Chip assembling feeding and discharging machine

Abstract

The application discloses a kind of chip assembly feeding and discharging machine, including a workbench, the left front of workbench table is equipped with jig bin feeding and discharging mechanism, the rear side of jig bin feeding and discharging mechanism is equipped with jig bin lifting mechanism, the right side of jig bin lifting mechanism is equipped with take jig line body, jig cover plate disassembly and combination mechanism is erected above the assembly station of take jig line body, the front side of take jig line body is equipped with chip feeding mechanism, the right side of chip feeding mechanism is equipped with take chip manipulator, take chip manipulator is equipped with multi-head suction nozzle mechanism, multi-head suction nozzle mechanism is movably suspended above take jig line body and chip feeding mechanism by take chip manipulator, the rear side of take jig line body is equipped with chip camera, one side of jig bin feeding and discharging mechanism is equipped with ion fan.The application is reasonably laid out, makes full use of space, material storage space is sufficient, personnel operating frequency is low, feeding and discharging time is concentrated, and good universality, high stability, greatly improves assembly efficiency.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of semiconductor processing, and particularly relates to a chip assembling feeding and discharging machine for automatically feeding and discharging a chip jig bin, disassembling and assembling a jig cover plate, and assembling a chip. BACKGROUND

[0002] In the semiconductor industry, in order to speed up the production, a chip assembling feeding and discharging machine is usually used to complete the feeding and discharging of a chip jig bin, the disassembling and assembling of a jig cover plate, the carrying of a chip, and the assembling of a chip.

[0003] In order to realize the disassembling and assembling function of the jig cover plate, the chip assembling feeding and discharging machine is usually equipped with a jig cover plate disassembling and assembling mechanism. However, the existing jig cover plate disassembling and assembling mechanism is not perfect in function, and there are problems such as that the jig cover plate cannot be disassembled, the action of the cover plate thimble cylinder is incorrect, and the movement of the cover plate thimble is not smooth, which results in unsatisfactory use effect and greatly reduces the efficiency of chip assembling.

[0004] At the same time, in order to realize the carrying and transferring function of the chip, the chip assembling feeding and discharging machine is usually equipped with a multi-head suction nozzle mechanism. However, the existing multi-head suction nozzle mechanism can basically only carry one kind of chip, and if different kinds of chips need to be carried, the suction nozzle mechanism needs to be replaced, which increases the debugging time and improves the labor cost. Moreover, the existing multi-head suction nozzle mechanism only has a chip suction mechanism, and lacks a chip supporting mechanism, so there is a risk of chip falling off during the carrying of the chip. SUMMARY

[0005] In view of the defects of the prior art, the present application provides a chip assembling feeding and discharging machine to improve the versatility of the equipment, ensure the stability of the operation, and improve the overall production efficiency of the equipment.

[0006] To solve the above technical problems and achieve the above technical effects, the present application realizes the following technical scheme:

[0007] A chip assembling feeding and discharging machine, comprising a workbench and a jig bin feeding and discharging mechanism, a jig bin lifting mechanism, a jig line body, a jig cover plate disassembling and assembling mechanism, a chip taking manipulator, a chip feeding mechanism, a chip shooting camera, and an ion fan which are arranged on the workbench at the same time.

[0008] The jig magazine feeding and discharging mechanism is located at the left front of the workbench top surface, the jig magazine lifting mechanism is located at the rear side of the jig magazine feeding and discharging mechanism and is connected with the end of the jig magazine feeding and discharging mechanism, the jig taking line body is located at the right side of the jig magazine lifting mechanism, and the left end of the jig taking line body is connected with the jig magazine lifting mechanism, the jig cover plate disassembling and assembling mechanism is arranged above the assembly station of the jig taking line body, the chip feeding mechanism is located at the front side of the jig taking line body, the chip taking manipulator is located at the right side of the chip feeding mechanism, the multi-head suction nozzle mechanism is arranged on the chip taking manipulator, the multi-head suction nozzle mechanism is movably suspended above the jig taking line body and the chip feeding mechanism through the chip taking manipulator, the chip shooting camera is located at the rear side of the jig taking line body, and the ion fan is located between the jig magazine feeding and discharging mechanism and the chip feeding mechanism, and the air outlet is aligned with the jig magazine on the jig magazine feeding and discharging mechanism.

[0009] Further, the jig magazine feeding and discharging mechanism is divided into two layers, one layer is located above the workbench top surface, and the other layer is located below the workbench top surface, and the structures of the two layers are opposite to each other, and the two layers are respectively used for feeding and discharging; the jig magazine feeding and discharging mechanism comprises a jig magazine conveying line body driven by a speed regulating motor, one side of the jig magazine conveying line body is provided with a jig magazine stop strip through a jig magazine width adjusting block, the other side of the jig magazine conveying line body is provided with a jig magazine side baffle, the jig magazine side baffle is provided with a ventilation hole, the ion fan is aligned with the ventilation hole, and the end of the jig magazine conveying line body is provided with a jig magazine positioning block, and the outer side of the jig magazine positioning block is provided with a jig magazine side pushing block driven by a jig magazine side pushing cylinder.

[0010] Further, the jig magazine lifting mechanism comprises a lead screw driven by a lead screw servo motor, a lifting module is arranged on the sliding block of the lead screw, a jig magazine gripper driven by a gripper cylinder is arranged on the sliding block of the lifting module, the movement direction of the lead screw is the same as the conveying direction of the jig magazine feeding and discharging mechanism, the jig magazine gripper can move up and down on the ends of a plurality of vertically arranged jig magazine feeding and discharging mechanisms through the lifting module, the jig magazine gripper can move back and forth between the end of the jig magazine feeding and discharging mechanism and the starting end of the jig taking line body through the lead screw, and the jig magazine gripper can move vertically row by row at the starting end of the jig taking line body through the lifting module.

[0011] Further, the tooling line body comprises a tooling slide with adjustable width, the starting end of the tooling slide is connected with the tooling bin lifting mechanism, the middle part of the tooling slide is arranged as a chip assembly station, a tooling gripper cylinder is arranged on the tooling slide through a transverse linear guide rail and can move back and forth between the starting end of the tooling slide and the chip assembly station, a tooling gripper is arranged on the tooling gripper cylinder, a transmission belt is arranged on the tooling slide and is driven by a transmission belt servo motor, the transmission belt is parallel to the transverse linear guide rail, and the tooling gripper cylinder is fixedly connected with a surface of the transmission belt, a tooling down pressing block is arranged on the left and right sides of the front and rear ends of the chip assembly station through a tooling down pressing cylinder, a tooling side pushing block is arranged on one side of the middle part of the chip assembly station through a tooling side pushing cylinder, a tooling front pushing cylinder is arranged on the front end of the chip assembly station through a front fixed plate and is driven by a tooling front pushing and lifting cylinder, and a tooling front pushing block is arranged on the tooling front pushing cylinder.

[0012] Further, the tooling slide comprises a fixed slide vertical plate and a movable slide vertical plate, the fixed slide vertical plate is fixedly connected with the upper surface of a tooling slide bottom plate, two line width adjustment trapezoidal screw rod supports are further arranged on the upper surface of the tooling slide bottom plate, one line width adjustment trapezoidal screw rod is arranged on each of the two line width adjustment trapezoidal screw rod supports, one end of each of the two line width adjustment trapezoidal screw rods penetrates the fixed slide vertical plate, one end of one of the two line width adjustment trapezoidal screw rods is connected with a hand wheel after penetrating out of the fixed slide vertical plate, one line width adjustment synchronous wheel is arranged on the other end of each of the two line width adjustment trapezoidal screw rods, a line width adjustment synchronous belt is wound between the two line width adjustment synchronous wheels, a line width adjustment synchronous belt tensioning wheel is arranged on the line width adjustment synchronous belt, the line width adjustment synchronous belt tensioning wheel is fixedly connected with the upper surface of the tooling slide bottom plate through a line width adjustment synchronous belt tensioning wheel support, the movable slide vertical plate is slidably arranged on the two line width adjustment trapezoidal screw rods, and the front and rear ends of the movable slide vertical plate are slidably connected with longitudinal linear guide rails arranged on the upper surface of the tooling slide bottom plate, and the front and rear fixed plates are adjustably arranged on the upper surface of the tooling slide bottom plate.

[0013] Further, the jig cover plate disassembly and assembly mechanism comprises a horizontal transverse transplanting module arranged at the top end of the two jig cover plate disassembly and assembly mechanism support plates, a jig cover plate disassembly and assembly mechanism lifting cylinder is arranged on the sliding block of the transverse transplanting module, a cover plate disassembly and assembly component is arranged on the jig cover plate disassembly and assembly mechanism lifting cylinder, the cover plate disassembly and assembly component is capable of sliding forward and backward above the jig taking line body through the transverse transplanting module, and the cover plate disassembly and assembly component is capable of moving up and down directly above the jig taking line body through the jig cover plate disassembly and assembly mechanism lifting cylinder.

[0014] Further, the cover plate disassembly and assembly component comprises a middle hollow ejector pin mounting plate, a linear bearing mounting plate parallel to the ejector pin mounting plate is arranged in the hollow structure of the ejector pin mounting plate, and a cover plate abutting plate parallel to the ejector pin mounting plate is arranged below the ejector pin mounting plate; a mechanism mounting plate connected with the jig cover plate disassembly and assembly mechanism lifting cylinder is arranged on the upper surface of the linear bearing mounting plate, a plurality of linear bearings are vertically arranged on the frame of the linear bearing mounting plate, a guide shaft is arranged in each linear bearing, a limiting protrusion is arranged at the top of each guide shaft, and the bottom end of each guide shaft is fixedly connected with the upper surface of the cover plate abutting plate; a plurality of ejector pin through holes are uniformly arranged on the front and rear edges of the cover plate abutting plate, an ejector pin capable of sliding up and down is arranged in each ejector pin through hole, the top end of the ejector pin is fixedly connected with the bottom surface of the frame of the ejector pin mounting plate, and the bottom end of the ejector pin extends out of the lower surface of the cover plate abutting plate; a ejector pin cylinder avoiding hole is arranged on the left half and the right half of the linear bearing mounting plate respectively, one ejector pin cylinder is arranged in each of the two ejector pin cylinder avoiding holes, the bottom part of the two ejector pin cylinders is fixedly connected with the upper surface of the cover plate abutting plate respectively, the top part of the two ejector pin cylinders is fixedly connected with a horizontal connecting block respectively, and the two ends of the two horizontal connecting blocks are fixedly connected with the upper surface of the frame of the ejector pin mounting plate through vertical connecting blocks respectively; one clamping jaw opening and closing cylinder is arranged on the upper surface of the left and right frames of the linear bearing mounting plate respectively, and a vertically downward cover plate clamping jaw is arranged on the push block of each clamping jaw opening and closing cylinder; a plurality of magnet mounting grooves are uniformly arranged on the lower surface of the frame of the cover plate abutting plate, and replaceable magnets or vacancies are embedded in the magnet mounting grooves.

[0015] Further, a triangular support block is arranged between the mechanism mounting plate and the linear bearing mounting plate, one straight angle side of the triangular support block is fixedly connected with one side surface of the mechanism mounting plate, and the other straight angle side of the triangular support block is fixedly connected with the upper surface of the linear bearing mounting plate.

[0016] Further, the top pin and the guide shaft are arranged alternately on the same frame of the cover plate lamination plate; the magnet mounting groove is located between the adjacent top pin and the guide shaft; the arrangement of the top pin, the guide shaft and the magnet mounting groove on the same frame of the cover plate lamination plate is a straight line.

[0017] Further, the top pin is arranged on the inward protrusion of the inner side of the top pin mounting plate frame, the linear bearing is arranged on the outward protrusion of the outer side of the linear bearing mounting plate frame, the inward protrusion and the outward protrusion on the same side are staggered, and the top pin and the guide shaft are arranged in a straight line on the same frame of the cover plate lamination plate through the staggered arrangement of the inward protrusion and the outward protrusion.

[0018] Further, five top pins are arranged on the front and rear frames of the top pin mounting plate, and four linear bearings are arranged on the front and rear frames of the linear bearing mounting plate.

[0019] Further, 2-3 magnet mounting grooves are arranged between the adjacent linear bearings and the top pins on the cover plate lamination plate.

[0020] Further, the left and right ends of the top pin mounting plate and the linear bearing mounting plate are respectively provided with cover clamping jaw folding avoidance holes.

[0021] Further, the distance from the upper surface of the jaw hook of the cover clamping jaw to the lower surface of the cover plate lamination plate in the initial position is not less than the thickness of the jig cover plate.

[0022] Further, the core taking manipulator comprises a manipulator arm arranged on a manipulator base, a jig shooting camera and a multi-head suction nozzle mechanism capable of ascending and descending are arranged at the front end of the manipulator arm, and the multi-head suction nozzle mechanism is capable of moving back and forth between the chip feeding mechanism, the chip shooting camera and the above of the taking jig line body through the manipulator arm.

[0023] Further, the multi-head suction nozzle mechanism comprises a mechanism mounting block connecting plate, the upper surface of the mechanism mounting block connecting plate is provided with a mechanism mounting block, the front and rear ends of the lower surface of the mechanism mounting block connecting plate are respectively provided with a suction nozzle adjusting plate connecting plate, the left and right ends of each suction nozzle adjusting plate connecting plate are respectively provided with a suction nozzle adjusting plate, each suction nozzle adjusting plate is provided with at least one position-adjustable and detachable suction nozzle mounting block through a corresponding quick-release adjusting knob, and the bottom of each suction nozzle mounting block is provided with a vertically downward suction nozzle; the front and rear suction nozzle adjusting plate connecting plates respectively extend outward and are provided with a vacuum generator mounting plate, any one of the vacuum generator mounting plates is provided with a vacuum generator, the vacuum generator is connected with each suction nozzle through pipelines and corresponding reversing valves; the bottom of the front and rear suction nozzle adjusting plate connecting plates is respectively provided with a chip clamp jaw cylinder with a forward push block and a chip clamp jaw cylinder with a rear push block, the push blocks of the front and rear chip clamp jaw cylinders are respectively provided with a left-right transverse clamp jaw fixing block, and the two clamp jaw fixing blocks are respectively and uniformly provided with a plurality of chip clamp jaws.

[0024] Further, the suction nozzle adjusting plate is provided with a waist-shaped hole for facilitating the left-right sliding of the suction nozzle mounting block, the upper part of the suction nozzle mounting block is in a cylindrical shape for facilitating rotation in the waist-shaped hole, the quick-release adjusting knob is a straight thread nut knob, and the positioning of the suction nozzle mounting block in the waist-shaped hole is realized by tightening the straight thread nut knob at the top of each suction nozzle mounting block.

[0025] All the suction nozzle mounting blocks are in an L shape, wherein the bottom of the suction nozzle mounting block located at the front side is bent rearward, the bottom of the suction nozzle mounting block located at the rear side is bent forward, and all the suction nozzles are arranged at the end of the bottom transverse plate of the corresponding suction nozzle mounting block.

[0026] Further, each suction nozzle adjusting plate is provided with three suction nozzle mounting blocks.

[0027] Further, one of the vacuum generator mounting plates is provided with a multi-pipeline butt joint type joint fixing plate for fixing the pipelines between the vacuum generator and the suction nozzle.

[0028] Further, all the chip clamp jaws are in an L shape, wherein the bottom of the chip clamp jaw located at the front side is bent forward, and the bottom of the chip clamp jaw located at the rear side is bent forward.

[0029] Further, each clamp jaw fixing block is provided with four clamp jaws.

[0030] Further, the height difference between the upper surface of the bottom transverse plate of the chip clamp jaw and the bottom end of the suction nozzle is equal to or slightly greater than the thickness of the chip.

[0031] Further, when the push blocks of the front and rear chip clamp cylinder fully extend, the distance between the front and rear corresponding two chip clamps is greater than the width of the largest design specification chip; when the push blocks of the front and rear chip clamp cylinder fully retract, the distance between the front and rear corresponding two chip clamps is less than the width of the smallest design specification chip.

[0032] Further, the chip feeding mechanism comprises a horizontal chip feeding bin frame, the upper surface of the chip feeding bin frame is detachably provided with a chip feeding bin and a partition plate discharging bin, the four peripheral edges of the chip feeding bin and the partition plate discharging bin are provided with blocking columns, the left and right ends of the chip feeding bin frame are respectively provided with a pair of photoelectric sensors for detecting whether the chip and the partition plate are in a horizontal state, the lower surface of the chip feeding bin frame is connected through the sliding block of a rodless cylinder, the movement direction of the rodless cylinder is the same as that of the jig bin feeding and discharging mechanism, and the left and right sides of the rodless cylinder are respectively provided with chip feeding mechanism moving guide rails in parallel, the sliding block of the chip feeding mechanism moving guide rail is fixedly connected with the lower surface of the chip feeding bin frame, and a plurality of displacement sensors for detecting the moving positions of the chip feeding bin and the partition plate discharging bin are arranged between the chip feeding mechanism moving guide rail and the rodless cylinder, and the bottom of the chip feeding bin is provided with a chip feeding bin jacking mechanism.

[0033] The beneficial effects of the present application are:

[0034] 1. The present application has a reasonable layout, fully utilizes the space, has sufficient material storage space, low personnel operation frequency, concentrated feeding and discharging time, and greatly improves the assembly efficiency.

[0035] 2. The jig bin feeding and discharging mechanism of the present application is divided into two layers, and the upper and lower materials are fed and discharged respectively, the space is fully utilized, the personnel can feed and discharge materials at one position, and the jig bin feeding and discharging mechanism adopts a width adjustable mechanism, which can be applied to various styles of bins.

[0036] 3. The jig bin lifting mechanism of the present application adopts an X / Z shaft screw module, cooperates with the material taking clamp to take and place the jig bin on the jig bin feeding and discharging mechanism, and lifts the jig connection position on the jig taking line body, can adjust the height of the jig connection position according to different products, and is suitable for various jig bins.

[0037] 4. The width of the tooling line of the present application can be adjusted according to the type of tooling, and the tooling gripper can directly extend into the tooling bin to clamp the tooling and transplant it to the chip assembly station. The tooling side pushing mechanism moves with the adjustable plate, reducing the adjustment action when adjusting the line width. The tooling gripper uses flexible contact to reduce the height position deviation of the tooling in the line caused by the shape error of the tooling bin, reduce the damage to the product, and increase the contact surface under stress.

[0038] 5. The tooling cover plate disassembly and assembly mechanism of the present application uses a magnet to attract the cover plate, and after taking it, a clamping mechanism is added to avoid the cover plate from falling off during the movement of the tooling cover plate disassembly and assembly mechanism, reducing the risk. When the cover plate is assembled, a cover plate ejector pin cylinder is used to overcome the magnetic force, ensuring that the cover plate is separated from the disassembly and assembly mechanism when the cover plate is assembled. At the same time, the magnet used in the tooling cover plate disassembly and assembly mechanism is a commonly used magnet, which can be adjusted according to the weight and size of the tooling cover plate.

[0039] 6. The chip loading bin mechanism of the present application adopts a design of separating the chip loading bin and the partition plate unloading bin, which is convenient for personnel operation. The multiple sensors in the middle can avoid personnel misoperation and ensure personal safety. The guide pillars around the bin use a fixed hole to facilitate the adjustment of the length and width of the bin. The opposite sensors on both sides of the bin can detect whether the chips are flat, whether the bin is full or empty, and timely remind personnel to load and unload, etc. The chip loading bin moves to the taking position and is lifted by its own lifting mechanism, reducing the action of the mechanical hand.

[0040] 7. The chip taking manipulator of the present application uses multiple suction nozzles and L-shaped support blocks. The multi-head suction nozzle assembly uses six suction nozzles on each side, and the suction nozzle adjusting plate uses a strip-shaped hole or a waist-shaped hole to facilitate the position adjustment of the suction nozzle. The upper part of the L-shaped suction nozzle fixing block is designed as a cylinder, and the connection with the suction nozzle adjusting plate uses a waist-shaped fitting to ensure 360° rotation of the suction nozzle and adjustability left and right. The suction nozzle increases a reversing valve, which can be applied to various new product taking. After the multi-head suction nozzle assembly takes the chip, the mechanism is lifted to a certain height, the gripper cylinder is retracted, and the L-shaped support block holds the bottom of the chip to avoid the risk of chip falling due to other uncertain factors during transportation.

[0041] 8. Considering the damage of static electricity to the chip, the present application uses a static electricity removal device to eliminate the static electricity of the equipment.

[0042] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, and to implement the content of the specification, the following will be described in detail with the preferred embodiments of the present application and the accompanying drawings. The specific embodiments of the present application are given in detail by the following examples and their accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0044] Figure 1 A perspective view of a chip assembling up and down material machine according to the present application;

[0045] Figure 2 A top view of a chip assembling up and down material machine according to the present application;

[0046] Figure 3 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0047] Figure 4 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0048] Figure 5 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0049] Figure 6 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0050] Figure 7 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0051] Figure 8 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0052] Figure 9 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0053] Figure 10 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0054] Figure 11 A perspective view of a jig material bin up and down material mechanism according to the present application;

[0055] Figure 12 A perspective view of a jig material bin up and down material mechanism according to the present application; DETAILED DESCRIPTION

[0056] The application will be described in greater detail with reference to the accompanying drawings, in which:

[0057] Reference will now be made to the drawings, in which: Figures 1-2As shown in the figure, a chip assembly feeding and discharging machine comprises a workbench 1 and a jig bin feeding and discharging mechanism 2, a jig bin lifting mechanism 3, a jig taking line body 4, a jig cover plate disassembly and assembly mechanism 5, a chip taking manipulator 6, a chip feeding mechanism 7, a chip shooting camera 8 and an ion fan 9 arranged on the workbench 1 at the same time.

[0058] The jig bin feeding and discharging mechanism 2 is located at the left front of the workbench 1, the jig bin lifting mechanism 3 is located at the rear side of the jig bin feeding and discharging mechanism 2 and is connected with the end of the jig bin feeding and discharging mechanism 2, the jig taking line body 4 is located at the right side of the jig bin lifting mechanism 3, and the left end of the jig taking line body 4 is connected with the jig bin lifting mechanism 3, the jig cover plate disassembly and assembly mechanism 5 is arranged above the assembly station of the jig taking line body 4, the chip feeding mechanism 7 is located at the front side of the jig taking line body 4, the chip taking manipulator 6 is located at the right side of the chip feeding mechanism 7, a multi-head suction nozzle mechanism 11 is arranged on the chip taking manipulator 6, the multi-head suction nozzle mechanism 11 is movably suspended above the jig taking line body 4 and the chip feeding mechanism 7 through the chip taking manipulator 6, the chip shooting camera 8 is located at the rear side of the jig taking line body 4, and the ion fan 9 is located between the jig bin feeding and discharging mechanism 2 and the chip feeding mechanism 7, and the air outlet is aligned with the jig bin 10 on the jig bin feeding and discharging mechanism 2.

[0059] Further, referring to Figure 3 As shown in the figure, the jig bin feeding and discharging mechanism 2 is divided into two layers, one layer is located above the workbench 1, and the other layer is located below the workbench 1, and the structures of the two layers are opposite to each other, and the upper layer is used for feeding and the lower layer is used for discharging; taking the upper layer as an example, the jig bin feeding and discharging mechanism 2 comprises a jig bin conveying line body 14 driven by a speed regulating motor 13, one side of the jig bin conveying line body 14 is provided with a jig bin stop strip 16 through a jig bin width adjusting block 15, the other side of the jig bin conveying line body 14 is provided with a jig bin side baffle 17, the jig bin side baffle 17 is provided with a ventilation hole 18, the ion fan 9 is aligned with the ventilation hole 18, the end of the jig bin conveying line body 14 is provided with a jig bin positioning block 19, and the outer side of the jig bin positioning block 19 is provided with a jig bin side pushing block 20 driven by a jig bin side pushing air cylinder.

[0060] Further, referring to Figure 4As shown, the tool magazine lifting mechanism 3 includes a lead screw 22 driven by a lead screw servo motor 21, a lifting module 23 is arranged on the sliding block of the lead screw 22, a tool magazine gripper 24 driven by a gripper cylinder is arranged on the sliding block of the lifting module 23, the movement direction of the lead screw 22 is the same as the conveying direction of the tool magazine feeding and discharging mechanism 2, the tool magazine gripper 24 moves up and down on the end of the plurality of vertically arranged tool magazine feeding and discharging mechanisms 2 through the lifting module 23, the tool magazine gripper 24 moves back and forth between the end of the tool magazine feeding and discharging mechanism 2 and the starting end of the tool taking line body 4 through the lead screw 22, and the tool magazine gripper 24 realizes the vertical movement of the tool magazine 10 at the starting end of the tool taking line body 4 through the lifting module 23.

[0061] Further, referring to Figure 5 As shown, the tool taking line body 4 includes a tool slide 25 with adjustable width, the starting end of the tool slide 25 is connected with the tool magazine lifting mechanism 3, the middle part of the tool slide 25 is arranged as a chip assembly station, a tool gripper cylinder 27 is arranged on the tool slide 25 through a transverse linear guide rail 26, and the tool gripper cylinder 27 can move back and forth between the starting end of the tool slide 25 and the chip assembly station, a tool gripper 28 is arranged on the tool gripper cylinder 27, a transmission belt 30 driven by a transmission belt servo motor 29 is arranged on the tool slide 25, the transmission belt 30 is parallel to the transverse linear guide rail 26, and the tool gripper cylinder 27 is fixedly connected with a part of the surface of the transmission belt 30, a tool pressing block 32 is arranged on the left and right sides of the front and rear ends of the chip assembly station through a tool pressing cylinder 31, a tool side pushing block 34 is arranged on one side of the middle part of the chip assembly station through a tool side pushing cylinder 33, a tool front pushing cylinder is arranged on the front end of the chip assembly station through a front fixed plate 35 and driven by a tool front pushing and jacking cylinder 36, a tool front pushing block 37 is arranged on the tool front pushing cylinder, and a tool positioning block 40 is arranged on the rear end of the chip assembly station through a rear fixed plate 38 and driven by a tool positioning jacking cylinder 39.

[0062] Further, referring to Figure 5As shown, the jig slide 25 includes a fixed slide upright plate and a movable slide upright plate, the fixed slide upright plate is fixedly connected with the upper surface of a jig slide bottom plate 41, the upper surface of the jig slide bottom plate 41 is also provided with two line width adjusting trapezoidal screw rod supports 42 at the front and rear ends, two line width adjusting trapezoidal screw rod supports 42 are respectively provided with a line width adjusting trapezoidal screw rod 43, one end of the two line width adjusting trapezoidal screw rods 43 respectively penetrates the fixed slide upright plate, and one end of one of the line width adjusting trapezoidal screw rods 43 is connected with a hand wheel 44 after penetrating out of the fixed slide upright plate, the other end of the two line width adjusting trapezoidal screw rods 43 is respectively provided with a line width adjusting synchronous wheel 45, a line width adjusting synchronous belt 46 is wound between the two line width adjusting synchronous wheels 45, the line width adjusting synchronous belt 46 is provided with a line width adjusting synchronous belt tensioning wheel 47, the line width adjusting synchronous belt tensioning wheel 47 is fixedly connected with the upper surface of the jig slide bottom plate 41 through a line width adjusting synchronous belt tensioning wheel support 48, the movable slide upright plate is slidably arranged on the two line width adjusting trapezoidal screw rods 43, and the front and rear ends of the movable slide upright plate are respectively slidably connected with the longitudinal linear guide rails 49 arranged on the upper surface of the jig slide bottom plate 41, the front fixed plate 35 and the rear fixed plate 38 are respectively adjustably arranged on the upper surface of the jig slide bottom plate 41.

[0063] Further, referring to Figure 6 As shown, the jig cover plate disassembly mechanism 5 includes a transverse transplanting module 52 horizontally arranged at the top end of two jig cover plate disassembly mechanism support plates 51, a jig cover plate disassembly mechanism lifting cylinder 53 is arranged on the sliding block of the transverse transplanting module 52, a cover plate disassembly assembly 54 is arranged on the jig cover plate disassembly mechanism lifting cylinder 53, the cover plate disassembly assembly 54 can slide forward and backward above the jig line body 4 through the transverse transplanting module 52, and the cover plate disassembly assembly 54 can move up and down directly above the jig line body 4 through the jig cover plate disassembly mechanism lifting cylinder 53.

[0064] Further, referring to Figures 7-8As shown, the cover plate disassembly and assembly component 54 comprises a middle hollow ejector pin mounting plate 55, a linear bearing mounting plate 56 parallel to the ejector pin mounting plate 55 is arranged in the hollow structure of the ejector pin mounting plate 55, and a cover plate fitting plate 57 parallel to the ejector pin mounting plate 55 is arranged below the ejector pin mounting plate 55; a mechanism mounting plate 58 connected with the jig cover plate disassembly and assembly mechanism lifting cylinder 53 is arranged on the upper surface of the linear bearing mounting plate 56, a plurality of linear bearings 59 are vertically arranged on the frame of the linear bearing mounting plate 56, a guide shaft 60 is arranged in each linear bearing 59, a limiting block 61 is arranged on the top of each guide shaft 60, and the bottom end of each guide shaft 60 is fixedly connected with the upper surface of the cover plate fitting plate 57; a plurality of ejector pin through holes are uniformly arranged on the front and rear edges of the cover plate fitting plate 57, an ejector pin 62 capable of sliding up and down is arranged in each ejector pin through hole, the top end of the ejector pin 62 is fixedly connected with the bottom surface of the frame of the ejector pin mounting plate 55, and the bottom end of the ejector pin 62 extends out of the lower surface of the cover plate fitting plate 57; an ejector pin cylinder avoiding hole 63 is arranged on the left half and the right half of the linear bearing mounting plate 56 respectively, an ejector pin cylinder 64 is arranged in each of the left and right ejector pin cylinder avoiding holes 63, the bottom part of each of the left and right ejector pin cylinders 64 is fixedly connected with the upper surface of the cover plate fitting plate 57, the top pushing block of each of the two ejector pin cylinders 64 is fixedly connected with a horizontal connecting block 65, and the two ends of the two horizontal connecting blocks 65 are fixedly connected with the upper surface of the frame of the ejector pin mounting plate 55 through vertical connecting blocks 66; a clamping jaw opening and closing cylinder 67 is arranged on the upper surface of the left and right frames of the linear bearing mounting plate 56 respectively, and a cover plate clamping jaw 68 vertically downward is arranged on the pushing block of each of the two clamping jaw opening and closing cylinders 67; a plurality of magnet mounting grooves 69 are uniformly arranged on the lower surface of the frame of the cover plate fitting plate 57, and replaceable magnets 70 or vacancies are embedded in the magnet mounting grooves 69.

[0065] Further, a triangular support block 71 is arranged between the mechanism mounting plate 58 and the linear bearing mounting plate 56, one straight angle side of the triangular support block 71 is fixedly connected with one side surface of the mechanism mounting plate 58, and the other straight angle side of the triangular support block 71 is fixedly connected with the upper surface of the linear bearing mounting plate 56.

[0066] Further, the ejector pins 62 and the guide shafts 60 are alternately arranged on the same frame of the cover plate fitting plate 57, the magnet mounting grooves 69 are located between adjacent ejector pins 62 and guide shafts 60, and the arrangement of the ejector pins 62, the guide shafts 60 and the magnet mounting grooves 69 on the same frame of the cover plate fitting plate 57 forms a straight line.

[0067] Further, the ejector pin 62 is arranged on the inward protrusion 72 of the side frame of the ejector pin mounting plate 55, the linear bearing 59 is arranged on the outward protrusion 73 of the side frame of the linear bearing mounting plate 56, the inward protrusion 72 and the outward protrusion 73 of the same side are staggered, and the ejector pin 62 and the guide shaft 60 are staggered by the inward protrusion 72 and the outward protrusion 73 to realize linear staggered arrangement on the same side frame of the cover plate mounting plate 57.

[0068] Further, the ejector pin mounting plate 55 is provided with 5 ejector pins 62 on the front and rear side frames, and the linear bearing mounting plate 56 is provided with 4 linear bearings 59 on the front and rear side frames.

[0069] Further, 2-3 magnet mounting grooves 69 are arranged between the adjacent linear bearings 59 and the ejector pins 62 on the cover plate mounting plate 57.

[0070] Further, referring to Figure 9 The core taking manipulator 6 includes a manipulator arm 75 arranged on a manipulator base 74, a jig shooting camera 76 is arranged at the front end of the manipulator arm 75, and a multi-head suction nozzle mechanism 11 can be raised and lowered, the multi-head suction nozzle mechanism 11 moves back and forth between the above of the chip feeding mechanism 7, the chip shooting camera 8 and the take jig line body 4 through the manipulator arm 75.

[0071] Further, referring to Figures 10-11As shown, the multi-head suction nozzle mechanism 11 comprises a mechanism mounting block connecting plate 77, the upper surface of the mechanism mounting block connecting plate 77 is provided with a mechanism mounting block 78, the front and rear ends of the lower surface of the mechanism mounting block connecting plate 77 are respectively provided with a suction nozzle adjusting plate connecting plate 79, the left and right ends of each suction nozzle adjusting plate connecting plate 79 are respectively provided with a suction nozzle adjusting plate 80, at least one position-adjustable and detachable suction nozzle mounting block 82 is arranged in each suction nozzle adjusting plate 80 through a corresponding quick-release adjusting knob 81, and the bottom of each suction nozzle mounting block 82 is provided with a vertically downward suction nozzle 83; a vacuum generator mounting plate 84 is outwardly extended from each of the front and rear suction nozzle adjusting plate connecting plates 79, a vacuum generator 85 is arranged on any one of the vacuum generator mounting plates 84, the vacuum generator 85 is connected with each suction nozzle 83 through pipelines and a corresponding reversing valve 91, and the bottom of each of the front and rear suction nozzle adjusting plate connecting plates 79 is provided with a chip clamp jaw cylinder 86 with a push block facing forward and a chip clamp jaw cylinder 86 with a push block facing backward; a left-right transversely extending clamp jaw fixing block 87 is arranged on the push block of each of the two chip clamp jaw cylinders 86, and a plurality of chip clamp jaws 88 are uniformly arranged on the two clamp jaw fixing blocks 87.

[0072] Further, a waist-shaped hole 89 is arranged on the suction nozzle adjusting plate 80 to facilitate the left-right sliding of the suction nozzle mounting block 82, the upper portion of the suction nozzle mounting block 82 is in a cylindrical shape to facilitate rotation in the waist-shaped hole, the quick-release adjusting knob 81 is a straight-nut knob, and the suction nozzle mounting block 82 is positioned in the waist-shaped hole by tightening the straight-nut knob at the top of each suction nozzle mounting block 82.

[0073] All the suction nozzle mounting blocks 82 are in an L shape, wherein the bottom of the suction nozzle mounting block 82 located on the front side is bent rearward, the bottom of the suction nozzle mounting block 82 located on the rear side is bent forward, and all the suction nozzles 83 are arranged at the end of the bottom transverse plate of the corresponding suction nozzle mounting block 82.

[0074] Further, three suction nozzle mounting blocks 82 are arranged on each suction nozzle adjusting plate 80.

[0075] Further, one of the vacuum generator mounting plates 84 is provided with a multi-pipeline butt joint fixing plate 90 for fixing the pipelines between the vacuum generator 85 and the suction nozzle 83.

[0076] Further, all the chip clamp jaws 88 are in an L shape, wherein the bottom of the chip clamp jaw 88 located on the front side is bent forward, and the bottom of the chip clamp jaw 88 located on the rear side is bent forward.

[0077] Further, four chip clamping jaws 88 are arranged on each of the clamping jaw fixing blocks 87.

[0078] Further, the height difference between the upper surface of the bottom transverse plate of the chip clamping jaw 88 and the bottom end of the suction nozzle 83 is equal to or slightly greater than the thickness of the chip.

[0079] Further, when the push blocks of the front and rear chip clamping jaw cylinders 86 are fully extended, the distance between the corresponding two chip clamping jaws 88 is greater than the width of the largest designed specification of the chip; when the push blocks of the front and rear chip clamping jaw cylinders 86 are fully retracted, the distance between the corresponding two chip clamping jaws 88 is less than the width of the smallest designed specification of the chip.

[0080] Further, referring to Figure 12 As shown, the chip loading mechanism 7 comprises a horizontal chip loading bin frame 92, the upper surface of the chip loading bin frame 92 is detachably provided with a chip loading bin 93 and a spacer unloading bin 94, the four peripheral edges of the chip loading bin 93 and the spacer unloading bin 94 are provided with blocking columns 95, the left and right ends of the chip loading bin frame 92 are respectively provided with a pair of photoelectric sensors 96 for detecting whether the chip and the spacer are in a horizontal state, the lower surface of the chip loading bin frame 92 is connected through the slider of a rodless cylinder 97, the movement direction of the rodless cylinder 97 is the same as that of the jig bin loading and unloading mechanism 2, and the left and right sides of the rodless cylinder 97 are respectively provided with chip loading mechanism moving guide rails 98 in parallel, the slider of the chip loading mechanism moving guide rail 98 is fixedly connected with the lower surface of the chip loading bin frame 92, a plurality of displacement sensors 99 for detecting the moving position of the chip loading bin 93 and the spacer unloading bin 94 are arranged between the chip loading mechanism moving guide rail 98 and the rodless cylinder 97, and the bottom of the chip loading bin 93 is provided with a chip loading bin jacking mechanism 100.

[0081] The working principle and working process of the present application are as follows:

[0082] Referring to Figures 1-2As shown, the general working process of the present application is that the chips to be assembled are placed in sequence in the chip feeding mechanism 7, and the two adjacent chips are separated by the partition plate, and the empty jig filled with the jig warehouse is placed in sequence on the upper jig warehouse feeding and discharging mechanism 2, and the ion fan 9 blows air to the jig warehouse; the jig warehouse lifting mechanism 3 clamps and moves the jig warehouse 10 at the end of the jig warehouse feeding and discharging mechanism 2 to the starting end of the jig taking line body 4, and then the jig warehouse lifting mechanism 3 aligns the first layer of the clamped jig warehouse 10 with the connection position at the starting end of the jig taking line body 4, and then the jig taking line body 4 grabs the first layer of jig 12 in the jig warehouse and takes it to the chip assembly station, the jig cover plate disassembly and combination mechanism 5 opens the cover plate of the jig, the chip taking manipulator 6 sucks a chip 50 in the chip feeding mechanism 7 and first moves to the chip shooting camera 8 to take a picture, and then the manipulator position is compensated, then the chip taking manipulator 6 drives the chip 50 to move above the chip assembly station, the jig taking camera 76 on the chip taking manipulator 6 takes a picture of the jig, and the manipulator position is compensated, the chip taking manipulator 6 puts the chip into the jig on the chip assembly station, the jig cover plate disassembly and combination mechanism 5 closes the cover plate on the jig, the jig taking line body 4 pushes the jig with assembled chips into the jig warehouse 10, completes the chip assembly, and then the jig warehouse lifting mechanism 3 lifts the jig warehouse 10 by a distance of the thickness of a layer of jig, and performs the second chip assembly, until the jig in the jig warehouse 10 on the jig warehouse lifting mechanism 3 is completely assembled with chips, and finally the jig warehouse lifting mechanism 3 sends the completed jig warehouse 10 to the lower jig warehouse feeding and discharging mechanism 2 to complete the feeding of the jig warehouse 10 once, and then returns to the upper jig warehouse feeding and discharging mechanism 2 to wait for the second feeding of the jig warehouse 10.

[0083] Referring to Figure 3 As shown, the jig warehouse feeding and discharging mechanism 2 is divided into two layers, one layer is above the table 1 table top, and one layer is below the table 1 table top, and the structures of the two layers are opposite to each other, respectively feeding and discharging; the jig warehouse conveying line body 14 of the jig warehouse feeding and discharging mechanism 2 can place 5 groups of jig warehouses 10 at a time, and the line width can be adjusted by the stop block and the jig warehouse width adjusting block 15 to meet the jig warehouses 10 of different sizes; when the jig warehouse conveying line body 14 moves the first jig warehouse 10 to the end of the jig warehouse conveying line body 14 under the drive of the speed regulating motor 13, the rear side of the jig warehouse 10 is blocked by the jig warehouse positioning block 19, and at the same time the sensor senses that the jig warehouse 10 is in place, and then the jig warehouse side pushing block 20 is driven by the jig warehouse side pushing cylinder to push against the jig warehouse 10 from the side to position the jig warehouse 10.

[0084] Referring to Figure 4As shown, after the first tool magazine 10 is positioned on the tool magazine up-down mechanism 2, the lifting module 23 of the tool magazine lifting mechanism 3 drives the tool magazine clamping jaw 24 to move to the end of the tool magazine conveying line body 14 of the upper tool magazine up-down mechanism 2, and the tool magazine clamping jaw 24 clamps the first positioned tool magazine 10 under the drive of the clamping jaw cylinder. When the tool magazine 10 is detected by the clamping jaw sensor, the tool magazine side pushing block 20 of the upper tool magazine up-down mechanism 2 is released, and then the screw rod 22 drives the lifting module 23 and the tool magazine clamping jaw 24 to move backward under the drive of the screw rod servo motor 21, so that the first tool magazine 10 moves to the connection position at the starting end of the tool taking line body 4.

[0085] Referring to Figure 5 As shown, the width of the tool slide 25 of the tool taking line body 4 can be adjusted by shaking the hand wheel 44 to meet the needs of different sizes of tools; after the first tool magazine 10 moves to the connection position at the starting end of the tool taking line body 4, the transmission belt servo motor 29 works to drive the transmission belt 30 to rotate, and the tool clamping jaw cylinder 27 of the tool taking line body 4, together with the tool clamping jaw 28, moves to the connection position at the starting end of the tool taking line body 4 along the transverse linear guide rail 26 under the drive of the transmission belt 30, the tool clamping jaw cylinder 27 drives the tool clamping jaw 28 to clamp the first layer of tools 12 in the first tool magazine 10, and then the transmission belt servo motor 29 works in reverse to drive the transmission belt 30 to rotate, and the tool clamping jaw cylinder 27, the tool clamping jaw 28 and the tools 12 move to the chip assembly station on the tool slide 25 along the transverse linear guide rail 26 under the drive of the transmission belt 30; after the tools 12 are positioned, the tool lower pressing cylinders 31 on the left and right sides at the front and rear ends of the chip assembly station respectively drive the tool lower pressing blocks 32 to press the upper surface edges of the tools 12, and the tool side pushing cylinder 33 in the middle of the chip assembly station drives the tool side pushing block 34 to push against the side edges of the tools 12, the tool positioning cylinder 39 at the rear end of the chip assembly station drives the tool positioning block 40 to lift and block the rear end of the tools 12, and the tool front pushing cylinder at the front end of the chip assembly station drives the tool front pushing block 37 to push against the front end of the tools 12, thereby completing the positioning of the tools 12 on the chip assembly station.

[0086] Referring to Figures 6-8As shown, after the lateral transplanting module 52 of the jig cover plate disassembly and assembly mechanism 5 moves the jig cover plate disassembly and assembly mechanism lifting cylinder 53 and the cover plate disassembly and assembly assembly 54 to the upper side of the chip assembly station, the jig cover plate disassembly and assembly mechanism lifting cylinder 53 drives the cover plate disassembly and assembly assembly 54 to descend, the cover plate adhering plate 57 of the cover plate disassembly and assembly assembly 54 is first adhered to the cover plate of the jig 12, the ejector pin 62 on the ejector pin mounting plate 55 is inserted into the positioning hole of the cover plate to position the cover plate, the magnet 70 on the cover plate adhering plate 57 attracts the cover plate, and then the left and right two jaw opening and closing cylinders 67 respectively drive the corresponding cover plate clamps 68 to move inward until they are inserted into the bottom surface of the cover plate and provide support, and finally the lateral transplanting module 52 drives the jig cover plate disassembly and assembly mechanism lifting cylinder 53 and the cover plate disassembly and assembly assembly 54 to transport the cover plate to the waiting position.

[0087] Referring to Figures 9-12 As shown, after the jig 12 opens the cover plate at the chip assembly station, the chip taking manipulator 6 moves the multi-head suction nozzle mechanism 11 to the upper side of the chip feeding bin 93 of the chip feeding mechanism 7 through the manipulator arm 75, and then the manipulator arm 75 drives the multi-head suction nozzle mechanism 11 to descend to suck a chip 50 from the chip feeding bin 93. The suction nozzles 83 on the multi-head suction nozzle mechanism 11 should be adjusted in distance in advance through the quick-release adjusting knobs 81, the suction nozzle mounting blocks 82 and the suction nozzle adjusting plates 80 to meet the size requirements of the required suction chip 50. The suction nozzles 83 suck the chip 50 through the vacuum generator 85, and after suction, the two chip clamp cylinders 86 respectively drive the two chip clamps 88 to close and extend into the bottom of the chip 50 to provide support.

[0088] Referring to Figures 1-2 As shown, after the multi-head suction nozzle mechanism 11 sucks a chip 50, it first moves the chip 50 to the chip shooting camera 8 through the manipulator arm 75 to take a photo of the chip 50 for position compensation, and then moves the chip 50 to the upper side of the jig 12 at the chip assembly station through the manipulator arm 75, takes a photo of the jig 12 through the jig shooting camera 76 on the manipulator arm 75 for manipulator position compensation, and finally puts the chip 50 into the jig 12 with the cover plate opened for chip assembly.

[0089] Referring to Figures 9-12 As shown, the two chip clamp cylinders 86 respectively drive the two chip clamps 88 to open until they are completely extended out of the bottom of the chip 50, the vacuum generator 85 stops vacuumizing, the suction nozzles 83 do not generate suction force on the chip 50, the manipulator arm 75 moves the multi-head suction nozzle mechanism 11 again to the upper side of the chip feeding bin 93 of the chip feeding mechanism 7 to suck the partition plate below the last chip 50, and moves the partition plate to the partition plate unloading bin 94 beside the chip feeding bin 93, and then the chip feeding bin jacking mechanism 100 jacks up the chip feeding bin 93 by one layer of height to wait for the next chip suction.

[0090] Referring toFigures 6-8 As shown, after the chip is put into the jig 12, the horizontal transfer module 52 moves the cover plate from the waiting position to above the jig 12 by driving the jig cover plate disassembly mechanism lifting cylinder 53 and the cover plate disassembly assembly 54. The jig cover plate disassembly mechanism lifting cylinder 53 drives the cover plate disassembly assembly 54 to descend, and the left and right two clamping jaw opening and closing cylinders 67 drive the corresponding cover plate clamping jaws 68 to open outward until they extend beyond the bottom surface of the cover plate, and then the cover plate is placed on the jig 12 containing the chip. Then the cover plate disassembly mechanism lifting cylinder drives the cover plate disassembly assembly 54 to rise, and the ejector pin cylinder 64 drives the ejector pin 62 to press down through the ejector pin mounting plate 55, so that the cover plate can overcome the magnetic force of the magnet 70 and separate from the cover plate disassembly assembly 54, thereby completing the assembly of the chip. Finally, the horizontal transfer module 52 drives the jig cover plate disassembly mechanism lifting cylinder 53 and the cover plate disassembly assembly 54 to return to the waiting position again.

[0091] Referring to Figures 3-5 As shown, after the chip is completely assembled, the jig down pressure cylinder 31, the jig side pushing cylinder 33, the jig positioning lifting cylinder 39, the front pushing lifting cylinder, and the jig front pushing cylinder on the left and right of the chip assembly station are returned to the original position, respectively, to unlock the jig 12. The transmission belt servo motor 29 moves the jig clamping jaw 28 together with the jig 12 containing the chip to the original position of the jig magazine 10 through the transmission belt 30. The jig clamping jaw cylinder 27 drives the jig clamping jaw 28 to release the jig 12 containing the chip, thereby completing the assembly of the chip. Then the jig magazine clamping jaw 24 drives the jig magazine 10 to lift one level through the lifting module 23, and the chip installation of the second jig 12 is performed, until the empty jigs in the first jig magazine 10 are all assembled with chips. When all the jigs in the jig magazine 10 are completely assembled with chips, the lead screw 22 drives the lifting module 23 and the jig magazine clamping jaw 24 to move forward under the drive of the lead screw servo motor 21, and then the lifting module 23 drives the jig magazine 10 to descend to the end of the lower jig magazine feeding and discharging mechanism 2, and the jig magazine 10 is placed on the lower jig magazine feeding and discharging mechanism 2, thereby achieving the discharging of the jig magazine 10. The jig magazine clamping jaw 24 returns to the end of the upper jig magazine feeding and discharging mechanism 2 again to feed the second jig magazine 10.

[0092] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A chip assembly feeding and unloading machine, characterized by: The workbench and the jig bin feeding mechanism, the jig bin lifting mechanism, the jig taking line, the jig cover plate disassembly and assembly mechanism, the chip taking manipulator, the chip feeding mechanism, the chip shooting camera and the ion fan are arranged on the workbench simultaneously. The jig bin feeding mechanism is located at the left front of the workbench table top, the jig bin lifting mechanism is located at the rear side of the jig bin feeding mechanism and is connected with the end of the jig bin feeding mechanism, the jig taking line is located at the right side of the jig bin lifting mechanism and the left end of the jig taking line is connected with the jig bin lifting mechanism, the jig cover plate disassembly and assembly mechanism is arranged above the assembly station of the jig taking line, the chip feeding mechanism is located at the front side of the jig taking line, the chip taking manipulator is located at the right side of the chip feeding mechanism, the multi-head suction nozzle mechanism is arranged on the chip taking manipulator and is movably suspended above the jig taking line and the chip feeding mechanism, the chip shooting camera is located at the rear side of the jig taking line, and the ion fan is located between the jig bin feeding mechanism and the chip feeding mechanism and the air outlet is aligned with the jig bin of the jig bin feeding mechanism. The jig bin feeding mechanism is divided into two layers, one layer is located above the workbench table top and the other layer is located below the workbench table top, and the structures of the two layers are opposite to each other and are used for feeding respectively, the jig bin feeding mechanism comprises a jig bin conveying line driven by a speed regulating motor, one side of the jig bin conveying line is provided with a jig bin stop strip through a jig bin width adjusting block, the other side of the jig bin conveying line is provided with a jig bin side baffle, the jig bin side baffle is provided with a ventilation hole, the ion fan is aligned with the ventilation hole, the end of the jig bin conveying line is provided with a jig bin positioning block, and the outside of the jig bin positioning block is provided with a jig bin side pushing block driven by a jig bin side pushing cylinder.

2. The chip assembly feeding and unfeeding machine according to claim 1, characterized in that: The jig bin lifting mechanism comprises a lead screw driven by a lead screw servo motor, a lifting module is arranged on the sliding block of the lead screw, a jig bin gripper driven by a gripper cylinder is arranged on the sliding block of the lifting module, the movement direction of the lead screw is the same as the conveying direction of the jig bin feeding mechanism, the jig bin gripper moves up and down on the ends of the plurality of vertically arranged jig bin feeding mechanisms through the lifting module, the jig bin gripper moves back and forth between the end of the jig bin feeding mechanism and the starting end of the jig taking line through the lead screw, and the jig bin gripper moves vertically row by row at the starting end of the jig taking line through the lifting module.

3. The chip assembly feeding and unfeeding machine according to claim 1, characterized in that: The tool taking and treating line body comprises a width-adjustable tool slide, the starting end of the tool slide is connected with the tool warehouse lifting mechanism, the middle part of the tool slide is provided with a chip assembly station, a tool clamp jaw cylinder is arranged on the tool slide through a transverse linear guide rail and can move back and forth between the starting end of the tool slide and the chip assembly station, a tool clamp jaw is arranged on the tool clamp jaw cylinder, a transmission belt driven by a transmission belt servo motor is arranged on the tool slide, the transmission belt is parallel to the transverse linear guide rail, and the tool clamp jaw cylinder is fixedly connected with the surface of the transmission belt, a tool pressing block is arranged on the left and right sides of the front and rear ends of the chip assembly station through a tool pressing cylinder, a tool side pushing block is arranged on one side of the middle part of the chip assembly station through a tool side pushing cylinder, a tool front pushing cylinder driven by a tool front pushing and lifting cylinder is arranged on the front end of the chip assembly station through a front fixed plate, and a tool front pushing block is arranged on the tool front pushing cylinder.

4. The chip assembly feeding and unfeeding machine according to claim 3, characterized in that: The tool slide comprises a fixed slide vertical plate and a movable slide vertical plate, the fixed slide vertical plate is fixedly connected with the upper surface of a tool slide bottom plate, and two line body width adjusting trapezoidal screw rod supports are further arranged on the upper surface of the tool slide bottom plate. Two line body width adjusting trapezoidal screw rods are arranged on the two line body width adjusting trapezoidal screw rod supports respectively, one end of each of the two line body width adjusting trapezoidal screw rods penetrates the fixed slide vertical plate, one end of one of the two line body width adjusting trapezoidal screw rods is connected with a hand wheel after penetrating out of the fixed slide vertical plate, and the other end of each of the two line body width adjusting trapezoidal screw rods is provided with a line body width adjusting synchronous wheel. A line body width adjusting synchronous belt is wound between the two line body width adjusting synchronous wheels, a line body width adjusting synchronous belt tensioning wheel is arranged on the line body width adjusting synchronous belt, the line body width adjusting synchronous belt tensioning wheel is fixedly connected with the upper surface of the tool slide bottom plate through a line body width adjusting synchronous belt tensioning wheel support, the movable slide vertical plate is slidably arranged on the two line body width adjusting trapezoidal screw rods, and the front and rear ends of the movable slide vertical plate are slidably connected with longitudinal linear guide rails arranged on the upper surface of the tool slide bottom plate respectively, and the front fixed plate and the rear fixed plate are adjustably arranged on the upper surface of the tool slide bottom plate.

5. The chip assembly feeding and unfeeding machine according to claim 1, characterized in that: The tool cover plate disassembling and assembling mechanism comprises a transverse transplanting module horizontally arranged at the top end of two tool cover plate disassembling and assembling mechanism supporting plates, a tool cover plate disassembling and assembling mechanism lifting cylinder is arranged on the sliding block of the transverse transplanting module, a cover plate disassembling and assembling component is arranged on the tool cover plate disassembling and assembling mechanism lifting cylinder, the cover plate disassembling and assembling component can slide forward and backward above the tool taking and treating line body through the transverse transplanting module, and the cover plate disassembling and assembling component can move up and down directly above the tool taking and treating line body through the tool cover plate disassembling and assembling mechanism lifting cylinder.

6. The chip assembly feeding and unfeeding machine according to claim 5, characterized in that: The cover plate disassembly and assembly assembly comprises an intermediate hollow ejection pin mounting plate, a linear bearing mounting plate parallel to the ejection pin mounting plate is arranged in the hollow structure of the ejection pin mounting plate, and a cover plate fitting plate parallel to the ejection pin mounting plate is arranged below the ejection pin mounting plate; a mechanism mounting plate connected with a jig cover plate disassembly and assembly mechanism lifting cylinder is arranged on the upper surface of the linear bearing mounting plate, a plurality of linear bearings are vertically arranged on the frame of the linear bearing mounting plate, a guide shaft is arranged in each linear bearing, a limiting block is arranged at the top of each guide shaft, and the bottom end of each guide shaft is fixedly connected with the upper surface of the cover plate fitting plate; a plurality of ejection pin through holes are uniformly arranged on the front and rear edges of the cover plate fitting plate, an ejection pin capable of sliding up and down is arranged in each ejection pin through hole, the top end of the ejection pin is fixedly connected with the bottom surface of the frame of the ejection pin mounting plate, and the bottom end of the ejection pin extends out of the lower surface of the cover plate fitting plate; the left half and the right half of the linear bearing mounting plate are respectively provided with ejection pin cylinder avoiding holes, one ejection pin cylinder is arranged in each of the left and right ejection pin cylinder avoiding holes, the bottom parts of the left and right ejection pin cylinders are respectively fixedly connected with the upper surface of the cover plate fitting plate, the top pushing blocks of the two ejection pin cylinders are respectively fixedly connected with a horizontal connecting block, and the two ends of the two horizontal connecting blocks are respectively fixedly connected with the upper surface of the frame of the ejection pin mounting plate through vertical connecting blocks; one clamping jaw opening and closing cylinder is arranged on the upper surface of the left and right frames of the linear bearing mounting plate, and a vertically downward cover plate clamping jaw is arranged on the pushing block of each clamping jaw opening and closing cylinder; a plurality of magnet mounting grooves are uniformly arranged on the lower surface of the frame of the cover plate fitting plate, and replaceable magnets or vacancies are embedded in the magnet mounting grooves.

7. The chip assembly feeding and unfeeding machine according to claim 1, characterized in that: The chip taking manipulator comprises a manipulator arm arranged on a manipulator base, a jig shooting camera and a multi-head suction nozzle mechanism capable of ascending and descending are arranged at the front end of the manipulator arm, and the multi-head suction nozzle mechanism is capable of moving back and forth between the chip feeding mechanism, the chip shooting camera and the above of the taking jig line body through the manipulator arm.

8. The chip assembly feeding and unfeeding machine according to claim 7, characterized in that: The multi-head suction nozzle mechanism comprises a mechanism mounting block connecting plate, the upper surface of the mechanism mounting block connecting plate is provided with a mechanism mounting block, the front and rear ends of the lower surface of the mechanism mounting block connecting plate are respectively provided with a suction nozzle adjusting plate connecting plate, the left and right ends of each suction nozzle adjusting plate connecting plate are respectively provided with a suction nozzle adjusting plate, at least one position-adjustable and detachable suction nozzle mounting block is arranged in each suction nozzle adjusting plate through a corresponding quick-release adjusting knob, and a vertically downward suction nozzle is arranged at the bottom of each suction nozzle mounting block; a vacuum generator mounting plate is outwardly extended from each of the front and rear suction nozzle adjusting plate connecting plates, a vacuum generator is arranged on any one of the vacuum generator mounting plates, and the vacuum generator is connected with each suction nozzle through pipelines and corresponding reversing valves; a chip clamping jaw air cylinder with a forward push block and a chip clamping jaw air cylinder with a rearward push block are arranged at the bottom of the front and rear suction nozzle adjusting plate connecting plates, a left-right transverse clamping jaw fixing block is arranged on the push block of each chip clamping jaw air cylinder, and a plurality of chip clamping jaws are uniformly arranged on the two clamping jaw fixing blocks.

9. The chip assembly feeding and unfeeding machine according to claim 1, characterized in that: The chip feeding mechanism comprises a horizontal chip feeding bin frame, the chip feeding bin frame, a chip feeding bin and a partition plate discharging bin are detachably arranged on the upper surface of the chip feeding bin frame, the periphery edges of the chip feeding bin and the partition plate discharging bin are provided with blocking columns, left and right ends of the chip feeding bin frame are respectively provided with a pair of opposite light barriers for detecting whether the chip and the partition plate are in a horizontal state, the lower surface of the chip feeding bin frame is connected with the sliding block of a rodless cylinder, the movement direction of the rodless cylinder is the same as that of the jig bin feeding and discharging mechanism, left and right sides of the rodless cylinder are respectively provided with chip feeding mechanism moving guide rails in parallel, the sliding block of the chip feeding mechanism moving guide rail is fixedly connected with the lower surface of the chip feeding bin frame, a plurality of displacement sensors for detecting the moving positions of the chip feeding bin and the partition plate discharging bin are arranged between the chip feeding mechanism moving guide rail and the rodless cylinder, and the bottom of the chip feeding bin is provided with a chip feeding bin jacking mechanism.

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