A strip flipping mechanism for semiconductor packaging equipment and its control method

Abstract

The present invention discloses a strip flipping mechanism for a semiconductor packaging device, which relates to the field of semiconductor packaging devices and includes: a main body; a flipping mechanism; a control mechanism. A method for the servo motor of the flipping mechanism to find the working origin during power-on initialization; a method for the flipping mechanism to perform variable-speed and high-precision positioning within the range of a 180-degree rotation axis during operation; during power-on initialization, the flipping mechanism first rotates counterclockwise and then clockwise, and cooperates with two groups of light-shielding plates and position sensors to find the working origin. When performing variable-speed and high-precision positioning, according to the different force conditions of the strip flipping mechanism at different angles of movement, the 180-degree movement stroke of the strip flipping mechanism is divided into fourteen intervals, and a process of uniform acceleration - constant rapid - uniform deceleration to stop is adopted, so as to enable the strip flipping mechanism to accurately find the working origin on the rotation axis and perform high-precision variable-speed motion control mode.

Description

Technical Field

[0001] The present invention relates to the field of semiconductor packaging equipment, and specifically to a control method for a strip flipping mechanism of a semiconductor packaging equipment. Background Art

[0002] In the past, semiconductor chip products were filled with runners in the lower mold, and then the packaged products were directly placed on the punching die by a robotic arm, and the runners were removed by means of needle punching or up-and-down bending. At present, with the innovation and development of semiconductor product processes, some new products need to fill the runners in the upper mold. At present, the runners of the products filled in the upper mold can only be removed by up-and-down bending, but this method is prone to gate residue, affecting the automatic operation of the subsequent processes. A semiconductor packaging equipment with a strip flipping mechanism has emerged as the times require.

[0003] According to the publication number: 201811636678.3, a strip flipping device for a full-automatic semiconductor packaging equipment is disclosed, including a flipping mechanism and a clamping device. The flipping mechanism includes a servo motor, a reducer, a driving pulley, a driven pulley, a synchronous belt, a rotating shaft, a rotating shaft seat, a platform, a first sensor, a second sensor, a lifting table, a first cylinder, a limiting block and a bearing block. The clamping device includes a first connecting rod, a second connecting rod, a third connecting rod, a second cylinder, a rotating shaft, a fixed seat, a bearing, a substrate, a third sensor and a vacuum chuck. After adopting this structure, smooth and reliable flipping can be carried out. After flipping, the filled runners are removed by means of shearing or bending, so that it can be applied to the latest process, ensuring the effect of removing the runners, and thus ensuring the smooth progress of the subsequent processes.

[0004] For the above-mentioned strip flipping device for a full-automatic semiconductor packaging equipment, which is in the mode of a servo motor plus a reducer, the synchronous belt is driven by the driving pulley to drive the flipping mechanism to execute actions, and it is not convenient to perform high-precision positioning control on the rotating shaft by the servo motor. Therefore, the present invention will disclose a control method for a strip flipping mechanism of a semiconductor packaging equipment. Summary of the Invention

[0005] The purpose of the present invention is to provide a control method for a strip flipping mechanism of a semiconductor packaging equipment in order to solve the problem that the above-mentioned strip flipping device cannot accurately control the flipping angle well.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A control method for a strip flipping mechanism of a semiconductor packaging equipment, including:

[0007] Main body;

[0008] The flipping mechanism is arranged inside the main body and extends outside the main body. The flipping mechanism includes a bearing platform arranged at the top end of the main body, which is used to provide power for the rotation of the bearing platform.

[0009] The control mechanism is distributed on the outer wall of the bearing platform and the main body, and is used to control the rotation angle and direction of the bearing platform.

[0010] As a further solution of the present invention: The flipping mechanism further includes a servo motor connected inside the main body. The output end of the servo motor is connected with a speed reducer. One side of the speed reducer is connected with a driving wheel. The outer wall of the driving wheel is sleeved with a transmission belt. One end of the inner side of the transmission belt is sleeved with a driven wheel rotatably connected to the outer wall of the main body. The inner wall of the driven wheel is provided with a rotating shaft that penetrates outside the driven wheel and is fixedly connected to one end of the bearing platform.

[0011] As a further solution of the present invention: The control mechanism includes a first sensor, a first light blocking piece, a second sensor, a second light blocking piece, a third sensor, and a third light blocking piece. The first sensor is fixedly connected to the outside of the top end of the main body. The first light blocking piece is connected to the bottom end of the bearing platform and is located directly above the first sensor. The second sensor is connected to the top end of the bearing platform and is symmetrically distributed with the first light blocking piece with respect to the bearing platform. The second light blocking piece is connected to the outer wall of the main body and is located at one end far from the first sensor. The third light blocking piece is connected to one end of the rotating shaft and extends outside one side of the main body. The third sensor is connected to the outer wall of the main body and is located on one side of the third light blocking piece.

[0012] As a further solution of the present invention: The entire working process of the flipping mechanism is 180 degrees, which can be divided into 14 intervals. The speeds of each interval are installed at different ratios of the reference speed, and it is from uniform acceleration - constant acceleration - uniform deceleration to stop.

[0013] As a further solution of the present invention: The first sensor plays a role in determining the origin position. The second sensor plays a role in confirming whether the flipping mechanism rotates in place. The third sensor plays a role as a negative limit sensor.

[0014] As a further solution of the present invention: The third sensor is connected to the servo through a relay. Only when the mechanism returns to the origin operation, the signal of the second sensor is connected. During normal operation, the third sensor is shielded.

[0015] As a further solution of the present invention: When the flipping mechanism is at zero degree, the motor position at this time is recorded and denoted as working position one. When the angle of the flipping mechanism is 180 degrees, the motor position at this time is recorded and denoted as working position two.

[0016] As a further solution of the present invention: the bearing platform rotates around the rotating shaft, and the second sensor, the second light blocking piece coincide with the rotation trajectory of the bearing platform.

[0017] A control method for a strip turning mechanism of a semiconductor packaging device, using the above-mentioned strip turning mechanism of a semiconductor packaging device, comprising the following steps:

[0018] S1: First, when using the turning mechanism, first judge whether there is a successful home return flag for the turning mechanism. If there is, enter the servo positioning part of the turning mechanism. If not, enter the home return part of the turning mechanism. In the home return part of the turning mechanism, a first sensor, a second sensor, and a third sensor are arranged on the turning mechanism and the signals are connected to a relay, a first light blocking piece, a second light blocking piece, and a third light blocking piece. Among them, the first sensor is used to determine the origin position, the second sensor is used to confirm whether the turning mechanism rotates in place, and the third sensor is used as a negative limit sensor;

[0019] S2: By connecting the turning mechanism to an external power supply, the turning mechanism is powered on to start the servo motor and the speed reducer. The speed reducer drives the driving runner, the transmission belt, the driven runner, the rotating shaft, and the bearing platform to rotate, thereby driving the first light blocking piece, the second sensor on the outer surface of the bearing platform and the strip to turn:

[0020] S3: The method for the turning mechanism to return to the origin position: In order to make the positioning position more accurate when the turning mechanism reciprocates, an automatic home return position operation should be performed every time the turning mechanism is powered on and started. Before searching for the origin position, the sensor signal is first connected to the relay and the signal of the third sensor is connected. When searching for the origin position, the turning mechanism first moves in the negative direction until the third light blocking piece blocks the third sensor, and then stops moving. Then it moves in the positive direction at a constant speed until the first light blocking piece disengages from the first sensor and immediately stops. Set this position as the origin position of the turning mechanism, establish a successful home return flag for the turning mechanism, and record the motor position as zero:

[0021] S4: After the home return flag is established, the turning mechanism enters the servo positioning part. The turning mechanism first positions to the working position 1 and judges whether the first sensor is blocked by light. If it is blocked by light, it means that the working position 1 is in place. Receive the strip at the working position 1. After judging that the strip is successfully received by the strip detection device on the turning mechanism, the turning mechanism makes a uniformly accelerated-constant rapid-uniformly decelerated positioning movement to the working position 2, and judges whether the sensor at the working position 2 is blocked by light. If it is blocked by light, it means that the working position 2 is in place. The turning mechanism releases the strip at the working position 2. After the strip detection device on the turning mechanism judges that the strip is successfully released, the strip turning mechanism positions to the working position 1 in the same way and enters the next cycle.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. By setting up a control mechanism, the flipping mechanism enters the servo positioning part. The flipping mechanism first positions to working position 1 and determines whether the first sensor is blocked by light. If it is blocked by light, it indicates that working position 1 is in place. At working position 1, the strip is received. After the strip receiving is judged to be successful by the strip detection device on the flipping mechanism, the flipping mechanism makes a positioning movement of uniform acceleration - constant rapid - uniform deceleration towards working position 2. It determines whether the sensor at working position 2 is blocked by light. If it is blocked by light, it indicates that working position 2 is in place. The flipping mechanism releases the strip at working position 2. After the strip release is judged to be successful by the strip detection device on the flipping mechanism, the strip flipping mechanism positions to working position 1 in the same way again and enters the next cycle;

[0024] 2. By setting up a third sensor, a third light - blocking piece, a first sensor, and a first light - blocking piece, the flipping mechanism moves counter - clockwise until the third light - blocking piece blocks the third sensor. At this time, the mechanism stops moving and changes the movement direction to clockwise until the first light - blocking piece disengages from the first sensor. The position at the moment of disengaging from the first sensor is the working origin position. Also, since the flipping mechanism will block the third sensor during normal operation, causing the servo to alarm and stop, in order to balance the accuracy of the mechanism returning to the origin without affecting the normal operation of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of the present invention;

[0026] Figure 2 is a schematic structural diagram of the flipping mechanism of the present invention;

[0027] Figure 3 is a timing diagram of the action process of the flipping mechanism of the present invention.

[0028] In the figure: 1. Main body; 2. Control mechanism; 201. First sensor; 202. First light - blocking piece; 203. Second sensor; 204. Second light - blocking piece; 205. Third sensor; 206. Third light - blocking piece; 3. Flipping mechanism; 301. Servo motor; 302. Reducer; 303. Driving pulley; 304. Transmission belt; 305. Driven pulley; 306. Rotating shaft; 307. Bearing block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer toFigures 1 to 3 , in an embodiment of the present invention, a control method for a strip flipping mechanism of a semiconductor packaging device includes:

[0031] Main body 1;

[0032] The flipping mechanism 3 is arranged inside the main body 1 and extends outside the main body 1. The flipping mechanism 3 includes a bearing platform 307 arranged at the top end of the main body 1, which is used to provide power for the rotation of the bearing platform 307;

[0033] The control mechanism 2 is distributed between the bearing platform 307 and the outer wall of the main body 1, and is used to control the rotation angle and direction of the bearing platform 307.

[0034] In this embodiment: when using the flipping mechanism 3, first judge whether there is a successful home return flag for the flipping mechanism 3. If there is, enter the servo positioning part of the flipping mechanism 3. If not, enter the home return part of the flipping mechanism 3, and determine the position of the bearing platform 307 and control the rotation angle of the flipping mechanism 3 through the control mechanism 2.

[0035] Please refer specifically to Figure 2 , the flipping mechanism 3 further includes a servo motor 301 connected inside the main body 1. The output end of the servo motor 301 is connected with a speed reducer 302. One side of the speed reducer 302 is connected with a driving runner 303. The outer wall of the driving runner 303 is sleeved with a transmission belt 304. One end inside of the transmission belt 304 is sleeved with a driven runner 305 rotatably connected to the outer wall of the main body 1. The inner wall of the driven runner 305 is provided with a rotating shaft 306 that penetrates outside the driven runner 305 and is fixedly connected to one end of the bearing platform 307.

[0036] In this embodiment: by connecting the flipping mechanism 3 to an external power supply, when the flipping mechanism 3 is connected to the power supply, the servo motor 301 and the speed reducer 302 will be started. When the speed reducer 302 works, it will drive the driving runner 303, the transmission belt 304, the driven runner 305, the rotating shaft 306, and the bearing platform 307 to rotate, thereby driving the first light blocking piece 202, the second sensor 203 on the outer surface of the bearing platform 307 and the strip to flip.

[0037] Please refer specifically to Figure 1, the control mechanism 2 includes a first sensor 201, a first light-shielding piece 202, a second sensor 203, a second light-shielding piece 204, a third sensor 205, and a third light-shielding piece 206. The first sensor 201 is fixedly connected to the outside of the top end of the main body 1. The first light-shielding piece 202 is connected to the bottom end of the bearing platform 307 and is directly above the first sensor 201. The second sensor 203 is connected to the top end of the bearing platform 307 and is symmetrically distributed with the first light-shielding piece 202 with respect to the bearing platform 307. The second light-shielding piece 204 is connected to the outer wall of the main body 1 at the end far from the first sensor 201. The third light-shielding piece 206 is connected to one end of the rotating shaft 306 and extends to the outside of one side of the main body 1. The third sensor 205 is connected to the outer wall of the main body 1 and is located on one side of the third light-shielding piece 206.

[0038] In this embodiment: In order to make the positioning position of the flipping mechanism 3 more accurate during reciprocating motion, an automatic return-to-origin position operation needs to be performed each time the flipping mechanism 3 is powered on and started. Before searching for the origin position, the sensor signal is connected to the relay to start first, and the signal of the passive runner 305 is connected. When searching for the origin position, the flipping mechanism 3 first moves in the negative direction until the rotating shaft 306 blocks the passive runner 305, at which time the movement stops. Then it moves in the positive direction at a constant speed until the first light-shielding piece 202 disengages from the first sensor 201 and immediately stops. The current position is set as the origin position of the flipping mechanism 3, a successful origin return flag for the strip flipping mechanism is established, and the motor position is recorded as zero. The flipping mechanism 3 enters the servo positioning part. The flipping mechanism 3 first positions to the working position one, and judges whether the first sensor 201 is blocked by light. If it is blocked by light, it means that the working position one is in place. At the working position one, the strip is received. After it is judged that the strip is successfully received by the strip detection device on the flipping mechanism 3, the flipping mechanism 3 makes a positioning movement of uniform acceleration - constant speed - uniform deceleration to the working position two, and judges whether the sensor at the working position two is blocked by light. If it is blocked by light, it means that the working position two is in place. The flipping mechanism 3 releases the strip at the working position two. After it is judged that the strip is successfully released by the strip detection device on the flipping mechanism 3, the strip flipping mechanism positions to the working position one in the same way again and enters the next cycle.

[0039] Please refer to Figure 1 , the entire working process of the flipping mechanism 3 is 180 degrees and can be divided into 14 intervals. The speeds of each interval are different ratios of the reference speed, from uniform acceleration - constant acceleration - uniform deceleration to stop. When the flipping mechanism 3 is at 0 degrees, the motor position at this time is recorded and denoted as the working position one. When the angle of the flipping mechanism 3 is 180 degrees, the motor position at this time is recorded and denoted as the working position two. The bearing platform 307 rotates around the rotating shaft 306 as the center, and the second sensor 203, the second light-shielding piece 204 coincide with the rotation trajectory of the bearing platform 307.

[0040] In this embodiment: Through this structure, it is possible to ensure that the mechanical time improves the operating efficiency of the flipping mechanism 3. During the positioning process, variable-speed motion is adopted according to the different force conditions of the flipping mechanism 3 moving to different angles.

[0041] Refer to the following table

[0042]

[0043] Please refer specifically to Figure 2 , the first sensor 201 functions to determine the origin position, the second sensor 203 functions to confirm whether the flipping mechanism rotates in place, the third sensor 205 functions as a negative limit sensor. The third sensor 205 is connected to the servo through a relay, and only the signal of the second sensor 203 is connected during the operation of the mechanism to return to the origin, and the third sensor 205 is shielded during normal operation.

[0044] In this embodiment: Through this structure, the part of the flipping mechanism 3 that returns to the working origin should ensure that the flipping mechanism 3 can accurately find the origin at any position within the range of 180 degrees.

[0045] The above-mentioned are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A strip flipping mechanism for a semiconductor packaging device, characterized in that, Including: A main body (1); A flipping mechanism (3), which is arranged inside the main body (1) and extends outside the main body (1). The flipping mechanism (3) includes a bearing platform (307) arranged at the top end of the main body (1) for providing power for the rotation of the bearing platform (307). The flipping mechanism (3) further includes a servo motor (301) connected inside the main body (1). The output end of the servo motor (301) is connected with a speed reducer (302). One side of the speed reducer (302) is connected with a driving runner (303). The outer wall of the driving runner (303) is sleeved with a transmission belt (304). The inner side of one end of the transmission belt (304) is sleeved with a driven runner (305) rotatably connected with the outer wall of the main body (1). The inner wall of the driven runner (305) is provided with a rotating shaft (306) penetrating to the outside of the driven runner (305) and fixedly connected with one end of the bearing platform (307). A control mechanism (2), which is distributed on the outer walls of the bearing platform (307) and the main body (1) for controlling the rotation angle and direction of the bearing platform (307). The control mechanism (2) includes a first sensor (201), a first light blocking piece (202), a second sensor (203), a second light blocking piece (204), a third sensor (205), and a third light blocking piece (206). The first sensor (201) is fixedly connected to the outside of the top end of the main body (1). The first light blocking piece (202) is connected to the bottom end of the bearing platform (307) and is directly above the first sensor (201). The second sensor (203) is connected to the top end of the bearing platform (307) and is symmetrically distributed with the first light blocking piece (202) with respect to the bearing platform (307). The second light blocking piece (204) is connected to the outer wall of the main body (1) at one end far from the first sensor (201). The third light blocking piece (206) is connected to one end of the rotating shaft (306) and extends to the outside of one side of the main body (1). The third sensor (205) is connected to the outer wall of the main body (1) and is located on one side of the third light blocking piece (206).

2. The strip flipping mechanism for a semiconductor packaging device according to claim 1, characterized in that, The entire working process of the flipping mechanism (3) is 180 degrees, divided into 14 intervals. The speeds of each interval are at different ratios of the reference speed, and it is from uniform acceleration - constant acceleration - uniform deceleration to stop.

3. The strip turning mechanism for a semiconductor packaging device according to claim 1, characterized in that, The first sensor (201) functions to determine the origin position. The second sensor (203) functions to confirm whether the flipping mechanism rotates in place. The third sensor (205) functions as a negative limit sensor.

4. A strip flipping mechanism for a semiconductor packaging device according to claim 1, characterized in that, The third sensor (205) is connected to the servo through a relay. Only when the mechanism returns to the origin operation, the signal of the second sensor (203) is connected, and the third sensor (205) is shielded during normal operation.

5. A strip flipping mechanism for a semiconductor packaging device according to claim 1, wherein When the flipping mechanism (3) is at zero degree, record the motor position at this time and denote it as working position one. When the angle of the flipping mechanism (3) is 180 degrees, record the motor position at this time and denote it as working position two.

6. A strip flipping mechanism for a semiconductor packaging device according to claim 1, characterized in that, The bearing platform (307) rotates around the rotating shaft (306), and the second sensor (203), the second light-shielding sheet (204) coincide with the rotation trajectory of the bearing platform (307).

7. A control method for a strip flipping mechanism of a semiconductor packaging device, characterized in that, The utility model uses a strip turning mechanism for a semiconductor packaging device according to any one of claims 1-6, comprising the following steps: S1: First, when using the turning mechanism (3), first judge whether there is a successful home return flag for the turning mechanism (3). If so, enter the servo positioning part of the turning mechanism (3). If not, enter the home return part of the turning mechanism (3). In the home return part of the turning mechanism (3), a first sensor (201), a second sensor (203), and a third sensor (205) are arranged on the turning mechanism (3), and the signals are connected to a relay, a first light-shielding sheet (202), a second light-shielding sheet (204), and a third light-shielding sheet (206). The first sensor (201) is used to determine the origin position, the second sensor (203) is used to confirm whether the turning mechanism (3) rotates in place, and the third sensor (205) is used as a negative limit sensor; S2: By connecting the turning mechanism (3) to an external power supply, the turning mechanism (3) is powered on to start the servo motor (301) and the speed reducer (302) to work. The speed reducer (302) drives the driving runner (303), the transmission belt (304), the driven runner (305), the rotating shaft (306), and the bearing platform (307) to rotate, so as to drive the first light-shielding sheet (202) and the second sensor (203) on the outer surface of the bearing platform (307) to turn the strip; S3: The method for the turning mechanism (3) to return to the origin position: In order to make the positioning position more accurate when the turning mechanism (3) reciprocates, an automatic home return position operation should be performed every time the turning mechanism (3) is powered on and started. Before searching for the origin position, the sensor signal is first connected to the relay and the signal of the third sensor (205) is connected. When searching for the origin position, the turning mechanism (3) first moves in the negative direction until the third light-shielding sheet (206) blocks the third sensor (205), and then stops moving. Then it moves in the positive direction at a constant speed until it immediately stops after the first light-shielding sheet (202) disengages from the first sensor (201). Set this position as the origin position of the turning mechanism (3), establish a successful home return flag for the turning mechanism (3), and record the motor position as zero; S4: After the home position mark is established, the flipping mechanism (3) enters the servo positioning section. The flipping mechanism (3) first positions to working position 1 and determines whether the first sensor (201) is blocked by light. If it is blocked by light, it indicates that working position 1 is in place. At working position 1, the strip is received. After it is determined by the strip detection device on the flipping mechanism (3) that the strip is successfully received, the flipping mechanism (3) makes a positioning movement of uniform acceleration - constant rapid - uniform deceleration towards working position 2, and determines whether the working position 2 sensor is blocked by light. If it is blocked by light, it indicates that working position 2 is in place. The flipping mechanism (3) releases the strip at working position 2. After it is determined by the strip detection device on the flipping mechanism (3) that the strip is successfully released, the strip flipping mechanism positions to working position 1 in the same way again and enters the next cycle.

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