A substrate material dividing machine and control method thereof

Abstract

The present invention provides a substrate distributor, which is used to drive the substrate in a mother box to move to a plurality of sub-boxes, wherein the mother box and the sub-box both belong to the material box, and the distributor comprises: a mechanical arm assembly, which drives the substrate of the mother box to move to the placement station of the sub-box; a cabinet, which comprises: a receiving chamber for accommodating the mechanical arm assembly, wherein a moving assembly is also arranged in the receiving chamber, wherein the moving assembly drives the substrate placement station of the sub-box to be in the same horizontal plane as one of the substrates in the mother box; and a blocking alarm assembly, wherein the blocking alarm assembly is fixedly arranged at the end of the mechanical arm assembly, and the mechanical arm assembly cooperates with the blocking alarm assembly to drive the substrate in the mother box to move to one of the substrate placement stations of the sub-box. The mechanical arm assembly cooperates with the moving assembly and the blocking alarm assembly to drive the substrate to move from the mother box to the sub-box, thereby preventing the substrate from falling, being damaged, accidentally touching the gold wire or damaging the gold wire during the extraction process.

Description

Technical Field

[0001] The invention relates to the field of material dividers, and in particular to a substrate material divider. Background Art

[0002] At present, the lead frame or substrate on which several chips are mounted is relatively thin and soft. After the wire bonding process, the many gold wires connecting the chip connection points and the lead frame or substrate are also extremely fragile. Manual material extraction for material collection and material separation operations are prone to damage to the gold wires by dropping, breaking, or accidentally touching the gold wires. At the same time, manual inspection of work order information for material separation operations is prone to information reading errors, quantity errors, and missed materials. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a substrate distributor, which is used to drive the substrate in the mother box to move to multiple sub-boxes. The mother box and the sub-box are both material boxes. The distributor includes:

[0004] A robotic arm assembly that drives the substrate of the mother box to move toward the daughter box;

[0005] The cabinet comprises:

[0006] An accommodating chamber for accommodating a robot arm assembly, wherein a moving assembly is further disposed in the accommodating chamber, and wherein the moving assembly drives the substrate placement station of the sub-box to be on the same horizontal plane as one of the substrates in the mother box;

[0007] The blocking alarm component is fixedly arranged at the end of the mechanical arm component. The mechanical arm component cooperates with the blocking alarm component to drive the substrate in the mother box to move toward one of the substrate placement stations of the child box.

[0008] Preferably, the blocking alarm component includes: a positioning block, which is fixedly arranged at the end of the four-axis robot arm, and a first slide rail is fixedly arranged on the lower surface of the positioning block, a slider is provided for movement in the length direction of the first slide rail, the slider is fixedly connected to a push plate, and an alarm reset component is arranged between the push plate and the positioning block.

[0009] Preferably, the alarm reset assembly comprises: a first sensor fixedly arranged on the lower surface of the positioning block, the first sensor being provided with a transmitting block and a receiving block, the push plate being detachably connected with a baffle plate, the push plate being forced to move along the length direction of the first slide rail through the slider, until the baffle plate is arranged between the transmitting block and the receiving block, the first sensor triggers the distributor to stop working;

[0010] The first magnet is arranged on the positioning block, and the push plate is fixedly connected with the second magnet cooperating with the first magnet. When the distributor resumes working, the first magnet cooperates with the second magnet to drive the push plate back to the initial position. The push plate in the alarm reset assembly drives the baffle to move between the transmitting block and the receiving block after the resistance, so as to trigger the first sensor and drive the equipment to stop working, and when resuming working, the first magnet cooperates with the second magnet to realize rapid reset.

[0011] Preferably, the push plate is provided with a first waist-shaped hole, the baffle is provided with a blocking portion, the blocking portion passes through the first waist-shaped hole and cooperates with the transmitting block and the receiving block, the baffle is provided with a second waist-shaped hole, the push plate is provided with a locking hole, and the locking hole cooperates with the second waist-shaped hole through a bolt. The first waist-shaped hole cooperates with the blocking portion, thereby ensuring that when the push plate is displaced by resistance, the first waist-shaped hole can effectively limit the displacement of the push plate, preventing the displacement from being too much, out of the magnetic force range of the magnet, and the push plate cannot be reset.

[0012] Preferably, the moving component includes: a second slide rail fixedly arranged in the accommodating cavity, a first moving plate movably arranged on the second slide rail, a mother carrier moving module driving the mother box to move and a sub-carrier moving module driving the multiple sub-boxes to move fixedly arranged on the first moving plate.

[0013] Preferably, the mother carrier moving module includes: a first support plate fixedly connected to the first movable plate, a first pneumatic cylinder fixedly connected to the first support plate in the height direction, the output shaft of the first pneumatic cylinder is provided with a first positioning plate, the first pneumatic cylinder drives the first positioning plate to move along the height direction of the first support plate, and the first positioning plate is fixedly connected to a clamping assembly that cooperates with the mother box.

[0014] Preferably, the sub-carrier moving module includes: a third slide rail fixedly arranged on the first movable plate, a second translation plate movable in the length direction of the third slide rail, the first movable plate fixedly connected with a driving assembly, the driving assembly drives the second translation plate to move along the length direction of the third slide rail, a plurality of clamping tables cooperating with the sub-box are arranged in the length direction of the second translation plate, and the clamping tables clamp the sub-box through the clamping assembly.

[0015] Preferably, the clamping table is provided with a rectangular clamping plate, and the clamping assembly includes: limit blocks fixedly arranged on two vertical sides of the clamping table, the clamping table is fixedly connected to a second pneumatic cylinder, and the other two vertical sides of the rectangular clamping plate are each provided with a clamping block cooperating with the second pneumatic cylinder, and the clamping block is driven by the second pneumatic cylinder to cooperate with the sub-box or the mother box, and the sub-box or the mother box is clamped in combination with the limit block, the rectangular clamping plate is provided with a first detection port, and the sub-box and the mother box are both provided with a second detection port cooperating with the first detection port, and the clamping table is fixedly connected to a second sensor, and the second sensor passes through the first detection port and the second detection port to sense materials in the sub-box and the mother box.

[0016] Preferably, a control method for a substrate feeder includes:

[0017] S1: Place the material box on each clamping table;

[0018] S2: Scan the work order number to query the system or enter it manually to set the material separation or aggregation mode for this work;

[0019] S3: The PLC program compares the set number of material boxes with the number of material boxes actually sensed by the second sensor on the clamping table;

[0020] S4: The four-axis robot arm drives the push plate to move, and drives different sub-boxes to align with the mother box through the moving components. The push plate drives the substrates in the mother box to move toward each sub-box until all the substrates in the mother box are pushed out;

[0021] S5: When material jam occurs during the process of pushing the plate, the first sensor at the bottom of the push plate is triggered, the four-axis robot arm stops working, and a beeping alarm is issued to remind personnel to handle it.

[0022] The present invention has the following advantages:

[0023] 1. The mechanical arm assembly cooperates with the moving assembly and the blocking alarm assembly to drive the substrate to move from the mother box to the child box, thereby preventing the substrate from falling, breaking, accidentally touching the gold wire or damaging the gold wire during the extraction process.

[0024] 2. When material jam occurs, the alarm reset component will trigger an alarm to reduce the possibility of damage to the substrate caused by forced pushing.

[0025] 3. The push plate in the alarm reset assembly drives the baffle to move between the transmitting block and the receiving block after the resistance, so as to trigger the first sensor and drive the device to stop working, and when resuming work, the first magnet cooperates with the second magnet to achieve rapid reset.

[0026] 4. When the push plate is displaced by resistance, the first waist-shaped hole can effectively limit the displacement of the push plate to prevent the push plate from being unable to reset due to excessive displacement and escaping from the magnetic force range of the magnet. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0028] Figure 1 It is a schematic diagram of the overall structure of the substrate distributor in an embodiment of the present invention;

[0029] Figure 2 The schematic diagram of the local structure of the substrate feeder in the embodiment of the present invention is as follows Figure 1 ;

[0030] Figure 3 The schematic diagram of the local structure of the substrate feeder in the embodiment of the present invention is as follows Figure 2 ;

[0031] Figure 4 The schematic diagram of the local structure of the substrate feeder in the embodiment of the present invention is as follows Figure 3 ;

[0032] Figure 5 It is an enlarged view of the local structure of the substrate distributor in the embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of the overall structure of the mechanical components of the substrate distributor in an embodiment of the present invention;

[0034] Figure 7 It is a schematic diagram of the partial structure of the mechanical components of the substrate distributor in an embodiment of the present invention;

[0035] Figure 8 It is an enlarged view of the local structure of the mechanical components of the substrate divider in the embodiment of the present invention.

[0036] In the figure: 1. four-axis robot arm; 2. cabinet; 201. accommodating cavity; 3. positioning block; 4. first slide rail; 5. slider; 6. push plate; 603. first waist-shaped hole; 7. first sensor; 701. transmitting block; 702. receiving block; 8. baffle; 9. first magnet; 10. second magnet; 11. second slide rail; 12. first moving plate; 13. first supporting plate; 14. first pneumatic cylinder; 15. first positioning plate; 16. third slide rail; 17. driving assembly; 18. clamping table; 19. limit block; 20. second pneumatic cylinder. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0038] The present invention is further described in detail below with reference to examples and specific implementation modes.

[0039] like Figure 1 As shown, a substrate divider is used to drive the substrate in a mother box to move to multiple sub-boxes. The mother box and the sub-box are both material boxes. The divider includes: a robotic arm assembly, which drives the substrate of the mother box to move to the placement station of the sub-box, wherein the robotic arm assembly adopts the existing four-axis robotic arm 1.

[0040] The material divider also includes: a cabinet 2, the cabinet 2 is provided with a accommodating cavity 201 for accommodating the robot arm assembly, the accommodating cavity 201 is provided with a discharge port, and two parallel side walls of the discharge port are fixedly connected with a safety grating. When the material divider is working, the safety grating is in a working state. When objects outside the accommodating cavity 201 pass through the safety grating and enter the accommodating cavity 201, the safety grating is triggered and the equipment stops working.

[0041] A moving component cooperating with the four-axis robot arm 1 is also provided in the accommodating chamber 201 , and the moving component drives the substrate placement station of the sub-box to be on the same horizontal plane as one of the substrates in the mother box.

[0042] like Figure 1 , Figure 3 As shown, the moving component includes: a second slide rail 11 fixedly arranged in the accommodating cavity 201, a first moving plate 12 is movably arranged on the second slide rail 11, and the first moving plate 12 is fixedly provided with a mother carrier moving module that drives the mother box to move and a sub-carrier moving module that drives multiple sub-boxes to move.

[0043] The mother stage moving module drives the mother box to move until one of the substrates in the mother box and a placement station of a sub-box in the sub-stage moving module are on the same horizontal plane.

[0044] like Figures 1 to 3 As shown, the mother carrier moving module includes: a first support plate 13 fixedly connected to the first moving plate 12, the first support plate 13 is arranged perpendicular to the first moving plate 12, and a support rib is arranged perpendicular to the first moving plate 12 and the first support plate 13, and the support rib further strengthens the fixing strength between the first support plate 13 and the first moving plate 12.

[0045] The first support plate 13 is fixedly connected with a first pneumatic cylinder 14 in the height direction, and the output shaft of the first pneumatic cylinder 14 is provided with a first positioning plate 15. The first pneumatic cylinder 14 drives the first positioning plate 15 to move along the height direction of the first support plate 13 (conventional guide rail movement mode), and the first positioning plate 15 is fixedly connected with a clamping assembly that cooperates with the mother box.

[0046] The first positioning plate 15 is driven by the first pneumatic cylinder 14 to move along the height direction of the first supporting plate 13 , thereby adjusting the height between the mother box and the lower surface of the accommodating cavity 201 .

[0047] like Figures 1 to 5 As shown, the sub-carrier moving module includes: a third slide rail 16 fixedly set on the first moving plate 12, a second translation plate is provided for movement in the length direction of the third slide rail 16, the first moving plate 12 is fixedly connected with a driving assembly 17, the driving assembly 17 drives the second translation plate to move along the length direction of the third slide rail 16, and a plurality of clamping tables 18 cooperating with the sub-box are provided in the length direction of the second translation plate, and the clamping tables 18 clamp the sub-box through the clamping assembly.

[0048] The drive assembly 17 can use an existing motor to drive the ball screw to rotate, thereby driving the second translation plate to move along the length direction of the third slide rail 16. The drive assembly 17 can also use an existing driving method, mainly driving the second translation plate to move along the length direction of the third slide rail 16.

[0049] The second translation plate is driven to move along the length direction of the third slide rail 16 by the driving assembly 17, thereby driving the placement stations of different sub-boxes to be on the same horizontal plane with one of the substrates in the mother box.

[0050] like Figure 5 As shown, the clamping platform 18 is provided with a rectangular clamping plate, and the rectangular clamping plate is used to place the mother box or the child box.

[0051] The clamping assembly includes: limit blocks 19 fixedly arranged on two vertical sides of the clamping platform 18, and the limit blocks 19 preliminarily position the two vertical right-angle sides of the mother box or the child box.

[0052] The clamping table 18 is fixedly connected to the second pneumatic cylinder 20, and the other two vertical sides of the rectangular clamping plate are each provided with a clamping block that cooperates with the second pneumatic cylinder 20. The clamping block is driven by the second pneumatic cylinder 20 to cooperate with the sub-box or the mother box, and the sub-box or the mother box is clamped in combination with the limit block 19. The rectangular clamping plate is provided with a first detection port, and the sub-box and the mother box are both provided with a second detection port that cooperates with the first detection port. The clamping table 18 is fixedly connected to the second sensor, and the second sensor passes through the first detection port and the second detection port to sense the material of the sub-box and the mother box.

[0053] The material divider also includes: a blocking alarm component, which is fixed at the end of the mechanical arm component. The mechanical arm component and the blocking alarm component cooperate to drive the substrate in the mother box to move to one of the substrate placement stations of the child box.

[0054] like Figure 1 , Figure 6 as well as Figure 7As shown, the blocking alarm component includes: a positioning block 3, the positioning block 3 is fixedly arranged at the end of the four-axis robot arm 1, and a first slide rail 4 is fixedly arranged on the lower surface of the positioning block 3, a slider 5 is arranged to move in the length direction of the first slide rail 4, the slider 5 is fixedly connected to the push plate 6, and an alarm reset component is arranged between the push plate 6 and the positioning block 3.

[0055] The push plate 6 is driven by the four-axis robot arm 1 to cooperate with the substrate in the mother box, and drives the substrate in the mother box to move toward the placement station of the child box. Since the placement station of the child box and the substrate are in the same horizontal plane, the push plate 6 pushes the substrate through the mother box to move toward the placement station of the child box.

[0056] When the placement positions of the substrate and the sub-box are not on the same horizontal plane or material jamming occurs under other special circumstances, an alarm reset component will sound an alarm and the feeder will display an alarm message to remind people to handle it.

[0057] like Figure 7 , Figure 8 As shown, the alarm reset component includes: a first sensor 7 fixedly arranged on the lower surface of the positioning block 3, the first sensor 7 is provided with a transmitting block 701 and a receiving block 702, the push plate 6 is detachably connected with a baffle 8, the push plate 6 is subjected to force to move along the length direction of the first slide rail 4 through the slider 5, until the baffle 8 is arranged between the transmitting block 701 and the receiving block 702, the first sensor 7 is triggered, and the feeder stops working.

[0058] The first magnet 9 is arranged on the positioning block 3, and the push plate 6 is fixedly connected with the second magnet 10 which cooperates with the first magnet 9. When the distributor resumes working, the first magnet 9 cooperates with the second magnet 10 to drive the push plate 6 back to the initial position.

[0059] The first magnet 9 and the second magnet 10 in the above-mentioned alarm reset assembly cooperate to drive the push plate 6 to return to the initial position, mainly because the first magnet 9 and the second magnet 10 are in a suspended state. At the same time, since the first magnet 9 and the second magnet 10 are circular magnets, the magnetic field of the circular magnet is along the axial direction of the circular magnet. Therefore, when the two are reset, the axes of the first magnet 9 and the second magnet 10 coincide, and the reset effect is better.

[0060] The push plate 6 is provided with a first waist-shaped hole 603, and the baffle plate 8 is provided with a blocking portion, which passes through the first waist-shaped hole 603 and cooperates with the transmitting block 701 and the receiving block 702. The baffle plate 8 is provided with a second waist-shaped hole, and the push plate 6 is provided with a locking hole, which cooperates with the second waist-shaped hole through a bolt. The second waist-shaped hole is mainly used to facilitate the adjustment of the positional relationship between the baffle plate 8 and the push plate 6, so as to adjust the response distance when jamming occurs.

[0061] When the push plate 6 is displaced by resistance, the first waist-shaped hole 603 can effectively limit the displacement of the push plate 6 to prevent the push plate 6 from being unable to return to its original position due to excessive displacement and being out of the magnetic force range of the magnet.

[0062] like Figures 1 to 8 As shown, during operation, a technician or other automated equipment drives the mother box to be placed on the clamping assembly of the mother carrier moving module, and at the same time drives the child box to be placed on the clamping assembly of the child carrier moving module, and clamps the mother box and multiple child boxes through the clamping assembly.

[0063] After clamping is completed, one of the sub-boxes is driven to move by the sub-stage moving module, and the mother-stage moving module drives the mother box to move, until one of the substrates in the mother box is in the same horizontal plane as the placement station of the sub-box, and the push plate 6 is driven to move by the four-axis robot arm 1. The push plate 6 cooperates with the moving component to drive the substrate to move from the mother box to the sub-box until the substrate is completely moved to the placement station of the sub-box. The movement distance of the push plate 6 driven by the four-axis robot arm 1 is the distance set before the equipment works.

[0064] After the substrate of one of the sub-boxes is placed, the next sub-box is driven to move by the sub-stage moving module, and the mother box is driven to move by the mother-stage moving module at the same time, until one of the substrates in the mother box is in the same horizontal plane as the placement station of the sub-box, and the push plate 6 is driven to move by the four-axis robot arm 1, and the push plate 6 drives the substrate to move from the mother box to the sub-box until the substrate is completely moved to the placement station of the sub-box, and the substrates in different mother boxes are driven to cooperate with the placement stations of different sub-boxes in this reciprocating manner.

[0065] When the material is stuck, the four-axis robot arm 1 drives the push plate 6 to move, and the push plate 6 drives the substrate to move from the mother box to the placement station of the child box. When the material is stuck, the push plate 6 cannot continue to move, and the slider 5 of the push plate 6 moves along the length direction of the first slide rail 4, and at the same time the first magnet 9 is separated from the second magnet 10.

[0066] The baffle 8 moves along the first waist-shaped hole 603 until the baffle 8 moves between the transmitting block 701 and the receiving block 702. The first sensor 7 is triggered, the equipment stops working and sounds an alarm. The technicians troubleshoot the problem. After the problem is troubleshooted, under the action of the first magnet 9 and the second magnet 10, the slider 5 on the push plate 6 moves along the length direction of the first slide rail 4 and returns to the initial position.

[0067] like Figures 1 to 8 As shown, a control method for a substrate feeder includes:

[0068] S1: placing the material boxes on each clamping table 18;

[0069] Among them, this product relies on the existing PLC program for the main control. The control program is mainly programmed based on the existing software, and the signal processing is carried out through the PLC program input by the technician and the software.

[0070] The PLC program combined with the existing software control is mainly responsible for controlling the displacement distance of the mobile component, the movement of the four-axis robot arm 1, the signals sent by each sensor and the entire workflow. The entire workflow is set through PLC.

[0071] A second sensor is provided at the bottom of each clamping platform 18 for sensing the presence or absence of a material box.

[0072] S2: Scan the work order number to query the system or enter it manually to set the material separation or aggregation mode for this work;

[0073] Among them, material box, quantity, material type, material quantity, if the aggregate mode also needs to set the number of materials in each sub-material box.

[0074] S3: The PLC program compares the set number of material boxes with the material boxes actually sensed by the second sensor of the clamping table 18;

[0075] Among them, the PLC program compares the set number of material boxes with the number of material boxes actually sensed by the second sensor on the clamping table 18, such as whether the quantity is consistent. After everything is completed, the technician presses the two start buttons of the equipment at the same time to start the equipment. The double start buttons are mainly to provide safety during operation, ensuring that the technician's hands are placed on the start button, further improving the safety of the feeder during operation.

[0076] S4: The four-axis robot arm 1 drives the push plate 6 to move, and drives different sub-boxes to align with the mother box through the moving components. The push plate 6 drives the substrates in the mother box to move toward each sub-box until all the substrates in the mother box are pushed out;

[0077] Among them, the clamping table 18 with the material box is placed, and the material box is clamped by the clamping assembly. Each limit block 19 of the clamping table 18 is installed with a sensor, and the sensor is used to sense whether the material box is clamped in place. The next step will be started only after all the sensings are in place.

[0078] Among them, the sub-carrier module aligns the two sides of the first clamping platform 18 with the sub-box with the two sides of the clamping platform 18 with the mother box from left to right, and at the same time drives the clamping platform 18 of the mother box to move up and down through the mother carrier module to align the clamping platform 18 of the mother box with the clamping platform 18 of the sub-box.

[0079] The second slide rail 11 cooperates with the first movable plate 12 to drive the entire movable assembly to move forward and backward, and cooperates with the four-axis robot arm 1 to drive the substrate in the mother box to move to the placement station of one of the child boxes.

[0080] S5: When the material is stuck during the pushing process of the push plate 6, the first sensor 7 at the bottom of the push plate 6 is triggered, the four-axis robot arm 1 stops working, and a beeping alarm is issued to remind personnel to handle it.

[0081] Among them, when the four-axis robot arm 1 drives the push plate 6 to push the material, each clamping table 18 is fixed with a second sensor that irradiates upward. When the material is pushed from above, the second sensor senses and records the amount of material. When the four-axis robot arm 1 reaches the position where the material is pushed into place, a completion signal is sent to the PLC.

[0082] If the material is stuck during the pushing process, the first sensor 7 is triggered, a signal is sent to the PLC, the feeder stops working, and an alarm is generated, and an alarm message is displayed to remind the technicians to handle it.

[0083] After the processing is completed, press the reset button, the four-axis robot arm 1 and all material boxes return to the initial position, the technician inspects the stuck point, and after the inspection is completed, the feeder starts working again.

[0084] Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention.

Claims

1. A substrate distributor, used to drive the substrate in a mother box to move to multiple sub-boxes, the mother box and the sub-box are both material boxes, characterized in that: The material distributor comprises: A robotic arm assembly that drives the substrate of the mother box to move toward the placement station of the child box; The cabinet comprises: An accommodating chamber for accommodating a robot arm assembly, wherein a moving assembly is further disposed in the accommodating chamber, and wherein the moving assembly drives the substrate placement station of the sub-box to be on the same horizontal plane as one of the substrates in the mother box; A blocking alarm component, wherein the blocking alarm component is fixedly mounted at the end of the mechanical arm component, and the mechanical arm component cooperates with the blocking alarm component to drive the substrate in the mother box to move toward one of the substrate placement stations of the child box; The robotic arm assembly adopts a four-axis robotic arm; The blocking alarm component includes: a positioning block, the positioning block is fixedly arranged at the end of the four-axis robot arm, and a first slide rail is fixedly arranged on the lower surface of the positioning block, a slider is arranged to move in the length direction of the first slide rail, the slider is fixedly connected to the push plate, and an alarm reset component is arranged between the push plate and the positioning block; The alarm reset assembly comprises: a first sensor fixedly arranged on the lower surface of the positioning block, the first sensor is provided with a transmitting block and a receiving block, the push plate is detachably connected with a baffle plate, the push plate is subjected to force to move along the length direction of the first slide rail through the slider, until the baffle plate is arranged between the transmitting block and the receiving block, the first sensor triggers the distributor to stop working; A first magnet is arranged on the positioning block, and the push plate is fixedly connected with a second magnet cooperating with the first magnet. When the distributor resumes working, the first magnet cooperates with the second magnet to drive the push plate back to the initial position; The push plate is provided with a first waist-shaped hole, the baffle plate is provided with a blocking portion, the blocking portion passes through the first waist-shaped hole and cooperates with the transmitting block and the receiving block, the baffle plate is provided with a second waist-shaped hole, the push plate is provided with a locking hole, and the locking hole cooperates with the second waist-shaped hole through a bolt.

2. The substrate distributor according to claim 1, characterized in that: The moving assembly includes: a second slide rail fixedly arranged in the accommodating cavity, a first moving plate movably arranged on the second slide rail, a mother carrier moving module driving the mother box to move and a sub-carrier moving module driving the plurality of sub-boxes to move fixedly arranged on the first moving plate.

3. The substrate distributor according to claim 2, characterized in that: The mother carrier moving module includes: a first support plate fixedly connected to the first moving plate, the first support plate is fixedly connected to a first pneumatic cylinder in a height direction, the output shaft of the first pneumatic cylinder is provided with a first positioning plate, the first pneumatic cylinder drives the first positioning plate to move along the height direction of the first support plate, and the first positioning plate is fixedly connected to a clamping assembly that cooperates with the mother box.

4. The substrate distributor according to claim 3, characterized in that: The sub-carrier moving module includes: a third slide rail fixedly arranged on the first moving plate, a second translation plate is provided for movement in the length direction of the third slide rail, the first moving plate is fixedly connected with a driving assembly, the driving assembly drives the second translation plate to move along the length direction of the third slide rail, a plurality of clamping tables cooperating with the sub-box are provided in the length direction of the second translation plate, and the clamping tables clamp the sub-box through the clamping assembly.

5. The substrate distributor according to claim 4, characterized in that: The clamping table is provided with a rectangular clamping plate, and the clamping assembly includes: limit blocks fixedly arranged on two vertical sides of the clamping table, the clamping table is fixedly connected to a second pneumatic cylinder, and the other two vertical sides of the rectangular clamping plate are each provided with a clamping block cooperating with the second pneumatic cylinder, and the clamping block is driven by the second pneumatic cylinder to cooperate with the sub-box or the mother box, and the sub-box or the mother box is clamped in combination with the limit blocks, the rectangular clamping plate is provided with a first detection port, and the sub-box and the mother box are both provided with a second detection port cooperating with the first detection port, and the clamping table is fixedly connected to a second sensor, and the second sensor passes through the first detection port and the second detection port to sense materials in the sub-box and the mother box.

6. A control method for the substrate feeder according to claim 5, characterized in that: include: S1: Place the material box on each clamping table; S2: Scan the work order number to query the system or enter it manually to set the material separation or aggregation mode for this work; S3: The PLC program compares the set number of material boxes with the number of material boxes actually sensed by the second sensor on the clamping table; S4: The four-axis robot arm drives the push plate to move, and drives different sub-boxes to align with the mother box through the moving components. The push plate drives the substrates in the mother box to move toward each sub-box until all the substrates in the mother box are pushed out; S5: When material jam occurs during the process of pushing the plate, the first sensor at the bottom of the push plate is triggered, the four-axis robot arm stops working, and a beeping alarm is issued to remind personnel to handle it.

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