Feeding mechanism and plastic sealing equipment

Abstract

The present invention relates to a feeding mechanism and a plastic sealing device. The feeding mechanism includes a frame, a clip device and a grasping device. The clip device includes a clip body, a clamping assembly and a feeding assembly. The clip body is movably arranged on the frame, and the clip body has a storage bin for accommodating material cakes; the clamping assembly is used to clamp the material cakes in the storage bin; the feeding assembly can move relative to the storage bin to move the material cakes in the storage bin out of the storage bin. The grasping device is detachably arranged on the frame, and the grasping device includes a box body and a bin door assembly. The box body has a bin, and the bin has a bin opening. The bin door assembly is arranged at the bin opening, and the bin door assembly is used to open and close the bin opening. When the plane where the bin opening is located is against the plane where the opening of the storage bin is located, the bin is connected to the storage bin. The above-mentioned feeding mechanism has high feeding efficiency, simple structure, and is easy to replace different types of grasping devices.

Description

Technical Field

[0001] The invention relates to the technical field of semiconductor device processing equipment, in particular to a feeding mechanism and plastic packaging equipment. Background Art

[0002] During the processing of semiconductor devices, it is necessary to grab the plastic encapsulation material and then put it into the mold to facilitate subsequent processes.

[0003] In the traditional technology, when the plastic encapsulation material is grabbed into the mold, a vibration plate is usually used to arrange the plastic encapsulation material, and then the material cakes are separated and the direction is adjusted by a turntable mechanism, and finally the material is grabbed by a gripper to complete the loading. The gripper can be a robot or a vacuum suction cup.

[0004] However, if the rotating speed of the turntable mechanism is too fast, the plastic packaging material will be thrown off the turntable mechanism due to centrifugal force, so its transmission efficiency is low. Summary of the invention

[0005] Based on this, it is necessary to provide a feeding mechanism and a plastic sealing device to address the problem of low feeding efficiency of plastic sealing rubber.

[0006] A feeding mechanism, comprising:

[0007] Frame;

[0008] The clip device comprises a clip body, a clamping assembly and a material discharge assembly, wherein the clip body is movably arranged on the frame, the clip body has a storage bin for accommodating material cakes; the clamping assembly is used to clamp the material cakes in the storage bin; the material discharge assembly can move relative to the storage bin to move the material cakes in the storage bin out of the storage bin; and

[0009] The material grabbing device is detachably arranged on the frame, and the material grabbing device includes a box body and a bin door assembly, the box body has a bin, and the bin has a bin opening. The bin door assembly is arranged at the bin opening, and the bin door assembly is used to open and close the bin opening. When the plane where the bin opening is located is against the plane where the opening of the containing bin is located, the bin is connected to the containing bin.

[0010] In one embodiment, the side wall of the receiving chamber is provided with a clamping port, the magazine body is provided with a receiving groove, and the receiving groove is communicated with the clamping port; the clamping assembly includes an airbag and a clamping block, the airbag is arranged in the receiving groove, and the clamping block is connected to the outer wall of the airbag;

[0011] When the airbag is in an inflated state, at least a portion of the pressing block protrudes from the pressing opening into the accommodating chamber.

[0012] In one embodiment, there are multiple containing bins, the multiple containing bins are arranged at intervals, the containing groove is connected to all the pressing ports, the number of the pressing blocks is the same as the number of the containing bins, and they correspond one to one; the number of the material bins is the same as the number of the containing bins, and they correspond one to one.

[0013] In one of the embodiments, the unloading assembly includes a unloading plate and a unloading driving member, wherein the unloading driving member is used to drive the unloading plate to move, and the unloading plate can slide in the direction from the bottom of the storage bin to the bin opening.

[0014] In one embodiment, the side wall of the silo is provided with a side wall opening, the box body is provided with a slot body, and the slot body is communicated with the side wall opening; the silo door assembly includes a power member and a baffle, at least part of the baffle is located in the slot body, and the power member is used to drive the baffle to slide;

[0015] When the baffle slides to the shielding position, at least a portion of the baffle enters the silo through the side wall opening to shield at least a portion of the silo opening.

[0016] In one of the embodiments, the baffle includes a shielding portion and a connecting portion, and an extension direction of the connecting portion and an extension direction of the shielding portion have an included angle; the connecting portion is connected to the connecting block, and at least a portion of the shielding portion extends into the trough body, and the shielding portion is used to shield at least a portion of the silo opening.

[0017] In one of the embodiments, the door assembly further includes a connecting block, one end of which is connected to the moving end of the power member, and the other end of which is connected to the baffle.

[0018] In one of the embodiments, the material grabbing device further includes a material pushing assembly, which is disposed on the box body, and at least a portion of the material pushing assembly is movable relative to the silo, and the material pushing assembly is used to remove material cakes retained in the silo.

[0019] In one of the embodiments, the silo opening is contracted along the direction from the silo opening to the bottom of the silo.

[0020] In one of the embodiments, the box body is provided with a first positioning structure, and the clip device further includes a second positioning structure, the second positioning structure is provided on the clip body, and the first positioning structure is used to cooperate with the second positioning structure.

[0021] In one of the embodiments, a rotating member is further included, wherein the rotating member is movably disposed on the frame, the rotating member is connected to the clip device, and the rotating member is used to drive the clip device to rotate relative to the frame.

[0022] A plastic packaging device comprises the above-mentioned feeding mechanism.

[0023] When the feeding mechanism transfers the material cake, when the clip device rotates or translates, the clamping assembly limits the material cake so that the material cake is not easy to escape from the clip device. When the clip device moves to a suitable position, the grasping device is aligned with the clamping device so that the material bin and the containing bin are aligned, thereby ensuring that the material cake can be smoothly moved from the containing slot to the material bin under the action of the unloading assembly. When the material cake moves to the material bin, the bin door assembly closes the containing bin opening to prevent the material cake from escaping from the material bin. After the grasping device moves to the plastic encapsulation mold and is aligned with the plastic encapsulation mold, the bin door assembly opens, allowing the material cake to enter the plastic encapsulation mold, completing the grasping of the material cake.

[0024] When the feeding mechanism grabs the material, since the clip device has a clamping assembly, it can rotate or translate at a relatively fast speed, and the material cakes are not easy to fall off, thereby increasing the transportation speed of the clip device and further improving the feeding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic structural diagram of a feeding mechanism provided in one embodiment of the present invention.

[0026] Figure 2 for Figure 1 Side view of.

[0027] Figure 3 A schematic structural diagram of a clip device of a feeding mechanism provided in one embodiment of the present invention.

[0028] Figure 4 for Figure 3 A schematic diagram of the structure from another perspective.

[0029] Figure 5 for Figure 3 Side view of.

[0030] Figure 6 for Figure 5 Cross-section view along the AA direction.

[0031] Figure 7 for Figure 6 A local enlarged schematic diagram of point B in the middle.

[0032] Figure 8 A schematic structural diagram of a material grabbing device of a feeding mechanism provided in one embodiment of the present invention.

[0033] Fig. 9 for Figure 8 A schematic diagram of the structure from another perspective.

[0034] Fig.10A bottom view of a grabbing device of a feeding mechanism provided in one embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 100, frame; 110, moving assembly; 111, linear module; 120, mounting plate; 130, reinforcing rib;

[0037] 200, material grabbing device; 210, box body; 211, material bin; 212, material bin opening; 213, tank body; 220, material pushing assembly; 221, driving member; 222, material pushing member; 223, push rod; 224, connecting plate; 230, bin door assembly; 231, power member; 232, baffle; 2321, shielding part; 2322, connecting part; 233, connecting block; 234, extension block; 235, sliding seat; 236, sliding block; 240, first positioning structure;

[0038] 300, clip device; 301, accommodating chamber; 302, accommodating groove; 303, pressing port; 340, clip body; 310, clamping assembly; 311, air bag; 312, pressing block; 313, air pipe; 314, airtight connector; 315, air nozzle; 320, second positioning structure; 330, blanking assembly; 331, blanking plate; 332, blanking driving member; 333, blanking connecting block; 334, moving part;

[0039] 400. Rotating part; 410. Gas regulating valve. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0046] An embodiment of the present invention provides a plastic encapsulation device, which can be used for the plastic encapsulation of semiconductor components. The plastic encapsulation device includes a feeding mechanism, which can grab the material cake to the plastic encapsulation mold to facilitate the subsequent plastic encapsulation of the semiconductor components. The aforementioned material cake is the abbreviation of the block of plastic encapsulation material before it is put into the plastic encapsulation mold for molding. For example, in a specific embodiment, the material cake can be the abbreviation of epoxy resin plastic encapsulation material cake. In addition, in some other documents, the material cake can also be referred to as glue, glue strip, glue particles, etc.

[0047] See also Figure 1-Figure 10One embodiment of the present invention provides a feeding mechanism, which includes a frame 100, a clip device 300 and a grabbing device 200.

[0048] The clip device 300 can be movably disposed on the frame 100. That is, the clip device 300 can move relative to the frame 100 so that the clip device 300 is located at the loading position ( Figure 1 300a) or unloading position ( Figure 1 300b). It should be noted that, for ease of understanding, Figure 1 and Figure 2 In the embodiment, the loading position and unloading position of the clip device 300 are drawn in the same drawing. In one loading mechanism, the number of the clip device 300 can be only one.

[0049] Combination Figure 3-Figure 7 The clip device 300 includes a clip body 340 , a clamping assembly 310 and a blanking assembly 330 . The clip body 340 is movably disposed on the frame 100 .

[0050] The clip body 340 has a storage bin 301, which can store material cakes. The clamping assembly 310 can clamp the material cakes in the storage bin 301 to prevent the material cakes from escaping from the storage bin 301. The unloading assembly 330 can move relative to the storage bin 301 to move the material cakes in the storage bin 301 out of the storage bin 301 to achieve unloading.

[0051] Combination Figure 1 , Figure 2 , Figure 8-Figure 10 The material grabbing device 200 is detachably disposed on the frame 100. The material grabbing device 200 can cooperate with the clip device 300 to transfer the material cake in the clip device 300 to the plastic packaging mold for subsequent processes.

[0052] The material grabbing device 200 includes a box body 210 and a bin door assembly 230. The box body 210 has a material bin 211. The bin door assembly 230 is arranged at the material bin opening 212. The bin door assembly 230 can open and close the material bin opening 212. The material bin 211 corresponds to the receiving bin 301, that is, when the plane where the material bin opening 212 is located is against the plane where the opening of the receiving bin 301 is located, the material bin 211 is connected to the receiving bin 301. When the clip device 300 is located at the material unloading position, the material bin 211 is aligned with the corresponding receiving bin 301, so that the material cakes located in the receiving bin 301 can be moved out of the receiving bin 301 and enter the corresponding material bin 211 under the action of the unloading assembly 330. When the material grabbing device 200 is grabbing or unloading, the bin door assembly 230 can open the opening of the receiving bin 301, so that the material cakes can enter the receiving bin 301. When the material grabbing device 200 moves, the bin door assembly 230 can completely or partially cover the opening of the containing bin 301 to prevent the material cake from escaping from the containing bin 301 through the opening of the containing bin 301 .

[0053] When the feeding mechanism 200 is working, the clamping assembly 310 is set to limit the material cake. When the clip device 300 rotates or translates at a relatively fast speed, the material cake will not be separated from the clip device 300. Therefore, the rotation or translation speed of the clip device 300 can be appropriately accelerated, thereby increasing the efficiency of transporting the material cake. When the clip device 300 moves to a suitable position, the grasping device 200 can be aligned with the clip device 300 to achieve alignment between the material bin 211 and the containing bin 301, thereby ensuring that the corresponding material cake can be smoothly moved from the containing slot 302 to the material bin 211 under the action of the unloading assembly 330, so as to improve the feeding efficiency and effectively reduce the situation of grasping failure caused by the material cake being unable to smoothly move from the containing slot 302 to the material bin 211. After the material cake moves to the material bin 211, the bin door assembly 230 closes the opening of the containing bin 301 to prevent the material cake from being separated from the material bin 211, and then when the feeding mechanism is used to grasp the material cake, the material cake is not easy to be separated. It should be noted that the aforementioned closure can be completely closed or partially closed, that is, the cake cannot be moved out of the bin 211 through the opening of the accommodating bin 301. After the grabbing device 200 moves to the plastic molding mold and is aligned with the plastic molding mold, the bin door assembly 230 opens, allowing the cake to enter the plastic molding mold, completing the grabbing of the cake.

[0054] In addition, compared with the traditional technology of using vibrating material trays, manipulators, vacuum suction cups and other devices to grab material cakes, the loading mechanism in the present application can grab materials only through the frame 100, the clip device 300 and the grabbing device 200, and the structure is relatively simple.

[0055] Since the clip device 300 and the material grabbing device 200 are both detachably connected to the frame 100 , when using different types of material cakes, it is only necessary to replace the corresponding clip device 300 and the corresponding material grabbing device 200 , and modular processing is more convenient.

[0056] like Figure 1 and Figure 2 As shown, in some embodiments, the frame 100 may include a moving assembly 110 and a mounting plate 120. The moving assembly 110 may drive the clip device 300 to move from the loading position to the unloading position. The mounting plate 120 may be connected to the mounting frame of the plastic packaging equipment to fix the loading mechanism.

[0057] The moving component 110 may be a linear module 111. Figure 1 and Figure 2 In the embodiment shown, the moving assembly 110 is a linear module 111. The linear module 111 extends from the loading position to the unloading position of the clip device 300. The sliding end of the linear module 111 is connected to the clip device 300. The connection method can be a bolt connection or other connection methods.

[0058] It can be understood that in some other embodiments, the moving component 110 can also select other components that can move in a linear direction, such as a motor-screw combination or a cylinder, which can be adjusted according to actual conditions and will not be elaborated here.

[0059] The mounting plate 120 can adjust the mounting position and mounting angle with respect to the moving component 110 according to actual conditions. The mounting plate 120 can be a metal mounting plate 120 to improve its stability.

[0060] Continue to view Figure 1 and Figure 2 In some embodiments, the frame 100 further includes a reinforcing rib 130. One of the two adjacent sides of the reinforcing rib 130 is connected to the linear module 111, and the other side of the reinforcing rib 130 is connected to the mounting plate 120. The provision of the reinforcing rib 130 can strengthen the connection strength between the linear module 111 and the mounting plate 120, indirectly increase the connection area between the two, and thus increase the installation stability of the feeding mechanism.

[0061] See also Figure 3-Figure 7 In some embodiments, in the clip device 300, the number of the receiving chambers 301 of the clip body 340 is multiple, and the multiple receiving chambers 301 are arranged at intervals. This arrangement can realize that one clip device 300 can transport multiple material cakes at the same time, thereby increasing the transportation efficiency. Fig. 9 and Fig.10, the number of the material bins 211 is the same as the number of the containing bins 301, and they correspond one to one, so that the material grabbing device 200 can grab multiple material cakes at the same time. Further, the multiple containing bins 301 can be arranged in parallel and at intervals, so that the material cakes at different containing bins 301 can enter the corresponding containing bins 301 in the same direction, which is convenient for the material cakes to enter and exit the containing bins 301. It can be understood that in other embodiments, the number of containing bins 301 of the clip body 340 is only one. The specific number of containing bins 301 can be adjusted according to actual conditions.

[0062] like Figure 3 and Figure 4 As shown, in some embodiments, the number of storage bins 301 of the clip body 340 may be an even number, and two storage bins 301 may be a group, and the distance between two storage bins 301 in a group of storage bins 301 may be smaller than the distance between two adjacent groups of storage bins 301. Such a setting method can facilitate feeding. In some embodiments, avoidance holes may be provided between two adjacent groups of storage bins 301, and avoidance or positioning of the clip body 340 and the loading part (not shown in the figure, a push plate may be selected, which is a structure for moving the material cake to the storage bin 301 in the previous process) may be achieved through the avoidance holes, or bolts and other connectors may be installed on the clip body 340 during the assembly process.

[0063] See also Figure 6 and Figure 7 In some embodiments, a clamping port 303 is provided on the side wall of the receiving bin 301. A receiving groove 302 is provided on the clip body 340. The receiving groove 302 is connected to the clamping port 303. The clamping assembly 310 includes an airbag 311 and a clamping block 312. The airbag 311 is disposed in the receiving groove 302. The clamping block 312 is connected to the outer wall of the airbag 311. When the airbag 311 is in an inflated state, at least a portion of the clamping block 312 protrudes from the clamping port 303 into the receiving bin 301, so as to clamp the material cake in the receiving bin 301 between the clamping block 312 and the side wall of the receiving bin 301, thereby effectively preventing the material cake from escaping from the receiving bin 301.

[0064] When the number of the containing chamber 301 is only one, the containing groove 302 only needs to be connected to the pressing port 303 of the containing chamber 301 .

[0065] When there are multiple storage bins 301, in some embodiments, Figure 6As shown, the number of the clamping blocks 312 is the same as the number of the containing bins 301, and they correspond one to one. That is, a plurality of clamping blocks 312 are arranged on the surface of the airbag 311. When the airbag 311 is inflated, at least a portion of the clamping block 312 can extend into the corresponding containing bin 301 to tighten the material cake in the corresponding containing bin 301. In other words, the clamping block 312 is arranged in an independent floating manner. In this way, the material cake in the containing bin 301 can have a better clamping effect during the clamping process, and reduce the influence of other factors. In some other embodiments, the number of the clamping block 312 is one, and one clamping block 312 has a plurality of clamping parts, and at least a portion of the clamping part can extend into the corresponding containing bin 301 to tighten the material cake in the corresponding containing bin 301. Such a setting method facilitates the installation of the clamping block 312 and reduces the difficulty of installation.

[0066] In some embodiments, the airbag 311 can be inflated and deflated by an air supply assembly. The air supply assembly includes an air pipe 313, an airtight connector 314, and an air nozzle 315. The air pipe 313 can be connected to an air source. The air pipe 313 can transport gas. The end of the air pipe 313 is connected to the airtight connector 314. The airtight connector 314 can be connected to the side wall of the clip body 340 to facilitate positioning of the end of the air pipe 313. The side of the airtight connector 314 away from the air pipe 313 is connected to the air nozzle 315. The air nozzle 315 is connected to the airbag 311 so that the gas can be input into the cavity of the airbag 311 along the air pipe 313, the airtight connector 314, and the air nozzle 315 to fill the airbag 311. In some embodiments, the number of the air pipe 313, the airtight connector 314, and the air nozzle 315 can all be two, and they are respectively arranged on both sides of the airbag 311. By controlling the positive pressure or negative pressure of the air source at one end of the air pipe 313 away from the air bag 311 , the air bag 311 can be inflated or deflated, and the pressing block 312 can then press or release the material cake in the containing bin 301 .

[0067] In some embodiments, see Figure 3-Figure 5 The unloading assembly 330 may include an unloading plate 331 and an unloading driving member 332. The unloading driving member 332 may drive the unloading plate 331 to move, and the unloading plate 331 may slide along the direction from the bottom of the storage bin 301 to the bin opening to discharge the material cakes in the storage bin 301, thereby realizing the unloading of the clip device 300.

[0068] In some embodiments, the unloading assembly 330 also includes an unloading connection block 333 and an unloading connection rod. Among them, the unloading drive member 332 has a moving part 334 and a fixed part. The fixed part of the unloading drive member 332 is arranged on the outer wall of the clip body 340, that is, arranged on the outer wall of the accommodating bin 301. It should be noted here that the fixed part can be directly connected to the aforementioned outer wall, or it can be indirectly connected to the aforementioned outer wall, that is, the two are connected to each other through other connecting structures. The moving part 334 of the unloading drive member 332 is connected to the unloading connection block 333. When the moving part 334 moves relative to the fixed part, the unloading connection block 333 slides with the moving part 334. The unloading connection block 333 is connected to the unloading plate 331. The setting of the unloading connection block 333 can rationally utilize space, better achieve avoidance, and reduce the volume occupied by the device.

[0069] like Figure 5 In the embodiment shown, the unloading plate 331 can be in the shape of a "mouth", that is, the unloading plate 331 has two side panels arranged opposite to each other, one of which is connected to the unloading connecting block 333, and the other side panel can extend into the containing bin 301 to move out the material cake in the containing bin 301 when moving.

[0070] When there are multiple containing bins 301, the unloading plate 331 can simultaneously remove the material cakes in multiple containing bins 301 to achieve simultaneous unloading, that is, the bin bottoms of the multiple containing bins 301 are all connected, and the unloading plate 331 can move along the direction from the bin bottom to the bin mouth to achieve unloading of the material cakes.

[0071] Combination Figure 1-Figure 7 When the clip device 300 is in use, when it is located at the loading position, that is, Figure 1 The position of the clip device 300a in the receiving bin 301 is such that the opening of the receiving bin 301 faces the feeding direction, the airbag 311 in the clamping assembly 310 is in an uninflated state, and the unloading plate 331 is located at the bottom of the receiving bin 301. When the material cake enters the corresponding receiving bin 301, the airbag 311 is inflated. When the airbag 311 is inflated, the part of the pressing block 312 connected to the airbag 311 extends from the pressing opening 303 into the receiving bin 301 to press against the corresponding material cake. At this time, the material cake is not easy to escape from the receiving bin 301. Then the clip device 300 can be moved to the unloading position, that is, Figure 1 The opening of the receiving bin 301 faces the direction of the material bin 211 , so that the receiving bin 301 is aligned with the material bin 211 , so that the material cake can enter the corresponding material bin 211 under the action of the unloading plate 331 .

[0072] It should be noted that the loading position and unloading position of the clip device 300 can be set according to the requirements of the spatial position. If the clip device 300 is at the loading position and the unloading position, and the opening direction of the receiving bin 301 remains unchanged, the clip device 300 only needs to be translated during the movement. If the clip device 300 is at the loading position and the unloading position, and the opening direction of the receiving bin 301 is different, the clip device 300 needs to be rotated and translated during the movement.

[0073] like Figure 1-Figure 7 As shown, in some embodiments, the opening direction of the receiving chamber 301 of the clip device 300 at the loading position and the unloading position is different. The loading mechanism also includes a rotating member 400. The rotating member 400 is movably disposed on the frame 100. The rotating member 400 is connected to the clip device 300, and the rotating member 400 is used to drive the clip device 300 to rotate relative to the frame 100. Among them, the rotating member 400 can be directly or indirectly connected to the clip body 340.

[0074] The rotating member 400 may be a rotating cylinder or other rotating driving member 221. The rotating member 400 may be arranged at the sliding end of the linear module 111. When the clip device 300 needs to turn, the rotating member 400 may drive the clip device 300 to rotate. When the clip device 300 needs to translate, the translation may be achieved through the linear module 111. When the rotating member 400 is a rotating cylinder, a gas regulating valve 410 may be arranged on it so that the gas in the rotating cylinder can be adjusted, thereby changing the rotation speed when the rotating cylinder drives the clip device 300 to rotate.

[0075] See also Figure 8-Figure 10 , Figure 8-Figure 10 A material gripping device 200 in one embodiment is shown.

[0076] In some embodiments, the side wall of the silo 211 is provided with a side wall opening. The box body 210 is provided with a slot body 213. The slot body 213 is communicated with the side wall opening. The silo door assembly 230 includes a power member 231 and a baffle 232. The power member 231 can drive the baffle 232 to slide, and at least a portion of the baffle 232 is located in the slot body 213. The baffle 232 can move to an open position and a shielding position. When the baffle 232 slides to the shielding position, at least a portion of the baffle 232 enters the silo 211 through the side wall opening to shield at least a portion of the silo opening 212. When the baffle 232 slides to the open position, the silo opening 212 has no shielding portion 2321. That is to say, after the material cake enters the material bin 211, the power member 231 drives the baffle 232 to move relative to the box body 210, so that at least part of the baffle 232 enters the material bin 211 through the side wall opening and blocks at least part of the material bin opening 212 to limit the material cake, thereby preventing the material cake from escaping from the corresponding material bin 211 during the movement of the grabbing device 200.

[0077] like Figure 8-Figure 10 As shown, the extension direction of the trough body 213 is consistent with the distribution direction of each silo 211, and they are all parallel to the same straight line. At least part of the baffle 232 is located in the trough body 213. The power member 231 is connected to the box body 210, which can be directly connected or indirectly connected, and the power member 231 and the box body 210 do not move relative to each other. The moving end of the power member 231 can drive the baffle 232 to move along the extension direction of the trough body 213. When the baffle 232 moves to the blocking position, at least part of the baffle 232 extends into the silo 211 from the corresponding side wall opening. When the baffle 232 moves to the open position (i.e. Figure 8 As shown in the position, the aforementioned at least part of the baffle 232 exits the silo 211 to ensure that the cakes can enter and exit the silo 211.

[0078] It should be noted that when there are multiple storage bins 301, there are also multiple bins 211. The trough 213 can be connected to all the side wall openings, and the baffle 232 can simultaneously block all the bin openings 212. Such a setting can reduce the number of power parts 231, thereby reducing costs, and can also realize the simultaneous opening and closing of multiple bins 211, which is convenient for loading and unloading cakes.

[0079] like Figure 8 and Fig. 9 As shown, the baffle 232 includes a shielding portion 2321 and a connecting portion 2322. The extending direction of the connecting portion 2322 and the extending direction of the shielding portion 2321 form an angle. For example, Figure 8 and Fig. 9 In the illustrated embodiment, the two extend in perpendicular directions. The connecting portion 2322 is connected to the connecting block 233. At least a portion of the shielding portion 2321 extends into the slot body 213, and the shielding portion 2321 can shield at least a portion of the silo opening 212.

[0080] When there are multiple accommodating bins 301, the baffle 232 may have multiple shielding portions 2321, and the shielding portions 2321 may extend into the corresponding bins 211 to at least partially shield the bin opening 212. It can be understood that if the distance between adjacent bins 211 is too close, the baffle 232 may have an avoidance gap. That is, when the baffle 232 does not need to shield the corresponding bin 211, when the baffle 232 is in the open position, the avoidance gap may be aligned with the corresponding bin opening 212, so that the cakes can enter and exit the corresponding bin 211. Avoidance gaps may be provided between at least some of the adjacent shielding portions 2321, or avoidance gaps may be provided in parts of the shielding portions 2321 for avoidance.

[0081] In some embodiments, the door assembly 230 further includes a sliding block 236 and a sliding seat 235. The sliding seat 235 is connected to the baffle 232, and the sliding seat 235 is disposed on the box body 210, and is directly or indirectly connected to the box body 210, and the sliding seat 235 has a guide rail. The extension direction of the guide rail is consistent with the extension direction of the slot body 213. The guide rail cooperates with the sliding block 236 so that the sliding block 236 can move along the extension direction of the guide rail. By providing the sliding block 236 and the sliding seat 235, the reliability of the baffle 232 during movement can be ensured, the moving direction of the baffle 232 can be better limited, and the baffle 232 can be effectively prevented from being offset and unable to cooperate with the corresponding silo opening 212, that is, the baffle 232 can be prevented from being offset and still completely or partially blocking the silo opening 212 after being in the open position, or the baffle 232 does not cover the silo opening 212 when the baffle 232 is in the blocking position.

[0082] In some embodiments, the door assembly 230 further includes a connection block 233. One end of the connection block 233 is connected to the moving end of the power member 231, and the other end of the connection block 233 is connected to the baffle 232. The arrangement of the connection block 233 can facilitate the connection between the baffle 232 and the power member 231, and can reasonably simplify the volume of the device.

[0083] In some embodiments, the door assembly 230 may further include an extension block 234, which may be disposed between the connection block 233 and the baffle 232. The extension block 234 may be coordinated with the connection position of the baffle 232 to achieve a reasonable configuration.

[0084] In some embodiments, the material grabbing device 200 further includes a material pushing assembly 220. The material pushing assembly 220 is disposed on the box body 210. At least a portion of the material pushing assembly 220 can move relative to the material bin 211. The material pushing assembly 220 can remove the material cakes retained in the material bin 211.

[0085] In some embodiments, the pusher assembly 220 includes a driving member 221 and a pushing member 222. The bottom of the silo 211 has an opening so that at least a portion of the pushing member 222 can extend into the silo 211. The driving member 221 is connected to the outer wall of the box body 210. The driving member 221 can drive the pushing member 222 to move along the bottom of the silo 211 to the silo opening 212, so as to move the cakes retained in the silo 211 out of the silo 211.

[0086] The driving member 221 may be a driving device such as a cylinder, a linear module 111, or other driving devices.

[0087] The pusher 222 may include a push rod 223 and a connecting plate 224. The connecting plate 224 may be connected to the movable portion of the driving member 221. One end of the push rod 223 is connected to the connecting plate 224, and the other end of the push rod 223 may extend into the silo 211 to facilitate the removal of the cakes in the silo 211.

[0088] It can be understood that when there are multiple silos 211, the number of connecting plates 224 can be one, and the number of push rods 223 is the same as the number of silos 211 and corresponds one to one. All push rods 223 are connected to the connecting plates 224. Such a setting can reduce the number of driving members 221, simplify the mechanical device, and reduce the cost.

[0089] In some embodiments, the silo opening 212 is contracted along the direction from the silo opening 212 to the bottom of the silo 211. Such a configuration can make it easier for the biscuits to enter the silo 211, and reduce the situation where the biscuits cannot enter the silo 211 due to slight deviations. It can be understood that in other embodiments, the side wall of the silo opening 212 is cylindrical or prismatic along the direction from the silo opening 212 to the bottom of the silo 211, that is, the caliber at the silo opening 212 does not change.

[0090] In some embodiments, the box body 210 may be provided with a first positioning structure 240. The clip device 300 may be provided with a second positioning structure 320. The second positioning structure 320 is provided on the clip body 340. The first positioning structure 240 may cooperate with the second positioning structure 320. When the material grabbing device 200 cooperates with the clip device 300 to transport the material cake in the clip body 340 to the corresponding material bin 211, the material bin 211 needs to be more accurately aligned with the containing bin 301. Therefore, when the material grabbing device 200 moves relative to the clip device 300, the first positioning structure 240 and the second positioning structure 320 can facilitate the alignment of the two.

[0091] In some embodiments, one of the first positioning structure 240 and the second positioning structure 320 may be a positioning protrusion, and the other of the two may be a positioning groove, and the positioning protrusion cooperates with the positioning groove. Figure 1-Figure 10 In the illustrated embodiment, the first positioning structure 240 is disposed on the end surface where the bin opening 212 is located, and the second positioning structure 320 is disposed on the end surface where the accommodating bin 301 is opened.

[0092] In some embodiments, the number of the first positioning structure 240 and the second positioning structure 320 may be one or more, which can be selected according to actual conditions.

[0093] In some embodiments, at least one of the first positioning structure 240 and the second positioning structure 320 may be provided with a sensor to detect whether the alignment is completed, thereby facilitating timely notification of the staff when a fault occurs.

[0094] When the material grabbing device 200 is grabbing materials, it can first move close to the clip device 300. In the process of approaching the clip device 300, the first positioning structure 240 and the second positioning structure 320 cooperate with each other to ensure that the material bin 211 is aligned with the corresponding receiving bin 301. When the two are aligned, and the end face where the material bin opening 212 is located is against the end face where the opening of the receiving bin 301 is located, that is, Figure 1 and Figure 2 In the position shown in , the door assembly 230 is in an open state. The unloading assembly 330 of the clip device 300 removes the cake in the storage bin 301, so that the cake enters the bin 211 from the storage bin 301. After the cake enters the bin 211, the door assembly 230 is in a closed state, that is, the baffle 232 is in a blocking position to block at least part of the bin opening 212, thereby preventing the cake from leaving the bin 211. After moving the gripping device 200 to the next station, the door assembly 230 is in an open state, that is, the baffle 232 is in an open position, and the cake can fall into the plastic packaging mold under the action of gravity. If the cake is retained in the bin 211, the cake can be pushed into the mold by the pushing assembly 220.

[0095] When the model of the clip device 300 or the model of the material cake is replaced, the material grabbing device 200 can be directly disassembled and replaced with a new model, which is more convenient.

[0096] When the feeding mechanism is working, the material cake is relatively stable in the clip device 300, and it is not easy for the material cake to be separated when the clip device 300 rotates quickly. In addition, the rotation speed of the rotating member 400 can also be controlled to control the rotation timing. The modularized grasping device 200 can be easily replaced, and when the grasping device 200 grasps the material, the bin door assembly 230 can achieve a high reliability of grasping stability, effectively reducing the occurrence of material cake separation.

[0097] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A feeding mechanism, characterized in that: include: Frame; The clip device comprises a clip body, a clamping assembly and a material discharge assembly, wherein the clip body is movably arranged on the frame, the clip body has a storage bin for accommodating material cakes; the clamping assembly is used to clamp the material cakes in the storage bin; the material discharge assembly can move relative to the storage bin to move the material cakes in the storage bin out of the storage bin; and a material grasping device is detachably arranged on the frame, the material grasping device comprises a box body and a bin door assembly, the box body has a bin, the bin has a bin opening, the bin door assembly is arranged at the bin opening, the bin door assembly is used to open and close the bin opening, and when the plane where the bin opening is located is against the plane where the opening of the storage bin is located, the bin is communicated with the storage bin; The side wall of the receiving chamber is provided with a pressing port, the main body of the clip is provided with a receiving groove, and the receiving groove is communicated with the pressing port; the clamping assembly includes an airbag and a pressing block, the airbag is arranged in the receiving groove, and the pressing block is connected to the outer wall of the airbag; When the airbag is in an inflated state, at least a portion of the pressing block protrudes from the pressing opening into the accommodating chamber.

2. The feeding mechanism according to claim 1, characterized in that: There are multiple accommodating bins, and the multiple accommodating bins are arranged at intervals. The accommodating groove is connected to all the clamping ports. The number of the clamping blocks is the same as the number of the accommodating bins and corresponds one to one. The number of the material bins is the same as the number of the accommodating bins and corresponds one to one.

3. The feeding mechanism according to claim 1, characterized in that: The unloading assembly includes an unloading plate and an unloading driving member, wherein the unloading driving member is used to drive the unloading plate to move, and the unloading plate can slide along the direction from the bottom of the storage bin to the bin opening.

4. The feeding mechanism according to claim 1, characterized in that: The side wall of the silo is provided with a side wall opening, the box body is provided with a slot body, and the slot body is communicated with the side wall opening; the silo door assembly includes a power member and a baffle, at least part of the baffle is located in the slot body, and the power member is used to drive the baffle to slide; When the baffle slides to the shielding position, at least a portion of the baffle enters the silo through the side wall opening to shield at least a portion of the silo opening.

5. The feeding mechanism according to claim 4, characterized in that: The baffle comprises a shielding portion and a connecting portion, wherein an extending direction of the connecting portion and an extending direction of the shielding portion form an included angle; the connecting portion is connected to the shielding portion, at least a portion of the shielding portion extends into the trough body, and the shielding portion is used to shield at least a portion of the silo opening; And / or, the door assembly further comprises a connecting block, one end of which is connected to the moving end of the power member, and the other end of which is connected to the baffle.

6. The feeding mechanism according to claim 1, characterized in that: The material grabbing device further comprises a material pushing assembly, which is arranged on the box body, at least a part of which can move relative to the material bin, and the material pushing assembly is used to remove the material cakes retained in the material bin.

7. The feeding mechanism according to claim 1, characterized in that: The silo opening is in a contraction shape along a direction from the silo opening to the bottom of the silo.

8. The feeding mechanism according to claim 1, characterized in that: The box body is provided with a first positioning structure, and the clip device further comprises a second positioning structure, the second positioning structure is provided on the clip body, and the first positioning structure is used to cooperate with the second positioning structure; And / or, the feeding mechanism further comprises a rotating member, the rotating member is movably arranged on the frame, the rotating member is connected to the clip device, and the rotating member is used to drive the clip device to rotate relative to the frame.

9. A plastic packaging device, characterized in that: It comprises the feeding mechanism described in any one of claims 1 to 8.

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