further improvement of the above technical solution, it further includes a first driving device and an air slip ring. All swing arms are connected to the output end of the first driving device. The air slip ring includes channels. One end opening of the channel is connected to the workpiece through a pipeline, and the other end of the channel is used to be connected to a negative pressure device. The air slip ring is sleeved on the output shaft of the first driving device.

[0015] As a further improvement of the above technical solution, it further includes a material guiding device and an adsorption device. The material guiding device is used to guide the second material tray to the adsorption device. The adsorption device is used to adsorb the second material tray. The adsorption device is movably connected to the first base. The material guiding device is arranged to separate from the second material tray when the adsorption device adsorbs the second material tray.

[0016] As a further improvement of the above technical solution, the material guiding device includes two material guiding plates. A gap for the adsorption device to adsorb the second material tray is formed between the two material guiding plates. A sliding groove is provided on each material guiding plate, and the sliding grooves of the two material guiding plates are arranged oppositely. The two material guiding plates can move away from each other to disengage from the second material tray;

[0017] Alternatively, the material guiding device includes two material guiding plates. A gap for the adsorption device to adsorb the second tray is formed between the two material guiding plates. Each material guiding plate is provided with a sliding groove, and an opening for the second tray to pass through is provided on the side of the sliding groove facing the second tray. The two material guiding plates can move in a direction away from the opening and disengage from the second tray.

[0018] As a further improvement of the above technical solution, it further includes a storage box and a first pushing device. The first pushing device is located on the other side of the storage box relative to the material guiding device, and the material guiding device can push the second tray in the storage box into the material guiding device.

[0019] As a further improvement of the above technical solution, it further includes a moving seat, an X-axis structure, a Y-axis structure, and an R-axis structure. The R-axis structure includes a fifth driving device. The X-axis structure is provided with a third sliding rail, and the adsorption device is installed on the R-axis structure. The R-axis structure is connected to the moving seat, and the moving seat can slide along the Y-axis structure. The Y-axis driving structure can slide along the third sliding rail. The X-axis structure is connected to the first base, and the fifth driving device is located between the gaps of the third sliding rail of the moving seat, so that the housing of the fifth driving device is located below the moving seat.

[0020] Beneficial effects: Due to the combined action of the first driving device and the second driving device, the swing arm can drive the workpiece to move and rotate relative to the first tray and the second tray, so that the chips located on the first tray can be efficiently transferred to the second tray. And by replacing the second tray through the feeding device, the work of chip transfer can be efficiently completed without stopping the machine. Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the first embodiment of the chip transfer device;

[0022] Figure 2 is Figure 1 a schematic structural diagram of the first embodiment of the rotary transfer device in

[0023] Figure 3 is Figure 1 a schematic structural diagram of the second embodiment of the rotary transfer device in

[0024] Figure 4 is Figure 1 a schematic structural diagram of the feeding device in

[0025] Figure 5 is Figure 4 a schematic structural diagram from another angle;

[0026] Figure 6 is Figure 5 an enlarged view of part A in

[0027] The first driving device 101, the air slip ring 102, the second driving device 103, the first spring 104, the working piece 105, the swing arm 106, the rotating piece 107, the second base 108, the second through hole 109, the first slide rail 110, the feeding device 111, the rotary transfer device 112, the first tray 114, the first vision recognition device 115, the second vision recognition device 116, the second tray 301, the first connecting piece 201, the second spring 202, the second tray 301, the guide plate 302, the guiding device 303, the storage box 304, the first push plate 305, the first pushing device 306, the storage layer 307, the third driving device 308, the Y-axis structure 309, the second push plate 310, the first base 311, the multi-axis driving structure 312, the X-axis structure 313, the third slide rail 314, the second pushing device 315, the fifth driving device 316, the second connecting piece 317, the moving block 318, the fourth driving device 319, the chute 320, the inclined plate 321 and the moving seat 322. Detailed implementation manners

[0028] The following will clearly and completely describe the concept of the present invention and the technical effects generated in combination with the embodiments, so as to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the present invention.

[0029] In the description of the embodiments of the present invention, if it involves orientation description, such as "up", "down", "front", "back", "left", "right", etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0030] In the description of the embodiments of the present invention, if a certain feature is referred to as "set", "fixed", "connected", "installed" on another feature, it can be directly set, fixed, connected on another feature, or indirectly set, fixed, connected, installed on another feature. In the description of the embodiments of the present invention, if it involves "several", its meaning is more than one. If it involves "multiple", its meaning is more than two. If it involves "greater than", "less than", "exceeding", it should be understood as not including the number itself. If it involves "above", "below", "within", it should be understood as including the number itself. If it involves "first", "second", it should be understood as used to distinguish technical features, rather than indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0031] As an embodiment, the chip transfer device includes a rotary transfer device 112 and a loading device 111. The rotary transfer device 112 includes a swing arm 106, a first tray 114 and a second tray 301. The swing arm 106 is capable of moving between the first tray 114 and the second tray 301, so as to complete the task of transferring the chips on the first tray 114 to the second tray 301. The loading device 111 includes a multi-axis drive structure 312. The second tray 301 can achieve multi-directional rotation and / or rotation through the multi-axis drive structure 312. And when the stacking of the chips on the second tray 301 is completed, the second tray 301 located on the multi-axis drive structure 312 is replaced by the loading device 111 itself, so as to continue the transfer of the chips.

[0032] The rotary transfer device 112 and the loading device 111 will be described separately below.

[0033] Rotary transfer device:

[0034] Referring to Figure 2 , as an embodiment of the rotary transfer device, the rotary transfer device includes a first driving device 101, a plurality of working parts 105 and an air slip ring 102. All the working parts 105 are connected to the end of the output shaft of the first driving device 101. The air slip ring 102 is sleeved on the output shaft of the first driving device 101, and the air slip ring 102 is located between the housing of the driving device and the end of the output shaft. The air slip ring 102 contains several channels, each channel is set separately, and each channel has an inlet and an outlet. The inlet is connected to a negative pressure device, and the outlet is connected to the working part 105 through a pipeline. As an embodiment, the pipeline is made of flexible material. The beneficial effect of the above structure is that when the first driving device 101 drives the working parts 105 on its output shaft to rotate, the air slip ring 102 sleeved on the output shaft of the first driving device 101 rotates synchronously therewith, so that the flexible pipeline connected between the air slip ring 102 and the working parts 105 can rotate together. Compared with the traditional negative pressure device without the air slip ring 102, this structure reduces the possibility of mutual collision and knotting between the pipelines or the falling of the pipelines.

[0035] As an embodiment, several working parts 105 can share a pipeline and are connected to the channels of the same air slip ring 102.

[0036] As an embodiment, the rotary transfer device in this embodiment further includes several swing arms 106. The output shaft of the first driving device 101 is provided with several first slide rails 110. The first slide rails 110 are arranged along the extending direction of the output shaft of the first driving device 101. Each first slide rail 110 is connected with a swing arm 106. The swing arm 106 can move along the first slide rail 110. At least one working part 105 is provided on each swing arm 106.

[0037] As an embodiment, the working parts 105 on the same swing arm 106 can share the channels in the same air slip ring 102. The beneficial effect of this structure is that: multiple working parts 105 can adsorb the same chip, or adsorb different chips simultaneously; also, some of the working parts 105 can share the channels in the same air slip ring 102. This structure enables individual control of the air paths on the same swing arm 106, and the working states of the working parts 105 on the swing arm 106 can be adjusted according to the shape or size of the chip.

[0038] As another embodiment, several working parts 105 located on different swing arms 106 can also share the passages in the same air slip ring 102. This structure enables the cooperation of different swing arms 106 to adapt to the sizes and shapes of different chips.

[0039] As an embodiment, the rotary transfer device further includes a second base 108 and a second driving device 103. The second base 108 is provided with a first through hole and a second through hole 109. After the output shaft of the first driving device 101 is connected with the air slip ring 102, it passes through the first through hole, and then the end of the output shaft is connected with a swing arm 106. A working part 105 is provided on the swing arm 106. As Figure 2 shown, a rotating part 107 is sleeved on the second driving device 103. The rotating part 107 is provided with a triggering end, which can trigger the swing arm 106 located below the second through hole 109 through the second through hole 109 on the second base 108, so that the swing arm 106 moves downward along the first slide rail 110.

[0040] As a supplement to the above embodiment, a set of second driving device 103 and second through hole 109 are provided above both the first tray and the second tray, so that the swing arms 106 moving above the first tray 114 and the swing arms 106 moving above the second tray 301 can both complete the downward movement of the swing arms 106, pick up the chips on the first tray 114, and place the chips on the second tray 301.

[0041] As a supplement to the above embodiments, several sets of second driving devices 103 and second through holes 109 are further provided on the second base 108. Through the second driving devices 103 and the second through holes 109, different workpieces 105 can cooperate with each other, and the workpiece 105 can also complete the feeding action.

[0042] As a supplement to the above embodiments, two swing arms 106 can simultaneously move below the second through hole 109, so that the movement of the two swing arms 106 is triggered by one trigger end.

[0043] As another embodiment, as Figure 3 shown, in the second embodiment, a second slide rail is further provided on the second base 108. The rotary transfer device further includes a first connecting member 201, and the first connecting member 201 is slidably connected to the second slide rail. The trigger end on the rotating member 107 can trigger the first connecting member 201, so that the rotating member 107 slides on the second slide rail, so that at least part of the first connecting member 201 can pass through the second through hole 109 to trigger the swing arm 106, so that the swing arm 106 completes the downward movement.

[0044] As a supplement to the above embodiments, the rotary transfer device further includes a first spring 104 and a second spring 202. One end of the first spring 104 is connected to the second base 108 of the rotating member 107. The beneficial effects of this structure are as follows: 1. When the connecting member provides a pulling force so that the first connecting member 201 can maintain its position on the first slide rail 110 and the first connecting member 201 is not triggered by the trigger end, the limiting effect of the first slide rail 110 on the first connecting member 201 and the pulling force of the first spring 104 enable the first connecting member 201 to remain stationary relative to the first slide rail 110; 2. After the trigger end triggers and leaves the first connecting member 201, the second spring 202 can drive the first connecting member 201 to reset. One end of the second spring 202 is connected to the output end of the second driving device 103, and the other end is connected to the swing arm 106. The beneficial effects of this structure are as follows: 1. The first spring 104 provides a pulling force to the swing arm 106. Through the second slide rail and the first spring 104, the swing arm 106 can remain stationary relative to the output end of the second driving device 103 when not triggered; 2. After the first connecting member 201 triggers the swing arm 106, it drives the swing arm 106 to reset to the initial position.

[0045] The usage method of the above rotary transfer device 112 is as follows:

[0046] First, the first driving device 101 drives the swing arm 106 and the workpiece 105 on the swing arm 106 to rotate. When the swing arm 106 rotates below the second through hole 109, the triggering end on the rotating member 107 that rotates with the second driving device 103 passes through the second through hole 109 to trigger the swing arm 106, causing the swing arm 106 to move downward. Then, through the channel on the air slip ring 102, air is selectively supplied to at least part of the workpiece 105 on the swing arm 106 located below the second through hole 109 through the air slip ring 102, enabling the workpiece 105 to complete the adsorption of the chips on the first tray 114. Then, as the rotating member 107 rotates, the triggering end moves out of the second through hole 109, and the swing arm 106 resets. Then, it continues to rotate with the first driving device 101.

[0047] When the swing arm 106 rotates above the second tray 301, through the second driving device 103 and the second through hole 109 (which may also include the first connecting member 201 and / or the rotating member 107) located above the second tray 301, it can be pressed down by the second driving device 103, causing the swing arm 106 to move downward along the first slide rail 110, thereby completing the chip placement.

[0048] As a supplement to the above embodiments, the positions of the workpieces 105 on all the swing arms 106 can be the same or different, as long as the distances from all the workpieces 105 to the output end of the first driving device 101 are equal, that is, all the workpieces 105 are located on a circle centered on the output end of the first driving device 101. This structure facilitates higher cooperation among the workpieces 105 during the rotation of several swing arms 107 driven by the first driving device 101.

[0049] As a supplement to the above embodiments, the initial positions of all the swing arms 107 on the output end of the second driving device 103 are at the same height.

[0050] As a supplement to the above two embodiments, the rotating member 107 is a cam or an eccentric wheel.

[0051] As a supplement to the above two embodiments, both the first driving device 101 and the second driving device 103 are rotary motors.

[0052] As a third embodiment, the difference between the third embodiment and the above two embodiments is that the second driving device 103 is a linear motor, and the rotating member 107 is omitted. When the swing arm 106 rotates below the second through hole 109, the output end of the second driving device 103 passes through the second through hole 109 to trigger the swing arm 106 to move along the first slide rail 110.

[0053] Feeding device:

[0054] Refer to Figures 4 to 5As an embodiment, the loading device includes a first base 311, on which a third slide rail 314, an adsorption device (not shown), a third driving device 308 and a material guiding device 303 are provided. The material guiding device 303 is connected to the first base 311, and the adsorption device can move along the third slide rail 314, that is, the adsorption device can move along the X-axis direction extended by the third slide rail 314, so that the second material tray 301 adsorbed by the adsorption device moves along the X-axis direction.

[0055] The material guide device 303 is used to introduce the second material tray 301 onto the adsorption device. In this solution, the second material tray 301 is a flat plate structure. The material guide device 303 is provided with an avoidance position, and the output end of the third driving device 308 is connected to the material guide device 303, so that the material guide device 303 is driven to move by the third driving device 308, so that the second material tray 301 can be separated from the material guide device 303 from the avoidance position. The beneficial effect of the structure is that the material guide device 303 is separated from the second material tray 301, reducing the weight of the object moving on the third slide rail 314 with the adsorption device.

[0056] As an example, Figure 4 and Figure 6 As shown, the material guide device 303 includes two material guide plates 302, and the two material guide plates 302 are provided with a slide groove 320, and the two slide grooves 320 on the two material guide plates 302 are arranged opposite to each other, with a gap between the two, and the upper ends of the two slide grooves 320 are provided with an opening, which is in an open state. The structure also includes two third driving devices 308, each of which is connected to a material guide plate 302, so that the two material guide plates 302 can move separately, or move to the bottom of the second material tray 301 at the same time, so that the second material tray 301 can pass through the avoidance position formed by the gap between the two material guide plates 302 and the upper end opening of the slide groove 320 on the material guide plate 302, so that the second material tray 301 can be separated from the second material tray 301.

[0057] The method of using the above structure is: first, place the two sides of the second material tray 301 on the two slide grooves 320, and then adjust the position of the adsorption device on the slide rail so that the adsorption device is located below the avoidance position formed by the two material guide plates 302, so that the adsorption device completes the adsorption of the material tray 101 through the avoidance position. After the adsorption device adsorbs the second material tray 301, it drives the two third driving devices 308 to make the two material guide plates 302 move downward at the same time, so that the material guide plates 302 are separated from the second material tray 301.

[0058] The beneficial effects of the above structure are as follows: Since the two material guiding plates 302 are separated from the adsorption device and the second tray 301 after completing the material guiding function, the weight of the object that needs to move on the third slide rail 314 is reduced, preventing the second tray 301 from being separated from the adsorption of the adsorption device due to excessive weight and large movement inertia.

[0059] As an embodiment, the feeding device further includes a storage box 304 and a first pushing device 306. The storage box 304 contains several stacked storage layers 307, and each storage layer 307 stores a second tray 301. The first pushing device 306 is located on the other side of the storage box 304 relative to the material guiding device 303. A first push plate 305 is provided on the first pushing device 306, and the first push plate 305 can be pushed toward the side close to the material guiding device 303. Openings are provided on both sides of the storage layer 307 close to the material guiding device 303 and the first pushing device 306, so that the second tray 301 in the storage box 304 can be pushed by the first push plate 305 on the first pushing device 306, and the second tray 301 is pushed onto the sliding grooves 320 of the two material guiding plates 302. Through this structure, the second tray 301 in the storage box 304 can be conveyed onto the material guiding plate 302.

[0060] As a supplement to the above embodiment, it further includes a fourth driving device 319, a second connecting member 317, and a moving block 318. The output end of the fourth driving device 319 is connected to the connecting block. One side of the second connecting member 317 is connected to the first base 311, and the other side is provided with a fourth slide rail (not shown). One end of the moving block 318 is connected to the storage box 304, and the other end can slide along the fourth slide rail. This structure enables the storage box 304 to move up and down through the drive of the fourth driving device 319, so as to adjust the positions of the storage layers 307 on the storage box 304 relative to the first pushing device 306 and the material guiding plate 302, so that the second trays 301 located in different storage layers 307 can be pushed onto the material guiding plate 302.

[0061] As Figure 6 shown, a sloping plate 321 is provided on the side of the sliding groove 320 close to the storage box 304, which gradually decreases from the side far from the storage box 304 to the side close to the storage box 304. This structure enables better transition when the second tray 301 is pushed from the storage box 304 onto the material guiding plate 302.

[0062] As an embodiment, the feeding device further includes a second pushing device 315. The second push plate 310 in the second pushing device 315 can move along the extending direction of the third slide rail 314, so as to push the second tray 301 located on the adsorption device into the storage box 304 to complete the return of the second tray 301.

[0063] As a supplement to the above embodiments, the third driving device 308 can drive the material guiding plate 302 to move along the Y-axis direction, so that the second tray 301 can be separated from the material guiding plate 302.

[0064] As a supplement to the above technical solution, the feeding device further includes a moving seat 322 and a multi-axis driving structure 312. The multi-axis driving structure 312 includes an X-axis structure 313, a Y-axis structure 309 and an R-axis structure. The R-axis structure includes a fifth driving device 316. A third sliding rail 314 is provided on the X-axis structure 313. The adsorption device is installed on the R-axis structure, so that the adsorption device is driven by the fifth driving device 316 to rotate. The R-axis structure is located on the moving seat 322. The moving seat 322 can slide along the Y-axis structure 309, and the Y-axis structure 309 can slide along the third sliding rail 314 on the X-axis structure 313. The X-axis structure 313 is connected to the first base 311. The above structure enables the second tray 301 to rotate in the X-axis, Y-axis and R-axis directions.

[0065] As a supplement to the above embodiments, as Figure 1 shown, the moving seat 322 is provided with a fifth sliding rail for the movement of the second push plate 110, so as to push the material on the material guiding plate 302 into the storage box 304. The fifth driving device 316 is located between the gaps of the two side rails of the fifth sliding rail, and the housing of the fifth driving device 316 is located below the third sliding rail. The beneficial effects of this structure compared with the structure where the R-axis is arranged above the fifth track and protrudes upward from the fifth track are as follows: 1. The center of gravity of the entire multi-axis driving structure 312 is lowered, enhancing stability; 2. Since it is a rotary motor and has a relatively large volume, if it is arranged on the X-axis, it is easy to interfere with the storage box 304 during the feeding process. In the above structure, since the fifth driving device 316 sinks below the third sliding rail 314, this phenomenon can be effectively avoided.

[0066] The usage method of the above device is as follows:

[0067] First, adjust the two third driving devices 308 so that the sliding grooves 320 on the third driving devices 308 are located at the position where the second tray 301 is placed, and drive the adsorption device to move to the avoidance position formed by the two material guiding plates 302.

[0068] Then, through the first push plate 305 on the first pushing device 306, the second tray 301 in the storage box 304 is pushed onto the material guiding plate 302. In this step, if it is necessary to adjust the position of the storage box 304, the fourth driving device 319 is used to drive the storage box 304 to move up and down, so that the second trays 301 in different storage layers 307 in the storage box 304 can all be conveyed onto the feeding device 303.

[0069] After the second tray 301 is transferred onto the guiding plate 302, the adsorption device adsorbs the bottom of the second tray 301 through the avoidance position on the guiding plate 302. Then, through two third driving devices 308, the guiding plate 302 is separated from the second tray 301, and then the adsorption device drives the second tray 301 to start working under the drive of the multi-axis drive structure 312.

[0070] When the use of the second tray 301 is completed, the adsorption device drives the second tray 301 to move to the position where the second tray 301 is loaded onto the guiding plate 302. Then, the second push plate 310 of the second pushing device 315 is driven to push the second tray 301 so that the second tray 301 can enter the storage box 304 to complete the whole set of actions.

[0071] As another embodiment, in this embodiment, after the two guiding plates 302 are respectively driven by their corresponding third driving devices 308, they move away from each other, so that the gap between the two guiding plates 302 increases and the guiding plate 302 leaves the second tray 301.

[0072] As another embodiment, in this embodiment, the first pushing device 306 is not included, but a blanking device is included. The blanking device is located above the guiding device 303 and can place a tray onto the guiding device 303 through an opening facing the guiding device 303.

[0073] As another embodiment, in this embodiment, the used second tray 301 is not pushed into the storage box 304, but is pushed by the second push plate 310 to other devices for recycling or use.

[0074] As an embodiment, the chip transfer device further includes a first vision positioning device 115, a second vision positioning device 116, and a third vision positioning device (not shown). The first vision positioning device 115 is located above the second tray 301, and the working window of the first vision positioning device 115 faces the second tray 301 for identifying the position of the second tray 301. The third vision positioning device is located above the first tray 114, and the working window of the third vision positioning device faces the first tray 114, capable of judging the position of the chips in the first tray 114 so that the working piece 105 on the swing arm 106 can pick up the target chips. The second vision positioning device 116 is located on the trajectory of the working piece 105 when the swing arm 106 rotates from the first tray 114 to the second tray 301, and the working window of the second vision positioning device 116 faces as Figure 1above the one shown, so that when the workpiece 105 on the swing arm 106 swings above the second vision positioning device 116, it can be judged the position error generated when the workpiece 105 picks up the chip in the first tray 114. Combining with the recognition of the position of the second tray 301 by the first vision positioning device 115, through the movement and rotation of the second tray 301 on the multi-axis drive structure 312, the chip can be located at the predetermined position of the second tray 301 and ensure the accuracy of the position and angle.

[0075] In summary, the usage method of the chip transfer device is as follows: First, through the drive of the first drive device 101, a swing arm 106 is moved above the first tray 114. The position of the target chip is recognized by the third vision positioning device. Through the drive of the second drive device 103, the swing arm 106 moves downward on the first slide rail 110, so as to complete the accurate picking of the chip on the first tray 114 by the workpiece 105. Then, driven by the first drive device 101, the workpiece moves above the second vision positioning device 116. The position error of the chip on the workpiece 105 at this time is recognized by the second vision positioning device 116. Then the swing arm 106 continues to rotate. When the swing arm 106 rotates above the second tray 301, the position of the second tray 301 is judged by the first vision positioning device 115. Combining with the position error of the chip on the workpiece by the second vision positioning device 116, the position of the swing arm 106 relative to the second tray 301 is adjusted by the multi-axis drive structure 312. Then, the second drive device 103 located above the second tray 301 drives the swing arm 106 to complete the downward sliding action on the first slide rail 110, and completes the action of accurately placing the chip on the second tray 301.

[0076] After the chips on the second tray 301 are placed, the second tray 301 is driven by the adsorption device and slides along the third slide rail 314, moving in the direction close to the storage box 304. Then, through the drive of the third drive device 308, the guide plate 302 is lifted to support the second tray 301. Guided by the chute 320 on the guide plate 302, then the second push plate 310 on the multi-axis drive structure 312 pushes the second tray 301 on the adsorption device into the storage box 304. Then the fourth drive device 319 is driven to adjust the height of the storage box 304. Then the first push plate 305 pushes the second tray 301 on the other layer of the storage box 304 into the adsorption device through the guide plate 302, so that the second tray 301 on the multi-axis drive structure 312 can continue to work.

[0077] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A chip transfer device, characterized in that, Comprising: A first base; A swing arm structure, a first tray and a second tray: The swing arm structure includes at least two swing arms, on which workpieces are provided. The first tray is connected to the first base, the second tray can move relative to the first base, and the swing arm can rotate relative to the first base to transfer materials from the first tray to the second tray; A first vision recognition device and a second vision recognition device. The first vision recognition device is located above the second tray, and the working window of the first vision recognition device faces the second tray. The second vision recognition device is located on the trajectory of the workpiece rotating from the first tray to the second tray to collect the position information of the materials on the workpiece; The chip transfer device further includes a material guiding device and an adsorption device. The material guiding device is used to introduce the second tray to the adsorption device, and the adsorption device is used to adsorb the second tray. The adsorption device is movably connected to the first base, and the material guiding device is configured to separate from the second tray when the adsorption device adsorbs the second tray; The material guiding device includes two guiding plates, a gap for the adsorption device to adsorb the second tray is formed between the two guiding plates. Each guiding plate is provided with a sliding groove, and the sliding grooves of the two guiding plates are arranged oppositely. The two guiding plates can move away from each other and disengage from the second tray; Alternatively, the material guiding device includes two guiding plates, a gap for the adsorption device to adsorb the second tray is formed between the two guiding plates. Each guiding plate is provided with a sliding groove, and an opening for the second tray to pass through is provided on one side of the sliding groove facing the second tray. The two guiding plates can move in a direction away from the opening and disengage from the second tray.

2. The chip transfer device according to claim 1, wherein It further includes a third vision recognition device, which is located above the first tray, and the working window of the third vision recognition device faces the first tray.

3. The chip transfer device according to claim 1, characterized in that It further includes a first driving device and a second base. The second base is connected to the first base. The output end of the first driving device passes through the second base, and four swing arms are circumferentially arranged on the output end of the first driving device. The first driving device drives the swing arms to rotate between the first tray and the second tray.

4. The chip transfer device according to claim 1, characterized in that, It further includes a first driving device, a second base and a pressing device. The second base is connected to the first base. Several first sliding rails are provided on the output end of the first driving device, and the swing arms can move along the first sliding rails. The first driving device drives the swing arms to rotate between the first tray and the second tray. Pressing devices are provided above both the first tray and the second tray. The pressing devices can pass through the second base and drive the swing arms to move along the first sliding rails for picking up or placing materials.

5. The chip transfer device according to claim 4, wherein The pressing device includes a second driving device. The housing of the second driving device is connected to the second base, and the output end of the second driving device can pass through the second base to drive the swing arm to slide on the first slide rail. Alternatively, the pressing device includes a second driving device and a rotating member. The rotating member is connected to the output end of the second driving device and is driven by the second driving device to rotate. A triggering end is provided on the rotating member, and at least part of the triggering end can pass through the second base to contact the swing arm to push the swing arm to move relative to the second base. Alternatively, the pressing device includes a second driving device, a rotating member, and a first connecting member. A second slide rail is provided on the second base. The rotating member is connected to the output end of the second driving device and is driven by the second driving device to rotate. A triggering end is provided on the rotating member, and the first connecting member triggered by the triggering end can move along the second slide rail to push the swing arm to move along the second base.

6. The chip transfer device according to claim 1, wherein, It further includes a first driving device and an air slip ring. All the swing arms are connected to the output end of the first driving device. The air slip ring includes a channel. One end of the channel is connected to the workpiece through a pipeline, and the other end of the channel is used to be connected to a negative pressure device. The air slip ring is sleeved on the output shaft of the first driving device.

7. The chip transfer device according to claim 1, wherein It further includes a storage box and a first pushing device. The first pushing device is located on the other side of the storage box relative to the feeding device, and the first pushing device can push the second tray in the storage box into the feeding device.

8. The chip transfer device according to claim 1, wherein It further includes a moving seat, an X-axis structure, a Y-axis structure, and an R-axis structure. The R-axis structure includes a fifth driving device. A third slide rail is provided on the X-axis structure. The adsorption device is installed on the R-axis structure. The R-axis structure is connected to the moving seat. The moving seat can slide along the Y-axis structure, and the Y-axis structure can slide along the third slide rail. The X-axis structure is connected to the first base. The fifth driving device is located in the gap of the third slide rail of the moving seat, so that the housing of the fifth driving device is located below the moving seat.

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